Navigation System

A remote magnetic navigation system (MNS) is available and has been used with a 4-mm-tip magnetic catheter for radiofrequency (RF) ablation of some supraventricular and ventricular arrhythmias; however, it has not been evaluated for the ablation of cavotricuspid isthmus-dependent right atrial flutter (AFL). The present study evaluates the feasibility and efficiency of this system and the newly available 8-mm-tip magnetic catheter to perform RF ablation in patients with AFL. Twenty-six consecutive patients (23 men, mean age 64.6 +/- 9.6 years) underwent RF ablation using a remote MNS. RF ablation was performed with an 8-mm-tip magnetic catheter (70 degrees C, maximum power 70 W, 90 seconds). The endpoint of ablation was complete bidirectional isthmus block. To assess a possible learning curve, procedural data were compared between the first 14 (group 1) and the rest (group 2) of the patients. The initial rhythm during ablation was AFL in 20 (19 counterclockwise and 1 clockwise) and s...

Satellite-based navigation systems uses one-way ranging measurements for system orbit estimation and time-keeping, due to its operational advantage when compared with two-way ranging technique, in terms of complexity of ground monitoring stations (completely passive and requiring a simple omnidirectional antenna to track all the satellites in view). However, a sufficient number of simultaneous independent measurements is required to solve the system unknowns: in particular simultaneous visibility of multiple stations by an individual satellite (allowing to separate the ground stations clocks contributions since the SVs clocks disappear), as well as simultaneity of observations from the same monitor stations of a large number of satellites (allowing to recover the SVs clocks parameters, since the GSS clocks drop out) is the key to an effective separation in the solution of the clock contributions from the pseudo-ranges. In the Galileo IOV phase (consisting of 4 satellites on two orbital planes and a ground network of 20 Sensor Stations), the first condition is clearly fulfilled, however the second condition is not met for a considerable part of the time. If two GSSs do not see simultaneously a single Galileo satellite, they will not be able to estimate their clocks time and frequency drifts, i.e. they will not be synchronized. The free running clocks will essentially enter a holdover mode, were the relative time between the two stations will be slowly drifting as a function of the initial conditions and the stability of the clocks. The ground stations synchronization will gradually degrade with time and when a satellite will rise on the horizon they will be essentially not synchronized to the extent required to carry on a one-way-based Orbit Determination & Time Synchronization (OD&TS). During the IOV phase, the limited number of satellites available and the peculiar characteristics of the Galileo orbits will make difficult for the Orbit Determination and Time Synchronization to start producing meaningful data, therefore some form of intermediate operational configuration must be sought to help in the OD&TS process initialization. The paper will address the proposed solution to overcome the problem of Galileo system initialization starting from the intermediate configuration with first 2 satellites (first IOV Launch) up to final IOV Configuration after second IOV launch. The proposed solution will be based on a limited use of GPS to insure the synchronization of the Galileo Sensor Stations, relying on the exploitation of the Linked Common View Time Transfer (LCVTT) Technique, while the Galileo Orbit Determination and SVs clocks characterization will be carried on autonomously and independently by GPS, in a two step process, up to the achievement of the IOV Configuration with 4 satellites, when the nominal Orbit Determination and Time Synchronization process will be operated. Moreover the paper will address the development of the LCVTT Algorithm, carried on as part of development of the infrastructure aiming to support the Galileo Verification Phase currently under definition as part of Galileo Phase C/D/E1 contract. The algorithm design and implementation will be presented together with the validation carried out (both for LCVTT and MLCVTT) to verify that the synchronization accuracy is adequate to support the Galileo System Initialization.

This paper presents a summary of SciAutonics-Auburn Engineering’s efforts in the 2005 DARPA Grand Challenge. The areas discussed in detail include the team makeup and strategy, vehicle choice, software architecture, vehicle control, navigation, path planning, and obstacle detection. In particular, the advantages and complications involved in fielding a low budget all-terrain vehicle are presented. Emphasis is placed on detailing the methods used for high-speed control, customized navigation, and a novel stereo vision system. The platform chosen required a highly accurate model and a well-tuned navigation system in order to meet the demands of the Grand Challenge. Overall, the vehicle completed three out of four runs at the National Qualification Event and traveled 16 miles in the Grand Challenge before a hardware failure disabled operation. The performance in the events is described, along with a success and failure analysis.

The last two decades have shown an increasing trend in the use of navigation technologies in several applications including land vehicles and automated car navigation. Navigation systems incorporate the global positioning system (GPS) and the inertial navigation system (INS). While GPS provides position information when there is direct line of sight to four or more satellites, INS utilizes the local measurements of angular velocity and linear acceleration to determine both the vehicle's position and attitude. Both systems are integrated together to provide reliable navigation solutions by overcoming each of their respective shortcomings. The present integration schemes, which are predominantly based on Kalman filtering, have several inadequacies related to sensor error models, immunity to noise and observability. This paper aims at introducing a multi-sensor system integration approach for fusing data from an INS and GPS hardware utilizing wavelet multi-resolution analysis (WMRA) and artificial neural networks (ANN). The WMRA is used to compare the INS and GPS position outputs at different resolution levels. The ANN module is then trained to predict the INS position errors in real time and provide accurate positioning of the moving vehicle. The field-test results have demonstrated that substantial improvements in INS/GPS positioning accuracy could be obtained by applying the proposed neuro-wavelet technique.

Ventricular tumors are excised using both microscope and endoscope as the viewing device. Excision of these tumors requires corticectomy. After these corticectomies, brain has tendency to fall because of CSF drainage. Currently available retractor systems are fixed and thus can be traumatic. On the other hand few systems that require small corticectomy need stereotactic or navigation system aid. These all methods and equipment are costly. Our simple method of using a cylindrical channel retractor custom made out of 20 cc plastic syringe in OT helps in making minimum possible corticectomy. It gives surgeon minimally traumatic, inexpensive, hands free retractor.

... The 1 Eric Benson, ebenson@udel.edu, 242 Townsend Hall, Newark, DE 19716. Copyright, 2001. Page 2. Benson, Eric. 2001. ... and multiple satellites. The standard satellite position model is a measurement-state Page 3. Benson, Eric. 2001. Global Navigation Satellite Systems. ...

Radar position estimation from target signals suffers from main-beam jamming. One way to counteract the problem is to integrate data from multiple sensors. An adaptive monopulse Multiple Signal Classification (MUSIC) algorithm discerns the azimuth and elevation angle estimation or true spectrum amongst jamming, but relying solely on the algorithm results in an undesirable position location and navigation error. By integrating