Navigation Devices Research Articles

Armillary Sphere in the Ideology of the Late Middle Ages and Early Modern Times

The armillary sphere is one of the most famous badges. The opinion that this image of a navigation device visualizes Portugal is an anachronism. In Europe the armillary sphere was used not only in Portugal. Models of the celestial structure based on the concept of the sphericity of the universe have a long tradition. In the 15th — 16th centuries the armillary sphere served as a designation of the highest imperial ambitions and appeared in various contexts related to messianism and the interpretation of biblical prophecy. The armillary sphere is a conceptual model of the cosmos structure, its physical, spiritual, and political sides. By the end of the 15th century the armillary sphere became a stable representation of the universe — an image full of Christian meaning, which had a pan-European distribution and pan-European significance. The image of the sphere is a visualization of the highest European values of that time, an example of which is the use of it by Elizabeth I and her entourage.

Current application and prospect of accurate navigation technology in orthopaedic trauma

In the past decades,a dramatic development of navigation technology in orthopaedic surgery has been witnessed. By assisting the localization of surgical region,verification of target bony structure,preoperative planning of fixation,intraoperative identification of planned entry point and direction of instruments or even automated insertion of implants,its ability and potential to reduce operation time,intraoperative radiation,surgical trauma,and improve accuracy has been proved. However,in contrast to the widespread use of navigation technology in arthroplasty,orthopaedic tumor,and spine surgery,its application in orthopaedic trauma is relatively less. In this manuscript,the main purpose is to introduce the technical principles of navigation devices,outline the current clinical application of navigation systems in orthopaedic trauma,analyze the current challenges confronting its further application in clinical practice and its prospect in the future.

Non-invasive Face Registration for Surgical Navigation

This study aims to propose a precise rigid-body face registration method that does not require an invasive marker attachment for surgical navigation devices. The non-invasive face registration involved the following steps: anatomical feature points such as the eyes and nose are found from the computed tomography (CT) image and the location tracking device attached to the patient

Application of Machine Learning to GNSS Data Collected by Smartphone

Trends showing increase in the number of mobile device users, as well as the number of tourists, imply that more people rely on their smartphones when navigating in a new environment. Based on these facts, the idea for this experimental research appeared. That idea is applying the process of machine learning, more precisely, the implementation of a neural network, to investigate the possibility of improving the accuracy of smartphone navigation. The achieved results indicate that machine learning algorithms (neural networks) are a powerful tool that can also be applied to GNSS data collected by a smartphone device, in order to improve accuracy. Based on the collected data in the field, preprocessing and machine learning process, it is concluded that it is possible to improve the accuracy of mobile device navigation by up to 50%.

Total Knee Arthroplasty Violates the Law of Burmester-A Biomechanical Investigation.

Kinematic patterns of knees after total knee arthroplasty (TKA) are different from those of healthy knees. We hypothesised that these changes cause a relevant shift in the medial and lateral epicondyles and, consequently, the insertion sites of the collateral ligaments. Any alterations, however, violate the law of Burmester, which states a close relation between the course of the collateral and cruciate ligaments, and the articular surfaces. Ten healthy knees of whole body cadavers were investigated. The positions of the medial and lateral epicondyles in relation to the tibia were compared before and after cruciate retaining fixed bearing TKA between 0 and 90° of flexion using a navigational device. After TKA, the medial and lateral epicondyles significantly shifted laterally (~3-5mm) between 0° and 40° of flexion. Additionally, the lateral epicondyle was located significantly more dorsal (~3-5mm) during 0° and 20° of flexion and significantly shifted proximally (~2.5-3mm) between 0° and 30° of flexion. By changing the epicondylar positions relative to the articular surfaces, the law of Burmester is violated in the present study setting. This might explain the impairment in motion, instability, or mid-flexion instability and the persistent pain in the knees after TKA.

Micronesian maritime piloting charts as bioimaging proxies for the rescue of cells on the apoptotic trajectory

This interdisciplinary study falls within the realm of ethnoscience thanks to its resorting to the scientific methods behind the Micronesian canoe voyaging in search of bioimaging tools for the early prediction of cell fate in response to a therapy. Two distinct indigenous methods for navigation across the ocean were assessed as bridges for correlating (i) the interaction of oceanic swells near atolls with the way microcurrents in the cell culture dish may shape the morphology of cells, and (ii) the spatial arrangement of cultured cells with the canoe voyaging from one island to the next. Both methods effectively predicted the cell fate at early time points in the treatment with superparamagnetic nanoparticles, when the adverse effects were still reversible and not apparent yet at the levels of cell morphology, proliferation rate or confluence. The mattang chart, the most fundamental and theoretical of navigational devices used in the Marshallese seafaring tradition, was used to measure subtle morphological changes occurring in cells due to the treatment. The cells subjected to the treatment were consistently withdrawing their bodies from the areas of intense swell interaction activity on the superimposed mattangs. Given that the cytoskeletal microfilaments defining the features of control cells were largely filling up these areas, this metric proved useful for deducing the course of the treatment at its early stages. The same deduction was proven feasible with the use of a Carolinian navigational technique based on the concept of the etak, in which case the distances traversable between cells in a population subjected to the treatment were divisible to a significantly higher number of etaks than the same distances in the population of control cells. Therefore, treating cells and their nuclei as analogous to Pacific atolls navigable to and fro with the use of imaginary microscopic canoes and the navigational principles native to the Marshall and the Caroline Islands proves as a clever, but also very effective cell fate prediction approach, which various branches of biomedical science could take advantage of. These practical benefits notwithstanding, this conceptual study was performed primarily with a goal to spark the interest in studying these and other ancient ethnoscientific inventions as potential addenda to the broad repertoire of techniques used in biomedical and other sciences to combat some of their greatest challenges.

Construction of High Dynamic Flight Closed-loop Simulation System

In this study, a high dynamic flight closed-loop simulation system was designed and based on the flight characteristics of flight combat systems (missiles, fighters, etc.), the real-time simulation of 6DoF (six degrees of freedom) flight parameters such as position, velocity, acceleration, and attitude of typical flight combat system models in high dynamic flight was implemented. The proposed system, together with the high dynamic Beidou RNSS signal simulator and automated test and evaluation device, forms the high dynamic positioning test platform of the flight simulation system and realizes the closed-loop simulation test and verification of the navigation device of the high dynamic flight combat system.

Brain-Controlled 2D Navigation Robot Based on a Spatial Gradient Controller and Predictive Environmental Coordinator.

Brain-computer interfaces (BCIs) have been used in two-dimensional (2D) navigation robotic devices, such as brain-controlled wheelchairs and brain-controlled vehicles. However, contemporary BCI systems are driven by binary selective control. On the one hand, only directional information can be transferred from humans to machines, such as "turn left" or "turn right", which means that the quantified value, such as the radius of gyration, cannot be controlled. In this study, we proposed a spatial gradient BCI controller and corresponding environment coordinator, by which the quantified value of brain commands can be transferred in the form of a 2D vector, improving the flexibility, stability and efficiency of BCIs. A horizontal array of steady-state visual stimulation was arranged to excite subject (EEG) signals. Covariance arrays between subjects' electroencephalogram (EEG) and stimulation features were mapped into quantified 2-dimensional vectors. The generated vectors were then inputted into the predictive controller and fused with virtual forces generated by the robot's predictive environment coordinator in the form of vector calculation. The resultant vector was then interpreted into the driving force for the robot, and real-time speed feedback was generated. The proposed SGC controller generated a faster (27.4 s vs. 34.9 s) response for the single-obstacle avoidance task than the selective control approach. In practical multiobstacle tasks, the proposed robot executed 39% faster in the target-reaching tasks than the selective controller and had better robustness in multiobstacle avoidance tasks (average failures significantly dropped from 27% to 4%). This research proposes a new form of brain-machine shared control strategy that quantifies brain commands in the form of a 2-D control vector stream rather than selective constant values. Combined with a predictive environment coordinator, the brain-controlled strategy of the robot is optimized and provided with higher flexibility. The proposed controller can be used in brain-controlled 2D navigation devices, such as brain-controlled wheelchairs and vehicles.

The CathPilot: A Novel Approach for Accurate Interventional Device Steering and Tracking

Accurate device navigation and control are significant challenges in various minimally invasive cardiovascular interventions. The long length of the devices used (e.g., catheters and guidewires), their high flexibility, and their engagement with the tortuous anatomy limit the accurate and reliable control and navigation of the device's tip. This article aims to design, develop, and assess a novel alternative solution that promises to overcome the major limitations of conventional devices. By utilizing an expandable cable-driven mechanism and a corresponding 3-D cam surface for cable length adjustment, we propose a fully manually operated system that can be navigated through the tortuous anatomy and then teleoperated to allow for accurate, reliable, and localized position control and tracking of the device. In this article, the methods of design, development, and verifications of this system are presented. The system's performance is assessed under different path tortuosity conditions and different opening diameters of the expandable frame. Our results indicate that the proposed system provides complete teleoperation of the device within the full reachable workspace of the mechanism and allows for positioning and tracking of the device with submillimeter accuracy irrespective of the tortuosity of the path and expansion size of the frame. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Ex-vivo</i> phantom model experiments also show the device significantly outperforms conventional devices in terms of navigation time and success rate. The CathPilot allows for direct manipulation, accurate positioning, and tracking of the device tip relative to the anatomy, promising to overcome some of the major limitations of conventional interventional devices.

Applying the Geodetic Adjustment Method for Positioning in Relation to the Swarm Leader of Underwater Vehicles Based on Course, Speed, and Distance Measurements

The research consisted of simulating the movement of a single vehicle in relation to the swarm leader on a square-shaped path, taking into account measurement errors characteristic of typical cheap navigation devices and the hydroacoustic system. The research showed that these methods allow for estimating position coordinates with an accuracy of about 0.5 m (RMS) in the case of a calibrated navigation system and about 3.6 m (RMS) in the case of a non-calibrated navigation system. It also showed that it can provide a higher accuracy of estimating position coordinates in terms of abeam angles of the swarm leader (relative bearing equal to approximately ±90°), as well as while ensuring minimizing systematic errors values and proper estimation of mean errors values concerning course and speed measurements.

Detection and Mitigation of GNSS Spoofing Attacks in Maritime Environments Using a Genetic Algorithm

Due to the high reliance of daily activities on the Global Navigation Satellite System (GNSS), its security is one of the major concerns for research and industry. Most navigation and mobile-driven location-based services use GNSS to render services. Due to the low power and easy access of GNSS signals, these signals are vulnerable to spoofing and other types of attacks. Recently many GNSS spoofing attacks have been identified in road- and maritime-based environments. This study provides a technique to detect and counter the GNSS spoofing attack in the maritime environment. This technique uses the Receiver Autonomous Integrity Monitoring (RAIM) model with Least Square Estimation (LSE) and Proportional Integral Derivative (PID) Control to detect the spoofing attack. The proposed technique is based on the concept of a genetic algorithm and navigation devices, such as inertial sensors and pilot options for the ship. A case study using the AIS dataset and simulation using MATLAB and NS3 is provided to validate the performance of the proposed approach. Nine different voyages from the AIS dataset were considered to check the accuracy and performance of the proposed algorithm. The accuracy of the proposed technique was analyzed using the correctly identified attack. The result shows that the proposed technique identifies spoofing attacks with an average value of 90 percent. For result analysis the considered nine routes were traversed multiple times. Root mean square error is used to calculate the positional mismatch (error rate). Based on the combined results analysis, the average value of RMSE is 0.28. In a best-case scenario, the proposed approach provides an RMSE value of 0.009.

Imageless, Computer-Assisted Navigation Improves Acetabular Component Positioning Precision in Revision Total Hip Arthroplasty

AbstractInstability and dislocation can occur in up to one in four cases following revision total hip arthroplasty (THA), and optimal placement of components is critical in avoiding re-revision. Computer-assisted navigation can improve accuracy and precision of component placement in primary THA; however, its role in revision surgery is not defined. The purpose of our study was to evaluate the effect of computer-assisted navigation on component placement in revision THA. This study was a retrospective, multicenter cohort of 128 patients (69 imageless navigation, 59 conventional) who underwent revision THA between March 2017 and January 2019. An imageless computer navigation device was utilized in 69 of the 128 patients. Acetabular component placement and the proportion placed in a functional safe zone were compared between navigation-assisted and conventional THA groups. Mean anteversion increased significantly in both the navigation group (18.6 ± 8.5 degrees vs. 21.6 ± 7.8 degrees, p = 0.03) and the control group (19.4 ± 9.6 degrees vs. 21.2 ± 9.8 degrees, p = 0.03). Postoperatively, the proportion of acetabular components within the safe zone in the navigation group (inclination: 88%, anteversion: 84%) was mildly improved over the control group (83 and 69%, respectively). Variance in inclination improved significantly in both the control (50.6 vs. 112.4 degrees, p = 0.002) and navigation (46.2 vs. 141.1 degrees, p &lt; 0.001) groups. Anteversion variance worsened in the control group (96.3 vs. 87.6 degrees, p = 0.36) but the navigation group showed improvement (61.2 vs. 72.7 degrees, p = 0.25). Postoperative variance was significantly better in the navigation group compared to the control group (p = 0.04). Utilizing imageless navigation in revision THAs results in more consistent placement of the acetabular component as compared to nonnavigated revision surgeries.

Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems.

In this paper, a calibration method for gyro bias that changes depending on the position of the IMU (inertial measurement unit) is proposed to improve the navigation performance of RLG-based RINS (ring-laser-gyro-based rotational inertial navigation system). RINS is a navigation device that compensates for the inertial sensor errors by utilizing the rotation of the IMU. In previous studies, the rotation scheme of the IMU is designed assuming that inertial sensor errors are not affected by position of the IMU. However, changes in temperature distribution, direction of gravity, and dithering according to the rotation of the IMU affect the inertial sensor errors, such as gyro bias. These errors could degrade the long-term navigation performance of RLG-based RINS. To deal with this problem, this paper proposed a compensation method of the gyro bias that changes depending on the position of the IMU. First, RINS is reviewed using a dual-axis 16-position rotation scheme and RLG. Next, the attitude error of RLG-based RINS is derived utilizing navigation equations. The effect of the gyro bias change caused by the change in the IMU attitude for the navigation performance of RINS is analyzed based on navigation equations and simulations. Finally, system-level indirect calibrations for the Z-axis up position and Z-axis down position are performed to calculate the gyro bias change caused by the IMU attitude. The accuracy of the proposed calibration method is verified by long-term navigation test. The test results show that the proposed calibration method improves the navigation performance of RINS compared with the conventional calibration method.

설문분석을 통한 어선 충돌사고 저감을 위한 기초연구

Marine accidents on fishing vessels accounted for the majority of all marine accidents. Collision accidents are the third most common, and most of them are caused due to operational carelessness. The purpose of this study is to identify the fundamental factors that cause collision accidents using questionnaire and to prepare fundamental countermeasures to protect human life and the marine environment. The survey was conducted on 216 people, focusing on the representative fishing port of the country. As a result of the study, collision accidents of fishing vessels mainly occur between fishing vessels. In addition, they acquire a small ship operating license through experience on board. It was identified that the fishing vessel seamen used the electronic navigation device to determine the risk of collision with other ships. Therefore, in this study, support for the installation of electronic navigation equipment on fishing vessels and systematic education such as collision prevention regulation and use of electronic navigation equipment support for reducing collision accidents were suggested as countermeasures. However, this study is a basic study using questionnaires to understand the fundamental factors of collision accidents. Therefore, the detailed follow-up studies such as understanding the effects of each factor are needed in the future.

Angular disturbance prediction for countermeasure launcher in active protection system of moving armored vehicle based on an ensemble learning method

The active protection system (APS), usually installed on the turret of armored vehicles, can significantly improve the vehicles’ survivability on the battlefield by launching countermeasure munitions to actively intercept incoming threats. However, uncertainty over the launch angle of the countermeasure is increased due to angular disturbances when the off-road armored vehicle is moving over rough terrain. Therefore, accurate and comprehensive angular disturbance prediction is essential to the real-time monitoring of the countermeasure launch angle. In this paper, a deep ensemble learning (DEL)-based approach is proposed to predict the angular disturbances of the countermeasure launcher in the APS based on previous time-series information. In view of the intricate temporal attribute of angular disturbance prediction, the sampling information of historical time series measured by an inertial navigation device is adopted as the input of the developed DEL model. Then, the recursive multi-step (RMS) prediction strategy and multi-output (MO) prediction strategy are combined with the DEL model to perform the final angular disturbance prediction for the countermeasure launcher in the APS of a moving armored vehicle. The proposed DEL model is validated by using the different datasets from real experiments. The results reveal that this approach can be used to accurately predict angular disturbances, with the maximum absolute error of each DOF less than 0.1°.

Development and validation of advanced three-dimensional navigation device integrated in da Vinci Xi® surgical robot for hepatobiliary surgery: pilot study.

Development and validation of advanced three-dimensional navigation device integrated in da Vinci Xi® surgical robot for hepatobiliary surgery: pilot study.

Comparison of freehand technique and a novel laser guiding navigation in distal locking of femoral intramedullary nails: a randomized controlled trial

BackgroundIntramedullary nail (IMN) is one of the key essential minimally invasive “weapons” in orthopaedic trauma, while the distal locking is still challenging for surgeons. Although there are various inventions and technologies to improve the locking procedure, there are still problems such as inaccurate positioning, excessive radiation exposure, low first success rate and long learning curve. Therefore, a new laser guiding navigation device was designed and compared with the traditional freehand (FH) technique in the distal locking of femoral IMN.MethodsThis randomized controlled single-blind trial recruited patients with femoral diaphyseal fracture. The self-designed laser navigation device (laser group) and freehand technique (FH group) were used in the distal locking of the IMNs. The patients enrolled were randomized into FH group and laser group, all operations were performed by two surgeons of the same level. The differences between the two groups were compared in terms of radiation exposure time, operative time, first success rate, blood loss, visual analogue score (VAS), Harris score and healing time.Results32 patients ended the study period and 16 patients in each group. The results showed that the laser group was better than the FH group in terms of distal locking time (10(9/11) vs 19.5 (17.25/21) min, Z = 4.83, P < 0.001), distal locking radiation exposure time (46.5 (41.25/51.75) vs 105 (88.25/140) s, Z = 4.807, P < 0.001), first success rate (30/32 vs 20/32, χ2 = 9.143, P = 0.002) and blood loss (60 (50–100) vs 150 (105–192.5) mL, Z = 3.610, P = 0.0003). There was no difference in Harris score, VAS score, or fracture healing time between the two groups.ConclusionCompared with the FH technique, the novel laser guiding navigation device for distal locking of femoral IMN has the advantages of shorter operative time, less radiation exposure and higher first success rate.Trial registration Chinese Clinical Trial Registry, ChiCTR2200060236. Registered 23 May 2022, https://www.chictr.org.cn/showprojen.aspx?proj=169130

Augmented Reality and GPS-Based Resource Efficient Navigation System for Outdoor Environments: Integrating Device Camera, Sensors, and Storage

Contemporary navigation systems rely upon localisation accuracy and humongous spatial data for navigational assistance. Such spatial-data sources may have access restrictions or quality issues and require massive storage space. Affordable high-performance mobile consumer hardware and smart software have resulted in the popularity of AR and VR technologies. These technologies can help to develop sustainable devices for navigation. This paper introduces a robust, memory-efficient, augmented-reality-based navigation system for outdoor environments using crowdsourced spatial data, a device camera, and mapping algorithms. The proposed system unifies the basic map information, points of interest, and individual GPS trajectories of moving entities to generate and render the mapping information. This system can perform map localisation, pathfinding, and visualisation using a low-power mobile device. A case study was undertaken to evaluate the proposed system. It was observed that the proposed system resulted in a 29 percent decrease in CPU load and a 35 percent drop in memory requirements. As spatial information was stored as comma-separated values, it required almost negligible storage space compared to traditional spatial databases. The proposed navigation system attained a maximum accuracy of 99 percent with a root mean square error value of 0.113 and a minimum accuracy of 96 percent with a corresponding root mean square value of 0.17.

An interventional MRI guidewire combining profile and tip conspicuity for catheterization at 0.55T.

We describe a clinical grade, "active", monopole antenna-based metallic guidewire that has a continuous shaft-to-tip image profile, a pre-shaped tip-curve, standard 0.89 mm (0.035″) outer diameter, and a detachable connector for catheter exchange during cardiovascular catheterization at 0.55T. Electromagnetic simulations were performed to characterize the magnetic field around the antenna whip for continuous tip visibility. The active guidewire was manufactured using medical grade materials in an ISO Class 7 cleanroom. RF-induced heating of the active guidewire prototype was tested in one gel phantom per ASTM 2182-19a, alone and in tandem with clinical metal-braided catheters. Real-time MRI visibility was tested in one gel phantom and in-vivo in two swine. Mechanical performance was compared with commercial equivalents. The active guidewire provided continuous "profile" shaft and tip visibility in-vitro and in-vivo, analogous to guidewire shaft-and-tip profiles under X-ray. The MRI signal signature matched simulation results. Maximum unscaled RF-induced temperature rise was 5.2°C and 6.5°C (3.47 W/kg local background specific absorption rate), alone and in tandem with a steel-braided catheter, respectively. Mechanical characteristics matched commercial comparator guidewires. The active guidewire was clearly visible via real-time MRI at 0.55T and exhibits a favorable geometric sensitivity profile depicting the guidewire continuously from shaft-to-tip including a unique curved-tip signature. RF-induced heating is clinically acceptable. This design allows safe device navigation through luminal structures and heart chambers. The detachable connector allows delivery and exchange of cardiovascular catheters while maintaining guidewire position. This enhanced guidewire design affords the expected performance of X-ray guidewires during human MRI catheterization.

Simulation and optimization of spectral parameters of resonant optical gyroscope

As a new inertial navigation device, the resonant optical gyroscope offers advantages that include high precision, device integration, impact resistance, and solid-state realization. This device will be widely used in future military and civil applications. Following consideration of the factors that affect accuracy improvement of resonant fiber optic gyroscopes, the relationships among the insertion loss, coupling coefficient, and unit length loss of the cavity fiber and the resonance depth, full width at half maximum, and fineness of the transmission spectrum line are analyzed. To improve the transmission spectrum’s resonance depth, the coupling coefficient should be controlled at 0.2 and the optical coupler insertion loss should be reduced as far as possible. Additionally, the laser linewidth effects on the transmission spectrum and the limit sensitivity are analyzed. It is found that if the laser linewidth of the resonant optical gyroscope is less than 100 kHz, it can meet the resonance depth requirements, thus, providing a technical reference for further research into integrated optical waveguide gyroscopes.