Wireless capsule endoscopes (WCEs) are pill-sized camera-embedded devices that can provide visualization of the gastrointestinal (GI) tract by capturing and transmitting images to an external receiver. Determination of the exact location of the WCE is crucial for the accurate navigation of the WCE through external guidance, tracking of the GI abnormality, and the treatment of the detected disease. Despite the enormous progress in the real-time tracking of the WCE, a well-calibrated analytical model is still missing for the accurate localization of WCEs by the measurements from different onboard sensing units. In this paper, a well-calibrated analytical model for the magnetic localization of the WCE was established by optimizing the magnetic moment in the magnetic dipole model. The Jacobian-based iterative method was employed to solve the position of the WCE. An error model was established and experimentally verified for the analysis and prediction of the localization errors caused by inaccurate measurements from the magnetic field sensor. The assessment of the real-time localization of the WCE was performed via experimental trials using an external permanent magnet (EPM) mounted on a robotic manipulator and a WCE equipped with a 3-axis magnetic field sensor and an inertial measurement unit (IMU). The localization errors were measured under different translational and rotational motion modes and working spaces. The results showed that the selection of workspace (distance relative to the EPM) could lead to different positioning errors. The proposed magnetic localization method holds great potential for the real-time localization of WCEs when performing complex motions during GI diagnosis.

Single crystals of KBeBO3F (KBBF) up to 2 mm in thickness were grown by using a spontaneous nucleation method. The flux was composed of KF and B2O3, and the optimal ratio for growing KBBF single crystal thicker than 1 mm is suggested to be (1.0–1.5):(5.0):(0.7–1.2) (KBBF:KF:B2O3) in molar ratio. The ideal morphology of.KBBF is two sets of tabular facets and a set of rhombic facets. Surface morphology.was characterized both by optical microscopy and atomic force microscopy. Transmission spectra showed that high transmission was maintained up to 170 nm. Based on refractive index measurements, phase matching curves for types I and II were determined. Using a prism coupling method, the effective fourth harmonic generation for an Nd:YAB laser was realized in an 0.6-mm-thick KBBF sample. The output energy of the 266-nm beam was 0.282 mJ, and the conversion efficiency was 11.8%. A 183.6-nm laser over 1 mW was obtained from a Ti:sapphire second harmonic generation beam in an 0.8-mm KBBF sample. The conversion efficiency reached 2.3%. A 179.4-nm laser was also observed from a 358.7-nm laser by directly frequency doubling. This is the shortest wavelength obtained through nonlinear optical processes in a solid-state laser.

Pure and neodymium-doped gadolinium calcium oxoborate crystals of high quality were grown by the Czochralski method. The orientation of crystal was precisely determined, and the samples for measurements were prepared. Through synchrotron x-ray topography and high-resolution x-ray diffractometry, the twin structure was discovered. Some properties such as the figure of merit value, and dielectric, piezoelectric, and elastic constants were measured along with a discussion of the anisotropy of the laser properties.