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"/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Objective </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:r><w:t>This document defines the requirements for the Surgical Assistant Workstation for Teleoperated</w:t></w:r><w:r wsp:rsidR="00AE56EF"><w:t> </w:t></w:r><w:r><w:t>Surgical Robots (SAWTSR) being developed by Johns Hopkins University and Intuitive Surgical. This document provides requirements for the workstation system and does not include application requirements. It is expected that applications developed on this workstation would define their own requirements (i.e., in a separate document). </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading1"/><w:listPr><wx:t wx:val="2. "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>References </w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="2.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Project-Specific </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="2"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>“Development of a Surgical Assistant Workstation for Teleoperated Surgical Robots,” proposal for NSF ERC Supplement, July 2006. </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="2"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>“Intuitive Surgical daVinci API v5.0 Reference Manual”, generated July 14, 2006. </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="2"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>J. Leven, D. Burschka, R. Kumar, G. Zhang, S. J. Blumenkranz, X. Dai, M. Awad, G. Hager, M. Marohn, M. Choti, C. Hasser and R. H. Taylor “DaVinci Canvas: A Telerobotic Surgical System with Integrated, Robot-Assisted, Laparoscopic Ultrasound Capability,” in MICCAI, vol. LNCS 3749, J. Duncan and G. Gerig, Eds. Palm Springs, CA: Springer-Verlag, 2005, pp. 811-818. </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="2"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>J. Leven, “A Telerobotic Surgical Systems with Integrated Robot-Assisted Laparoscopic Ultrasound Capability”, MS Thesis, Computer Science, Johns Hopkins University, Baltimore, 2005. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="2.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Calibration and Registration Techniques </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="3"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>B.K.P. Horn, “Closed-form</w:t></w:r><w:r><w:tab wx:wTab="345" wx:tlc="none" wx:cTlc="5"/><w:t> solution of absolute orientation using unit quaternions,” J. Opt. Soc. Amer. A, Vol. 4, No. 4, pp. 629–642, Apr. 1987. </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="3"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>K.S. Arun, T.S. Huang, S.D. Blostein, “Least-Squares Fitting of Two 3D Point Sets”, IEEE PAMI, Vol. 9, No. 4, pp. 698-700, Sept. 1987. </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="3"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>S.</w:t></w:r><w:r wsp:rsidR="00AE56EF"><w:t> </w:t></w:r><w:r><w:t>Umeyama, “Least-Squares Estimation of</w:t></w:r><w:r wsp:rsidR="00AE56EF"><w:t> Transformation Parameters </w:t></w:r><w:r><w:t>Between Two Point Patterns”, IEEE PAMI, Vol. 13,</w:t></w:r><w:r wsp:rsidR="00AE56EF"><w:t> No. 4, pp. 376-380, Apr. 1991.</w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="3"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>Boctor, A. Viswanathan, M. Choti, R. Taylor, G. Fichtinger, G. Hager, “A Novel Closed Form Solution for Ultrasound Calibration,” IEEE Intl. Symp. Bio. Imag. (ISBI), Arling</w:t></w:r><w:r wsp:rsidR="00AE56EF"><w:t>ton, VA, pp 527-530, Apr. 2004.</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="3"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>P. J. Besl and N. D. McKay, "A Method for Registration of 3-D Shapes," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 14, pp. 239256, Feb. 1992. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="2.3 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Virtual Fixtures and Constrained Optimization </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="4"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>Kapoor, M. Li, R.H. Taylor, “Constrained Control for Surgical Assistant Robots”, Proc. IEEE Intl. Conf. on Robotics and Automation, Orlando, FL, May 2006, pp 231-236. </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="4"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>M. Li, A. Kapoor and R. H. Taylor “A Constrained Optimization Approach to Virtual Fixtures,” in IROS. Edmonton, Alberta, Canada, 2005. </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="4"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>M. Li and R. H. Taylor, “Performance of Teleoperated and cooperatively controlled surgical robots with automatically generated spatial virtual fixtures.,” in IEEE International Conference on Robotics and Automation. Barcelona, Spain, 2005. </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="4"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>M. Li, “Intelligent Robotic Surgical Assistance for Sinus Surgery”, Ph.D. Thesis, Computer Science, The Johns Hopkins University, Baltimore, Maryland, 2005. </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="4"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>M. Li and R. H. Taylor, “Spatial Motion Constraints in Medical Robots Using Virtual Fixtures Generated by Anatomy,” in IEEE Conf. on Robotics and Automation. New Orleans, 2004, pp. 1270-1275. </w:t></w:r></w:p></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="002524D4" wsp:rsidRDefault="00D118A9" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading1"/><w:listPr><wx:t wx:val="3. "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Robot </w:t></w:r><w:r wsp:rsidR="002524D4"><w:t>System Overview</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="CM4"/><w:spacing w:after="383"/><w:ind w:left="360"/><w:jc w:val="both"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>The goal is to create a unified assistive environment for surgery that integrates robotic devices; fused information environments combining preoperative images &amp; models, intraoperative images &amp; other sensors; surgical task modeling; and human-machine cooperative manipulation, as shown in Figure 1 (from Reference 2.1.1). </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="000C7F38"><w:pPr><w:pStyle w:val="Default"/><w:spacing w:after="160"/><w:jc w:val="center"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr></w:pPr><w:r wsp:rsidRPr="000C7F38"><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:pict><v:shapetype id="_x0000_t75" coordsize="21600,21600" o:spt="75" o:preferrelative="t" path="m@4@5l@4@11@9@11@9@5xe" filled="f" stroked="f"><v:stroke joinstyle="miter"/><v:formulas><v:f eqn="if lineDrawn pixelLineWidth 0"/><v:f eqn="sum @0 1 0"/><v:f eqn="sum 0 0 @1"/><v:f eqn="prod @2 1 2"/><v:f eqn="prod @3 21600 pixelWidth"/><v:f eqn="prod @3 21600 pixelHeight"/><v:f eqn="sum @0 0 1"/><v:f eqn="prod @6 1 2"/><v:f eqn="prod @7 21600 pixelWidth"/><v:f eqn="sum @8 21600 0"/><v:f eqn="prod @7 21600 pixelHeight"/><v:f eqn="sum @10 21600 0"/></v:formulas><v:path o:extrusionok="f" gradientshapeok="t" o:connecttype="rect"/><o:lock v:ext="edit" aspectratio="t"/></v:shapetype><w:binData w:name="wordml://02000001.jpg">/9j/4AAQSkZJRgABAgEAlgCZAAD/4gxYSUNDX1BST0ZJTEUAAQEAAAxITGlubwIQAABtbnRyUkdC
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</w:binData><v:shape id="_x0000_i1025" type="#_x0000_t75" style="width:330.75pt;height:243pt"><v:imagedata src="wordml://02000001.jpg" o:title=""/></v:shape></w:pict></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="000F30F7"><w:pPr><w:pStyle w:val="CM2"/><w:jc w:val="center"/><w:outlineLvl w:val="0"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>Figure 1: Overview of SAWTSR Architecture </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="CM29"/><w:spacing w:line="276" w:line-rule="at-least"/><w:jc w:val="both"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>In this document, the system requirements are categorized by the major subsystem: </w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="00EB2959" wsp:rsidRPr="00EB2959" wsp:rsidRDefault="00EB2959" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="3.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00EB2959"><w:t>Robot API</w:t></w:r><w:r wsp:rsidR="00F61047"><w:t> Subsystem</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="00AE56EF" wsp:rsidP="00AE56EF"><w:pPr><w:pStyle w:val="Default"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>T</w:t></w:r><w:r wsp:rsidR="009F2FE2"><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>his subsystem corresponds to the interface to the robot or robots; although the design shall be influenced by the existing daVinci research API, it shall be usable for other robot systems. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00AE56EF" wsp:rsidRPr="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="3.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00AE56EF"><w:t>Video processing</w:t></w:r><w:r wsp:rsidR="00F61047"><w:t> Subsystem</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="00AE56EF" wsp:rsidP="00AE56EF"><w:pPr><w:pStyle w:val="Default"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t> T</w:t></w:r><w:r wsp:rsidR="009F2FE2"><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>his subsystem provides the processing of 2D (e.g., ultrasound) and 3D (e.g., stereo video) images, using image pipelines. </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="00AE56EF" wsp:rsidP="00AE56EF"><w:pPr><w:pStyle w:val="Default"/><w:rPr><w:b/><w:b-cs/><w:color w:val="auto"/></w:rPr></w:pPr></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00AE56EF" wsp:rsidRPr="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="3.3 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Other device interfaces</w:t></w:r><w:r wsp:rsidR="00F61047"><w:t> Subsystem</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="00AE56EF" wsp:rsidP="00AE56EF"><w:pPr><w:pStyle w:val="Default"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>Th</w:t></w:r><w:r wsp:rsidR="009F2FE2"><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>is subsystem provides interfaces to devices other than robots and video systems, including force sensors, foot pedals, tissue oxygenation sensors, etc. </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="00AE56EF" wsp:rsidP="00AE56EF"><w:pPr><w:pStyle w:val="Default"/><w:rPr><w:b/><w:b-cs/><w:color w:val="auto"/></w:rPr></w:pPr></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00AE56EF" wsp:rsidRPr="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="3.4 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Calibration and registration</w:t></w:r><w:r wsp:rsidR="00F61047"><w:t> Subsystem</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="00AE56EF" wsp:rsidP="00AE56EF"><w:pPr><w:pStyle w:val="Default"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>T</w:t></w:r><w:r wsp:rsidR="009F2FE2"><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>his subsystem provides tools for calibrating devices or (at a minimum) for reading the calibration results produced by an external system (e.g., Matlab programs). 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