Abstract: Systems and methods for guiding an object may comprise improved guidance laws that improve the effectiveness of the PRONAV guidance law. The improved guidance laws may utilize the same parameters as the PRONAV law and may be algorithmically simpler than conventional guidance laws because they may not be based on information about an intercept point or time-to-go. The improved guidance laws may be developed based on the Lyapunov method. The improved guidance laws may augment the PRONAV law and may provide additional components based on the negative definiteness of the derivative of the Lyapunov function. The additional components may be determined based on the partial stability of the guidance system dynamics under consideration with respect to the line of sight derivative. A comparative analysis of the improved guidance laws with the PRONAV laws, for example, may show that the improved guidance laws guarantee shorter homing time requirements and larger capture areas.

Abstract: An apparatus for steering a guidewire and for connecting the guidewire to an extension guidewire. The apparatus includes a steering device for gripping an exterior of the guidewire, the steering device defining a passageway therein through which the guidewire may pass; and a connecting device for connecting the guidewire to the extension guidewire. The connecting device is configured for mating with the steering device to form an integral unit. The invention further includes a method of inserting a guidewire in a body and connecting the guidewire to an extension guidewire.

Abstract: The present invention provides a semiconductor device, comprising a substrate, a first insulation layer formed on the substrate, a first wiring layer formed on the first insulation layer, a second insulation layer formed on the first wiring layer and having a contact hole, and a third insulation layer formed on the second insulation layer, said third insulation layer being in contact with the first wiring layer via the contact hole.