Abstract: A computer apparatus determines a highly accurate displacement of a sonar array in real time using multiple processors and data objects. The processors receive multiple sonar pings from a sonar array, instantiate the quasi-unique sonar objects, beamform, and update the objects using time-delay functions. Each object includes properties such as a time of flight value associated with a first ping, time-delay values associated with a second ping, a speed of sound value associated with the pair of consecutive pings, a sonar beam angle value associated with the first ping, and the displacement value. Processing code in each object utilize these properties to update the displacement value and provide it for SAS imaging.

Abstract: Stents implantable within a body vessel include a strut with a receiving surface. The receiving surface has two openings passing through this surface. A radiopaque marker has a first prong received at least in part by one of the openings and a second prong received at least in part by the other opening. Approaches and methods are provided for enhancing engagement of the marker to the strut to prevent unintentional removal or dissociation of the marker from the strut.