Abstract: In one embodiment, a navigation system may include at least one self-describing fiducial with a communication element to communicate navigation state estimation aiding information comprising a geographic position of the self-describing fiducial with respect to one or more coordinate systems and a first navigating object to receive navigation information from an exterior system, receive navigation state estimation aiding information from the self-describing fiducial, and compare the navigation information received from the exterior system to the navigation state estimation aiding information to improve navigation parameters of the first navigating object.

Abstract: This invention is directed to improved compositions for treatment of acne and related methods. In some embodiments, the present invention is directed to compositions comprising a topical vehicle, nanosilver, acne medicine and soothing agents, effective for treating acne without irritation.