The design and evaluation of the imaging system Clear-PEM for positron emission mammography, under development by the PEM Consortium within the framework of the Crystal Clear Collaboration at CERN, is presented. The proposed apparatus is based on fast, segmented, high atomic number radiation sensors with depth-of-interaction measurement capabilities, and state-of-the-art data acquisition techniques. The camera consists of two compact and planar detector heads with dimensions 16.5/spl times/14.5 cm/sup 2/ for breast and axilla imaging. Low-noise integrated electronics provide signal amplification and analog multiplexing based on a new data-driven architecture. The coincidence trigger and data acquisition architecture makes extensive use of pipeline processing structures and multi-event memories for high efficiency up to a data acquisition rate of one million events/s. Experimental validation of the detection techniques, namely the basic properties of the radiation sensors and the ability to measure the depth-of-interaction of the incoming photons, are presented. System performance in terms of detection sensitivity, count-rates and reconstructed image spatial resolution were also evaluated by means of a detailed Monte Carlo simulation and an iterative image reconstruction algorithm.

The attitude and heading reference system (AHRS) is an important concept in the area of navigation, image stabilization, and object detection and tracking. Many studies and works have been conducted in this regard to estimate the accurate orientation of rigid bodies. In most research in this area, low-cost MEMS sensors are employed, but since the system’s response will diverge over time due to integration drift, it is necessary to apply proper estimation algorithms. A two-step extended Kalman Filter (EKF) algorithm is used in this study to estimate the orientation of an IMU. A 9-DOF device is used for this purpose, including a 6-DOF IMU with a three-axis gyroscope and a three-axis accelerometer, and a three-axis magnetometer. In addition, to have an accurate algorithm, both IMU and magnetometer biases and disturbances are modeled and considered in the real-time filter. After applying the algorithm to the sensor’s output, an accurate orientation as well as unbiased angular velocity, linear acceleration, and magnetic field were achieved. In order to demonstrate the reduction of noise power, fast Fourier transform (FFT) diagrams are used. The effect of the initial condition on the response of the system is also investigated.