Mode division multiplexing reconstructive spectrometer with an all-fiber photonics lantern.

This study presents a high-accuracy, all-fiber mode division multiplexing (MDM) reconstructive spectrometer (RS). The MDM was achieved by utilizing a custom-designed 3 × 1 mode-selective photonics lantern to launch distinct spatial modes into the multimode fiber (MMF). This facilitated the information transmission by increasing light scattering processes, thereby encoding the optical spectra more comprehensively into speckle patterns. Spectral resolution of 2 pm and the recovery of 2000 spectral channels were accomplished. Compared to methods employing single-mode excitation and two-mode excitation, the three-mode excitation method reduced the recovered error by 88% and 50% respectively. A resolution enhancement approach based on alternating mode modulation was proposed, reaching the MMF limit for the 3 dB bandwidth of the spectral correlation function. The proof-of-concept study can be further extended to encompass diverse programmable mode excitations. It is not only succinct and highly efficient but also well-suited for a variety of high-accuracy, high-resolution spectral measurement scenarios.

High-Precision Visual Servoing for the Neutron Diffractometer STRESS-SPEC at MLZ.

With neutron diffraction, the local stress and texture of metallic components can be analyzed non-destructively. For both, highly accurate positioning of the sample is essential, requiring the measurement at the same sample location from different directions. Current sample-positioning systems in neutron diffraction instruments combine XYZ tables and Eulerian cradles to enable the accurate six-degree-of-freedom (6DoF) handling of samples. However, these systems are not flexible enough. The choice of the rotation center and their range of motion are limited. Industrial six-axis robots have the necessary flexibility, but they lack the required absolute accuracy. This paper proposes a visual servoing system consisting of an industrial six-axis robot enhanced with a high-precision multi-camera tracking system. Its goal is to achieve an absolute positioning accuracy of better than 50µm. A digital twin integrates various data sources from the instrument and the sample in order to enable a fully automatic measurement procedure. This system is also highly relevant for other kinds of processes that require the accurate and flexible handling of objects and tools, e.g., robotic surgery or industrial printing on 3D surfaces.

A Self-Temperature Compensation Barometer Based on All-Quartz Resonant Pressure Sensor.

This paper reports a self-temperature compensation barometer based on a quartz resonant pressure sensor. A novel sensor chip that contains a double-ended tuning fork (DETF) resonator and a single-ended tuning fork (SETF) resonator is designed and fabricated. The two resonators are designed on the same diaphragm. The DETF resonator works as a pressure sensor. To reduce the influence of the temperature drift, the SETF resonator works as a temperature compensation sensor, which senses the instantaneous temperature of the DETF resonator. The temperature compensation method based on polynomial fitting is studied. The experimental results show that the accuracy is 0.019% F.S. in a pressure range of 200~1200 hPa over a temperature range of -20 °C~+60 °C. The absolute errors of the barometer are within ±23 Pa. To verify its actual performance, a drone flight test was conducted. The test results are consistent with the actual flight trajectory.

Deep mining of antibody phage-display selections using Oxford Nanopore Technologies and Dual Unique Molecular Identifiers.

Antibody phage-display technology identifies antibody-antigen interactions through multiple panning rounds, but traditional screening gives no information on enrichment or diversity throughout the process. This results in the loss of valuable binders. Next Generation Sequencing can overcome this problem. We introduce a high accuracy long-read sequencing method based on the recent Oxford Nanopore Technologies (ONT) Q20 + chemistry in combination with dual unique molecular identifiers (UMIs) and an optimized bioinformatic analysis pipeline to monitor the selections. We identified binders from two single-domain antibody libraries selected against a model protein. Traditional colony-picking was compared with our ONT-UMI method. ONT-UMI enabled monitoring of diversity and enrichment before and after each selection round. By combining phage antibody selections with ONT-UMIs, deep mining of output selections is possible. The approach provides an alternative to traditional screening, enabling diversity quantification after each selection round and rare binder recovery, even when the dominating binder was > 99% abundant. Moreover, it can give insights on binding motifs for further affinity maturation and specificity optimizations. Our results demonstrate a platform for future data guided selection strategies.

RTK+OSNMA Positioning for Road Applications: An Experimental Performance Analysis in Finland.

We compare the performance of dual-band (GPS L1/L2 and Galileo E1/E5a) real-time kinematic (RTK) positioning in an open sky and urban scenarios in southern Finland using two different authentication schemes: one using only satellites authenticated by Galileo's open service navigation message authentication (OSNMA) service (which at the moment of our tests led to using only authenticated Galileo satellites) and the other with no authentication. The results show the actual trade-off between accuracy and availability vs. authenticity associated with using only OSNMA-authenticated satellites, while the authentication of only Galileo satellites is possible (e.g., a drop of RTK positioning availability from 96.67 to 86.01% in our open sky and from 73.55 to 18.65% in our urban scenarios, respectively), and an upper bound of the potential performance that could be reached in similar experimental conditions had the authentication of GPS satellites been supported (e.g., an overall 14 cm and 10.20 m 95% horizontal accuracy in our open sky and urban scenarios, with below 30, 20 and 10 cm during 97.39, 96.03 and 92.43% of the time in the open sky and 49.12, 45.96 and 39.63% in the urban scenarios, respectively).

Designing and Testing an IoT Low-Cost PPP-RTK Augmented GNSS Location Device.

Nowadays, the availability of affordable multi-constellation multi-frequency receivers has broadened access to accurate positioning. The abundance of satellite signals coupled with the implementation of ground- and satellite-based correction services has unlocked the potential for achieving real-time centimetre-level positioning with low-cost instrumentation. Most of the current and future applications cannot exploit well-consolidated satellite positioning techniques such as Network Real Time Kinematic (RTK) and Precise Point Positioning (PPP); the former is inapplicable for large user bases due to the necessity of a two-way communication link between the user and the NRTK service provider, while the latter necessitates long convergence times that are not in keeping with kinematic application. In this context, the hybrid PPP-RTK technique has emerged as a potential solution to meet the demand for real-time, low-cost, accurate, and precise positioning. This paper presents an Internet of Things (IoT) GNSS device developed with low-cost hardware; it leverages a commercial PPP-RTK correction service which delivers corrections via IP. The main target is to obtain both horizontal and vertical decimetre-level accuracies in urban kinematic tests, along with other requisites such as solution availability and the provision of connection ports for interfacing an IoT network. A vehicle-borne kinematic test has been conducted to evaluate the device performance. The results show that (i) the IoT device can deliver horizontal and vertical positioning solutions at decimetre-level accuracy with the targeted solution availability, and (ii) the provided IoT ports are feasible for gathering the position solutions over an internet connection.

Correcting correlation quality of portable X-ray fluorescence to better map heavy metal contamination by spatial co-kriging interpolation.

High-precision mapping based on portable X-ray fluorescence (PXRF) data is currently being studied extensively; however, owing to poor correlation with soil metal concentration, the original PXRF data directly used for co-kriging interpolation (CKI) cannot accurately map contaminated sites with heterogeneous concentrations. Therefore, this study selected a landfill-contaminated site for research, explored the best correlation mode between PXRF variants and actual heavy metal concentration, analyzed the impact of improving the correlation model on the CKI of the spatial distribution of heavy metals, and explored the most appropriate CKI mode and point density. The results showed the following: (1) After nonlinear transformation, the correlation model between PXRF and the actual concentration was significantly improved, and the correlation coefficients of five heavy metals increased from 0.214-0.232 to 0.936-0.986. (2) The introduction of corrected PXRF data significantly improves the accuracy of CKI. Compared with the original PXRF co-kriging interpolation (OP-CKI), the ME of the corrected PXRF co-kriging interpolation (CP-CKI) for Zn, Pb, and Cu decreased by 78.2 %, 45.5 %, and 65.3 %, respectively. In terms of the spatial distribution of heavy metal pollutant concentrations, CP-CKI effectively improved the influence of local anomalous high-value points on the interpolation accuracy. (3) When the sample density measured by inductively coupled plasma mass spectrometry (ICP-MS) was less than 4 boreholes/hm2, CKI accuracy decreased significantly, indicating that the sample density should not be less than a certain threshold during CKI. (4) When the sample density measured by PXRF exceeded 7 boreholes/hm2, the mean error and root mean square error of CKI continued to decrease, suggesting that the introduction of enough sample density measured by PXRF can effectively improve the accuracy of CKI.

The spatial and temporal disaggregation models of high-accuracy vehicle emission inventory.

A high-accuracy gridding vehicle emission inventory is not only the foundation for developing refined emission control strategies but a necessary input to air quality model as well. An accurate approach to the spatiotemporal disaggregation is the key step to improving the accuracy of gridding emission inventories. The existing spatial disaggregation method considers relatively fewer impact factors, lacking adequate correlation analysis among impact factors. Additionally, the existing temporal disaggregation method does not correspond with the actual travel behavior of residents. This paper proposes a multi-factor spatial disaggregation model by principal component analysis (PCAM), based on a correlation analysis of the main impact factors. Further, a new temporal disaggregation model is proposed based on the congestion delay index combined with the traffic flow fundamental model (CDITF). The results from a case study in Jinan show that the square of correlation coefficients (RSQ) between the model- disaggregated NO2 emissions based on PCAM and the monitored NO2 concentration increased by 34.4% compared to the traditional disaggregation model based on the standard road length, and the RSQ for CO increased by 13%; the NMD and NME of the simulation results based on CMAQ model compared to standard road length model decrease by approximately 33.7% and 35.5%, respectively. The trend of the monthly, daily, and hourly variations of NO2 and CO emissions disaggregated by the proposed temporal disaggregation model is quite consistent with that of the monitored concentration data. The PCAM method and the CDITF proposed in this paper are more in line with the actual situation using the cumulative emissions on road sections. The vehicle emissions in Jinan are found to be concentrated in the center of each district and county and near high-grade roads. The disaggregation results in areas with large road slopes are more realistic for considering road slope factors. The trend of the monthly, daily, and hourly variations of NO2 and CO emissions disaggregated by the proposed temporal disaggregation model is quite consistent with that of the monitored concentration data, however, the monitored concentration data presents a certain degree of time lag. The proposed spatiotemporal disaggregation model in this paper improves the accuracy of gridding vehicle emission inventory, which is of a great significance for developing precise control strategies of vehicle emissions and improving the urban air quality in general.

Comparison of different prediction models for estimation of walking and running energy expenditure based on a wristwear three-axis accelerometer.

Objective: Objectively and efficiently measuring physical activity is a common issue facing the fields of medicine, public health, education, and sports worldwide. In response to the problem of low accuracy in predicting energy consumption during human motion using accelerometers, a prediction model for asynchronous energy consumption in the human body is established through various algorithms, and the accuracy of the model is evaluated. The optimal energy consumption prediction model is selected to provide theoretical reference for selecting reasonable algorithms to predict energy consumption during human motion. Methods: A total of 100 subjects aged 18-30 years participated in the study. Experimental data for all subjects are randomly divided into the modeling group (n = 70) and validation group (n = 30). Each participant wore a triaxial accelerometer, COSMED Quark pulmonary function tester (Quark PFT), and heart rate band at the same time, and completed the tasks of walking (speed range: 2 km/h, 3 km/h, 4 km/h, 5 km/h, and 6 km/h) and running (speed range: 7 km/h, 8 km/h, and 9 km/h) sequentially. The prediction models were built using accelerometer data as the independent variable and the metabolic equivalents (METs) as the dependent variable. To calculate the prediction accuracy of the models, root mean square error (RMSE) and bias were used, and the consistency of each prediction model was evaluated based on Bland-Altman analysis. Results: The linear equation, logarithmic equation, cubic equation, artificial neural network (ANN) model, and walking-and-running two-stage model were established. According to the validation results, our proposed walking-and-running two-stage model showed the smallest overall EE prediction error (RMSE = 0.76 METs, Bias = 0.02 METs) and the best performance in Bland-Altman analysis. Additionally, it had the lowest error in predicting EE during walking (RMSE = 0.66 METs, Bias = 0.03 METs) and running (RMSE = 0.90 METs, Bias < 0.01 METs) separately, as well as high accuracy in predicting EE at each single speed. Conclusion: The ANN-based walking-and-running two-stage model established by separating walking and running can better estimate the walking and running EE, the improvement of energy consumption prediction accuracy will be conducive to more accurate to monitor the energy consumption of PA.

A new explicit numerical scheme for enhancement of heat transfer in Sakiadis flow of micro polar fluid using electric field.

This article suggests a fourth-order numerical approach for solving ordinary differential equations (ODEs) that are both linear and nonlinear. The suggested scheme is an explicit predictor-corrector scheme. For linear ODE, the proposed numerical scheme's stability area is discovered. The proposed strategy yields the same stability region as the traditional fourth-order Runge-Kutta method. In addition, partial differential equations (PDEs) are used to develop the mathematical model for the flow of non-Newtonian micro-polar fluid over the sheet and heat and mass transit using electric field effects. These PDEs are further transformed into dimensionless boundary value problems. Boundary value problems are resolved using the proposed shooting-based scheme. The findings show that increasing values of ion kinetic work and Joule heating parameters cause the temperature profile to climb. The results produced by the suggested strategy are compared to those discovered through earlier studies. The results of this study could serve as a starting point for future fluid-flow investigations in a secure industrial environment.

Investigations into the human metabolism of ecdysterone.

The possible performance-enhancing effects and medical benefits of ecdysterone (ECDY) have been discussed several times throughout the last decades. In 2020, the World Anti-Doping Agency include ECDY in their monitoring programme and continued this prevalence study until now. Only little is known about the human metabolism of ECDY besides the first study performed on human subjects in the field of sports drug testing that was already conducted in 2001. Aim of this study was the in-depth investigation on human ECDY metabolism to improve its detectability and to support the decision-making processes as to how ECDY can be implemented most effectively into sports drug testing regulations. In a first trial, one male volunteer was administered with threefold deuterated ECDY to enable the detection and potential identification of all urinary metabolites still comprising the deuterium label by employing hydrogen isotope ratio mass spectrometry and high-resolution/high-accuracy mass spectrometry. Samples were collected for up to 14 days, and metabolites excreted unconjugated, glucuronidated, and sulphated were investigated. The detected deuterated metabolites were confirmed in a second administration trial encompassing two male and one female volunteers. After the administration of 50 mg of unlabelled ECDY, urine samples were collected for up to 7 days. Besides the already described urinary metabolites of ECDY, more than 20 new metabolites were detected encompassing all expected metabolic conversions including side chain cleavage at C21. A large interindividual variation in the amounts of excreted metabolites was visible, and considerable differences in abundances of early- and late-excretion phase metabolites were observed.

Learning curve across 2000 thoracolumbar pedicle screw placements using O-arm navigation: technical difficulties and their solutions.

INTRODUCTION: Instrumentation using the intraoperative O-arm navigation technique appears safer than its predecessor techniques. However, only a handful of surgeons often used navigation during spinal surgeries. Too many operative glitches and unreliable navigation accuracy were the important reasons cited even by experienced surgeons for not using spinal navigation. We have studied the accuracy of pedicle screw placement during the learning curve and beyond it. We have also discussed in detail the intricacies of the technique and solutions to the difficulties encountered using spinal navigation. MATERIALS AND METHODS: A total of 2000 thoracolumbar pedicle screws have been placed in the 324 spine surgeries meeting the inclusion and exclusion criteria included in this retrospective study. We have divided 2000 pedicle screw placements into consecutive groups of 200 each. We have compared these groups for the accuracy of screw placement with the surgeon's experience. RESULTS: The accuracy of pedicle screw placement using the "in-versus-out" grading system in group 1 was 85.5% which significantly increased in group 2 to 93.5% (p-value: 0.0099), and thereafter, there was a nonsignificant increase in subsequent groups with the graph achieving the shape of a plateau. CONCLUSION: Surgeons should learn the correct principles of the technique of O-arm navigation to prevent the loss of accuracy and place pedicle screws with high accuracy. There is a learning curve of around 30-35 surgeries or 200 pedicle screw placements to acclimatize with the technique of O-arm navigation and learn its principles.

Smart Temperature Sensor Design and High-Density Water Temperature Monitoring in Estuarine and Coastal Areas.

Acquiring in situ water temperature data is an indispensable and important component for analyzing thermal dynamics in estuarine and coastal areas. However, the long-term and high-density monitoring of water temperature is costly and technically challenging. In this paper, we present the design, calibration, and application of the smart temperature sensor TS-V1, a low-power yet low-cost temperature sensor for monitoring the spatial-temporal variations of surface water temperatures and air temperatures in estuarine and coastal areas. The temperature output of the TS-V1 sensor was calibrated against the Fluke-1551A sensor developed in the United States and the CTD-Diver sensor developed in the Netherlands. The results show that the accuracy of the TS-V1 sensor is 0.08 °C, while sensitivity tests suggest that the TS-V1 sensor (comprising a titanium alloy shell with a thermal conductivity of 7.6 W/(m °C)) is approximately 0.31~0.54 s/°C slower than the CTD-Diver sensor (zirconia shell with thermal conductivity of 3 W/(m °C)) in measuring water temperatures but 6.92~10.12 s/°C faster than the CTD-Diver sensor in measuring air temperatures. In addition, the price of the proposed TS-V1 sensor is only approximately 1 and 0.3 times as much as the established commercial sensors, respectively. The TS-V1 sensor was used to collect surface water temperature and air temperature in the western part of the Pearl River Estuary from July 2022 to September 2022. These data wells captured water and air temperature changes, frequency distributions, and temperature characteristics. Our sensor is, thus, particularly useful for the study of thermal dynamics in estuarine and coastal areas.

Anatomy preserving GAN for realistic simulation of intraoperative liver ultrasound images.

In ultrasound-guided liver surgery, the lack of large-scale intraoperative ultrasound images with important anatomical structures remains an obstacle hindering the successful application of AI to ultrasound guidance. In this case, intraoperative ultrasound (iUS) simulation should be conducted from preoperative magnetic resonance (pMR), which not only helps doctors understand the characteristics of iUS in advance, but also expands the iUS dataset from various imaging positions, thereby promoting the automatic iUS analysis in ultrasound guidance. Herein, a novel anatomy preserving generative adversarial network (ApGAN) framework was proposed to generate simulated intraoperative ultrasound (Sim-iUS) of liver with precise structure information from pMR. Specifically, the low-rank factors based bimodal fusion was first established focusing on the effective information of hepatic parenchyma. Then, a deformation field based correction module was introduced to learn and correct the slight structural distortion from surgical operations. Meanwhile, the multiple loss functions were designed to constrain the simulation of the content, structures, and style. Empirical results of clinical data showed that the proposed ApGAN obtained higher Structural Similarity (SSIM) of 0.74 and Fr´echet Inception Distance (FID) of 35.54 compared to existing methods. Furthermore, the average Hausdorff Distance (HD) error of the liver capsule structure was less than 0.25 mm, and the average relative (Euclidean Distance) ED error for polyps was 0.12 mm, indicating the high-level precision of this ApGAN in simulating the anatomical structures and focal areas.

Low-Cost GNSS and PPP-RTK: Investigating the Capabilities of the u-blox ZED-F9P Module.

GNSS has become ubiquitous in high-precision applications, although the cost of high-end GNSS receivers remains a major obstacle for many applications. Recent advances in GNSS receiver technology have led to the development of low-cost GNSS receivers, making high-precision positioning available to a wider range of users. One such technique for achieving high-precision positioning is Precise Point Positioning-Real Time Kinematic (PPP-RTK). It is a GNSS processing technique that combines the PPP and RTK approaches to provide high-precision positioning in real time without the need for a base station. In this work, we aim to assess the performance of the low-cost u-blox ZED-F9P GNSS module in PPP-RTK mode using the low-cost u-blox ANN-MB antenna. The experiment was designed to investigate both the time it takes the receiver to resolve the phase ambiguity and to determine the positioning accuracies achievable. Results showed that the u-blox ZED-F9P GNSS module could achieve centimeter-level positioning accuracy in about 60 s in PPP-RTK mode. These results make the PPP-RTK technique a good candidate to fulfill the demand for mass-market accurate and robust navigation since uses satellite-based corrections to provide accurate positioning information without the need for a local base station or network. Furthermore, due to its rapid acquisition capabilities and accurate data georeferencing, the technique has the potential to serve as a valuable method to improve the accuracy of the three-S techniques (GIS, remote sensing, and GPS/GNSS).

Accurate Nonlinearity and Temperature Compensation Method for Piezoresistive Pressure Sensors Based on Data Generation.

Piezoresistive pressure sensors exhibit inherent nonlinearity and sensitivity to ambient temperature, requiring multidimensional compensation to achieve accurate measurements. However, recent studies on software compensation mainly focused on developing advanced and intricate algorithms while neglecting the importance of calibration data and the limitation of computing resources. This paper aims to present a novel compensation method which generates more data by learning the calibration process of pressure sensors and uses a larger dataset instead of more complex models to improve the compensation effect. This method is performed by the proposed aquila optimizer optimized mixed polynomial kernel extreme learning machine (AO-MPKELM) algorithm. We conducted a detailed calibration experiment to assess the quality of the generated data and evaluate the performance of the proposed method through ablation analysis. The results demonstrate a high level of consistency between the generated and real data, with a maximum voltage deviation of only 0.71 millivolts. When using a bilinear interpolation algorithm for compensation, extra generated data can help reduce measurement errors by 78.95%, ultimately achieving 0.03% full-scale (FS) accuracy. These findings prove the proposed method is valid for high-accuracy measurements and has superior engineering applicability.

High-accuracy positivity-preserving numerical method for Keller-Segel model.

The Keller-Segel model is a time-dependent nonlinear partial differential system, which couples a reaction-diffusion-chemotaxis equation with a reaction-diffusion equation; the former describes cell density, and the latter depicts the concentration of chemoattractants. This model plays a vital role in the simulation of the biological processes. In view of the fact that most of the proposed numerical methods for solving the model are low-accuracy in the temporal direction, we aim to derive a high-precision and stable compact difference scheme by using a finite difference method to solve this model. First, a fourth-order backward difference formula and compact difference operators are respectively employed to discretize the temporal and spatial derivative terms in this model, and a compact difference scheme with the space-time fourth-order accuracy is proposed. To keep the accuracy of its boundary with the same order as the main scheme, a Taylor series expansion formula with the Peano remainder is used to discretize the boundary conditions. Then, based on the new scheme, a multigrid algorithm and a positivity-preserving algorithm which can guarantee the fourth-order accuracy are established. Finally, the accuracy and reliability of the proposed method are verified by diverse numerical experiments. Particularly, the finite-time blow-up, non-negativity, mass conservation and energy dissipation are numerically simulated and analyzed.

Application of "Galileo High Accuracy Service" on Single-Point Positioning.

Employment of precise positioning techniques will enable low-cost receivers for a variety of applications. The complexity of techniques such as Precise Point Positioning (PPP), or differential techniques that require the use of external sources of corrections, could be a disadvantage for users. On the other hand, a simple technique such as Single-Point Positioning (SPP) alone does not provide high-level accuracy. Nevertheless, the entry Galileo High-Accuracy Service (HAS), even if developed to be applied on PPP, could offer a positive impact on SPP. The objective of this study is the analysis of the effects of HAS on SPP, which are evaluated for Galileo and GPS, in single- and double-constellation mode. Results are encouraging, especially on the vertical channel, where some centimetric improvements are obtained.

Design and Fabrication of a High-Temperature SOI Pressure Sensor with Optimized Crossbeam Membrane.

This paper presents a SOI piezoresistive pressure sensor with the crossbeam membrane. The roots of the crossbeam were widened, which solved the problem of the poor dynamic performance of small-range pressure sensors working at a high temperature of 200 °C. A theoretical model was established to optimize the proposed structure, which combined the finite element and the curve fitting. Using the theoretical model, the structural dimensions were optimized to obtain the optimal sensitivity. During optimization, the sensor nonlinearity was also taken into consideration. The sensor chip was fabricated by MEMS bulk-micromachining technology, and Ti/Pt/Au metal leads were prepared to improve the sensor ability of high-temperature resistance over a long time. The sensor chip was packaged and tested, and the experimental results show the sensor achieved an accuracy of 0.241% FS, nonlinearity of 0.180% FS, hysteresis of 0.086% FS and repeatability of 0.137% FS at the high temperature. Given the good reliability and performance at the high temperature, the proposed sensor provides a suitable alternative for the measurement of pressure at high temperatures.

An integrated constrained gradient descent (iCGD) protocol to correct scan-positional errors for electron ptychography with high accuracy and precision.

Correcting scan-positional errors is critical in achieving electron ptychography with both high resolution and high precision. This is a demanding and challenging task due to the sheer number of parameters that need to be optimized. For atomic-resolution ptychographic reconstructions, we found classical refining methods for scan positions not satisfactory due to the inherent entanglement between the object and scan positions, which can produce systematic errors in the results. Here, we propose a new protocol consisting of a series of constrained gradient descent (CGD) methods to achieve better recovery of scan positions. The central idea of these CGD methods is to utilize a priori knowledge about the nature of STEM experiments and add necessary constraints to isolate different types of scan positional errors during the iterative reconstruction process. Each constraint will be introduced with the help of simulated 4D-STEM datasets with known positional errors. Then the integrated constrained gradient decent (iCGD) protocol will be demonstrated using an experimental 4D-STEM dataset of the 1H-MoS2 monolayer. We will show that the iCGD protocol can effectively address the errors of scan positions across the spectrum and help to achieve electron ptychography with high accuracy and precision.