A contone source image is processed to create halftone outputs by identifying intensity thresholds based on the coordinates of the pixels of the source image. The apparatus can include a matrix type two-dimensional image sensor and a light generator directing light toward the target. The other MQ structure is arranged to provide another adiabatic quantum computation by application of another Hamiltonian operator that is spatially different than the initial Hamiltonian operator. The catheter is navigated to the target which tracking the distal tip of the guide in the reference coordinate system. Such a system includes: a controller that inserts synchronized time information in the message, prior to transmitting the message, the synchronized time information comprising a current time value and a synchronization time value; and a processor that determines a local elapsed time value since last receiving a last synchronized time. Two or more base stations may be allocated subframes in a radio frame.