Reciprocating rasps for the surgical preparation of the bone prior to the implantation of a glenoid or acetabular component with complex geometry are disclosed. In particular, constrained quadratic or conic optimization problems of unique importance for portfolio asset allocation are seamlessly solved in analytic and efficient ways. The present disclosure further provides immunological and nucleic acid based methods for the diagnosis of scapuloperoneal muscular dystrophy, where there is a reduction in or absence of \u03b17A integrin expression in muscle tissue samples and normal levels of laminin-24 in those same samples. Different technologies are provided for locating and indicating item positions. By manipulating the star catalog, or sub-catalogs derived from said catalog, based upon the exclusion list, measurements of such excluded stars are prevented from corrupting the attitude or angular velocity or alignment estimates formulated on board.