An imaging device includes an imaging element which obtains an image, and an imaging sensor processing unit which resets an exposure of the imaging element by a feedback control based on an image data obtained by the imaging element. The method comprises acts of rectifying an AC voltage to a pulsating DC voltage, sensing a zero-crossing point of the pulsating DC voltage, synchronizing the pulsating DC voltage, setting pulse duration in a pulse period and turning ON and OFF of a pulsed activated device. Finally, the technique includes inserting, at the potential glitchy logic, glitches in each of the respective clock paths of the original RTL file to provide a modified RTL file and executing an RTL simulation using the modified RTL file and the respective assertions. The catheter device may be used to navigate a subannular space below a mitral valve to facilitate positioning of an anchor delivery device. An implant positionorientation calculator provides cup implanting information with respect to the orientation of said neck axis as a function of the tracking for position and orientation of at least the first trackable reference.