The effects of complex motion of the heart and surrounding anatomy due to cardiac and respiratory motion is reduced in high resolution imaging of coronary arteries using a diminishing variance algorithm using a navigator for tracking heart motion and iteratively reacquiring data frames where a data frame has a positional variance from a cumulative histogram of data. A portable programmable computer device that a user can readily plug into a diagnostic connector port of the vehicle for providing the controlling, monitoring, and evaluating functions. The charging scanning lines and the discharging scanning lines are arranged alternately and parallel with each other in a first direction. The recovered initial phase of each frequency carrier signal is cyclically shifted in order to compensate for the Doppler effect and subsequently decoded. Second, the nanoscopic entities are invisibly small.