An electrochemical device includes an electrochemical device having an electrochemical cell located within the sealed first enclosure. The first enclosure has at least a portion that is flexible. A cavity is formed within the first enclosure so that the cavity is in fluidic communication with the electrochemical cell, and pressure inside the sealed first enclosure is less than one half pressure of pressure outside the sealed first enclosure.

 
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> Control segment-based lever-arm correction via curve fitting for high accuracy navigation

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