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Sacubitril/valsartan is superior to enalapril in reducing the risks of cardiovascular death and preventing hospitalization in patients with heart failure and reduced ejection fraction (HFrEF). However, patients often do not receive sacubitril/valsartan because of concerns about hypotension. We examined the feasibility of initiating sacubitril/valsartan at a very low dose (VLD) in potentially intolerant patients with HFrEF and subsequent dose up-titration, treatment persistence and outcomes. We analyzed 206 patients with HFrEF grouped according to starting sacubitril/valsartan dose. The VLD group (n = 106) commenced 25 mg twice daily, and the standard-dose (SD) group (n = 100) started on ≥ 50 mg twice daily. Baseline systolic blood pressure was 103 ± 12 mmHg vs. 119 ± 14 mmHg in the SD group (P

The efficient and accurate interpretation of radiologic images is paramount.To evaluate whether a deep learning-based artificial intelligence (AI) engine used concurrently can improve reader performance and efficiency in interpreting chest radiograph abnormalities.This multicenter cohort study was conducted from April to November 2021 and involved radiologists, including attending radiologists, thoracic radiology fellows, and residents, who independently participated in 2 observer performance test sessions. The sessions included a reading session with AI and a session without AI, in a randomized crossover manner with a 4-week washout period in between. The AI produced a heat map and the image-level probability of the presence of the referrable lesion. The data used were collected at 2 quaternary academic hospitals in Boston, Massachusetts: Beth Israel Deaconess Medical Center (The Medical Information Mart for Intensive Care Chest X-Ray [MIMIC-CXR]) and Massachusetts General Hospital (MGH).The ground truths for the labels were created via consensual reading by 2 thoracic radiologists. Each reader documented their findings in a customized report template, in which the 4 target chest radiograph findings and the reader confidence of the presence of each finding was recorded. The time taken for reporting each chest radiograph was also recorded. Sensitivity, specificity, and area under the receiver operating characteristic curve (AUROC) were calculated for each target finding.A total of 6 radiologists (2 attending radiologists, 2 thoracic radiology fellows, and 2 residents) participated in the study. The study involved a total of 497 frontal chest radiographs-247 from the MIMIC-CXR data set (demographic data for patients were not available) and 250 chest radiographs from MGH (mean [SD] age, 63 [16] years; 133 men [53.2%])-from adult patients with and without 4 target findings (pneumonia, nodule, pneumothorax, and pleural effusion). The target findings were found in 351 of 497 chest radiographs. The AI was associated with higher sensitivity for all findings compared with the readers (nodule, 0.816 [95% CI, 0.732-0.882] vs 0.567 [95% CI, 0.524-0.611]; pneumonia, 0.887 [95% CI, 0.834-0.928] vs 0.673 [95% CI, 0.632-0.714]; pleural effusion, 0.872 [95% CI, 0.808-0.921] vs 0.889 [95% CI, 0.862-0.917]; pneumothorax, 0.988 [95% CI, 0.932-1.000] vs 0.792 [95% CI, 0.756-0.827]). AI-aided interpretation was associated with significantly improved reader sensitivities for all target findings, without negative impacts on the specificity. Overall, the AUROCs of readers improved for all 4 target findings, with significant improvements in detection of pneumothorax and nodule. The reporting time with AI was 10% lower than without AI (40.8 vs 36.9 seconds; difference, 3.9 seconds; 95% CI, 2.9-5.2 seconds; P .001).These findings suggest that AI-aided interpretation was associated with improved reader performance and efficiency for identifying major thoracic findings on a chest radiograph.

Background Evaluation of the glymphatic system with intrathecal contrast material injection has limited clinical use. Purpose To investigate the feasibility of using serial intravenous contrast-enhanced T1 mapping in the quantitative evaluation of putative dynamic glymphatic activity in various brain regions and to demonstrate the effect of sleep on glymphatic activity in humans. Materials and Methods In this prospective study from May 2019 to February 2020, 25 healthy participants (mean age, 25 years ± 2 [standard deviation]; 15 men) underwent two cycles of MRI (day and night cycles). For each cycle, T1 maps were acquired at baseline and 0.5, 1, 1.5, 2, and 12 hours after intravenous contrast material injection. For the night cycle, participants had a normal night of sleep between 2 and 12 hours. The time (tmin) to reach the minimum T1 value (T1min), the absolute difference between baseline T1 and T1min (peak ΔT1), and the slope between two measurements at 2 and 12 hours (slope[2h-12h]) were determined from T1 value-time curves in cerebral gray matter (GM), cerebral white matter (WM), cerebellar GM, cerebellar WM, and putamen. Mixed-model analysis of variance (ANOVA), Friedman test, and repeated-measures ANOVA were used to assess the effect of sleep on slope(2h-12h) and to compare tmin and peak ΔT1 among different regions. Results The slope(2h-12h) increased from the day to night cycles in cerebral GM, cerebellar GM, and putamen (geometric mean ratio [night/day] = 1.4 [95% CI: 1.2, 1.7], 1.3 [95% CI: 1.1, 1.4], and 2.4 [95% CI: 1.6, 3.6], respectively; P = .001, P < .001, and P < .001, respectively). Median tmin values were 0.5 hour in cerebral and cerebellar GM and putamen for both cycles. Cerebellar GM had the highest mean peak ΔT1, followed by cerebral GM and putamen in both day (159 msec ± 6, 99 msec ± 4, and 62 msec ± 5, respectively) and night (152 msec ± 6, 104 msec ± 6, and 58 msec ± 4, respectively) cycles. Conclusion Clearance of a gadolinium-based contrast agent was greater after sleep compared with daytime wakefulness. These results suggest that sleep was associated with greater glymphatic clearance compared with wakefulness. © RSNA, 2021 Online supplemental material is available for this article. See also the editorial by Anzai and Minoshima in this issue.

AimsSacubitril/valsartan is superior to enalapril in reducing the risks of cardiovascular death and preventing hospitalization in patients with heart failure and reduced ejection fraction (HFrEF). However, patients often do not receive sacubitril/valsartan because of concerns about hypotension. We examined the feasibility of initiating sacubitril/valsartan at a very low dose (VLD) in potentially intolerant patients with HFrEF and subsequent dose up-titration, treatment persistence and outcomes.Methods and ResultsWe analyzed 206 patients with HFrEF grouped according to starting sacubitril/valsartan dose. The VLD group (n=106) commenced 25 mg twice daily, and the standard-dose (SD) group (n=100) started on ≥50 mg twice daily. Baseline systolic blood pressure was 103±12 mmHg vs. 119±14 mmHg in the SD group (PConclusionsIn patients considered by the treating physician likely to be intolerant of sacubitril/valsartan, initiation with 25 mg twice daily was generally possible and patients remained in therapy, with similar decreases in NT-proBNP and increases in left ventricular ejection fraction to those observed in patients receiving SD sacubitril/valsartan.

Since aluminum responds to various oxidizers and has a high energy density, there are high expectations for its usefulness as a fuel. However, it is covered with an aluminum oxide film, which has a high melting point, and thus, its ignition is difficult. One method suggested to solve this problem is nickel coating; however, in contrast to the extensive amount of research conducted on the overall phenomenon of aluminum combustion, research regarding Ni-coated aluminum is still in nascent stages. This study was carried out to further elucidate the ignition mechanism; thus, millimeter-sized (∼2.38 mm) aluminum particles were used to observe the surface where ignition occurs in air. The spatial and temporal resolutions were heightened by prolonging the heating period. The aluminum particles were nickel coated using electro/electroless methods, and surface analysis by SEM, thermal analysis by TGA/DSC, and species analysis by XRD and EDS were carried out. In addition, two-wavelength pyrometry was used to measure the ignition temperature. The results show that regardless of the nickel content in the coating of the aluminum particles, the ignition temperature was approximately 2400 K, similar to the melting point of aluminum oxide. The thermodynamic and thermophysical characteristics of nickel, aluminum, aluminum oxide, and nickel (II) oxide, and the surface/cross-sectional analysis, thermal and species analysis, and high-speed cinematography of the quenched samples provided a detailed explanation of the ignition process. Through this ignition mechanism, the emitted spectrum of AlO (as an intermediate combustion material) was traced to explain the decrease in ignition delay with increase in nickel content.

Aluminum particles 15–25 μm in size are widely used in fuel propellants and underwater propulsion systems in national defense research. However, these particles are covered with an aluminum oxide film, which has a high melting point, so ignition is difficult. To improve the ignitability of high-energy aluminum powder and to understand the reaction phenomenon as a function of particle size(15–25 μm, 74–105 μm, and 2.38 mm) and oxidizer(air, CO2, and argon), the natural oxide films are chemically removed. The particles are then coated with nickel using an electro-less method. The degree of nickel deposition is confirmed qualitatively and quantitatively through surface analysis using scanning electron microscopy/energy dispersive spectroscopy. To characterize the nickel coatings, elemental analysis is also conducted by using X-ray diffraction. Thermogravimetric analysis/differential scanning calorimetry (TGA/DSC) enable comparisons between the uncoated and coated aluminum, and the reaction process are investigated through fine structural analysis of the particle surfaces and cross sections. There are little difference in reactivity as a function of oxidant type. However, a strong exothermic reaction in the smaller nickel-coated aluminum particles near the melting point of aluminum accelerates the reaction of the smaller particles. Explanation of the reactivity of the nickel-coated aluminum depending on the particle sizes is attempted.

The upsurges in population, internal migration, and various development works have caused significant land use and land cover (LULC) changes in the Bagmati Basin of Nepal. The effects of climate change such as increased precipitation and temperature are affecting the provision of ecosystem services (ES). In this regard, this study particularly treated water yield (WY), soil loss, nitrogen export, and carbon fluctuation in the basin. Integrated Valuation of Ecosystem Services and Tradeoffs (InVEST) tools were used to carry out a comparative analysis of ES based on LULC data for 2000 and 2010 and corresponding climate data. To analyze the future period (2010&ndash, 2099), we have used climate data from the multi-model ensemble (MME) of statistically downscaled and bias-corrected 12 best global climate models (GCMs). A raw GCM analysis (based on historical observational data) from 29 GCMs was done first. The results shows with a subsequent degradation of ES providers like forests and an increment in agricultural and urban areas, ES are on a verge of degradation. Furthermore, a projection of future climate patterns depicts increased precipitation and temperature. Thus, urgent measures are required for the sustainable provision of ES. Outcomes of the study are expected to help in the incorporation of ES in development policies promoting low-impact development along with maintaining ecological and economic goals. The study closes by presenting a recommendation for model application and future study needs.

Objective To evaluate whether computed tomography (CT) reconstruction algorithms affect the CT texture features of the liver parenchyma. Materials and Methods This retrospective study comprised 58 patients (normal liver, n = 34; chronic liver disease [CLD], n = 24) who underwent liver CT scans using a single CT scanner. All CT images were reconstructed using filtered back projection (FBP), hybrid iterative reconstruction (IR) (iDOSE4), and model-based IR (IMR). On arterial phase (AP) and portal venous phase (PVP) CT imaging, quantitative texture analysis of the liver parenchyma using a single-slice region of interest was performed at the level of the hepatic hilum using a filtration-histogram statistic-based method with different filter values. Texture features were compared among the three reconstruction methods and between normal livers and those from CLD patients. Additionally, we evaluated the inter- and intra-observer reliability of the CT texture analysis by calculating intraclass correlation coefficients (ICCs). Results IR techniques affect various CT texture features of the liver parenchyma. In particular, model-based IR frequently showed significant differences compared to FBP or hybrid IR on both AP and PVP CT imaging. Significant variation in entropy was observed between the three reconstruction algorithms on PVP imaging (p < 0.05). Comparison between normal livers and those from CLD patients revealed that AP images depend more strongly on the reconstruction method used than PVP images. For both inter- and intra-observer reliability, ICCs were acceptable (> 0.75) for CT imaging without filtration. Conclusion CT texture features of the liver parenchyma evaluated using the filtration-histogram method were significantly affected by the CT reconstruction algorithm used.

Efficient management of business processes is a key element of enterprise information systems for organizations operating in a competitive business environment. Despite methodology introduced to enhance the effectiveness of Business Process Management, research on the initial phase of system implementation has typically focused on the accurate execution of processes, not efficiency. The enhancement of process efficiency in various manufacturing applications, however, has received much attention over the past several decades. Unfortunately, due to the dissimilarities between business and manufacturing processes, optimized manufacturing processes cannot be applied directly to business processes. This study introduces a methodology for incorporating business process semantics and alternative paths in the Business Process Management structure. The approach entails mixed integer programming (MIP) formulation for a business-process execution plan and a meta-heuristic algorithm to obtain good solutions for multi-activity processes.

T-Burner tests of an Al/HTPB propellant in conjunction with a Pulsed DB/AB Method were conducted to find an acoustic amplification factor. Aluminum-fr ee and aluminum-heavy propellants were examined. Instant surface ignition was successfully made by the use of a supplementary propellant of fractionally higher reaction rate. With the prese nce of higher aluminum concentration in the propellants, the pressure perturbations were promptly dampe d down and the pressure fluctuations were no longer dispersive. Addition of aluminum particles into the propellant was advantageous for stabilizing pressure-coupled unstable waves.초 록 연소 시, 입자상 물질에 대한 HTPB/AP 계열 고체추진제의 음향특성을 정량화하기 위해서, Pulsed DB/AB T-burner 실험을 수행하였다. 추진제 전면에서 동시 점화를 위해, 대상 고체추진제보다 연소속도가 빠른 다른 고체추진제를 대상 추진제 앞면에 부착하였다. 다량의 알루미늄이 포함된 고체추진제에서는 T-burner 내부에서 만들어진 압력섭동에 의한 음향학적 불안정성이 매우 빠르게 감쇠되었고, 반대로 알루미늄이 포함되지 않은 고체추진제에서는 상대적으로 매우 느리게 감쇠함을 확인하였다. 본 연구에서는 음향학적 특성값들을 정량화하였고, 이를 통해 연소응답 특성을 계산하였다.Key Words: Solid Propellant(고체추진제), Combustion Response(연소응답), T-burner(T-버너), Fast Ignition Disk(점화보조제), Pulsed DB/AB Method(펄스형 DB/AB 방법)Received 2 December 2013 / Revised 1 March 2014 / Accepted 8 Ma rch 2014

In this study, DC (Direct current) type steam plasma igniter is developed for effective ignition of high-energy density metal aluminum and gas temperature is measu red by emission spectrum of OH radical. Because of the ultra-high gas temperature, the DC plas ma jet is measured by Boltzmann plot method which is the non-contact optical technique and spectrum comparison-analysis. And both methods were applied to experiment after accurate verification. As a result, we could identify that plasma jet temperature is 2900 K ~ 5800 K in the 30 mm range fr om the nozzle tip.초 록 본 연구에서 고에너지 금속 알루미늄의 효과적인 점화를 위해 개발한 직류 방식의 스팀 플라즈마 점화기 가스온도를 OH radical의 방출 스펙트럼을 사용하여 측정하였다. 플라즈마 제트온도는 초고온이므로 비접촉식 광학 계측 방법인 볼츠만 기울기법과 스펙트럼 비교 분석법을 이용하여 측정하였으며 각각의 방법은 정밀하게 검증 후 실험에 적용되었다. 플라즈마 점화기의 노즐 팁으로부터 30 mm 범위에서의 제트온도 측정결과 두 방법 모두 알루미늄의 점화온도(≈2400 K) 이상의 2900 K ~ 5800 K 를 확인할 수 있었다.Key Words: Steam Plasma Igniter(스팀 플라즈마 점화기), High Temperature Measurement(고온측정법), Emission Spectroscopy(방출분광법), Aluminum Ignition(알루미늄 점화)Received 2 June 2013 / Revised 3 January 2014 / Accepted 11 Jan uary 2014

In this paper, we propose an evolutionary method with a simulation model for scheduling jobs including operations specified in terms of workload rather than processing time. It is suggested that processing times should be determined according to the number of assigned resources rather than the workload. The simulation model is used to estimate the result of resource allocation in a time horizon based on preselected rules. The evolutionary methods improve a production schedule in terms of compliance with due dates by selecting an alternative resource allocation rule and changing timing constraints. The results of computational experiments show that compliance with due dates improved by as much as 30 % under the modified production schedule over the initial schedule.

Objective To compare the lumbar vertebral bone marrow fat-signal fractions obtained from six-echo modified Dixon sequence (6-echo m-Dixon) with those from single-voxel magnetic resonance spectroscopy (MRS) in patients with low back pain. Materials and Methods Vertebral bone marrow fat-signal fractions were quantified by 6-echo m-Dixon (repetition time [TR] = 7.2 ms, echo time (TE) = 1.21 ms, echo spacing = 1.1 ms, total imaging time = 50 seconds) and single-voxel MRS measurements in 25 targets (23 normal bone marrows, two focal lesions) from 24 patients. The point-resolved spectroscopy sequence was used for localized single-voxel MRS (TR = 3000 ms, TE = 35 ms, total scan time = 1 minute 42 seconds). A 2 × 2 × 1.5 cm3 voxel was placed within the normal L2 or L3 vertebral body, or other lesions including a compression fracture or metastasis. The bone marrow fat spectrum was characterized on the basis of the magnitude of measurable fat peaks and a priori knowledge of the chemical structure of triglycerides. The imaging-based fat-signal fraction results were then compared to the MRS-based results. Results There was a strong correlation between m-Dixon and MRS-based fat-signal fractions (slope = 0.86, R2 = 0.88, p < 0.001). In Bland-Altman analysis, 92.0% (23/25) of the data points were within the limits of agreement. Bland-Altman plots revealed a slight but systematic error in the m-Dixon based fat-signal fraction, which showed a prevailing overestimation of small fat-signal fractions (< 20%) and underestimation of high fat-signal fractions (> 20%). Conclusion Given its excellent agreement with single-voxel-MRS, 6-echo m-Dixon can be used for visual and quantitative evaluation of vertebral bone marrow fat in daily practice.

Corresponding author. E-mail: wsyoon@yonsei.ac.krABSTRACT In this study, In order to develop the measurement method of high energy density metal aluminum dust cloud combustion, flame temperature and emission spectrum was measured using spectrometer. Because of the ultra high ㎛-sized aluminum flame temperature more than 2400 K, it was meas ured by non-contact optical technique which is the modified two wavelength pyrometry with 520, 640 nm and spectrum comparison method. These methods were applied to e xperiment after accurate verification. As a result, we could identify that flame tempera ture is more than 2400 K in bottom of combustor in both methods. And on the emission spectrum analysi s, we could measure AlO radical which is occurred dominantly in aluminum combustion.초 록 본 연구에서는 고에너지 금속 알루미늄 군입자 연소 화염 분석을 위한 측정기법 개발 연구로서 스펙트로메터를 사용하여 화염 온도와 자발광 스펙트럼을 측정하였다. 마이크로 크기의 알루미늄 군입자 연소 반응시 발생하는 화염온도는 약 2400 K 이상의 초고온이므로 비접촉식 광학 계측 방법을 사용하였으며, 측정을 위해 개발된 기법은 520 nm, 640 nm를 사용하는 이색법을 응용한 방법과 광대역 파장 비교법으로서 각각의 방법은 정밀하게 검증 후 실험에 적용되었다. 연소실 하단에서 화염온도 측정결과 두 방법 모두 2400 K 이상의 화염온도를 확인할 수 있었으며 자발광 측정 결과 알루미늄 연소 반응시 가장 지배적으로 발생하는 화학종인 AlO를 확인할 수 있었다.Key Words: High Temperature Measurement(고온측정법), Emission Spectroscopy(방출분광법)Received 14 June 2013 / Revised 11 September 2013 / Accepted 18 September 2013

Basically, in order to apply solid propellant as ignition source to high energy metal particle combustion system, we analyzed combustion characteristics of the HTPB/AP/Al, HTPE/AP/Al propellants by using a strand burner. The propellants were tested in a high-pressure windowed strand burner, which was pressurized up to 300 psia with pure argon gas. Strand burner was visualized with two quartz windows and ignition was accomplished by a 10 W laser. The burning rate of propellant was measured with high-speed camera method for frame analysis and photodiode method for combustion time analysis. Emission spectrum was measured with spectrometer at 300 nm ~ 800 nm and 1500 nm ~ 5000 nm and then we analyzed species during propellant combustion.

Department of Industrial Engineering, Pusan National University, Busan 609-735, KoreaAt a shipyard, the efficient handling of blocks is one of the most important factors in the shipbuilding process. We consider the problem of deployment planning of blocks from storage yards. As some information of block arrangement should be considered to handle the problem, we adopt the block arrangement based on the coordinates and sizes of each block at a storage yard. Deployment planning for a block involves deciding upon its transportation route from the storage yard and searching for blocks that would obstruct its transportation along this route. A tabu search algorithm for deploying several blocks is developed to minimize the number of obstructive blocks deployed together from the storage yards at a shipyard. The results of computational experiments show that the developed algorithm is very useful in the deployment planning of multiple blocks from the storage yards.

Abstract In passive RFID environment, this paper presents an efficient mobile robot localization and a pseudorandom tag arrangement for improved performance. It is assumed that a mobile robot travels along a series of linear segments, each at a constant velocity, and the number of tags sensed at once is at most one. First, using the spatio-temporal information during tag traversing, a simple but effective mobile robot localization method is developed. Second, three representative tag arrangements, including square, parallelogram, and tilted square, are examined. Special attention is given to the problem of long navigation without tag sensing, so called tag invisibility. Taking into account both tag invisibility and tag installation, a pseudorandom tag arrangement, inspired from the Sudoku puzzle, is proposed. To demonstrate the validity of the proposed mobile robot localization system, some experimental results are given.

This paper presents the robust velocity estimation of a mobile robot using a polygonal array of optical mice that are installed at the bottom of the mobile robot. First, the velocity kinematics from a mobile robot to an array of optical mice is derived, from which the least squares estimation of a mobile robot velocity is obtained. Second, the least squares mobile robot velocity estimation is shown to be robust against measurement noises and partial malfunctions of optical mice. Third, in the presence of installation error, a practical method for optical mouse position calibration is devised. Finally, some experimental results are given to demonstrate the validity and performance of the proposed mobile robot velocity estimation.

Under passive RFID environment, this paper presents a new localization of a mobile robot traversing over the floor covered with tags, which is superior to existing methods in terms of estimation performance and cost effectiveness. Basically, it is assumed that a mobile robot is traveling along a series of straight line segments, each segment at a certain constant velocity, and that the number of tags sensed by a mobile robot at each sampling instant is at most one. First, for a given line segment with known starting point, the velocity and position of a mobile robot is estimated using the spatial and temporal information acquired from the traversed tag. Some discussions are made on the validity of the basic assumptions and the localization for the initial segment with unknown starting point. Second, for a given tag distribution density, the optimal tag arrangement is considered to reduce the position estimation error as well as to make easy the tag attachment on the floor. After reviewing typical tag arrangements, the pseudorandom tag arrangement is devised inspired from the Sudoku puzzle, a number placement puzzle. Third, through experiments using our passive RFID localization system, the validity and performance of the mobile robot localization proposed in this paper is demonstrated.

This paper presents the velocity estimation of a mobile robot using a regular polygonal array of optical mice that are installed at the bottom of a mobile robot. First, the basic principle of the proposed velocity estimation method is explained. Second, the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system. Third, for a given set of optical mouse readings, the mobile robot velocity is estimated based on the least squares solution to the obtained system. Finally, simulation results are given to demonstrate the validity of the proposed velocity estimation method.

In the near future, personal service robots are expected to come into human daily life as supporters in education, leisure, house care, health care, and so on. Most of them are built on an omnidirectional mobile robot so as to navigate in an environment restricted in space and cluttered with obstacles. Caster wheels have been chosen for the development of an omnidirectional mobile robot, as reported in (Holmberg, 2000), among several omnidirectional wheel mechanisms, including universal wheels, Swedish wheels, orthogonal wheels, and ball wheels. This is because caster wheels can operate without additional peripheral rollers or support structure, and maintain good performance even though payload or ground condition changes. There have been several works on the kinematics of a caster wheeled omnidirectional mobile robot (COMR), including the kinematic modeling, the design and control, the isotropy analysis, as reported in (Holmberg, 2000; Muir & Neuman, 1987; Campion et al., 1996; Kim & Kim, 2004; Park et al., 2002; Kim & Moon, 2005; Oetomo et al., 2005; Kim & Jung, 2007). Previous isotropy analysis, as reported in (Kim & Kim, 2004; Park et al., 2002; Kim & Moon, 2005; Oetomo et al., 2005), has been made only for a COMR in which the steering link offset is equal to the wheel radius, except our recent work, as reported in (Kim & Jung, 2007). It was found that such a restriction is necessary to have globally optimal isotropic characteristics of a COMR, as reported in (Park et al., 2002; Kim & Moon, 2005; Oetomo et al., 2005). Nevertheless, many practical COMR's in use take advantage of the steering link offset which is different from the wheel radius, mainly for improved tipover stability, as reported in (McGhee & Frank, 1968; Papadopoulos & Rey, 1996). The tipover stability becomes critical when a COMR makes a rapid turn or sudden external forces are applied to a COMR. The accuracy of the velocity kinematics of a robotic system depends on the condition number of the Jacobian matrix involved. Based on the Euclidean norm, the condition number of a matrix can be defined as the ratio of the largest to smallest singular values of the matrix, as reported in (Strang, 1988), whose value ranges from unity to infinity. For a given linear system b Ax = , the condition number of A represents the amplification of the

Purpose To report a case of inadvertent anterior chamber and cornea stromal injection with high dose antibiotics and steroids during cataract operation. Methods During cataract operation on a 78 year-old female patient, high dose gentamicin (20 mg/0.5 ml) and dexamethasone (2 mg/0.5 ml) were inadvertently injected into the anterior chamber and cornea stroma when making cornea edema for sealing of the incision sites. Anterior chamber irrigation with balanced salt solution (BSS) was immediately administered. On postoperative day one, extensive cornea edema was noted, and best-corrected visual acuity was 0.2. Descemet's membrane folds were observed around the corneal incision sites. Topical 5% NaCl and 1% prednisolone were started. Results Four weeks postoperatively, corneal edema began to reduce significantly. At four months postoperatively, corneal edema fully resolved, and best-corrected visual acuity was 0.8. However, some Descemet's membrane folds still remained, and a decrease in the number of endothelial cells was noted by specular microscope. Conclusions In this case involving anterior chamber and cornea stromal injection with high dose antibiotics and steroids, immediate anterior chamber irrigation with balanced salt solution seemed an appropriate management, and the patient's long-term visual acuity appears good. To prevent such mistakes, precise labeling of all solutions and use of different syringe needles should be considered.

Purpose: To assess the relationship between the retinal thickness analyzer (RTA) parameters, and those of the GDx VCC scanning laser polarimeter (GDx VCC), Stratus OCT optical coherence tomography (Stratus OCT), and Heidelberg retinal tomograph II confocal scanning laser ophthalmoscopy (HRT II). Methods: Twenty-nine primary open-angle glaucoma patients were retrospectively included in this study. Measurements were obtained using the RTA, GDx VCC, Stratus OCT, and HRT II. We calculated the correlation coefficients between the parameters of RTA and those of the other studies. Results: Among the optic disc parameters of RTA, the cup volume was best correlated with Stratus OCT (R=0.780, p