Immunology-based control framework for multi-jointed redundant manipulators

Artificial Immune System (AIS) has recently been actively researched with a number of emerging engineering applications that has capitalized from its characteristics including self-organization, distributive control, knowledge mapping and fault tolerance. This paper reports the development of an AIS paradigm for the distributive control of a multi-jointed, redundant manipulator. Traditionally, manipulator control is achieved by analytical solutions. By adopting a multiagent-based control paradigm, a multi-jointed manipulator can be thought of as a group of separately controlled agents. In this paper, we investigate the viability of a multiagent immunology-based control framework for the trajectory control of a multi-jointed redundant manipulator.published_or_final_versio

Management of heart failure with current perspectives

Heart failure is defined as a pathophysiological state in which an abnormality of cardiac function is responsible for the failure of the heart to pump blood at a rate commensurate with the requirements of the metabolising tissues and/or to be able to do so only from an elevated filling pressure.' This abnormality in cardiac function is reflected by the occurrence of exercise intolerance. Although heart failure is known for a long time in medical history, this condition is still associated with high morbidity and mortality. Various studies have demonstrated around 50% mortality rate over 2-5 years or an annual mortality rate of about 25% in patients with left ventricular dysfunction.2'3 In addition, repeated hospital-isation for treatment of worsening heart failure has placed a severe strain on the health care system. In this article, the preventive and treatment strategies currently available for the management of heart failure will be discussed.published_or_final_versio

A patient with non-Q wave acute inferior myocardial infarction

The occurrences of atrioventricular (AV) nodal blockade or right ventricular (RV) infarction in acute inferior myocardial infarction (MI) had been well recognised and signified a proximal right coronary artery (RCA) occlusion. However, they did not point out the extent of the RCA territory involved. We recently managed a patient with incomplete inferior MI in which ECG on presentation already showed (he infarct-related RCA as the dominant vessel having proximal occlusion. Various aggressive treatments have been taken subsequently.published_or_final_versio

Laparoscopic repair of incisional hernia.

A 75-year-old man developed an incisional hernia over the upper abdomen following a wedge resection of a gastric stromal tumour in 1996. This is the first published report of a successful repair of an incisional hernia via a laparoscopic intraperitoneal on-lay technique using GORE-TEX DualMesh material in Hong Kong. Compared with conventional open repair of incisional hernia, long incisions and wound tension are avoided using the laparoscopic approach. This translates into a reduced risk of wound-related complications and facilitates recovery. In selected cases, minimally invasive surgery is a safe technique for the repair of incisional hernias.published_or_final_versio

A comparative outcome analysis of bilateral versus unilateral endoscopic extraperitoneal inguinal hernioplastics

Background: Bilateral inguinal hernia is an accepted indication for endoscopic totally extraperitoneal inguinal hernioplasty (TEP), but few studies have proved that the outcomes of bilateral TEP are as good as those of unilateral TEP. The objective of the present study was to compare the clinical outcomes of patients who underwent unilateral TEP with those of patients who underwent bilateral TEP. Patients and Methods: From June 1999 to May 2002, 103 patients underwent simultaneous bilateral TEP. The clinical data and outcomes of these patients were compared with those of an age-matched cohort of patients who underwent unilateral TEP during the same period. Results: The demographic features and hernia types were similar for the two groups. The incidence of direct inguinal hernia was significantly higher in the patients with bilateral inguinal hernia. The mean operative time for unilateral TEP was 65 minutes, and for bilateral TEP it was 97 minutes. The mean pain score at rest was significantly lower in the bilateral group than in the unilateral group on postoperative days 2 and 3. Pain scores at rest and during coughing from the day of operation to day 6 were otherwise comparable for the two groups. Comparisons of postoperative morbidity, length of hospital stay, and time to resumption of normal outdoor activities showed no significant differences between the two groups. Conclusions: The postoperative recovery and morbidity of patients who underwent bilateral TEP were equivalent to those who underwent unilateral TEP. Simultaneous bilateral TEP is safe and advantageous in patients with from bilateral inguinal hernias.published_or_final_versio