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This paper proposes a novel model predictive control (MPC) algorithm that increases the path tracking performance according to the control input. The proposed algorithm reduces the path tracking errors of MPC by updating the sampling time of the next step according to the control inputs (i.e., the lateral velocity and front steering angle) calculated in each step of the MPC algorithm. The scenarios of a mixture of straight and curved driving paths were constructed, and the optimal control input was calculated in each step. In the experiment, a scenario was created with the Automated Driving Toolbox of MATLAB, and the path-following performance characteristics and computation times of the existing and proposed MPC algorithms were verified and compared with simulations. The results prove that the proposed MPC algorithm has improved path-following performance compared to those of the existing MPC algorithm.

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In this study, the effect of internal pores formed by a superabsorbent polymer (SAP) was analyzed by evaluating the compressive strength, chloride penetration depth, drying shrinkage, and pore size distribution of SAP-containing concrete, while securing workability using a water-reducing agent (WRA). The experimental results showed that the amount of WRA necessary increased as the amount of SAP added increased, and that the compressive strength was the highest when the SAP content was 1.5% of the concrete mix. Drying shrinkage tended to decrease as the SAP content increased, and it decreased by approximately 31-41% when the SAP content was 2.0% compared to that of the reference mix. The SAP expanded by approximately three times inside concrete, and it was distributed within the internal pores of air-entrained concrete. The optimal SAP content in concrete mix was 1.5%, and an SAP content of 2.0% or higher adversely affected the workability and compressive strength.

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Standards of care for elderly acute myeloid leukemia (AML) patients unfit for intensive chemotherapy remain undefined. We aimed to compare outcomes of hypomethylating agent (HMA) therapy and intensive chemotherapy (IC) in elderly AML patients and identify the subgroup of patients who are eligible for HMA therapy. We reviewed data on the outcomes of 86 AML patients aged ≥ 65 years, who had undergone treatment between 2010 and 2015. These treatments included IC (25 patients, 29.1%) or therapy using HMA including azacitidine or decitabine (61 patients, 70.9%). The overall response rates were 32 and 19.7%, respectively. Median overall survival (OS) (8 vs. 8 months) and progression-free survival (PFS) (6 vs. 7 months) durations were similar in the two groups. Patients in the HMA group with less than 10% peripheral blood (PB) blasts achieved significantly better OS duration than patients in the IC group (P = 0.043). Patients in the IC group with PB blasts and bone marrow blast of ≥ 10 and ≥ 50%, respectively, achieved better PFS durations than the corresponding patients in the HMA group (P = 0.038). Multivariate analysis identified the hematologic improvement-platelet (HI-P) as an independent prognostic factor for survival in the HMA group (P = 0.005). Our results showed that HMA therapy and IC were associated with similar survival duration in elderly AML patients. This study was noteworthy because it assessed prognostic factors that would help to select elderly patients who could expect actual benefits from undergoing the different therapeutic options available, especially HMA therapy.

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OBJECTIVES: Deep brain stimulation (DBS) is an effective modality of treating cardinal motor symptoms of several movement disorders such as Parkinson's disease, essential tremor, and dystonia. Although hardware-related complications of DBS have been reported, the cosmetic satisfaction and discomfort associated with infraclavicular subcutaneous implantation of the pulse generator has not been described. The authors adopted a technique of transaxillary subpectoral implantable pulse generator (IPG) placement and investigated the difference in the discomfort, cosmetic satisfaction, mean operation time for IPG implantation, and severity of postoperative pain between infraclavicular subcutaneous placement and transaxillary subpectoral implantation of IPG. MATERIALS AND METHODS: 25 patients who underwent bilateral, infraclavicular subcutaneous IPG placement for DBS and 15 patients who had bilateral, transaxillary subpectoral IPG placement were investigated. RESULTS: The differences in cosmetic satisfaction and discomfort between the two groups were significant. The cosmetic satisfaction was higher and discomfort was less in the subpectoral IPG implantation group (p = 0.002 and p = 0.000). However, more time was needed for IPG implantation, and the postoperative pain was more severe after subpectoral IPG implantation (p = 0.002 and p = 0.000). There was no difference in cosmetic satisfaction according to sex (p = 0.907). There was one transient intercostobrachial nerve injury in the subpectoral IPG implantation group and two infections which needed removal of one side of the DBS hardware in the infraclavicular IPG implantation group. CONCLUSIONS: These results demonstrated that subpectoral transaxillary IPG implantation can provide better cosmetic satisfaction in patients undergoing DBS, with less discomfort and morbidity related to erosion and infection.

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BACKGROUNDS: Recent studies have shown that thermal therapy by means of warm waterbaths and sauna has beneficial effects in chronic heart failure. However, a comprehensive investigation of the hemodynamic effects of thermal vasodilation on coronary arteries has not been previously undertaken. In this study, we studied the effect of a warm footbath (WFB) on coronary arteries in patients with coronary artery disease (CAD), as well as any adverse effect. METHODS: We studied 21 patients (33.3% men, mean age 60.8 ± 13.5 years) with CAD. Coronary flow Doppler examination of the left anterior descending coronary artery and coronary flow reserve (CFR) were performed and measured using adenosine before and after a WFB. RESULTS: Systolic and diastolic blood pressure and heart rate did not change with the WFB. Mean velocity of diastolic coronary flow significantly increased (diastolic mean flow velocity: 18.3 ± 7.1 cm/sec initial, 21.5 ± 8.0 cm/sec follow-up, P = 0.002) and CFR significantly improved (1.6 ± 0.4 vs. 2.2 ± 0.5, P < 0.001) after WFB. The WFB was well accepted and no relevant adverse effects were observed. The change of CFR after WFB correlated well with diastolic function (E', r = 0.51, P = 0.031; E/E', r =-0.675, P = 0.002). CONCLUSIONS: A WFB significantly improved CFR without any adverse effects in patients with mild-to-moderate CAD and can be applied with little risk of a coronary artery event if appropriately performed.

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The objective of this study was to determine relationship of gestational age with measurement of diameter of head, orbit, trunk, long and short axis of heart, aorta, placentome, umbilical cord and umbilical vein in Korean black goats. In this study, ten pregnant Korean black goats (Capra hircus aegagrus) were used. Pregnancy diagnosis was performed with a 5 MHz linear transducer and ultrasonographic scan were performed at 60, 75, 90, 105, 120 and 135 days after mating with a 4-9 MHz convex transducer. For accurate measurement, all fetal organs were measured at least 3 times. The diameter of head, orbit, trunk, long and short axis of heart, aorta, placentome, umbilical cord and umbilical vein were significantly increased with the gestational age (p<0.05). Of these parameters, trunk (r=0.8876; p<0.001), long axis of heart (r=0.9168; p<0.001) and short axis of heart (r=0.8819; p<0.001) proved to be the more effective measurements than other parameters, as it correlated well with gestational age. Results indicate that ultrasonic measurements of these parameters were useful methods to estimate gestational age in Korean black goat.

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