Abbreviations: (BOB) bolus insulin on board, (carb) carbohydrate, (CarbF) carbohydrate factor, (CorrF) glucose correction factor, (CorrF-RN) correction factor rule number, (DIA) duration of insulin action, (GT) glucose tertile, (IS) insulin sensitivity, (IQR) interquartile range, (RIS) relative insulin sensitivity, (TDD) total daily dose Keywords: basal rate, carbohydrate factor, correction factor, insulin dose algorithm, insulin pump, total daily dose

where i j denotes the j-th column of J, and (3) The reduced manipulator Jacobian i J then determines the kinematic properties of the degraded system. In this article, a local measure of fault tolerance is defined that measures the performance of the degraded system relative to the original system.In the next section, necessary and sufficient conditions are derived for determining whether a manipulator with a single degree of redundancy is in a configuration for which the reduced system is singular. Using this condition, one can then develop strategies that will avoid such configurations. Section III discusses how the manipulability of a manipulator is affected by a joint failure. Once this has been determined, configurations can be identified for which the manipulability is reduced by a minimum amount due to any joint failure. The case of multiple joint failures is considered in Section IV. Section V discusses the application of these results to motion planning and Section VI presents a fully general spatial example. Finally, conclusions appear in Section VII. II. FAULT INTOLERANT CONFIGURATIONSAs mentioned earlier, a joint failure can essentially result in a manipulator being in a singular configuration, even if the original Jacobian is of full rank. It is easy to show, using column space arguments, that the rank of the reduced Jacobian satisfies (1) Abstract-When a manipulator suffers a joint failure, its performance can be significantly affected. If the failed joint is locked, the resulting manipulator Jacobian is given by the original Jacobian, except that the column associated with the failed joint is removed. The rank of the resulting Jacobian then determines if the manipulator still has the ability to perform arbitrary end-effector motions. Unfortunately, even at an operating configuration that has a relatively high manipulability index, a joint failure may still result in a singular Jacobian. This work examines the problem of determining the reduced manipulability of a manipulator after one or more joint failures. Configurations that result in a minimal reduction of the manipulability index for any set of joint failures are determined.

Bolus insulin calculators (BCs) became available in insulin pumps in 2002 and are being integrated into glucose meters and portable device applets for use with multiple daily injections. A retrospective analysis of continuous subcutaneous insulin infusion data from the Actual Pump Practices (APP) study is used in this article to generate formulas for more precise BC settings. A well-designed BC determines accurate bolus doses for carbohydrate intake and for correcting elevated glucose levels. It should also provide the logic necessary to track residual bolus insulin and reduce bolus recommendations to minimize insulin stacking. To provide appropriate bolus doses, a BC requires accurate settings for the carbohydrate factor or insulin:carbohydrate ratio, glucose correction factor, duration of insulin action, and correction target. We provide guidelines to select BC settings from the user's current total daily dose (TDD) of insulin and to determine more appropriate BC settings from an improved TDD based on the mean glucose level.

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for the TEAC-Health Partners Information and its handling and transmission form an essential part of health care and are reflected in professional standards. Automated information systems in health care-health informatics services-will improve these functions and bring new opportunities through the harnessing of modern information and communications technologies. Thus, computer support is now essential in many parts of medicine, the US Institute of Medicine has long espoused the value of computerised patient records, 1 and many countries have developed strategies on this topic, and there are countless health related internet sites.However, as new information and communication technologies in health bring new opportunities, they also bring new risks. Emphasis has rightly been placed on ensuring appropriate levels of confidentiality in electronic information systems-to the point that the highly exacting requirements being demanded by independent commentators and professional bodies 2 are difficult to satisfy without jeopardising the functioning of core services 3 4 or the interests of the most vulnerable groups. 5In contrast, much less thought has been given so far to ensuring the appropriateness of the design and integrity of functioning of health informatics services.