Abstract: A method for determining a market clearing price in an electricity market, subject to a plurality of constraints, comprising the steps of defining an objective function relating the MCP and constraints in terms of a nonlinear programming expression, applying Lagrangian relaxation to the nonlinear programming expression to form a Lagrangian dual function; adding penalty terms to the Lagrangian dual function to form an augmented Lagrangian dual function; resolving the augmented Lagrangian dual function using a surrogate optimization framework comprising repeating, until stopping criteria are satisfied, the steps of forming one or more supply sub-problems and an MCP sub-problem; optimizing the MCP sub-problem while keeping all other variables at their latest available values; optimizing at least one of the one or more supply sub-problems while keeping all other variables at their latest available values; updating multipliers used to relax constraints; determining the MCP in accordance with the resolved augmented

Abstract: The present invention provides improved balloon catheter apparatuses for use in therapies requiring delivery of uniform light to a treatment area. The improved apparatus comprises a balloon having a defined treatment window where the window is delineated using a reflective material. The apparatus may further comprise a fiber optic cable that terminates in a diffusion tip where the diffusion tip is longer than the treatment window. The present invention further provides improved therapeutic methods that use the improved balloon catheters of the present invention.

Abstract: The present invention provides improved balloon catheter apparatuses for use in therapies requiring delivery of uniform light to a treatment area. The improved apparatus comprises a balloon having a defined treatment window where the window is delineated using a reflective material. The apparatus may further include a fiber optic cable that terminates in a diffusion tip where the diffusion tip is longer than the treatment window. The present invention further provides improved therapeutic methods that use the improved balloon catheters of the present invention.

Abstract: A robot suitable for micro-surgical application is formed by a robot arm having a position adjustable free end on which are mounted with their respective stators in fixed relationship a master and a slave robot. The position and actuation of the moving element of the master (master floater) and the moving element of the slave (slave floater) are used to couple their moment such that the master floater motion and forces are scaled down and followed by the slave and the slave floater motion and forces are scaled up and followed by the master. The sensed environment forces on the slave floater and sensed hand (environment) forces on the master can be used to improve the coordination between the master and the slave.