An efficient and reliable algorithm for computing the Euclidean distance between a pair of convex sets in R m is described. Extensive numerical experience with a broad family of polytopes in R 3 shows that the computational cost is approximately linear in the total number of vertices specifying the two polytopes. The algorithm has special features which makes its application in a variety of robotics problems attractive. These are discussed and an example of collision detection is given.

It is unclear what role the experimental drug and convalescent plasma had in the recovery of these patients. Prospective clinical trials are needed to delineate the role of investigational therapies in the care of patients with EVD.

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Abstract-An efficient and reliable algorithm for computing the Euclidean distance between a pair of convex sets in R m is described.Extensive numerical experience with a broad family of polytopes in R 3 shows that the computational cost is approximately linear in the total number of vertices specifying the two polytopes. The algorithm has special features which makes its application in a variety of robotics problems attractive. These are discussed and an example of collision detection is given.

IntroductionA paucity of literature exists regarding delays in transfer out of the intensive care unit. We sought to analyze the incidence, causes, and costs of delayed transfer from a surgical intensive care unit (SICU).MethodsAn IRB-approved prospective observational study was conducted from January 24, 2010, to July 31, 2010, of all 731 patients transferred from a 20-bed SICU at a large tertiary-care academic medical center. Data were collected on patients who were medically ready for transfer to the floor who remained in the SICU for at least 1 extra day. Reasons for delay were examined, and extra costs associated were estimated.ResultsTransfer to the floor was delayed in 22% (n = 160) of the 731 patients transferred from the SICU. Delays ranged from 1 to 6 days (mean, 1.5 days; median, 2 days). The extra costs associated with delays were estimated to be $581,790 during the study period, or $21,547 per week. The most common reasons for delay in transfer were lack of available surgical-floor bed (71% (114 of 160)), lack of room appropriate for infectious contact precautions (18% (28 of 160)), change of primary service (Surgery to Medicine) (7% (11 of 160)), and lack of available patient attendant ("sitter" for mildly delirious patients) (3% (five of 160)). A positive association was found between the daily hospital census and the daily number of SICU beds occupied by patients delayed in transfer (Spearman rho = 0.27; P < 0.0001).ConclusionsDelay in transfer from the SICU is common and costly. The most common reason for delay is insufficient availability of surgical-floor beds. Delay in transfer is associated with high hospital census. Further study of this problem is necessary.