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Table S1. Serological, virological, and biochemical responses at week 48 by baseline HBeAg-positivity. Table S2. Serological, virological, and biochemical responses at week 48 by status of liver cirrhosis. Table S3. Serological, virological, and biochemical responses at week 48 by gender. Table S4. Characteristics of the patients at virologic breakthrough. (DOCX 51 kb)

This paper introduces a map building algorithm which can collect environmental information using ultrasonic sensors. And also this paper discusses a traveling algorithm using environmental information which leads to the map building algorithm. In order to accomplish the proposed traveling algorithm, this paper additionally discusses a path revision algorithm. For verifying the proposed algorithms, several experiments are executed using a mobile robot physically designed in this paper. The conclusion is that the proposed algorithm is very effective and is applicable to mobile robots especially requiring a low-cost environmental information.

In order for a mobile robot to move under unknown or uncertain environment, it must have an environmental information. In collecting environmental information, the mobile robot can use various sensors. In case of using ultrasonic sensors to collect an environmental information, it is able to comprise a low-cost environmental recognition system compared with using other sensors such as vision and laser range-finder. This paper proposes a map building algorithm which can collect environmental information using ultrasonic sensors. And also this paper suggests a traveling algorithm using environmental information which leads to the map building algorithm. In order to accomplish the proposed traveling algorithm, this paper additionally discusses a position revision algorithm.

In order for a mobile robot to move under unknown or uncertain environment. it is very important to collect environmental information. This paper suggests a traveling algorithm which leads to the map building algorithm and the algorithm under the assumption that environmental information should already be collected. In order to apply the proposed traveling algorithm to a real mobile robot. this paper additionally discusses a path amendment algorithm. For the purpose of verifying the proposed algorithms, several simulations are executed based on a UI host program-based simulation interface and an experiment is executed using a mobile robot under a real unknown environment.

Background Telbivudine has been suggested to induce hepatitis B surface antigen (HBsAg) decline to the similar degree as pegylated interferon. We aimed to investigate whether telbivudine could further decrease HBsAg titer in patients who maintain undetectable serum hepatitis B virus (HBV) DNA after initial entecavir treatment. Methods In this open-label trial, patients who had serum HBsAg and HBV DNA levels ≥1,000 IU/mL and 0.5 log10 IU/mL. Eleven patients (23.4%) in the telbivudine group, but none in the entecavir group, experienced virologic breakthrough (P