This paper presents a new approach for the energy-efficient trajectory planning of a mobile agent with obstacle avoidance. The motion of the mobile agent is subject to position constraints characterizing an obstacle (keep-out region) as well as velocity, acceleration, and control constraints. The original optimal control problem is transformed into a mathematical programming problem where the o...

Background and Objectives: Informal payment in the health settings is a significant challenge facing the health system, with consequences such as inequity in access to healthcare services, distrust to health care system, and dissatisfied customers. Detailed identification of the nature of the problem is perquisite to developing relevant overcoming strategies. Given that, this study aimed at pro...

Recently, market globalization and competition have forced companies to find alternative means to boost sales and revenue. The use of the cash flow is increasingly becoming a viable alternative for managers to improve their company’s profitability in a supply chain. In today’s business transactions, a supplier usually asks a manufacturer to pay via the advance-cash-credit (ACC) payment scheme i...

The Bank of Finland’s Finnish Payment Habits 2010 project predicts that Finnish payment habits will face substantial changes. The causes for these changes include: the standardisation and integration of European payment systems, development of payment services-related legislation and regulation at EU level, changes in payment services-related cost factors and pricing, and new opportunities offe...

(i) There is a delay by the intermediary in making payment to the SNF. (ii) Due to an exceptional situation, there is a temporary delay in the SNF’s preparation and submittal of bills to the intermediary beyond its normal billing cycle. (2) Approval of payment. An SNF’s request for an accelerated payment must be approved by the intermediary and HCFA. (3) Amount of payment. The amount of the acc...

Acute leukemia which is the most common cancer in children is a heterogeneous group of clonal malignancies. The conversion of the leukemic cell lineage during the course of the disease or later is termed lineage switch. It has been rarely reported in the literature. In leukemia lineage switch, conversions from lymphoblastic leukemia to myeloid leukemia or vice versa are reported. Herein, we rep...