Methods, systems, and computer program products for hierarchical registration between a blood vessel and tissue surface model for a subject and a blood vessel and tissue surface image for the subject are disclosed. A broadcast server in the network employs broadcast means to broadcast update packages. Surprisingly, detergents which included amino carboxylate also provided significant metal protection against corrosion, even when traditional corrosion inhibiting components are reduced. The satellite modem includes a filter which removes a subset of the physical sub-channels intended for the subscriber terminal. Each magnet is generally parallel to the axis of the rotor.