Optimizing human-robot handovers: the impact of adaptive transport methods.

Humans are increasingly coming into direct physical contact with robots in the context of object handovers. The technical development of robots is progressing so that handovers can be better adapted to humans. An important criterion for successful handovers between robots and humans is the predictability of the robot for the human.

[Efficacy and safety of intermittent catheterization for acute urinary retention: a prospective comparative randomized study].

Objectives: of the study: to evaluate the effectiveness and safety of intermittent catheterization in the management of acute urinary retention and to identify factors influencing the resume normal voiding and the development of adverse events.

Materials And Methods: 129 patients admitted to urology department with acute urinary retention due to BPH were randomized into two groups. Group I had indwelling bladder catheterisation using Foly catheter.

[Roadmap of ultrasound-guided percutaneous access to the renal collecting system].

Introduction: The key point of successful PCNL is getting access to the renal collecting system. Ureteral catheterization and injection of contrast material provide an important advantage of visualizing and dilating the collecting system. However, catheterization increases the operation time, exposure to anesthesia, and requires additional reusable and disposable medical supplies.

[Transurethral resection and buccal mucosal graft for the treatment of refractory bladder neck contracture].

Bladder neck contracture after prostate surgery is a rare but feared complication. The treatment of choice is endoscopic incision or resection of fibrotic tissue. In case of ineffective transurethral correction, bladder neck reconstruction has to be done.

Normal forms and averaging in an acceleration problem in nonholonomic mechanics.

This paper investigates nonholonomic systems (the Chaplygin sleigh and the Suslov system) with periodically varying mass distribution. In these examples, the behavior of velocities is described by a system of the form dvdτ=f(τ)u+f(τ)u+f(τ),dudτ=-uv+g(τ), where the coefficients are periodic functions of time τ with the same period. A detailed analysis is made of the problem of the existence of modes of motion for which the system speeds up indefinitely (an analog of Fermi's acceleration).