We analyze a class of mechanisms that locomote by switching between constraints. Because of the hybrid nature of such systems, most of the existing analysis tools, developed primarily for smooth systems, can not be directly applied. Our aim is to exploit the special structure provided by Lagrangian mechanics to study the controllability of this class of mechanisms. We base the analysis on a ser...

This paper shows ongoing research results on the development of automatic control modes for robotized laparoscopic surgery. We show how both force feedback and visual feedback can be used in an hybrid control scheme to autonomously perform basic surgical subtasks. Preliminary experimental results on an example clamping tasks are given.

BACKGROUND Policies for timing of cord clamping vary, with early cord clamping generally carried out in the first 60 seconds after birth, whereas later cord clamping usually involves clamping the umbilical cord more than one minute after the birth or when cord pulsation has ceased. The benefits and potential harms of each policy are debated. OBJECTIVES To determine the effects of early cord c...

BACKGROUND Bleeding control is critical after total knee arthroplasty (TKA). The purpose of this study was to evaluate the optimal time to release the clamped drain after TKA. METHODS We performed unilateral TKA in 120 patients using three methods of drainage. Group A (N = 40) had a 3-hour clamp applied, and group B (N = 40) had a 4-hour clamp applied. Group C (N = 40) underwent conventional ...

s of South West Vascular Surgeons Meeting held at St. Mary's Hospital, Portsmouth, 14 February 1992 PSEUDOXANTHOMA ELASTICUM CAUSING CLAUDICATION. W. G. Prout. Queen Alexandra Hospital, Portsmouth. Pseudoxanthoma elasticum is a heritable disorder of elastic fibre leading to characteristic skin changes, angioid occular streaking and cardio-vascular problems. A 34 year old man presenting with int...

OBJECTIVE To analyze the impact of timing of clamping and obstetric, biological and socioeconomic factors on the iron stores of full-term newborns. METHODS Cross-sectional study between October 2011 and July 2012 in which hematological parameters were evaluated for newborns in Viçosa, MG, Southeastern Brazil. It involved collecting 7 mL of umbilical cord blood from 144 full-term not underweig...

BACKGROUND Preterm birth is the most important single determinant of adverse outcome in the United Kingdom; one in every 70 babies (1.4%) is born before 32 weeks (very preterm), yet these births account for over half of infant deaths.Deferring cord clamping allows blood flow between baby and placenta to continue for a short time. This often leads to increased neonatal blood volume at birth and ...

This study was conducted to evaluate the haematological effects of the timing of umbilical cord clamping in term infants 24 h after birth in Libya. Mother-infant pairs were randomly assigned to early cord clamping (within 10s after delivery) or delayed clamping (after the cord stopped pulsating). Maternal haematological status was assessed on admission in the delivery room. Infant haematologica...

In this paper we consider the servomechanism problem for SISO positive LTI systems. In particular, we solve the robust servomechanism problem of nonnegative constant reference signals for stable SISO positive unknown LTI systems with constant nonnegative unmeasurable disturbances under strictly nonnegative control inputs, using a clamping tuning regulator.

INTRODUCTION The aim of this study was to evaluate the plasma levels of hypoxanthine (HX) and xanthine in the renal vein blood samples for prediction of delayed graft function (DGF). MATERIALS AND METHODS Two blood samples were taken from 47 kidney recipients, intraoperatively. The first sample was obtained from a peripheral vein before vascular anastomosis and the second from the allograft r...