Sampled Data Control of a Compliant Actuated Joint Using On/Off Solenoid Valves

This paper proposes a new control system design method for a compliant actuated joint using on/off solenoid valves. Themathematical modelling and the system’s hardware are described in detail. The control design method is presented in ageneral manner so it could be applied for any other similar system. For the present system, the designed controller is implementedvia a digital computer and it is characterised by very good performance and simplicity. The success of the proposedmethod is validated via simulations and experiment

Chapter Globally Optimised Energy-Efficient Data Centres

A great deal of energy in Information and Communication Technology (ICT) systems can be wasted by software, regardless of how energy-efficient the underlying hardware is. To avoid such waste, programmers need to understand the energy consumption of programs during the development process rather than waiting to measure energy after deployment. Such understanding is hindered by the large conceptual gap from hardware, where energy is consumed, to high-level languages and programming abstractions. The approaches described in this chapter involve two main topics: energy modelling and energy analysis. The purpose of modelling is to attribute energy values to programming constructs, whether at the level of machine instructions, intermediate code or source code. Energy analysis involves inferring the energy consumption of a program from the program semantics along with an energy model. Finally, the chapter discusses how energy analysis and modelling techniques can be incorporated in software engineering tools, including existing compilers, to assist the energy-aware programmer to optimise the energy consumption of code

Cowper's syringocele in the pediatric population: a retrospective study of 122 patients

Introduction and objective: Syringocele is a rare cystic dilatation of the duct of Cowper's gland, afflicting mostly the pediatric population. Syringoceles have a wide range of symptoms and may cause urethral obstruction. The authors analyzed to clarify the clinical manifestation, diagnostic approach, management, and incidence in the pediatric population. Materials and methods: All patients (122 cases) diagnosed with a syringocele at the department of Pediatric Urology in a tertiary referral university children's hospital between August 1991 and October 2016 were analyzed retrospectively by assessing medical charts. Results: The clinical manifestation, diagnostic findings, and follow-up are summarized in the table. Half of the patients (50.0%) also had typical posterior urethral valves (PUVs) and/or a single valve in the 12 o'clock position (flap-valve). The symptoms of open and closed syringoceles showed no significant difference. Treatment consisted of incision of the syringocele with a diathermia hook. The incidence of urinary tract infection (UTI) before and after surgery in the group that had a syringocele only was significant different. The overall incidence of syringoceles seen at urethrocystoscopy in this series was 3.0%. Discussion: This series suggests that the presenting age is strongly related to the consequences of syringoceles, as the youngest half of the patients had significantly more UTIs at presentation than older patients, who presented with significantly more obstructive voiding symptoms, postvoiding residuals, and incontinence. In addition, the younger group had a significantly higher incidence of vesicoureteral reflux and dilatation of the upper urinary tract. The found association between syringoceles and PUV may be due to overgrowth of epithelium, as possible origin in both anomalies. Conclusion: With an incidence of 3.0%, syringoceles, in this tertiary referral series, should be considered in the differential diagnosis of obstructive urethral lesions. The presentation ranges between signs of severe obstructions in the prenatal and postnatal period to mild urinary incontinence problems at later age. Urethrocystoscopy proved to be useful in confirming the diagnosis and allows for immediate transurethral incision. [Table presented

Cowper's syringocele in the pediatric population : a retrospective study of 122 patients

Introduction and objective: Syringocele is a rare cystic dilatation of the duct of Cowper's gland, afflicting mostly the pediatric population. Syringoceles have a wide range of symptoms and may cause urethral obstruction. The authors analyzed to clarify the clinical manifestation, diagnostic approach, management, and incidence in the pediatric population. Materials and methods: All patients (122 cases) diagnosed with a syringocele at the department of Pediatric Urology in a tertiary referral university children's hospital between August 1991 and October 2016 were analyzed retrospectively by assessing medical charts. Results: The clinical manifestation, diagnostic findings, and follow-up are summarized in the table. Half of the patients (50.0%) also had typical posterior urethral valves (PUVs) and/or a single valve in the 12 o'clock position (flap-valve). The symptoms of open and closed syringoceles showed no significant difference. Treatment consisted of incision of the syringocele with a diathermia hook. The incidence of urinary tract infection (UTI) before and after surgery in the group that had a syringocele only was significant different. The overall incidence of syringoceles seen at urethrocystoscopy in this series was 3.0%. Discussion: This series suggests that the presenting age is strongly related to the consequences of syringoceles, as the youngest half of the patients had significantly more UTIs at presentation than older patients, who presented with significantly more obstructive voiding symptoms, postvoiding residuals, and incontinence. In addition, the younger group had a significantly higher incidence of vesicoureteral reflux and dilatation of the upper urinary tract. The found association between syringoceles and PUV may be due to overgrowth of epithelium, as possible origin in both anomalies. Conclusion: With an incidence of 3.0%, syringoceles, in this tertiary referral series, should be considered in the differential diagnosis of obstructive urethral lesions. The presentation ranges between signs of severe obstructions in the prenatal and postnatal period to mild urinary incontinence problems at later age. Urethrocystoscopy proved to be useful in confirming the diagnosis and allows for immediate transurethral incision. [Table presented

Chapter Globally Optimised Energy-Efficient Data Centres

A great deal of energy in Information and Communication Technology (ICT) systems can be wasted by software, regardless of how energy-efficient the underlying hardware is. To avoid such waste, programmers need to understand the energy consumption of programs during the development process rather than waiting to measure energy after deployment. Such understanding is hindered by the large conceptual gap from hardware, where energy is consumed, to high-level languages and programming abstractions. The approaches described in this chapter involve two main topics: energy modelling and energy analysis. The purpose of modelling is to attribute energy values to programming constructs, whether at the level of machine instructions, intermediate code or source code. Energy analysis involves inferring the energy consumption of a program from the program semantics along with an energy model. Finally, the chapter discusses how energy analysis and modelling techniques can be incorporated in software engineering tools, including existing compilers, to assist the energy-aware programmer to optimise the energy consumption of code