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Les facteurs génétiques sont à prendre en considération dans le diagnostic étiologique de la lithiase urinaire. Le but de cette étude rétrospective est de déterminer les caractéristiques cliniques, métaboliques et évolutives de la lithiase urinaire héréditaire chez nos patients.

Mini-invasive surgery is still evolving to get better surgical conditions for patients with ureteropelvic junction obstruction. We used technical modifications (hybrid pyeloplasty) that simplify surgical steps of laparoendoscopic single-site pyeloplasty in children. Our aim was to compare hybrid pyeloplasty to laparoendoscopic single-site pyeloplasty and to open pyeloplasty.

La voie d’abord scrotale unique a été décrite par Bianchi en 1989. En dépit de sa popularité, la place de cette technique dans le traitement de la cryptorchidie chez l’enfant est encore un sujet de controverse.

This paper presents fuzzy logic controller (FLC) design using optimisation techniques. The FLC has been developed and implemented for the motion of the robot from an initial position towards another desired position, taking into account the kinematic constraints. First, we have carried out a simulation of a fuzzy logic based controller which determines the speed values of each driving wheel, while the robot seeking the goal. Second, an optimisation of this controller has been realised using gradient method or genetic algorithms. Simulation and experimental results demonstrates the effectiveness of the proposed approach.

An Artificial Neural Network (ANN)-based approach is proposed in this paper for the motion and force control of constrained robot manipulators. The dynamic model of constrained manipulator is modified to contain two sets of state variables, where one describes the constrained motion and the other describes the reduced, unconstrained one. An application related to a disk cutter robot is considered. The design objective is that under a prescribed radius of the disk and a desired force to be applied by the effector of the manipulator, an ANN-based control system is to be designed to develop the requested torques on the manipulator actuators. The suggested controller is simple and can be implemented easily. The main feature of employing the ANN here is that we obtained a force sensor-less control system and a good adaptation with environmental unmodelled dynamics. Simulation results are presented to validate the proposed approach.

Abstract: An analytical model for the swelling of sintered iron oxide pellets was developed, based on the variation of the elastic properties arising from the crystallographic and morphological changes that occur during a reduction reaction. The model is restricted to the haematite-magnetite transformation since this phase change was found to represent the largest overall volume increase of the reduction process. It is proposed that this swelling is the result of forces causing sequential fissurization of the bonds between the grains undergoing chemical and structural changes. The relative compressive strengths of the haematite and magnetite particles, the porosity and the pellet morphology are major parameters of the model. Equations of swelling for topochemical and non-topochemical types of reduction are developed independently. The relative contribution of each type of reduction mechanism was found to depend on the effect of the additive agent in the pellet. The model was successfully tested by comparison with experimental swelling results for certain SiO2, Al2O3, CaO and MgO additions.

L’hydroxychloroquine (HQ) est un antipaludéen de synthèse (APS) largement prescrit en médecine interne. Son utilisation peut se compliquer d’effets secondaires variés notamment cutanés. Le but de notre étude est d’établir la fréquence, l’aspect clinique et les facteurs de risques des hyperpigmentations imputées à cette molécule.

Les dysfonctionnements vésico-sphinctériens peuvent être associés aux valves de l’urètre postérieur (vup). Leur évaluation par un bilan urodynamique (bud) est un paramètre important pour guider la prise en charge thérapeutique.

La dysfonction mictionnelle ou vessie neurogène non neurogène (vnnn) est un dysfonctionnement mictionnel de l’enfant bénin et transitoire dans la majorité des cas. Des formes compliquées de vnnn peuvent exister. Le but de ce travail. Notre objectif a été d’identifier les complications uronéphrologiques des vnnn et déterminer les facteurs prédictifs de leur survenue.