Among elderly males, benign prostate syndrome (BPS) is the most common urinary disorder. Nocturia is one of the major symptoms of BPS and has a considerable influence on the quality of life. For assessment of BPS (including nocturia), the International Prostate Symptom Score is widely used, but questionnaires are prone to bias. To date, there is no objective measurement system available for nocturia. In this study, we present an unobtrusive and nonstigmatizing device for objective measurement of nighttime micturition. In a preliminary study of six males diagnosed with BPS and nighttime micturition ≥ 2×, we showed that the device is accurate, with an average misdetection rate of 0.32 events and a mean absolute deviation of 3.8% when comparing the average number of nighttime micturition occurrences. In this extended study, an additional nine males were recorded and data from an occupancy sensor were also included. The results of the preliminary study were confirmed with an average misdetection rate of 0.33 events and a mean absolute deviation of 9.1%. The system can, therefore, be used to objectively measure nighttime micturition and, thereby, provide the basis for treatment, e.g., medication efficacy assessment.

3D displays enable immersive visual impressions but the impact on the human perception still is not fully understood. Viewing conditions like the convergence-accommodation (C-A) conflict have an unnatural influence on the visual system and might even lead to visual discomfort. As visual perception is individual we assumed the impact of simulated 3D content on the visual system to be as well. In this study we aimed to analyze the stereoscopic visual performance of 17 subjects for disparities inside and outside the in literature defined zone of comfortable viewing to provide an individual evaluation of the impact of increased disparities on the performance of the visual system. Stereoscopic stimuli were presented in a four-alternative forced choice (4AFC) setup in different disparities. The response times as well as the correct decision rates indicated the performance of stereoscopic vision. The results showed that increased disparities lead to a decline in performance. Further, the impact of the presented disparities is dependent on the difficulty of the task. The decline of performance as well as the deciding disparities for the decline were subject dependent.

Swedish wheeled mobile robots have remarkable mobility properties allowing them to rotate and translate at the same time. Being holonomic systems, their kinematics model results in the possibility of designing separate and independent position and heading trajectory tracking control laws. Nevertheless, if these control laws should be implemented in the presence of unaccounted actuator peak velocity limits, the resulting saturated linear and angular velocity commands could interfere with each other thus dramatically affecting the overall expected performance. Based on Lyapunov's direct method, a position and heading trajectory tracking control law for Swedish wheeled robots is developed. It explicitly accounts for actuator velocity saturation by using ideas from a prioritized task based control framework.