Abstract: A urinary catheter passes from outside the body, through a urethra and into a bladder. The catheter includes an elongated tube having a distal end, proximal end, an intermediate length therebetween, and at least two lumens extending therein. The first lumen receives an inflation fluid at the distal end to inflate a balloon located at the proximal end of the catheter located within the bladder. The second lumen is discontinuous along at least a portion of the intermediate length and causes urine entering the second lumen from the bladder to contact a portion of the urethra before the urine is collected at the distal end of the catheter.

Abstract: Method and system for managing synchronized movement of a set of vehicles. Based on a set of parameters and goals for a vehicle having an agent component, negotiating with one or more other vehicles to form a coalition of vehicles with a set of common parameter values and common goals. The method may: synchronize with the other vehicles in the coalition to result in a positioning of the vehicle in relation to the other vehicles and to synchronize time; combine the agent component of the vehicle with one or more agent components of the other vehicles in the coalition to form a distributed agent system; control the coalition of vehicles with common commands from the distributed agent system in response to feedback from sensors in each of the vehicles; and enable an override of the coalition by the vehicle agent component in response to a breach of safety parameters.

Abstract: Method and system for managing synchronized movement of a set of vehicles. Based on a set of parameters and goals for a vehicle having an agent component, negotiating with one or more other vehicles to form a coalition of vehicles with a set of common parameter values and common goals. The method may: synchronize with the other vehicles in the coalition to result in a positioning of the vehicle in relation to the other vehicles and to synchronize time; combine the agent component of the vehicle with one or more agent components of the other vehicles in the coalition to form a distributed agent system; control the coalition of vehicles with common commands from the distributed agent system in response to feedback from sensors in each of the vehicles; and enable an override of the coalition by the vehicle agent component in response to a breach of safety parameters.

Abstract: Method and system for managing synchronized movement of a set of vehicles. Based on a set of parameters and goals for a vehicle having an agent component, negotiating with one or more other vehicles to form a coalition of vehicles with a set of common parameter values and common goals. The method may: synchronize with the other vehicles in the coalition to result in a positioning of the vehicle in relation to the other vehicles and to synchronize time; combine the agent component of the vehicle with one or more agent components of the other vehicles in the coalition to form a distributed agent system; control the coalition of vehicles with common commands from the distributed agent system in response to feedback from sensors in each of the vehicles; and enable an override of the coalition by the vehicle agent component in response to a breach of safety parameters.

Abstract: A urinary catheter passes from outside the body, through a urethra and into a bladder. The catheter includes an elongated tube having a distal end, proximal end, an intermediate length therebetween, and at least two lumens extending therein. The first lumen receives an inflation fluid at the distal end to inflate a balloon located at the proximal end of the catheter located within the bladder. The second lumen is discontinuous along at least a portion of the intermediate length and causes urine entering the second lumen from the bladder to contact a portion of the urethra before the urine is collected at the distal end of the catheter.

Abstract: Method and system for managing synchronized movement of a set of vehicles. Based on a set of parameters and goals for a vehicle having an agent component, negotiating with one or more other vehicles to form a coalition of vehicles with a set of common parameter values and common goals. The method may: synchronize with the other vehicles in the coalition to result in a positioning of the vehicle in relation to the other vehicles and to synchronize time; combine the agent component of the vehicle with one or more agent components of the other vehicles in the coalition to form a distributed agent system; control the coalition of vehicles with common commands from the distributed agent system in response to feedback from sensors in each of the vehicles; and enable an override of the coalition by the vehicle agent component in response to a breach of safety parameters.