Abstract: Apparatuses, systems, and techniques to perform collision-free motion generation (e.g., to operate a real-world or virtual robot). In at least one embodiment, at least a portion of the collision-free motion generation is performed in parallel.

Abstract: This invention relates to compounds of formula (I)

Abstract: The invention provides an insertion instrument and methods for rotatably inserting an insertable medical device into a target region of the body. In particular, the instrument can be used in a method for rotatably inserting a medical device having a helical shape into a portion of the eye. The instrument includes a distal portion with a securing member that can hold a portion of the device during the rotational insertion process, and an actuating member that can be triggered to gently release the device upon insertion of the device into the target site.

Abstract: The invention relates to sustained release implants and to methods for treating eyes, particularly the eyes of mammals having eye disorders or diseases. By using the implants and methods described herein, the delivery of the one or more bioactive agents can be localized at a desired treatment site, particularly the choroid and the retina.

Abstract: Environmental containment methods (16) for a flow cytometer (21) which provide an adjustably controllable environment in which biological particles can be differentiated and droplets separated into collection containers (15).

Abstract: A sample carrier system (1) with spatially adjustable configuration provides variable positioning as to the relative location of a plurality of sample containment elements (1). In a preferred embodiment, a slidably reconfigurable sampling system in which a matrix type, row-by-row arrangement of receptacles or sample retention elements (1) for specimen carriers such as cuvettes, test tubes and beakers, or the like (40), or for samples (41), may be reconfigured into a substantially linear arrangement of individual specimen carriers along with the entrained material contents, providing more accurate testing processes and more reliable test results.

Abstract: Compounds of formula I, 1

Abstract: Compounds of formula I, wherein R1 represents C1-4 alkoxy optionally substituted by one or more fluorine atoms; R2 represents an aryl group or a heteroaryl group, optionally substituted by C1-4 alkyl or SO2NH2; R3 represents a 4-, 5-, 6-, or 7-membered heterocyclic ring containing at least one heteroatom selected from N, O and S, the ring being optionally fused to a benzene ring or a 5- or 6-membered heterocyclic ring containing at least one heteroatom selected from N, O and S, the ring system as a whole being optionally substituted; X represents CH or N; and L is absent, or represents a cyclic group of formula Ia,  or represents a chain of formula Ib,  and pharmaceutically acceptable salts thereof, are useful in the treatment of a variety of disorders including benign prostatic hyperplasia.

Abstract: Compounds of formula I, 1