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it; its palpation Browns Greedy Williams Jersey , in normal situations, usually does not trigger pain, however we have to remember now that the trans-rectal examination means you can control the rear wall of the side lobes.

So we can verify in general the shape reminiscent of a chestnut with the apex towards the anus.


Difficult to appreciate the middle lobe; through the difficult DRE also quantify the weight that generally in the adult male is 15-20 grams.


Usually for its volume it is given relating it to chestnuts, plums, oranges and tangerines or described with simple factors of increase for two for three, etc.


The characteristics of the gland surface may already be a sign of certain diseases Browns Jarvis Landry Jersey , for example irregular nodules can indicate different problems ranging from cancer to inflammation acute or chronic; still fine granules and hard suggest various calculations or fibrosis. Another fact to consider is the size of the gland if it lasts and wooden you can suspect a tumor, whether fibrous chronic prostatitis or a sclerosing adenoma; if soft areas and "flabby" you think to an acute prostatitis.


In a normal prostate limits are well defined and precise but become inaccurate and blurred in the presence of inflammation and cancer, when the cancer is very advanced you lose all the limits and you have a "slab" hard, hard and it lacks the physiological flow with the underlying and surrounding floors.


The pain may be present in case of inflammation, if alive and burning suggests an acute prostatitis or intraprostatic abscesses. The pain however is generally not present when we benign prostatic hypertrophy, but may be present so overwhelming and not well defined when there are tumors and even when there are numerous calcifications intraprostatiche (Walsh Browns Odell Beckham Jr Jersey , 2014).


With rectal examination in some rare special situations you can also hear the seminal vesicles, which are located at the rear and the top edge of the prostate on both right and left.


If there is an inflammation, a cyst or a tumor of the vesicles (very rare) it is unable to locate them better than the prostate gland.


Finally towards the side edge and top of the prostate on both sides, in particular pathological situations, you can palpate the pelvic ureters in their terminal portion.


This happens in the presence of fallen stones up to pre-bladder level, when you have a megaureter that marked dilatation dell'uretre terminal (Fig. 5).


As a last diagnostic since there can be given by the evaluation of a rectal examination Browns Bernie Kosar Jersey , finally we have to remember an eventual secretion, which may leak from the urethra after palpated the prostatic region, for example a transparent secretion and stringy, also called prostatorrea, or we can observe a purulent secretions, blood or still can be discharged prostatic secretions and then you also talk of spermatorrhea (Little et al. Shon Coleman Color Rush Jersey , 2004).


Moving mechanical systems parallel structures are solid, fast and accurate. Between parallel systems it is to be noticed Stewart platforms, as the oldest systems, fast, solid and precise. The work outlines some few main elements of Stewart platforms. It begins with the geometry platform and structure and then one presents the kinematic elements of it, positions Carl Nassib Color Rush Jersey , velocities and accelerations. If a structural motto element consists of two moving elements which translate relative, drive train and especially dynamic it is more convenient to represent the motto element as a single moving component. One has thus seven moving parts (the six motto elements or feet to which is added mobile platform) and one fixed. The whole work is based on knowledge of analytic geometry, so we can consider this work as a study of the applied mathematics.


Figure 6 shows the kinematic diagram of a mobile mechanical parallel system, heving all 12 kinematic couplings (which connect the six motor legs with the two platforms fixed and mobile) type ball joints (couplers sphere to sphere allowing all rotations possible and do not give permission to produce any translation), practically couplers third grade (C3). Kinematic engines couplings (six in number) may be constructed in two versions: C5 or C4 (Petrescu and Petrescu, 2011; 2012; 2013).


Couplings sphere in sphere (ball joints) allow rotations in space on all three axes and stop all translations. They are more difficult to achieve in terms of technology Emmanuel Ogbah Color Rush Jersey , are more expensive and generally have shorter life, their wear being quite fast (even if the contact surface of the sphere is large sphere type). But have the great advantage of a reduced size (mass and low volume) (Fig. 7). Their life can be extended by optimal design, by careful processing, through a suitable lubricant, or using special materials (Petrescu et al., 2009).


For a parallel system 12 ball joint (C3) and 6 motor couplings (C5) only the translation the grade fifth Corey Coleman Color Rush Jersey , the mobility of the system (spatial mechanism) is given by the general formula (1), (for a spatial mechanism family 0):


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Where m represents the number of the moving parts of the mechanism (system), in this case where m is equal to 13, because the six legs each consisting of two elements (i.e., 6*2 = 12) and one of the two platforms (the upper) is also mobile (representing the thirteenth movable element of the system). Of the 12掳C of freedom of the system only 6 are active (they representing the linear movements of the
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