The urinary system functions to regulate homeostasis by controlling water, electrolyte, and acid-base balance and eliminating waste from the body. The major organs of the urinary system include the kidneys, ureters, urinary bladder, and urethra. The kidneys filter waste from the blood to form urine and are made up of nephrons, the functional units that filter blood and remove waste. Urine is formed through the processes of filtration, reabsorption, and secretion in the nephrons and is temporarily stored in the bladder before being excreted through the urethra.