Designing ergonomic interventions for emergency medical services workers--part III: Bed to stairchair transfers

The objective of the current work was to test interventions aimed at reducing the low-back musculoskeletal loads experienced by firefighters/paramedics (FFPs) providing emergency medical services (EMS) that involve transferring a patient between a bed and a stairchair. The interventions, developed or selected using focus groups, were a prototype Drew People Movertrade mark, and a Transfer Sling. These interventions changed the coupling between the EMS worker and the patient. They were compared with an under-axilla lift. Eleven FFP teams transferred a 75kg dummy between a bed and a stairchair. Both interventions were tested using two-person transfers. In addition, the Transfer Sling was tested using a one-person transfer. Surface electromyographic (EMG) data were collected from 8 trunk muscles from each participant along with spine kinematic data. Additionally, ground reaction force data obtained from two forceplates were acquired for one member of each FFP team that was used to estimate directional spine moments using a 3D linked-segment model. In the two-person transfers, there was 19 degrees less trunk flexion (p=0.002) for the FFP on the patient's left side and a trend towards less motion for the FFP on the patient's right side (p=0.079) when using the interventions. Both FFPs showed reductions in the ipsilateral Erector Spinae activity using the Drew People Mover and the Transfer Sling that averaged approximately 9% MVC, which corresponds to a 21% decrease in the muscle activation levels. While the overall EMG was greater when performing a single-FFP transfer, the Transfer Sling reduced the bilateral Erector Spinae activity by approximately 20%. During the two-person transfers, the FFP on the forceplate to the right side of the patient showed a reduction in the forward bending moment using the Drew People Mover relative to the Sling and under-axilla conditions. During the single-person transfers, only the twisting moment was significantly reduced through use of the Transfer Sling. These objective measures, when combined with the subjective ratings of perceived exertion and the verbal feedback lead us to recommend the use of these interventions for bed to stairchair transfers.     

Designing ergonomic interventions for EMS workers - part II: lateral transfers

The objective of the current work was to test ergonomic interventions aimed at reducing the low back musculoskeletal loads experienced by firefighters/paramedics (FFPs) providing emergency medical services (EMS) when performing lateral transfers between a bed and a stretcher or between a stretcher and a hospital gurney. The interventions, developed using focus groups, were a bridgeboard to reduce the frictional force resisting the lateral sliding of the patient, the use of rods along each side of the patient to facilitate the grasping and handling of the bedsheet on which the patient is typically transferred, and a single rod that, when rolled in the bedsheet, resulted in the task being changed from a lifting task to a pulling task. Eleven two-person teams laterally transferred a 75 kg dummy with each intervention between a bed and simulated stretcher. Two roles were defined. For the two-sided transfers, the FFP roles were termed "stretcher-side" and "bed-side." Surface electromyographic (EMG) data were collected from 8 trunk muscles from each participant along with spine kinematic data. Additionally, kinetic data were obtained for the FFP in the stretcher-side role. Trunk flexion moments and Erector Spinae activity were reduced for the FFP in the stretcher-side role when using the bridgeboard and the single rod both individually and in combination. The single rod reduced the Erector Spinae activity in the FFP who typically would have been on the bed. For FFPs in both roles the single rod increased Latissimus Dorsi activation relative to the standard bedsheet transfer condition, although, this effect was moderated when the single rod was used in combination with the bridgeboard. Ratings of perceived exertion also supported the use of the single rod relative to the corresponding control condition.     

Biomechanical analyses of paramedics simulating frequently performed strenuous work tasks

Firefighters performing emergency rescue functions are at an elevated risk of musculoskeletal injuries. The objective of the current study was to analyze the biomechanical stresses placed on the body based on simulations of the following strenuous and frequently performed emergency rescue tasks: (1) transferring a patient from a bed to a stretcher using bedsheets, (2) transferring a patient from the ambulance stretcher to a hospital gurney, (3) carrying a victim down a set of stairs and through a landing using a stairchair, (4) carrying a victim down a set of stairs and through a landing using a backboard, and (5) carrying a victim down a straight set of stairs using a stretcher. Postural data were analyzed using the University of Michigan's Three-Dimensional Static Strength Prediction Program and the relative risk of low back disorder (LBD) was quantified using the trunk motion model published by Marras et al. (1993, spine 18, 617-628). Peak compression values and the probabilities from the Marras et al. (1993) model indicated that the most hazardous tasks performed as part of this simulation included pulling a victim from a bed to a stretcher, the initial descent of a set of stairs when using the stretcher, and lifting a victim on a backboard from the floor. Overall, the two models were well correlated in their assessment of the task components modelled (r = 0.78). These data indicate where engineering changes to equipment regularly used by emergency rescue personnel would have the greatest impact in reducing the risk of musculoskeletal injury.     

Postural analysis of paramedics simulating frequently performed strenuous work tasks

Paramedics who perform emergency rescue functions are highly susceptible to musculoskeletal injuries. Through an interview and survey process firefighters, many of whom are cross-trained paramedics in a consortium of 14 suburban fire departments, identified and rated tasks that were perceived to be both strenuous and frequently performed. The objective of the current study was to describe the working postures and the forces applied as firefighter/paramedics (FF/Ps) simulated specific roles within the following tasks identified by the survey: (1) transferring a patient from a bed to a stretcher using bedsheets, (2) transferring a patient from the ambulance stretcher to a hospital gurney, (3) carrying a victim down a set of stairs and around a landing using a stairchair, (4) carrying a victim down a set of stairs and around a landing using a backboard, and (5) carrying a victim down a set of stairs using a stretcher. Ten two-person teams of FF/Ps participated and were videotaped to obtain postural data for the upper and lower extremities as they performed each role in the simulated two-person tasks. Trunk postures were obtained using lumbar motion monitors. Static hand forces were estimated using a hand-held dynamometer at the most physically demanding points for each role within each task. The postural and force data were averaged across subjects performing identical roles to quantify the postures assumed by the FF/Ps at the most strenuous moments during task performance. Based on these analyses we concluded that: (1) when transferring victims from a bed to a stretcher the FF/P on the bed was able to maintain an upright and more stable posture by standing as opposed to kneeling, (2) an interface board should be used to reduce the frictional forces when transferring victims from a bed to a stretcher or from a stretcher to a gurney, thereby reducing the need to lift the victim with flexed torsos and/or shoulders, and (3) equipment and training that encourages the FF/P in the leader role to walk facing forward during victim transport, especially when descending stairs, potentially results in safer transit.     

Distributed observer-based fixed-time cooperative guidance law against maneuvering target

This paper presents a fixed-time cooperative guidance law for leader-following missiles, comprising one leader missile with the target seeker and several seeker-less follower missiles. The aim is to achieve a simultaneous attack on a maneuvering target at desired impact angles. First, a guidance law with impact angle control for the leader missile against a maneuvering target is proposed based on nonsingular fast terminal sliding mode (NFTSM) control algorithm. Then, the design of cooperative guidance law for the follower missiles is composed of two parts: along the follower-to-leader line of sight (LOS) direction, the guidance command derived from bi-homogeneous property is designed to ensure that the follower-leader ranges keep proportional consensus with the range-to-go of the leader missile, thus avoiding the estimation of time-to-go ( $$); in the normal follower-to-leader LOS direction, considering the relative impact angle constraints which is determined by the leader LOS angle, the guidance command is proposed based on predefined-time sliding mode control method. What's more, a distributed fixed-time observer is designed for the follower missiles to compensate for unobtainable leader missile information. The fixed-time stability of the proposed methods is demonstrated using the Lyapunov theory and bi-homogeneous property. Finally, simulation results confirm the effectiveness and superiority of the proposed fixed-time cooperative guidance law with leader-following strategy.     

Adaptive fractional-order nonsingular fast terminal sliding mode formation control of multiple quadrotor UAVs-based distributed estimator

This paper mainly solves two major problems that are unavoidable in leader–follower formation process of quadrotor UAV group: the existence of external uncertainty disturbance and communication limited between quadrotor unmanned aerial vehicle (UAV) group. To solve the problem that only one of the followers in the leader–follower formation can obtain the leader's information, an improved distributed estimator is proposed in this paper, which can accurately estimate the leader's information for each follower. In addition, in order to eliminate the influence of uncertain external disturbance on the performance of quadrotor UAV, an adaptive estimation law is designed based only on velocity and position variables. For the attitude and position subsystem of the quadrotor UAV, a sliding surface with fractional-order term is designed. Which makes the quadrotor UAV tracking error system obtain good robustness at the stage of reaching the sliding surface and fast convergence and accurate tracking performance in the sliding stage. Based on Lyapunov stability theory, the convergence results are analyzed strictly. The results show that the algorithm can make the position distance between leader and followers converge to the desired offset. Simulation results verify the effectiveness and superiority of the control algorithm.     

Accurate and efficient follower log repair for Raft-replicated database systems

State machine replication has been widely used in modern cluster-based database systems. Most commonly deployed configurations adopt the Raft-like consensus protocol, which has a single strong leader which replicates the log to other followers. Since the followers can handle read requests and many real workloads are usually read-intensive, the recovery speed of a crashed follower may significantly impact on the throughput. Different from traditional database recovery, the recovering follower needs to repair its local log first. Original Raft protocol takes many network round trips to do log comparison between leader and the crashed follower. To reduce network round trips, an optimization method is to truncate the follower’s uncertain log entries behind the latest local commit point, and then to directly fetch all committed log entries from the leader in one round trip. However, if the commit point is not persisted, the recovering follower has to get the whole log from the leader. In this paper, we propose an accurate and efficient log repair (AELR) algorithm for follower recovery. AELR is more robust and resilient to follower failure, and it only needs one network round trip to fetch the least number of log entries for follower recovery. This approach is implemented in the open source database system OceanBase. We experimentally show that the system adopting AELR has a good performance in terms of recovery time.     

Fixed‐time sliding mode cooperative control for multiagent networks via event‐triggered strategy

In this article, the problem of event‐triggered‐based fixed‐time sliding mode cooperative control is addressed for a class of leader‐follower multiagent networks with bounded perturbation. First, a terminal integral sliding mode manifold with fast convergent speed is designed. Then, a distributed consensus tracking control strategy based on event‐triggered and sliding mode control is developed that guarantees the multiagent networks achieve consensus within a fixed time which is independent of initial states of agents in comparison with the finite‐time convergence. Furthermore, the update frequency of control law can be considerably reduced and Zeno behavior can be removed by utilizing the proposed event‐triggered control algorithm. Simulation examples are used to show the effectiveness of the new control protocol.     

基于领航位置信息的AUV三维编队控制方法

研究了自治水下机器人（Autonomous Underwater Vehicle,AUV）三维环境中编队控制问题,应用领航一跟随式队形控制方法,仅利用领航者的位置信息及期望编队队形得到虚拟机器人的航行轨迹及速度信息,作为跟随者的航行参考量,应用反步及滑模控制方法为跟随者设计自适应控制律,使其轨迹收敛于虚拟机器人的轨迹,从而与领航者保持期望位姿关系。随后,在具体AUV动力学模型上,利用MATLAB／SIMULINK平台进行了编队控制的仿真研究,实现了预期的控制效果,验证了算法的有效性及实用性。     

多航天器系统分布式有限时间姿态协同跟踪控制

基于一致性算法, 在有向通讯拓扑下, 研究存在状态约束的多航天器系统分布式有限时间姿态协同跟踪控制问题. 在仅有部分跟随航天器可以获取领航航天器状态, 并且跟随航天器之间存在不完全信息交互的情形下, 设计了分布式快速终端滑模面, 提出了不依赖于模型的分布式有限时间姿态协同跟踪控制律. 根据有限时间Lyapunov 稳定性定理, 证明了系统的状态在有限时间内收敛于领航航天器状态的小邻域内. 最后通过仿真算例验证了所提出算法的有效性.

     

Leader–follower fixed-time consensus of multi-agent systems with high-order integrator dynamics

The leader–follower fixed-time consensus of high-order multi-agent systems with external disturbances is investigated in this paper. A novel sliding manifold is designed to ensure that the tracking errors converge to zero in a fixed-time during the sliding motion. Then, a distributed control law is designed based on Lyapunov technique to drive the system states to the sliding manifold in finite-time independent of initial conditions. Finally, the efficiency of the proposed method is illustrated by numerical simulations.     

Symmetry position/force hybrid control for cooperative object transportation using multiple humanoid robots

A symmetry position/force hybrid control framework for cooperative object transportation tasks with multiple humanoid robots is proposed in this paper. In a leader-follower type cooperation, follower robots plan their biped gaits based on the forces generated at their hands after a leader robot moves. Therefore, if the leader robot moves fast (rapidly pulls or pushes the carried object), some of the follower humanoid robots may lose their balance and fall down. The symmetry type cooperation discussed in this paper solves this problem because it enables all humanoid robots to move synchronously. The proposed framework is verified by dynamic simulations.     

Adaptive neural control for multiagent systems with asymmetric time‐varying state constraints and input saturation

This article investigates the leader‐follower consensus problem of a class of non‐strict‐feedback nonlinear multiagent systems with asymmetric time‐varying state constraints (ATVSC) and input saturation, and an adaptive neural control scheme is developed. By introducing the distributed sliding‐mode estimator, each follower can obtain the estimation of leader's trajectory and track it directly. Then, with the help of time‐varying asymmetric barrier Lyapunov function and radial basis function neural networks, the controller is designed based on backstepping technique. Furthermore, the mean‐value theorem and Nussbaum function are utilized to address the problems of input saturation and unknown control direction. Moreover, the number of adaptive laws is equal to that of the followers, which reduces the computational complexity. It is proved that the leader‐follower consensus tracking control is achieved without violating the ATVSC, and all closed‐loop signals are semiglobally uniformly ultimately bounded. Finally, the simulation results are provided to verify the effectiveness of the control scheme.     

Distributed fault‐tolerant control design for spacecraft finite‐time attitude synchronization

This paper develops two distributed finite‐time fault‐tolerant control algorithms for attitude synchronization of multiple spacecraft with a dynamic virtual leader in the presence of modeling uncertainties, external disturbances, and actuator faults. The leader gives commands only to a subset of the followers, and the communication flow between followers is directed. By employing a novel distributed nonsingular fast terminal sliding mode and adaptive mechanism, a distributed finite‐time fault‐tolerant control law is proposed to guarantee all the follower spacecraft that finite‐time track a dynamic virtual leader. Then utilizing three distributed finite‐time sliding mode estimators, an estimator‐based distributed finite‐time fault‐tolerant control law is proposed using only the followers' estimates of the virtual leader. Both of them do not require online identification of the actuator faults and provide robustness, finite‐time convergence, fault‐tolerant, disturbance rejection, and high control precision. Finally, numerical simulations are presented to evaluate the theoretical results. Copyright © 2015 John Wiley & Sons, Ltd.     

Predictive discomfort of supine humans in whole-body vibration and shock environments

This work presents a predictive model to evaluate discomfort associated with supine humans during transportation, where whole-body vibration and repeated shock are predominant. The proposed model consists of two parts: (i) static discomfort resulting from body posture, joint limits and ambient discomfort; and (ii) dynamic discomfort resulting from the relative motion between the body segments as a result of transmitted vibration. Twelve supine subjects were exposed to single and 3D random vibrations and 3D shocks mixed with vibrations. The subjects’ reported discomfort and biodynamic response were analysed under different support conditions, including a rigid surface, a stretcher and a stretcher with a spinal backboard. The results demonstrated good correlations between the predictive discomfort and the reported discomfort for the different conditions under consideration, with R² = 0.69–0.94 for individual subjects and R² = 0.94 for the group mean. The results also indicated a strong relationship between the head-neck and trunk angular velocities and discomfort during supine transportation.

Practitioner Summary: The quantification of discomfort of supine humans under vibration and shocks by using a predictive model is an important contribution to this field, whereby the efficacy of different transport systems can be compared. The predictive discomfort model can be used as design criteria for ergonomic enhancement in supine transportation of humans.     

Multi‐surface sliding control for fast finite‐time leader–follower consensus with high order SISO uncertain nonlinear agents

In this paper, multi surface sliding cooperative control scheme is presented and new multiple sliding surfaces are proposed. It is proven that, for the setup that each agent is described by a chain of integrators, where the last integrator is perturbed by a bounded disturbance, leader–follower consensus can be achieved on these sliding surfaces if the communication graph has a directed spanning tree. Also, sliding variables can be driven to the sliding surfaces in fast finite time by the nonsmooth control law. The fast finite‐time Lyapunov stability theorem, the terminal sliding control technique, and the adding a power integrator design approach are used in our proposed control. Simulation results demonstrate the effectiveness of the proposed scheme. Copyright © 2013 John Wiley & Sons, Ltd.     

Global finite-time attitude consensus tracking control for a group of rigid spacecraft

The problem of finite-time attitude consensus for multiple rigid spacecraft with a leader–follower architecture is investigated in this paper. To achieve the finite-time attitude consensus, at the first step, a distributed finite-time convergent observer is proposed for each follower to estimate the leader's attitude in a finite time. Then based on the terminal sliding mode control method, a new finite-time attitude tracking controller is designed such that the leader's attitude can be tracked in a finite time. Finally, a finite-time observer-based distributed control strategy is proposed. It is shown that the attitude consensus can be achieved in a finite time under the proposed controller. Simulation results are given to show the effectiveness of the proposed method.     

A leader–follower model for discrete competitive facility location

In this paper we investigate a leader–follower (Stackelberg equilibrium) competitive location model. The competitive model is based on the concept of cover. Each facility attracts consumers within a “sphere of influence” defined by a “radius of influence.” The leader and the follower, each has a budget to be spent on the expansion of their chains either by improving their existing facilities or constructing new ones. We find the best strategy for the leader assuming that the follower, knowing the action taken by the leader, will react by investing his budget to maximize his market share. The objective of the leader is to maximize his market share following the follower׳s reaction.     

基于反步法的主从航天器相对姿态控制

对主从航天器的相对姿态控制问题,考虑从航天器系统不确定因素,提出了一种基于反步法的姿态控制方法,并引入自适应控制律.该方法首先根据主从航天器的相对位置信息,解算出从航天器观测轴指向主航天器以及从航天器跟踪主航天器轨道坐标系等两种任务的期望姿态;然后基于修正罗德里格参数(MI(P)描述的从航天器姿态误差动力学模型设计了姿态控制器以及针对航天器惯量的不确定性设计了自适应控制律;并基于Lyapunov方法从理论上证明了该方法能够实现全局渐近稳定的相对姿态控制.最后将该方法应用于某编队飞行任务,仿真结果表明此控制器能够实现其编队飞行控制,具有良好的控制性能.     

Cooperative Control of Multiple UAVs for Source Seeking

This paper considers the problem of unknown scalar field source seeking using multiple UAVs subject to input constraints. In this problem, each UAV can only measure the scalar field value at its current location. In order to seek the scalar field source, cooperation of multiple UAVs is carried out by adopting a leader-follower formation strategy. A least squares method is introduced to estimate the gradient of the scalar field at the leader UAV location based on the measurements of all UAVs. By using the estimated gradient, this paper proposes a guidance law for the heading of the leader UAV, and a sliding mode based heading rate controller is designed for the leader UAV to follow the desired heading angle. Furthermore, a heading rate controller is developed for each follower UAV to achieve circular formation around the leader UAV. Finally, simulation results are provided to demonstrate the effectiveness of the proposed approach.