Analysis of Differential Mechanisms for a Robotic Head Stabilization System

2017 ◽  
Author(s):  
Adam Williams ◽  
Wael Saab ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Trauma Patients ◽  
Stabilization System ◽  
Head Stabilization ◽  
Stabilization Process ◽  
Life And Death ◽  
Head Positions ◽  
Neck Stabilization ◽  
Future Work ◽  
Prototype Design ◽  
Steady Force

This paper presents a robotic system intended to help automate the head and neck stabilization process performed on trauma patients through application of a differential apparatus, a device that distributes an input between multiple output channels. A system to streamline the head stabilization process can save valuable time in a life and death scenario, as well as play a key role in future work on a mobile stretcher robot. This investigation focuses on finding the most suitable device to accommodate multiple possible head positions while maintaining a steady force in order to provide secure motion restriction. After an initial review of current emergency medical services standards, a comparison of potential differential mechanisms is undertaken. Static analysis as well as dynamic modeling is performed in order to determine the most appropriate mechanisms. An initial prototype design incorporating a differential pulley, the most mechanically advantageous mechanism, is then introduced.

Control of a Head Stabilization System for Use in Robotic Disaster Response

2017 ◽  
Author(s):  
Bijo Sebastian ◽  
Adam Williams ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Force Control ◽  
Disaster Response ◽  
Stabilization System ◽  
Functional Requirements ◽  
Trauma Victim ◽  
Head Stabilization ◽  
Control Scheme ◽  
Physical Prototype ◽  
Future Experimentation ◽  
And Control

This paper systematically describes the design and validation of a feasible control scheme for a robotic head stabilization system. Over the past few decades there has been a growing need for robotic systems to perform human rescue operations in the event of natural or manmade disasters. Before autonomous or remotely controlled robotic victim extraction can be realized, support systems with the capability to secure the head of a trauma victim in a manner that does not exacerbate existing spinal injuries needs to be developed. The paper starts with a brief description of one such previously developed robotic head stabilization system and examines the various functional requirements from a design and control standpoint. Detailed dynamic analysis of the system is done based on which a force control scheme involving Series Elastic Actuators (SEA) is proposed. The proposed control scheme is then tested on an ADAMS-MATLAB co-simulation where the dynamic head support system is modelled in ADAMS and the force controller in Simulink. Based on the results of the simulation, a physical prototype is integrated and the proposed control scheme is validated through experiments. The results of the simulation and experiment are analyzed, and improvements to the system are proposed for future experimentation. Based on the results of the simulation and experiments, the proposed control was found to successfully meet the desired control metrics in providing accurate force control for the head support device. The paper ends with a discussion on possible modifications to the overall system for it to be used in field robotic rescue.

Present status of radio astrometry with baselines ≤ 35 km

1978 ◽  
Vol 48 ◽  
pp. 175-178 ◽  
Author(s):  
K. J. Johnston
Keyword(s):  
Present Status ◽  
Future Work

A summary of results for radio astrometry with baselines ≤ 35 km and priorities for future work are given.

A Phonomotor Approach to Apraxia of Speech Treatment

2020 ◽  
Vol 29 (4) ◽  
pp. 2109-2130
Author(s):  
Lauren Bislick
Keyword(s):  
Phase I ◽  
Treatment Effects ◽  
Single Case ◽  
Motor Planning ◽  
The Other ◽  
Multimodal Approach ◽  
Apraxia Of Speech ◽  
Duration Of Treatment ◽  
Treatment Gains ◽  
Future Work

Purpose This study continued Phase I investigation of a modified Phonomotor Treatment (PMT) Program on motor planning in two individuals with apraxia of speech (AOS) and aphasia and, with support from prior work, refined Phase I methodology for treatment intensity and duration, a measure of communicative participation, and the use of effect size benchmarks specific to AOS. Method A single-case experimental design with multiple baselines across behaviors and participants was used to examine acquisition, generalization, and maintenance of treatment effects 8–10 weeks posttreatment. Treatment was distributed 3 days a week, and duration of treatment was specific to each participant (criterion based). Experimental stimuli consisted of target sounds or clusters embedded nonwords and real words, specific to each participants' deficit. Results Findings show improved repetition accuracy for targets in trained nonwords, generalization to targets in untrained nonwords and real words, and maintenance of treatment effects at 10 weeks posttreatment for one participant and more variable outcomes for the other participant. Conclusions Results indicate that a modified version of PMT can promote generalization and maintenance of treatment gains for trained speech targets via a multimodal approach emphasizing repeated exposure and practice. While these results are promising, the frequent co-occurrence of AOS and aphasia warrants a treatment that addresses both motor planning and linguistic deficits. Thus, the application of traditional PMT with participant-specific modifications for AOS embedded into the treatment program may be a more effective approach. Future work will continue to examine and maximize improvements in motor planning, while also treating anomia in aphasia.

Friends in Life and Death

1992 ◽  
Author(s):  
Richard T. Vann ◽  
David Eversley
Keyword(s):  
Life And Death

Venous thromboembolism in a general hospital. An update with low molecular weight heparin prophylaxis

VASA ◽  
2007 ◽  
Vol 36 (1) ◽  
pp. 17-22
Author(s):  
Schulz ◽  
Kesselring ◽  
Seeberger ◽  
Andresen
Keyword(s):  
Molecular Weight ◽  
Pulmonary Embolism ◽  
Venous Thromboembolism ◽  
Low Molecular Weight ◽  
Trauma Patients ◽  
Vte Prophylaxis ◽  
Vein Thrombosis ◽  
Patients At Risk ◽  
Hospital Stays ◽  
Event Rates

Background: Patients admitted to hospital for surgery or acute medical illnesses have a high risk for venous thromboembolism (VTE). Today’s widespread use of low molecular weight heparins (LMWH) for VTE prophylaxis is supposed to have reduced VTE rates substantially. However, data concerning the overall effectiveness of LMWH prophylaxis is sparse. Patients and methods: We prospectively studied all patients with symptomatic and objectively confirmed VTE seen in our hospital over a three year period. Event rates in different wards were analysed and compared. VTE prophylaxis with Enoxaparin was given to all patients at risk during their hospital stay. Results: A total of 50 464 inpatients were treated during the study period. 461 examinations were carried out for symptoms suggestive of VTE and yielded 89 positive results in 85 patients. Seventy eight patients were found to have deep vein thrombosis, 7 had pulmonary embolism, and 4 had both deep venous thrombosis and pulmonary embolism. The overall in hospital VTE event rate was 0.17%. The rate decreased during the study period from 0.22 in year one to 0,16 in year two and 0.13 % in year three. It ranged highest in neurologic and trauma patients (0.32%) and lowest (0.08%) in gynecology-obstetrics. Conclusions: With a simple and strictly applied regimen of prophylaxis with LMWH the overall rate of symptomatic VTE was very low in our hospitalized patients. Beside LMWH prophylaxis, shortening hospital stays and substantial improvements in surgical and anasthesia techniques achieved during the last decades probably play an essential role in decreasing VTE rates.

Confirmatory Factor Analysis of the Long and Short Forms of the Worry Domains Questionnaire

2009 ◽  
Vol 25 (4) ◽  
pp. 239-243
Author(s):  
Roberto Nuevo ◽  
Andrés Losada ◽  
María Márquez-González ◽  
Cecilia Peñacoba
Keyword(s):  
Factor Analysis ◽  
Confirmatory Factor Analysis ◽  
Factor Structure ◽  
Goodness Of Fit ◽  
Factorial Validity ◽  
Fit Indices ◽  
Short Forms ◽  
Confirmatory Factor ◽  
Positive Correlations ◽  
Future Work

The Worry Domains Questionnaire was proposed as a measure of both pathological and nonpathological worry, and assesses the frequency of worrying about five different domains: relationships, lack of confidence, aimless future, work, and financial. The present study analyzed the factor structure of the long and short forms of the WDQ (WDQ and WDQ-SF, respectively) through confirmatory factor analysis in a sample of 262 students (M age = 21.8; SD = 2.6; 86.3% females). While the goodness-of-fit indices did not provide support for the WDQ, good fit indices were found for the WDQ-SF. Furthermore, no source of misspecification was identified, thus, supporting the factorial validity of the WDQ-SF scale. Significant positive correlations between the WDQ-SF and its subscales with worry (PSWQ), anxiety (STAI-T), and depression (BDI) were found. The internal consistency was good for the total scale and for the subscales. This work provides support for the use of the WDQ-SF, and potential uses for research and clinical purposes are discussed.

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