Hydraulic Manipulator to Assist Rescue Personnel

2021 ◽  
Vol 38 (10) ◽  
pp. 711-716
Author(s):  
Maolin Jin ◽  
Sang Hyun Park ◽  
Jong Geol Kim ◽  
Ju Seong Shin ◽  
Junyoung Lee ◽  
...  
Keyword(s):  
Hydraulic Manipulator ◽  
Rescue Personnel

Decentralized Adaptive Control of a Directly Driven Hydraulic Manipulator: Part 2: Experiment

1995 ◽  
Vol 209 (3) ◽  
pp. 197-205 ◽  
Author(s):  
F Gomes de Almeida ◽  
K A Edge
Keyword(s):  
Adaptive Control ◽  
Model Reference Adaptive Control ◽  
Model Reference ◽  
Model Following ◽  
Control Scheme ◽  
Series Of Experiments ◽  
Hydraulic Manipulator ◽  
Model Reference Adaptive ◽  
Decentralized Model ◽  
Adaptive Control Scheme

The implementation of a decentralized model reference adaptive control scheme for a two-axis robotic manipulator is described. It is shown, through an extensive series of experiments, that very good model-following performance and axis decoupling is achieved regardless of manipulator payload and working position.

Excessive Daytime Sleepiness and Associated Factors in Military Search and Rescue Personnel

2021 ◽  
Vol 92 (12) ◽  
pp. 975-979
Author(s):  
Rokshana Akter ◽  
Tricia L. Larose ◽  
Jannicke Sandvik ◽  
Vivianne Fonne ◽  
Anders Meland ◽  
...  
Keyword(s):  
Excessive Daytime Sleepiness ◽  
Daytime Sleepiness ◽  
Associated Factors ◽  
Lifestyle Factors ◽  
Search And Rescue ◽  
Outcome Variable ◽  
Study Cohort ◽  
Contributing Factors ◽  
Cross Sectional ◽  
Rescue Personnel

BACKGROUND: Abnormal excessive daytime sleepiness (EDS) has been reported worldwide, but too little is known about EDS and its determinants in Search and Rescue (SAR) populations. We aimed to determine the prevalence of abnormal EDS and contributing factors among Royal Norwegian Air Force (RNoAF) SAR helicopter personnel.METHODS: In this cross-sectional study, a total of N = 175 RNoAF SAR personnel completed an electronic survey including socio-demographic and lifestyle questions. The Epworth Sleepiness Scale (ESS) was used as both a continuous and categorical outcome variable to measure EDS.RESULTS: Abnormal EDS defined by ESS was found in 41% of the participants in this study. We observed no associations between socio-demographic and lifestyle factors and abnormal EDS in this study. DISCUSSION: There is a high prevalence of abnormal EDS in the current RNoAF SAR population. Despite this elevated level of fatigue, we did not find that the socio-demographic and lifestyle factors assessed in this study were associated with abnormal EDS in RNoAF SAR helicopter personnel. Also unusually, the study cohort did not demonstrate higher scores in factors found to change ESS scores in similar study populations (e.g., caffeine use, tobacco use, exercise level). Further research is required to investigate other factors (organizational, operational) that may be associated with abnormal EDS in this and other SAR populations.Akter R, Larose TL, Sandvik J, Fonne V, Meland A, Wagstaff AS. Excessive daytime sleepiness and associated factors in military search and rescue personnel. Aerosp Med Hum Perform. 2021; 92(12):975–979.

Development of Intelligent Hierarchical Control for a Hydraulic Manipulator

2001 ◽  
Author(s):  
Roya Rahbari ◽  
Clarence W. deSilva
Keyword(s):  
Hierarchical Control ◽  
Middle Layer ◽  
Bottom Layer ◽  
Mechanical Processing ◽  
Pd Controller ◽  
Performance Parameters ◽  
Hydraulic Actuator ◽  
Intelligent Controller ◽  
Hydraulic Manipulator ◽  
Input Response

Abstract This paper presents the development of a hierarchical intelligent controller for a hydraulic manipulator, which has been designed to be an integral part of an automated machine for mechanical processing of salmon. The developed controller for this hydraulic actuator is a three-layer hierarchical system. In the bottom layer of the hierarchy, a conventional proportional plus derivative (PD) controller is used to control the position of the cutting blade. The middle layer monitors the performance of the manipulator, preprocesses the response signals, and extracts the performance parameters, based on a step-input response. The top layer infers the tuning actions for the PD servo. The knowledge base for tuning the low level controller has been developed and represented by fuzzy rulesbase modules. The development of this hierarchical control system is discussed and some experimental results are given.

scholarly journals Drone in NBC disaster

2018 ◽  
Vol 5 (12) ◽  
pp. 5476
Author(s):  
Yong Han Kim
Keyword(s):  
Remote Control ◽  
Unmanned Aerial Vehicle ◽  
Human Exposure ◽  
Nerve Agent ◽  
Remote Laboratory ◽  
Disaster Area ◽  
Rescue Team ◽  
Aerial Vehicle ◽  
Rescue Personnel

Nuclear, Biological and chemical disasters are tragic and should never happen. Unavoidably occurred, access and reach are difficult because rescue personnel are exposed to hazards. Drone is an unmanned aerial vehicle that can be operated by remote control or autonomous aviation. It has some advantages in NBC disaster as followings:First, drone can take a picture and record the scene in contaminated zone. Communication with injured is also possible without exposure to rescue team. Triage can be performed by analysis of movement, breathing and responsiveness, etc.Second, atropine and oxime are essential to nerve agent poisoning. It can be delivered by drone only inside contaminated zone for survivors.Third, drone can collect specimen without human exposure. Investigator can analyze the extent of pollution in remote laboratory with this specimen.Fourth, survivor can be evacuated from disaster area by drone itself. This operation needs heavy capability that would lift patients.I hope that NBC disaster could be overcome with this useful modern convenience.

scholarly journals Development of a Hydraulic Parallel Link Force Display -Improvement of Manipulability Using a Disturbance Observer and its Application to a Master-slave System-

2003 ◽  
Vol 15 (4) ◽  
pp. 391-397 ◽  
Author(s):  
Shigeki Kudomi ◽  
◽  
Hironao Yamada ◽  
Takayoshi Muto ◽  
Keyword(s):  
Dynamic Performance ◽  
Load Force ◽  
Slave System ◽  
Disturbance Compensation ◽  
Practical Application ◽  
Hydraulic Cylinders ◽  
Six Dof ◽  
Parallel Link ◽  
Hydraulic Manipulator ◽  
Master Slave System

We previously developed a six-DOF parallel link force display that is actuated by six hydraulic cylinders. The manipulability of the display, however, was insufficient at first, because the dynamic performance of each cylinder was not necessarily the same as that of the others. To overcome this problem, in the present study we have applied disturbance compensation to improve manipulability. To demonstrate a practical application of this force display, we have also constituted a master-slave system in which the display is adopted as the master, and the same type of hydraulic manipulator is adopted as the slave. An operator manipulated the system so that the slave touched a flexible object serving as a load. Our experiments confirmed that the system was controlled with relatively good dynamic performance, and that the operator was able to feel the load force sensitively through the force display.

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