Bed sores, a common problem among immobile patients these days occur as blood supply to the skin is cut off in patient lying on same posture for a prolonged period of time. If left untreated, the skin can break open and become infected. Experiments performed demonstrated that the time over which a patient lies in the same posture on the bed is directly proportional to bed surface temperature. Also, increase in bed surface temperature of patients lying on the same posture is one of the key factors for occurrence of bed sores. Therefore, control and reduction of bed surface temperature is one of the vital aspects in clinical environment for prevention of bed sore among patients in tropical condition. Here in this project a low cost system for control of bed surface temperature and monitoring patient movement has been developed for bed sore prevention. Currently adopted methods for bed sores prevention include: use of two hourly flip chat for repositioning patient or use of air fluidized beds. However, the setbacks of these preventive measures include either use of costly equipment or wastage of human resources. This paper introduces an intelli-Sense low cost anti-sweating system for bed sores prevention and patient movement detection in a clinical environment. The developed system consists of bed surface implanted temperature sensors along with Inflatable pressure Pad interfaced with a microcontroller for sensing the temperature change in patient's skin to bed surface. Based on the temperature change, the microcontroller selects the flow rate of the air inside the mattress. Furthermore, an alarm module was implemented to alert the nurse to reposition the patient only if patient's skin to bed surface temperature exceeds a predefined threshold thereby saving human resources. The system also alerts the nurse if the patient has not moved or the movement is not significant in two hours there by replacing the manual two hour chart. By integrating patient movement Sensing and Anti sweating system we were able to build a low cost compact system without sacrificing processing power and flexibility.

Abstract-This article introduces a general description of a multi-robot system (MRS) architecture aimed to provide guidance for a group of humans. At a first approach, only the strategy and architecture framework are described, further than the ethological and human factors involved in humanrobot interaction. The paper encompasses a special strategy to conduct and crowd multiple people. Such strategy includes a methodology to localize multi-human; a MRS architecture design; and a control for people trajectory and a robots motion planner. A key-problem in the implementation of the system is that, there is no signal of any type for accomplishing guidance. In addition, some experimental and simulation results are presented, which exhibits the effectiveness of the proposed architecture, and the social force model adapted in a manner to simulate behavior of groups of people.

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SUMMARYIn this study, a general kinematic control law for automatic multi-configuration of four-wheel active drive/steer robots is proposed. This work presents models of four-wheel drive and steer (4WD4S) robotic systems with all-wheel active drive and steer simultaneously. This kinematic model comprises 12 degrees of freedom (DOFs) in a special design of a mechanical structure for each wheel. The control variables are wheel yaw, wheel roll, and suspension pitch by active/passive damper systems. The pitch angle implies that a wheel's contact point translates its position over time collinear with the robot's lateral sides. The formulation proposed involves the inference of the virtual z-turn axis (robot's body rotation axis) to be used in the control of the robot's posture by at least two acceleration measurements local to the robot's body. The z-turn axis is deduced through a set of linear equations in which the number of equations is equal to the number of acceleration measurements. This research provides two main models for stability conditions. Finally, the results are sustained by different numerical simulations that validate the system with different locomotion configurations.

We present a novel technique that robustly segments free-space for robot navigation purposes. In particular, we are interested in a reactive visual navigation, in which the rapid and accurate detection of free space where the robot can navigate is crucial. Contrary to existing methods that use multiple cameras in different configurations, we use a downward-facing monocular camera to search for free space in a large and complicated room environment. The proposed approach combines two techniques. First, we apply the Simple Linear Iterative Clustering super-pixel algorithm to the input images. Then, by relying on particular characteristics of floor superpixels, we use a simple classification method based on a normalized SSD similarity measure to group together those superpixels that belongs to the floor (considered as free space). The method intermittently examines low resolution images (80 × 60) in the CIE Lab color model. Experimental results show that our segmentation approach is robust, even in the presence of severe specular reflections and allows for real-time navigation.