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Development of an Active Controlled Stretcher for an Ambulance

Research Project

Project/Area Number 06555064
Research Category

Grant-in-Aid for Developmental Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field Dynamics/Control
Research InstitutionTohoku University

Principal Investigator

ISHIHARA Tadashi  Graduate School of Information Sciences, Tohoku University Assistant Professor, 大学院・情報科学研究所, 助教授 (10134016)

Co-Investigator(Kenkyū-buntansha) SAGAWA Koichi  Graduate School of Information Sciences, Tohoku University Research Associate, 大学院・情報科学研究科, 助手 (30272016)
OHBA Kotaro  Dept.of Mechanical Engineering, Tohoku University Research Associate, 工学部, 助手 (70221835)
INOOKA Hikaru  Graduate School of Information Sciences, Tohoku University Professor, 大学院・情報科学研究科, 教授 (20006191)
池浦 良淳  東北大学, 大学院・情報科学研究科, 助手 (20232168)
Project Period (FY) 1994 – 1995
Project Status Completed (Fiscal Year 1995)
Budget Amount *help
¥8,400,000 (Direct Cost: ¥8,400,000)
Fiscal Year 1995: ¥4,700,000 (Direct Cost: ¥4,700,000)
Fiscal Year 1994: ¥3,700,000 (Direct Cost: ¥3,700,000)
KeywordsAmbulance / Acceleration / Antivibration / Blood Pressure / Active control / Ambulance stretcher / Experiment / DOA / 振動 / シミュレーション
Research Abstract

Recently in Japan, a great deal of attention have been paid to the patient's death during ambulance transport before arriving at hospital, called DOA (Dead On Arrival). We consider that a deteriorating factor of the patient's condition during ambulance transport is a relatively poor ride of the ambulance compared with a private car characterized by : vibration, acceleration, and deceleration. To solve the problem, many researches have been made on the design of the stretcher based on the isolation of the ambulance vibration.
We have, however, found that the blood pressure of human laying on a stretcher varies during a brake causing foot-to-head acceleration. The blood pressure variation (BPV) especially appears when the ambulance runs through a zigzag or narrow road ; the accelerations or decelerations are repeatedly performed. As the enforced change of the blood pressure may lead to deterioration of patient's condition, it is necessary to use a stretcher to decrease the effect of the foot-to-head acceleration and to reduce the BPV during transport. We have, therefore, worked on the design of the ambulance stretcher from a slightly defferent angle, since no such studies have been done on designing of a stretcher which reduces the BPV.In 1994, we investigated the effect of an actively controlled stretcher (ACS) on the reduction of the BPV by simulation analysis. The simulation results suggest that the ACS can effectively decrease the BPV and comfortably transport the patient. In 1995, we designed an ACS for an ambulance to reduce patient's blood pressure variation, and performed emergency brake tests using the ACS.The experimental results showed that the ACS can effectively decrease the foot-to-head acceleration by continuously controlling the tilying angle of the stretcher under gravity according to back-to-front acceleration of the running ambulance.

Report

(3 results)
  • 1995 Annual Research Report   Final Research Report Summary
  • 1994 Annual Research Report
  • Research Products

    (29 results)

All Other

All Publications (29 results)

  • [Publications] H.J.Guo: "A state-space parametrization of discrete-time two-degree-of-freedom integral controllers" Automatica. 30-3. 493-497 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] T.Ishihara: "Direct digital design of computed torque controllers" Journal of Robotic Systems. 11-3. 197-209 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 石原 正: "軌道感度を考慮した離散時間レギュレータの構成" 計測自動制御学会論文集. 30-5. 554-561 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 石原 正: "離散時間非最少位相系に対するループ伝達関数回復について" 計測自動制御学会論文集. 30-10. 1172-1177 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] T.Satoh: "Computer-aided control system design accounting pole-zero cancellations by the method of inequalities" Proceedings of IEEE/IFAC Joint Symposium on Computer Aided Control Systems Design. 481-488 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] H.Inagaki: "Desing of discrete-time repetitive controllers accounting sampling skew" Proceedings of the first Asian Control Conference. 361-364 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] T.K.Liu: "An application of genetic algorithms to control system design" Proceedings of the first Asian Control Conference. 701-704 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] H.J.Guo: "Design of discrete-time integral controllers for non-minimum phase plants via LTR techniques" Proceedings of the 1994 Korean Automatic Control Conference. 622-627 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] K.Sagawa: "Active control of an ambulance stretcher : Simulation study" Proc.of the 9th KOREA AUTOMATIC CONTROL CONFERENCE. 100-105 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 郭 海蛟: "部分的ループ伝達関数回復手法による離散時間非最小位相系に対する積分型サーボ系の設計" 計測自動制御学会論文集. 31-7. 844-852 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 郭 海蛟: "離散時間二自由度積分型コントローラのパラメトリゼーションとその応用" 電気学会論文誌C. 115-1. 95-103 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Koichi Sagawa: "Active Conrolled Stretcher for an Ambulance : Reduction of patient's blood pressure variation" Proc.of the International Symposium on Microsystems. Intelligent Materials and Robots. 610-613 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] K.Sagawa: "Active control of an ambulance stretcher : Simulation study" Proc.of the 9th KOREA AUTOMATIC CONTROL CONFERENCE,Oct.17-20 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Koichi Sagawa: "Active Conrolled Stretcher for an Ambulance : Reduction of patient's blood pressure variation" Proc.of the International Symposium on Microsystems, Intelligent Materials and Robots, Sept.27-29 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] H.J.Guo: "A state-space parametrization of discrete-time two-degree-of-freedom integral controllers" Automatica. 30-3. 493-497 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] T.Ishihara: "Direct digital design of computed torque controllers" Journal of Robotic Systems. 11-3. 197-209 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Tadashi Ishihara: "Synthesis of Discrete-Time Regulators Based on the Trajectory Sensitivity Method" Trans.of the Society of Instrument and Control Engineers. 30-5. 554-561 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Tadashi Ishihara: "On Loop Transfer Recovery for Discrete-Time Non-Minimum Phase Systems" Trans.of the Society of Instrument and Control Engineers. 30-10. 1172-1177 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] H.J.Guo: "A Parametrization of the Discrete-Time Two-Degree-of-Freedom Integral Controllers with Computation Delays and its Applications" Trans.IEE of Japan. 115-1. 95-103 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] H.J.Guo: "A Design of Discrete-Time Integral Controllers for Non-Minimum Phase Plants Using Partial LTR Technique" Trans.of the Society of Instrument and Control Engineers. 31-7. 844-852 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] T.Satoh: "Computer-aided control system design accounting pole-zero cancellations by the method of inequalities" Proceedings of IEEE/IFAC Joint Symposium on Computer Aided Control Systems Design. 481-488 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] H.Inagaki: "Desing of discrete-time repetitive controllers accounting sampling skew" Proceedings of the first Asian Control Conference. 361-364 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] T.K.Liu: "An application of genetic algorithms to control system design" Proceedings of the first Asian Control Conference. 701-704 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] H.J.Guo: "Design of discrete-time integral controllers for non-minimum phase plants via LTR techniques" Proceedings of the 1994 Korean Automatic Control Conference. 622-627 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Koichi Sagawa: "Active Controlled Stretcher for an Ambulance:Reduction of patient's blood pressure variation" Proceedings of the International Symposium on Microsystems, Intelligent Materials and Robots. 1. 610-613 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 佐川貢一: "救急車用アクティブ制御ベッドの効果について" 日本機械学会 機械力学・計測制御講演論文集. 940-26I. 327-329 (1994)

    • Related Report
      1995 Annual Research Report
  • [Publications] Koichi Sagawa: "Active control of an ambulance stretcher:Simulation study" Proc. of 9th KOREA AUTOMATIC CONTROL CONFERENCE. 100-105 (1994)

    • Related Report
      1995 Annual Research Report
  • [Publications] 佐川貢一: "救急車用アクティブ制御ベッドの効果について" 日本機械学会機械力学・計測制御講演論文集. 940-26 I. 327-329 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] Koichi Sagawa: "Active control of an ambulance stretcher:Simulation study" Proceedings of the 9th KOREA AUTOMATIC CONTROL CONFERENCE. 100-105 (1994)

    • Related Report
      1994 Annual Research Report

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Published: 1994-04-01   Modified: 2016-04-21  

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