Performance-guaranteed distributed control for multiple plant protection UAVs with collision avoidance and a directed topology.

The urgent requirement for improving the efficiency of agricultural plant protection operations has spurred considerable interest in multiple plant protection UAV systems. In this study, a performance-guaranteed distributed control scheme is developed in order to address the control of multiple plant protection UAV systems with collision avoidance and a directed topology. First, a novel concept called predetermined time performance function (PTPF) is proposed, such that the tracking error can converge to an arbitrary small preassigned region in finite time. Second, combined with the two-order filter for each UAV, the information estimation from the leader is generated. The distributed protocol avoids the use of an asymmetric Laplace matrix of a directed graph and solves the difficulty of control design. Furthermore, by introducing with a collision prediction mechanism, a repulsive force field is constructed between the dynamic obstacle and the UAV, in order to avoid the collision. Finally, it is rigorously proved that the consensus of the multiple plant protection UAV system can be achieved while guaranteeing the predetermined time performance. A numerical simulation is carried out to verify the effectiveness of the presented method, such that the multiple UAVs system can fulfill time-constrained plant protection tasks.

Influence of Early Multidisciplinary Collaboration on Prevention of ICU-Acquired Weakness in Critically Ill Patients.

Objective: This study focused on elucidating the influence of early multidisciplinary collaboration on preventing intensive care unit- (ICU-) acquired weakness (AW) in critically ill patients (CIPs). Methods: Ninety-five CIPs admitted between December 2018 and December 2021 were selected and assigned to the following two groups according to the intervention pattern: the control group (the Con; n = 40) treated with routine early rehabilitation intervention, and the research group (the Res; n = 55) intervened by early multidisciplinary collaborative intervention. The incidence of complications (ICU-AW, deep vein thrombosis (DVT), and pressure ulcers (PSs)) and recovery indices (days of ventilator use, ICU treatment time, and length of hospital stay (LOS)) were recorded. Besides, patients' activity function and quality of life (QoL) were evaluated and compared, among which the former was evaluated by the Barthel Index (BI), ICU Mobility Scale (IMS), and Medical Research Council (MRC) Scale, and the latter was assessed by the World Health Organization Quality of Life Assessment (100-item version) (WHOQOL-100). Results: The data identified statistically a lower incidence of complications (ICU-AW, DVT, and PSs) and shorter time of ventilator use, ICU residence, and LOS in the Res compared with the Con. In addition, BI, IMS, MRC, and WHOQOL-100 scores in the Res elevated statistically after treatment and were higher than those of the Con. Conclusions: Early multidisciplinary collaboration can validly prevent ICU-AW in CIPs, reduce the incidence of DVT and PSs, and promote patients' rehabilitation, mobility, and QoL.