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This article focuses on the luggage trolley transportation problem, an essential part of robotic autonomous luggage trolley collection. To efficiently address the nonholonomic constraints derived from the formation of two collaborative robots and a queue of luggage trolleys, we propose a comprehensive framework consisting of a global planning method and a real-time divide-and-conquer control strategy. The popular Hybrid A* algorithm generates a feasible path as the global planner. A model predictive controller is designed to track this path stably and in real time. To maintain the formation so that the whole queue of robots and luggage trolleys does not split, a safety filter that consists of a discrete-time control Lyapunov function and a decentralized control barrier function is implemented in the transportation process. Finally, we conduct real-world experiments to verify the effectiveness of the proposed method on three representative paths, and the results show that our approach can achieve robust performance. The demonstration video can be found at https://www.youtube.com/watch?v=iPiT8BfLIpU.
Understanding factors associated with post-discharge sleep quality among COVID-19 survivors is important for intervention development.
This study investigated sleep quality and its correlates among COVID-19 patients 6 months after their most recent hospital discharge.
Healthcare providers at hospitals located in five different Chinese cities contacted adult COVID-19 patients discharged between 1 February and 30 March 2020. A total of 199 eligible patients provided verbal informed consent and completed the interview. Using score on the single-item Sleep Quality Scale as the dependent variable, multiple linear regression models were fitted.
Among all participants, 10.1% reported terrible or poor sleep quality, and 26.6% reported fair sleep quality, 26.1% reported worse sleep quality when comparing their current status with the time before COVID-19, and 33.7% were bothered by a sleeping disorder in the past 2 weeks. After adjusting for significant background characteristics, factors associated with sleep quality included witnessing the suffering (adjusted B = −1.15, 95% CI = −1.70, −0.33) or death (adjusted B = −1.55, 95% CI = −2.62, −0.49) of other COVID-19 patients during hospital stay, depressive symptoms (adjusted B = −0.26, 95% CI = −0.31, −0.20), anxiety symptoms (adjusted B = −0.25, 95% CI = −0.33, −0.17), post-traumatic stress disorders (adjusted B = −0.16, 95% CI = −0.22, −0.10) and social support (adjusted B = 0.07, 95% CI = 0.04, 0.10).
COVID-19 survivors reported poor sleep quality. Interventions and support services to improve sleep quality should be provided to COVID-19 survivors during their hospital stay and after hospital discharge.
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