Coordination Action Research Articles

A Predictive Out-of-Step Identification Method Based on Wide-Area Velocity-Acceleration Trajectory

Online identification of the transient instability is essential in power system analysis, as it facilitates the grid operator to decide and coordinate system failure correction control actions. The rapid technological development of phasor measurement units (PMUs) provides an opportunity for online transient out-of-step identification in real-time. This paper analyzes the characteristics of angular velocity-acceleration trajectories in detail, and then proposes a predictive transient out-of-step identification method among coherent groups of generators based on the velocity-acceleration trajectory sampled by PMUs. To prove that the method can distinguish the transient out-of-step event following disturbance reliably, a mathematical proof of the criterion extended to multi-machine system is made, and the influences of the exciter and emergency control are taken into consideration to a certain extent. Finally, the effectiveness and predictability of the proposed method are demonstrated on a 39-bus New England test system and two large-scale power system simulation models of China by numerical studies.

Position paper From the digital twins in healthcare to the Virtual Human Twin: a moon-shot project for digital health research.

The idea of a systematic digital representation of the entire known human pathophysiology, which we could call the Virtual Human Twin, has been around for decades. To date, most research groups focused instead on developing highly specialised, highly focused patient-specific models able to predict specific quantities of clinical relevance. While it has facilitated harvesting the low-hanging fruits, this narrow focus is, in the long run, leaving some significant challenges that slow the adoption of digital twins in healthcare. This position paper lays the conceptual foundations for developing the Virtual Human Twin (VHT). The VHT is intended as a distributed and collaborative infrastructure, a collection of technologies and resources (data, models) that enable it, and a collection of Standard Operating Procedures (SOP) that regulate its use. The VHT infrastructure aims to facilitate academic researchers, public organisations, and the biomedical industry in developing and validating new digital twins in healthcare solutions with the possibility of integrating multiple resources if required by the specific context of use. Healthcare professionals and patients can also use the VHT infrastructure for clinical decision support or personalised health forecasting. As the European Commission launched the EDITH coordination and support action to develop a roadmap for the development of the Virtual Human Twin, this position paper is intended as a starting point for the consensus process and a call to arms for all stakeholders.

Characterization of the Baeyer-Villiger monooxygenase in the pathway of the bacterial pyrrolizidine alkaloids, legonmycins.

The Baeyer-Villiger monooxygenase (BVMO), LgnC, plays a crucial role in the biosynthesis of bacterial pyrrolizidine alkaloids, legonmycins. It processes bicyclic indolizidine substrates generated from the coordinative action of two non-ribosomal peptide synthetases (LgnB and LgnD) and the standalone type II thioesterase-like enzyme (LgnA). It has been demonstrated that the enzyme selectively inserts molecular oxygen into the carbon-carbon bond adjacent to the carbonyl group in legonindolizidines to form bicyclic 1,3-oxazepine carbamate intermediates. After ring opening and contraction, the most advanced products, prelegonmycins, are formed. However, factors controlling the final hydroxylation step and how the enzyme handles the substrates have remained elusive. In this study, we show that the final hydroxylation at the activated carbon of the electron-rich pyrrole system is attributed to either spontaneous oxidation or the action of an endogenous redox reagent. Substrate docking on the structural model of LgnC combined with site-directed mutagenesis allows the identification of several key amino acids that are essential for substrate/intermediate binding and a mechanism of LgnC-catalysed transformation is proposed.

Eight-coordinate mono- and dinuclear Dy(III) complexes containing a rigid equatorial plane and an anisobidentate carboxylate ligand in the axial position: synthesis, structure and magnetism.

A rigid pentadentate chelating ligand (H2L) has been utilized to synthesize a series of octacoordinate mononuclear complexes, [Dy(L)(Ph3PO)(OOCR)] (where R = C6H5 (1), C(CH3)3 (2), CF3 (3)) and a dinuclear complex, [Dy2(L)2(Ph3PO)2{(OOC)2C6H4}] (4) based on the highly anisotropic Dy(III) ion. All the complexes were structurally characterized by single-crystal X-ray diffraction studies. The complexes were formed by the coordination action of the dianionic pentadentate ligand [L]2-, one phosphine oxide, and carboxylate ligands. DC and AC magnetic measurements were performed on 1-4. Complexes 1-4 show SMM behaviour, under zero DC field for 1 and 4, and under 500 Oe and 1000 Oe DC fields for 2 and 3 respectively, with thermally activated, Raman, and Raman and quantum tunnelling dominant relaxation mechanisms for 1 and 2, 3 and 4, respectively.

Positive Psychosocial Experiences of a Physical Theater Class Among College Students

Based on the 2023 Census Bureau’s Household Pulse Survey, 50% of young adults (18-24 years old) experience anxiety and depression, compared to about 32% of all adults. The rising mental health problems among young adults may link to lingering covid-19 pandemic issues, such as social isolation and lockdowns, excessive screen use, decreased academic progress and opportunities, economic instability, poor lifestyle choices like decreased physical activity, disease, disability, and the death epidemic in the USA. Given the importance of physical activity, it is imperative to identify meaningful and enjoyable physical activity programs among young adults. Based on the philosophical underpinnings of phronesis (practical wisdom/moral reasoning), the purpose of this interdisciplinary, phronetic, qualitative, and temporal study was to examine the psychosocial experiences of a semester-long physical theater class among eight college students (4 males and 4 females). The class met twice per week, 1.5 hours/time and its content included physically demanding, playful, embodied, individual and group-based exercises, such as dance and aerial dance, calisthenics, stage combat with swords, activities to improve body posture and awareness, and bodily expression. Students created etudes and performed formally during midterm and finals weeks and informally before their classmates and class instructors. Individual, semi-structured interviews were conducted twice (in the beginning of the semester and towards the end of the class) to qualitatively collect the study’s data. Interview questions were about prior experience with physical theater, exercise levels, mental health and physical health, individual and social aspects in performativity, life priorities, and class goals. Based on hermeneutics/phronetic phenomenology, two themes emerged from the qualitative data analysis. In the first theme, psychological experiences, study participants mentioned that their mental health improved (e.g., decreased depression, anxiety, and body tension). Two students occasionally felt frustrated about their performance, especially the one without any previous physical theater experience. Based on the second theme, positive social experiences, study participants discussed how they effectively worked together (e.g., coordinate actions and share stories and emotions) to learn from each other and enjoy the experience. Only during the first set of the interviews (beginning of the semester), did some participants express occasional feelings of self-consciousness and nervousness when performing before others. However, they shared ways to overcome those feelings, such as being open to freely express themselves like others in the profession, separating themselves from their character, exercising the actor’s reset, and blocking everything out (e.g., audience). Practitioners in Kinesiology and performing arts (e.g., dance and physical theater) should emphasize physically demanding, safe, bodily, creative, playful, and group-based exercises among college students. Corporeal and creative expression within a supportive community-based movement program can increase mental health, positive social relations, and thus well-being.

State infrastructural power through scalar practices: On China’s decarbonization endeavors

To offer a fresh angle on the state capacity to advance decarbonization, this article brings into dialog political economies of scale and the Mannian notion of state infrastructural power, animating this conceptual cross-fertilization with an analysis of China’s evolving policy framework for decarbonization. This article begins with building the conceptual construct of scalar practice as a source of state infrastructural power and categorizing three key scalar practices, namely, interscalar rearranging, interregional reshuffling, and urban‒rural scalar mixing. Building upon this, the article critically evaluates China’s policy framework and state actions against the notion of infrastructural power: the Chinese state applies noncoercive means to elicit support, extract resources, and coordinate actions while transitioning to decarbonization-driven accumulation regimes, and these noncoercive means are mobilized together with coercive means through the art of scalar structuration that (re)defines central–local, urban‒rural, and interregional relations. Overall, this study elucidates how state-orchestrated processes of (re)territorialization for the decarbonization agenda give rise to the expansion of the state’s autonomous power in relation to civil society, albeit in a manner that manifests contested power struggle and conflicting internal logics.

Where is ‘the local’ in localization? Exploring socio-technical and spatial visions of energy system decarbonization in South Wales

Energy system transition is essential to support global decarbonization, and will involve the increasing use of renewable energy and the socio-technical transformation of centralized, fossil fuel systems alongside changes to how supply and demand is met. Localization represents an emerging vision of how this transformation might occur, but any system transformation will be complex, thanks to the multi-level, polycentric modes of governance that are part of most dominant energy regimes globally and which may create collective action problems. Drawing on narrative policy analysis and using a novel anticipatory mapping method, we analyze date from expert interviews conducted in Wales, UK, to explore how emerging visions of localization are being used to make sense of these complexities and to help shape strategy in the present. We show how imagery of ‘clusters’ plays a key role in these visions as ways of constructing ‘the local’ to help coordinate action among key actors. At the same time, such ways of understanding locality raise additional challenges in the shape of collective action problems that require regionalization strategies to solve, alongside concrete national visions to coordinate priories at local and regional level. This overflowing between spatial scales poses challenges of legitimacy for energy transition governance, not only in Wales and the UK but across national jurisdictions that have undertaken energy system privatization and liberalization.

An ecological study protocol for the multimodal investigation of the neurophysiological underpinnings of dyadic joint action.

A novel multimodal experimental setup and dyadic study protocol were designed to investigate the neurophysiological underpinnings of joint action through the synchronous acquisition of EEG, ECG, EMG, respiration and kinematic data from two individuals engaged in ecologic and naturalistic cooperative and competitive joint actions involving face-to-face real-time and real-space coordinated full body movements. Such studies are still missing because of difficulties encountered in recording reliable neurophysiological signals during gross body movements, in synchronizing multiple devices, and in defining suitable study protocols. The multimodal experimental setup includes the synchronous recording of EEG, ECG, EMG, respiration and kinematic signals of both individuals via two EEG amplifiers and a motion capture system that are synchronized via a single-board microcomputer and custom Python scripts. EEG is recorded using new dry sports electrode caps. The novel study protocol is designed to best exploit the multimodal data acquisitions. Table tennis is the dyadic motor task: it allows naturalistic and face-to-face interpersonal interactions, free in-time and in-space full body movement coordination, cooperative and competitive joint actions, and two task difficulty levels to mimic changing external conditions. Recording conditions-including minimum table tennis rally duration, sampling rate of kinematic data, total duration of neurophysiological recordings-were defined according to the requirements of a multilevel analytical approach including a neural level (hyperbrain functional connectivity, Graph Theoretical measures and Microstate analysis), a cognitive-behavioral level (integrated analysis of neural and kinematic data), and a social level (extending Network Physiology to neurophysiological data recorded from two interacting individuals). Four practical tests for table tennis skills were defined to select the study population, permitting to skill-match the dyad members and to form two groups of higher and lower skilled dyads to explore the influence of skill level on joint action performance. Psychometric instruments are included to assess personality traits and support interpretation of results. Studying joint action with our proposed protocol can advance the understanding of the neurophysiological mechanisms sustaining daily life joint actions and could help defining systems to predict cooperative or competitive behaviors before being overtly expressed, particularly useful in real-life contexts where social behavior is a main feature.

APPLICATION OF ADVANCED TECHNOLOGIES IN AGRICULTURAL SECTOR FOR INCREASING GROSS PRODUCTION AND EXPORTING AGRICULTURAL PRODUCTS

This scientific article examines the influence of information technologies on the agro-industrial complex (AIC) during armed conflicts, specifically using the example of the war in Ukraine. Military actions have a negative impact on agricultural activities, leading to the destruction of crops, railways, transportation blockades, and infrastructure. However, information technologies can play a crucial role in ensuring food security and supporting the AIC in the context of armed conflict.The article analyzes the utilization of information technologies such as remote sensing of Earth, geographic information systems, drones, and agricultural sensors, which can provide essential information about the state of crops, water resources, and land areas. These technologies assist farmers in planning and making informed decisions regarding optimal resource utilization and ensuring food security even during times of armed conflict. Furthermore, the article examines the effectiveness of mobile applications, electronic document management, and farm management systems in ensuring efficient production and organizing agricultural processes to maintain the sustainable functioning of the AIC during armed conflict. These technologies enable farmers and agricultural enterprise managers to conduct effective monitoring and resource management, plan farm operations, and coordinate personnel actions even in the face of military threats. Additionally, the article analyzes the ethical aspects of using information technologies in the AIC during armed conflicts. This includes issues of data confidentiality protection for farmers, ethical use of data from mobile applications, and the safeguarding of worker privacy. The impact of these technologies on society and rural development during conflicts is also explored. Overall, the article provides a comprehensive view of the use of information technologies in agriculture during armed conflict and emphasizes the necessity of developing and implementing specialized solutions that address the unique challenges and needs of the AIC in such exceptional circumstances. Research in this field can contribute to ensuring the sustainable development of agriculture and enhancing the resilience of the AIC to armed conflicts and other hazards.

Innovative cluster development across Europe compared to silicon valley

Methods. In order to reach the results of the conducted research it was necessary to apply the ensuing scientific methods: abstraction – which was employed to define the essence of the innovative clusters; induction and deduction – which were used to identify the root causes of European innovative clusters lagging behind Silicon Valley; generalization and specification – which om distinguishing between various approaches to evolvement of start-up economy. Results. The study has enabled one to put forward some of the recommendations concerning the remedies to the visible lagging behind of innovative clusters across Europe compared to Silicon Valley. For instance, it is recommended to increase cross-border cooperation and coordinate regulatory actions to promote venture development and scaling throughout Europe. The first step for this is to create a common corporate rulebook, specifically for fast-growing businesses. Another crucial recommendation is to establish fair competition throughout Europe. It will help new start-ups in their goals to rise up alongside giant corporations and compete worldwide. Monitoring competition with foreign businesses will also be essential for providing a safe haven for European start-ups to establish a worldwide presence and lessen the strain of intense fragmentation and rivalry within Europe. Novelty lies in broadening of the term innovative cluster in order to put an emphasis on the factors that exercise influence on evolvement of start-up economy under modern circumstances. Practical value is enshrined in establishing the factors that can have impact on evolvement of the innovative clusters across Europe. This may serve as a foundation for implementation of government policies aimed at ramping up economic growth through start-up economy.

Ingliz tili darslarida jamoaviy ishlardan foydalanishning samarali usullari

Currently, in the theory and practice of education, there is a search for forms and methods that can create conditions for the development of communication skills and teamwork skills, in other words, the development of social competence and the ability to study independently. Such forms and methods are based on the activity of each subject of the educational process, the ability to independently make decisions and make choices, as well as on the coexistence of different points of view and their free discussion. Such a form of organization of the educational process as work in a team has great potential for this realization. Working in a team makes it possible to more often enter into communication with other members of the team, formulate one's position, coordinate actions, which can contribute to the development of cooperation, interpersonal competence, and communicative culture

ACTUALIZATION OF FORMATION FUNCTIONAL LITERACY OF SECONDARY SCHOOL STUDENTS

Purpose. The article is devoted to the topic of formation functional literacy of secondary school students which is relevant in modern sociocultural conditions. The subject of analysis is the most effective methods and technologies of formation the students’ functional literacy. The author aims to present the main directions of management of the formation and assessment of functional literacy at the regional level (on the example of the Samara region).
 Methods and methodology of the work. The research is based on the cognitive paradigm of education. The basis of the research is the cognitive approach and the corresponding principles of humanity and socio-consciousness.
 Results. The results of the work are that the management of the formation and assessment of functional literacy at the regional level (on the example of the Samara region) is based on the coordinative actions of head of the educational organization, teachers, parents, as well as student’s psychological readiness to form functional literacy. The author makes the assumption that it is necessary to develop methodology and tools for the formation and development of criteria for assessing students’ functional literacy.
 Practical implementations. The results of the study can be applied in the field of basic general and secondary general education.

AI temporal planning for energy smart buildings

Buildings are responsible for about one-third of industrialised countries’ overall energy consumption and greenhouse gas emissions. As if this was not enough, recently, energy prices significantly increased and affected all economic areas. Making buildings more efficient and effective is the step needed toward cost reductions. Key enablers of cost-effectiveness are leveraging batteries, awareness of and adaptability to energy prices, and integrating powerful reasoning techniques to optimally and flexibly operate buildings. Researchers have tackled many of these aspects using a variety of approaches. Whereas a less investigated one is that of AI planning to coordinate actions and save energy in buildings. However, generating plans based on signals of energy prices and leveraging batteries is still an open research problem. To address this high-potential aspect, we engineer an AI planning system for improving the energy-cost effectiveness in buildings by coordinating the building’s operation based on day-ahead prices and the use of a battery, all without sacrificing the comfort of building occupants. We propose to exploit temporal planning due to its powerful modelling and reasoning features, especially in explicitly addressing time. We evaluate the effectiveness of the system in several scenarios with varying building environmental conditions. We compare the energy cost from using our planning system to a baseline cost, where we record a reduction of 43rage in favour of our system.

Pengembangan Dan Perubahan Organisasi Seiring Dengan Reinventing Dalam Sistem Organisasi Pendidikan

The aim of organizational development, especially educational organizations, is the formation of educational organizations within the provincial and district/city governments, so that educational units at all types and levels are open and generate trust for educators and the community. The organization is open and generates trust for educators and their community. Organizational development interventions tend to emphasize the application of collaborative or interpersonal and group strategies in coordinative or vertical inter-organizational action, in keeping with the spirit of reinvention. In the restructuring of education organizations or reinvented education to improve the activities and programs of the Provincial, District and City Education Offices in carrying out routine activities it must be changed, no longer using a bureaucratic approach with a participatory approach. The paradigm of the education apparatus must be changed, so that it is in accordance with the spirit of implementing school-based management in schools. By giving a big role to schools in the spirit of change, schools have high creativity to compete in improving the quality and quality of education in these schools

Current practice of outpatient rehabilitation services in patients with mobility-impaired paralysis due to stroke or spinal cord injury: a qualitative interview study in Germany

Purpose When mobility deficits persist after stroke or spinal cord injury (SCI), outpatient neurorehabilitation services are required. This study aimed to explore the current practice of German outpatient neurorehabilitation services and identify factors associated to this practice. Methods This was a qualitative observational study in which semi-structured interviews were conducted with professionals from outpatient neurorehabilitation services and mobility-impaired patients. A qualitative content analysis with a data-driven coding process was used. Results Three general practitioners, five physical, five occupational, and one speech therapist, one neuropsychologist, two outpatient nurses, one rehabilitation technician, one social worker, two patient advocates (long-term survivors, each stroke and SCI), and 20 patients (10 after stroke, 10 after SCI, all first-ever affected since approximately one year) participated. The reported experiences ranged from high satisfaction to perceived deficits in participation-oriented, evidence-based, and coordinated care. Identified associated factors were: (a) availability of specialised therapists and professional education, (b) outpatient service catalogue, (c) cost coverage, (d) setting rehabilitation goals, and (e) physician as care coordinator. Conclusion Areas of improvement identified focused on: setting rehabilitation goals towards participation, training therapists on evidence-based treatments and shared decision-making, updating the outpatient service catalogue, and implementing coordination actions. Implementation of these recommendations should be evaluated.

Prior goal setting of SDGs based on the interaction correlation

For 2030, the Agenda for Sustainable Development sets out 17 goals for sustaining ecological and social growth, known as the Sustainable Development Goals (SDGs), which have mobilized countries around the world to integrate these goals into their national development strategies. However, the Agenda does not explain how these goals are interlinked, which limits their implementation. This paper therefore selects indicator data for 17 SDGs from the World Bank website for four groups of countries to estimate the network structure of the SDGs and the synergies and trade-offs between them, based on the Spearman coefficient. Based on this, the paper further uses a VAR model to identify priority targets among the SDGs and to predict the impact of achieving these targets 2 years earlier on other SDGs. It is found that the SDGs interact with each other in different historical periods, showing both synergies and trade-offs. And as the highest priority goal, the predictions in this paper suggest that SDG 6 has a strong positive impact on SDG 4 and SDG 8. This paper can help policy makers to allocate resources more effectively, maximize benefits, coordinate actions, adapt to future challenges and achieve global sustainable development goals.

Estimulación cognitiva en el desarrollo psicomotriz de escolares

Introducción Much has been discussed about cognitive stimulation and psychomotor development in schoolchildren, being one of the fundamental pillars in the evolution of infants, it is closely related to the maturation of the cognitive area through the perception of stimuli. In the bibliographic review of national and international university repositories, several research precedents were identified. For Mendoza Cordero (2019) the stimulation of psychomotor and cognitive development in preschool is done through play, the importance of the development of play and cognitive strategies, which added to the pedagogical theories of learning seek the strengthening of psychomotor development at the preschool level, a study by Cervantes Rivas (2018) determined that early stimulation in psychomotor development in children from 12 to 36 months, improves skills such as: concentration, sensitivity, language and memory, which help the infant to integral development. Objetivos To determine the incidence of cognitive stimulation in the psychomotor development of elementary school children in elementary General Basic Education. Método The analytical method was applied for the respective theoretical foundation, the hypothetical-deductive method was based on the theoretical-practical content, field research and the comparative method were used to obtain the results. The sample with which the research was carried out consisted of 30 male and female students; the test called “Psychomotor skills evaluation scale in preschool was used as an instrument, which was applied personally in an educational institution; the results were obtained with the SPSS 25 program for statistical analysis. Principales resultados The statistical analysis determined the dimensions of psychomotor development PRE AND POST intervention, where a significant improvement was observed after the intervention. In the highest percentage we found locomotion action (1.26); body scheme in itself (1.17); balance (1.11), while at a medium level we found leg coordination actions (1.03); arm coordination (0.94) and in a lower percentage position actions (0.63) and hand coordination (0.56). The difference between the initial level in psychomotor development and after an intervention based on cognitive stimulation was analyzed, which determined the existence of significant differences at a level of P≤0.05 between the results by dimensions of psychomotor development PRE and POST intervention periods. Conclusiones The initial level of psychomotor development was assessed in the study sample in the physical education class, and it was evidenced, that most of the study sample was at a normal level of development and only two members at a good level, as for the locomotion and body scheme tests were at a good level, balance, position, arm and hand coordination were at a medium level and the leg coordination test at a low level. The level of psychomotor development after an intervention based on cognitive stimulation was evaluated, it was evidenced that most of the study sample was at a good level in the following tests

A method for importance and risk assessment of main pipeline facilities

The issues of creating a method for solving a multi-criteria task of the importance and risk (hazard) assessment of trunk pipeline objects (sections) are considered. The method is developed on the basis of the analytic hierarchy process. Each object (section) of trunk pipelines is characterized by a set of particular criteria that have their own scale of possible values of different physical nature and different dominance in determining the overall object importance. In this regard, there is a problem of transition from estimates by physical parameters to dimensionless assessment using some membership function. The study proposes an approach to automating the process of assessing objects by particular parameters in the analytic hierarchy process. For this purpose, a method is proposed that allows experts to be excluded from the process of filling in the paired comparison matrix based on the formation of a system of rules. Having a vector of criteria importance and guided by a system of rules, it is enough to specify the actual values of criteria for each alternative to compare objects. Based on this method, a model has been developed that allowed experimental studies to be carried out in the developed software. This method, as well as the developed importance assessment and decision-making software, is used in the automated system of electrochemical protection of main pipelines. The results of evaluating the importance of criteria for the task of risk assessment of gas pipeline sections are presented. The results obtained and their practical implementation in the management of main gas pipelines confirmed the effectiveness of the developed method. This allows you to make decisions in situations where it is necessary to carry out a multi-criteria selection of currently effective solutions and management strategies, assess risks, prioritize elements and coordinate actions for modernization or development

The Journey Toward Establishing Inpatient Care for Small and Sick Newborns in Ethiopia, India, Malawi, and Rwanda.

Limited information is available about the approaches used and lessons learned from low- and middle-income countries that have implemented inpatient services for small and sick newborns. We developed descriptive case studies to compare the journeys to establish inpatient newborn care across Ethiopia, India, Malawi, and Rwanda. A total of 57 interviews with stakeholders in Ethiopia (n=12), India (n=12), Malawi (n=16), and Rwanda (n=17) informed the case studies. Our heuristic data analysis followed a deductive organizing framework approach. We informed our data analysis via targeted literature searches to uncover details related to key events. We used the NEST360 Theory of Change for facility-based care, which reflects the World Health Organization (WHO) Health Systems Framework as a starting point and added, as necessary, in an edit processing format until data saturation was achieved. Results highlight the strategies and innovation used to establish small and sick newborn care by health system building block and by country. We conducted a gap analysis of implementation of WHO Standards for Improving Facility-Based Care. The journeys to establish inpatient newborn care across the 4 countries are similar in terms of trajectory yet unique in their implementation. Unifying themes include leadership and governance at national level to consolidate and coordinate action to improve newborn quality of care, investment to build staff skills on data collection and use, and institutionalization of regular neonatal data reviews to identify gaps and propose relevant strategies. Efforts to establish and scale inpatient care for small and sick newborns in Ethiopia, India, Malawi, and Rwanda over the last decade have led to remarkable success. These country examples can inspire more nascent initiatives that other low- and middle-income countries may undertake. Documentation should give voice to lived country experience, not all of which is fully captured in existing, peer-reviewed published literature.

Task-Based Human-Robot Collaboration Control of Supernumerary Robotic Limbs for Overhead Tasks

Supernumerary robotic limbs (SRLs) are novel wearable robots that can be used to augment human operating ability in completing some difficult and complex tasks. In this work, a task-based human-SRLs collaboration control method for overhead tasks is developed. It is autonomous and safe without the need for active commands and previous data. A task model is proposed to model the human-SRLs collaboration process that features different task states and state transition conditions. Specifically, the overhead task process is modeled as a finite state machine (FSM) with four task states, three trigger events, and three SRLs actions. The real-time measured human motion data is utilized to trigger the task state transition and estimate the task parameters, which are the constraints for SRLs motion planning. The proposed admittance control with adjustable parameters allows SRLs to behave like spring-damping systems with different characteristics in different states and actions. The admittance control enhances the safety and reliability of the human-SRLs interaction. Finally, the effectiveness of the proposed control method for overhead tasks is further validated on a prototype of the human-SRLs system with two subjects under different installation heights. Trigger events and task parameters are successfully detected and estimated during the task process to trigger the coordination actions of SRLs. The results demonstrate that the task-based collaboration method is useful for overhead tasks with different task parameters.