To analyse and synthesize the evidence on fall prevention of people older than 65 years and their family care providers METHOD Qualitative synthesis, which is a part of a convergent systematic integrative review. Forty-one qualitative studies were retained for full text scrutiny. Nine studies on family care providers were selected for this synthesis. Care providing, and kinship relationships mediated family care providers' interventions to prevent falls in older people. The fall of the dependent relative constitutes a turning point in these relationships. Family care providers are vulnerable to having a fall themselves and therefore receivers of preventive interventions. Taking into account the context of care and family relations will improve the effectiveness of preventive interventions and will facilitate adherence. Fall prevention policy and programmes must pay better attention to the health and wellbeing of family care providers.Taking into account the context of care and family relations will improve the effectiveness of preventive interventions and will facilitate adherence. Fall prevention policy and programmes must pay better attention to the health and wellbeing of family care providers.This novel is concerned with the event-triggering robust fusion estimation problem for multi-rate systems (MRSs) subject to stochastic nonlinearities (SNs) and censored observations (COs). The considered multi-rate system includes several sensor nodes, and each sensor is with different sampling rate. To reflect the dead-zone-like censoring phenomenon, a Tobit-1 regression model with prescribed left-censoring threshold is introduced, and the stochastic nonlinearities characterized by statistical means are considered in the MRSs. In order to save the limited resource, the event-triggering mechanism (ETM) has been introduced to determine whether the specified sensor node should transmit the information to the corresponding local filter. For the addressed MRSs, we aim to design a local Tobit Kalman filtering (TKF) algorithm for each sensor node firstly in the sense of the upper bound on each local filtering error covariance being minimal. Then, such a minimized upper bound is derived by designing the filter gain properly at each iteration. In the sequel, the fusion centre manipulates the local estimates by the CI scheme. Moreover, we discuss the issue of consistency for the proposed multi-rate fusion estimation (MRFE) approach. At last, experimental simulation are exploited to demonstrate the validation of the designed MRFE algorithm.This paper presents a modified multivariable disturbance observer-based (MDOB) control method for stable two-input-two-output (TITO) processes with multiple time delays. Different from the existing MDOB control strategies with diagonal or full elements inverse model, a partially coupled inverse model is used here to provide better disturbance rejection performance. First, an interaction measure, relative input disturbance gain (RIDG), is defined to quantify the disturbance rejection capabilities of the two common types of MDOB techniques. Based on RIDG, the partially coupled inverse model is derived. Then, to deal with the cross terms of the filter elements in the outputs, a single iteration strategy is presented to derive them one by one. Meanwhile, analytical forms of the filter elements are obtained by minimizing the 2-norm of the outputs. Finally, filter parameters are tuned taking into account criteria of performance and robustness. And application of the proposed strategy on simulation examples verifies its effectiveness and superiority.A stable transition from free-motion to contact phase is extremely significant for a UAV interacting with its objects and environment. Oscillations may occur at the contact point if the force controller of the UAV fails to accommodate to the environment parameters, which are usually unknown to the UAV. In this paper, the acceleration feedback control is proposed to enhance the robustness of a classic force controller. This intends to achieve a smooth and stable contact transition of the UAV while interacting with different stiffness environments with non-zero approaching velocity. Extensive flight tests are conducted on a quadrotor UAV to verify the performance of the proposed algorithm with respect to different-stiffness environments. The experimental results are also compared with those without the acceleration feedback enhancement, to demonstrate the improvement of the proposed scheme. Headache is a frequent cause of consultation; it is important to detect patients with secondary headache, particularly high-risk secondary headache. Such systems as the Manchester Triage System (MTS) are used for this purpose. This study aims to evaluate the frequency of sub-triage in patients attending the Emergency Department due to headache. We studied a series of consecutive patients who came to the Emergency Department with headache and presenting some warning sign, defined as the presence of signs leading the physician to request an emergency neuroimaging study and/or assessment by the on-call neurologist. learn more The reference diagnosis was established by neurologists. We evaluated the MTS triage level assigned and the presence of warning signs that may imply a higher level than that assigned. We registered a total of 1,120 emergency department visits due to headache, and 248 patients (22.8%) were eligible for study inclusion. Secondary headache was diagnosed in 126 cases (50.8% of the sample; 11.2% of the total), with 60 cases presenting high-risk secondary headache (24.2%; 5.4%). According to the MTS, two patients were classified as immediate (0.8%), 26 as very urgent (10.5%), 147 as urgent (59.3%), 68 as normal (27.4%), and five as not urgent (2%). The percentage of patients under-triaged was 85.1% in the very urgent classification level and 23.3% in the urgent level. During the study period, at least one in 10 patients attending the Emergency Department due to headache had secondary headache; one in 20 had high-risk secondary headache. The MTS under-triaged most patients with warning signs suggesting a potential emergency.During the study period, at least one in 10 patients attending the Emergency Department due to headache had secondary headache; one in 20 had high-risk secondary headache. The MTS under-triaged most patients with warning signs suggesting a potential emergency.