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WO2008036402A2 - Système et procédé de positionnement relatif - Google Patents

Système et procédé de positionnement relatif Download PDF

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Publication number
WO2008036402A2
WO2008036402A2 PCT/US2007/020486 US2007020486W WO2008036402A2 WO 2008036402 A2 WO2008036402 A2 WO 2008036402A2 US 2007020486 W US2007020486 W US 2007020486W WO 2008036402 A2 WO2008036402 A2 WO 2008036402A2
Authority
WO
WIPO (PCT)
Prior art keywords
signal
receivers
casualty
positioning system
relative positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2007/020486
Other languages
English (en)
Other versions
WO2008036402B1 (fr
WO2008036402A3 (fr
Inventor
Ann Mccaughan
Andrew Pal
Brad Mcgrath
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Noninvasive Medical Technologies Inc
Original Assignee
Noninvasive Medical Technologies Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Noninvasive Medical Technologies Inc filed Critical Noninvasive Medical Technologies Inc
Publication of WO2008036402A2 publication Critical patent/WO2008036402A2/fr
Publication of WO2008036402A3 publication Critical patent/WO2008036402A3/fr
Publication of WO2008036402B1 publication Critical patent/WO2008036402B1/fr
Anticipated expiration legal-status Critical
Priority to US12/383,361 priority Critical patent/US8134460B2/en
Priority to US12/383,358 priority patent/US8111152B2/en
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/28—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics
    • G01S3/32—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics derived from different combinations of signals from separate antennas, e.g. comparing sum with difference

Definitions

  • 60/846,403 entitled “Method and Apparatus for Non- Invasive Bio Impedance Determination", filed September 21, 2006
  • U.S. Provisional application No. 60/846,402 entitled “Method for Conditioning Radio Signal Returns from Thoracic Components for Extractions of Cardiopulmonary Data", filed September 21, 2006
  • U.S. Provisional application No. 60/846,408 entitled “Transducer-antenna-probe for Thoracic Radio Interrogation", filed September 21, 2006
  • the present invention relates to a system and method for determining the position of one or more objects of interest in dynamic environments. More specifically, the present invention relates to a wearable relative positioning system for determining relative to the body of an operator a heading of the objects of interest in the dynamic environments and for maintaining an awareness of the status of the objects of interest.
  • Dynamic environments, and in particular emergency or catastrophic environments subject those present to extreme and hostile conditions in which to accomplish specific missions or task requiring the location and the assessment of the status of objects of interest.
  • One example of a representative mission requiring real time, dynamic relative positioning is that of an emergency medical technician or other emergency care provider.
  • An alternative, but no less equally important mission includes the need for members of a relief team responding to a natural disaster (e.g., a hurricane or earthquake) to maintain situation awareness of the environment at all times and in all conditions (e.g., poor visibility), and in particular to locate, treat, and monitor casualties and where appropriate to locate, track and monitor other team member activities.
  • a natural disaster e.g., a hurricane or earthquake
  • one embodiment of the present invention is directed to a relative positioning system comprising an adjoining pair of spaced apart receivers positioned proximal to an object causing a signal interference with a radio frequency signal detectable by each receiver of the adjoining pair, the radio frequency signal associated with an emitter.
  • Control electronics operatively couples the spaced apart receivers. The control electronics is configured to determine a direction of the emitter based on the signal interference.
  • Another embodiment of the present invention is directed to a method for determining a relative position comprising: positioning an adjoining pair of spaced apart receivers proximal to an object causing a signal interference with a radio frequency signal detectable by each receiver of the adjoining pair, the radio frequency signal associated with an emitter, the spaced apart receivers operatively coupled by control electronics; and determining a direction of the emitter based on the signal interference.
  • Another embodiment of the present invention is directed to a relative positioning system for determining a heading of an object emitting a signal having a signal strength.
  • the system comprises a plurality of receivers, each receiver able to receive the signal from the object.
  • a two-dimensional, body-centered coordinate system is formed by the plurality of receivers.
  • Control electronics operatively couples the plurality of receivers.
  • the control electronics is configured to produce a directional cue corresponding to the heading of the object based on the strength of the signal received by each of the plurality of receivers.
  • Another embodiment of the present invention is directed to a method for determining a heading of an object emitting a signal having a signal strength.
  • the method comprises creating a two-dimensional, body-centered coordinate system formed by the plurality of receivers, each receiver able to receive the signal from the object, the plurality of receivers operatively coupled by control electronics; and producing with the control electronics a directional cue corresponding to the heading of the object based on the strength of the signal received by each of the plurality of receivers.
  • Another embodiment of the present invention is directed to a method for achieving operator awareness of a casualty in an emergent environment, the casualty having a heading with respect to the operator and emitting a signal having a strength.
  • the method comprises: positioning on the operator a wearable article supporting a two-dimensional, body-centered coordinate system formed by a plurality of receivers and a plurality of stimulus generators, each receiver of the plurality of receivers able to receive the signal from the casualty, each signal generator of the plurality of stimulus generators able to generate a stimulus perceptible to the operator, the plurality of receivers operatively coupled to the plurality of stimulus generators by control electronics; detecting with the plurality of receivers the signal emitted by the casualty; determining the heading of the casualty in the body-centered coordinate system; and communicating to the operator a directional cue corresponding to the heading, the directional cue generated by one stimulus generator of the plurality of stimulus generators.
  • FIG. 1 is a schematic diagram of a preferred embodiment of the wearable relative positioning system in accordance with the present invention
  • Fig. 2 is a schematic diagram of the of the embodiment of Fig. 1 showing the sectors of the two-dimensional, body-centered coordinate system
  • Fig. 3 is a digital image of a wearable pod housing a portion of the embodiment of
  • Fig. 4 is a graphic representation of the differential degradation in the strength of the signal detected by the plurality of receivers in accordance with the embodiment of Fig.1 ;
  • Fig. 5 is a an example of a portion of the logic of the trigger algorithm of the embodiment of Fig.1 ;
  • Fig. 6 is a schematic diagram of the embodiment of Fig. 1 showing the sectors of the two-dimensional, body-centered coordinate system for an environment having a plurality of casualties;
  • Fig. 7 is an example of a preferred scheme for prioritizing the status of casualties in accordance with the present invention.
  • Fig. 8 is a schematic diagram of a preferred embodiment of a receiver with shielding in accordance with the present invention.
  • Fig. 9 is a functional flow diagram of the steps of a preferred embodiment of a method for achieving operator awareness of a casualty in an emergent environment in accordance with the present invention.
  • one embodiment of the invention is a relative positioning system comprising an adjoining pair of spaced apart receivers Sl, S2, S3 positioned proximal to an object causing a signal interference with a radio frequency signal 12 detectable by each receiver of the adjoining pair.
  • the radio frequency signal is associated with an emitter 22 attached to a distal object of interest.
  • Control electronics 20 operatively couples the spaced apart receivers. The control electronics is configured to determine a direction of the emitter 22 based on the signal interference.
  • Another broadly described embodiment of the invention is a method for determining a direction of an emitter attached to an object of interest.
  • the method comprises a positioning step in which an adjoining pair Sl, S2, S3 of spaced apart receivers is positioned proximal to an object causing a signal interference with a radio frequency signal detectable by each receiver of the adjoining pair.
  • the radio frequency signal is associated with an emitter attached to an object of interest.
  • the spaced apart receivers are operatively coupled by control electronics.
  • the control electronics determines a direction of the emitter based on the signal interference.
  • the relative positioning system is wearable by an operator.
  • the wearable relative positioning system is generally designated 10 and hereinafter referred to as the RPS 10 in accordance with the present invention.
  • the RPS 10 is determines relative to a body of an operator a heading of an object emitting a signal 12 having a signal strength.
  • the RPS 10 is not limited to being worn by an operator.
  • the body on which the RPS 10 may be mounted or attached includes animate and inanimate objects such as search dogs, robots, and autonomous unmanned vehicles.
  • the RPS 10 is described below using an example of ascertaining the location and status of scattered, multiple casualties, for example, from a major accident or other catastrophe, and when necessary, to treat the most critical casualties on a priority basis.
  • the operator is a emergency medical technician or physician or the like and the object of interest is a casualty.
  • the invention is not limited to such a mission nor is it limited to a casualty situation.
  • the present invention relates to a system and method for locating and maintaining the awareness of one or more objects of interest in dynamic environments.
  • the RPS 10 comprises an article 14 wearable on the body of the operator.
  • the article 14 may be mounted on any wearable structure, such as a belt, a vest, or even a cap, a glove or other garment that enables cutaneous communication to the operator.
  • the RPS 10 is configured as a casualty tracker system ensemble (CSTE) belt or casualty belt to be worn about an operator's waist.
  • CSTE casualty tracker system ensemble
  • the RPS 10 comprises a plurality of receivers 16 and a plurality of stimulus generators 18 operatively coupled by control electronics 20. Each receiver of the plurality of receivers 16 and each stimulus generator of the plurality of stimulus generators 18 is supported by the wearable article 14. Each receiver is able to receive the signal 12 from the object.
  • the signal 12 is a radio frequency (RF) signal and at least three RF receivers 16a, 16b, 16c are provided.
  • the receivers may be any of a wide variety of conventional radio frequency (RF) receivers adapted to the desired form factor and configured to receive an RF signal.
  • the RF signal emanates from an electronic tag 22 attached to the object of interest, which for the major accident example could be a casualty.
  • the electronic tag 22 may be any of a wide variety of emitters able to transmit an RF signal receivable and decodable by the receivers 16 and their associated control electronics 20. At least one receiver of the plurality of receivers 16 may be configured to interrogate the electronic tag 22 and in response to the interrogation, the signal emitted from the electronic tag 22 may be in response to the interrogation.
  • the electronic tags 22 may also be operatively coupled to status sensors (not shown) on the object which in the case of a casualty may provide the status of vital signs.
  • the RF signal encodes and communicates information representing the identification and status of the object in a form the control electronics 20 can process.
  • the stimulus generators 18 may be any of a wide variety of stimulus generators, each able to generate a stimulus perceptible to the operator.
  • the stimulus generators are tractors, and preferably are any of a wide variety of vibro-tactile stimulators adapted to the desired form factor and configured to provide cutaneous communication to the operator.
  • the stimulus generators may be replaced by other perceptible stimulus generator able to communicate two-dimensional directional cueing.
  • the cutaneous communication may be replaced or augmented by audible or visible signals.
  • the control electronics 20 of the RPS 10 may provide audible communication by being operatively coupled to an audible signal generator or may provide visual communication by being operatively coupled to an LCD display able to provide a visible heading indicator and also to provide detail regarding a casualty's vital signs, such as heart rate or medical status (e.g., guarded, stable, critical, etc.).
  • the RPS 10 includes an enclosure 24 or pod housing the control electronics 20. The pod may be removably attachable to a belt or to the operator's wrist to enable the operator to easily access the operator interface integrated into the pod.
  • a two-dimensional, body-centered coordinate system 26 is formed by the plurality of receivers 16 and the plurality of stimulus generators 18.
  • the plurality of receivers 16 and the plurality of stimulus generators 18 are arranged such that they are uniformly spaced with a separate stimulus generator of the plurality of stimulus generators 18 positioned between each adjoining pair of receivers of the plurality of receivers 16.
  • the two-dimensional, body-centered coordinate system 26 comprises a plurality of sectors 28. Each sector is defined by an adjoining pair of spaced apart receivers of the plurality of receivers 16. A separate stimulus generator of the plurality of stimulus generators 18 is positioned in each sector.
  • the control electronics 20 is configured to cause one stimulus generator of the plurality of stimulus generators 18 to communicate to the operator a directional cue corresponding to the heading of the object.
  • the directional cue is determined by a trigger algorithm based on a differential degradation in the strength of the signal detected by the plurality of receivers as further discussed below.
  • the differential degradation is caused by the interaction of the signal with the body of the operator. As shown in Fig. 8, the differential degradation of the signal may be enhanced by shielding 30 located between the body and at least one of the receivers of the plurality of receivers 16.
  • control electronics 20 causes the one stimulus generator to communicate the directional cue to the operator by executing a trigger algorithm based on a sum of the strength of the signal received by each receiver of the adjoining pair of spaced apart receivers defining the sector in which the signal emanates.
  • the receivers and signal generators may be operatively coupled (either by wire, fiber or wirelessly) to control electronics housed in a pod, such as the pod shown in Fig. 3.
  • the control electronics 20 may comprise a plurality of loosely coupled autonomous agents. Each agent may be able to communicate with each other agent. At least one agent may be uniquely associated with one receiver of the plurality of receivers 16 or with one stimulus generator of the plurality of signal generators 18.
  • the plurality of receivers 16 comprises a first receiver 16a, a second receiver 16b and a third receiver 16c and the plurality of stimulus generators 18 comprises a first tractor 18a, a second tractor 18b, and a third tractor 18c.
  • the plurality of receivers 18 and the plurality of stimulus generators 18 are uniformly spaced with a tractor 18a, 18b, 18c positioned between each adjoining pair 16a: 16b, 16b: 16c, 16c: 16a of receivers.
  • the arrangement of the adjoining pairs of receivers provides three sectors or sections (front 28a, left 28b, and right 28c) for directional cueing.
  • the sum of the signals received by the corresponding pair (or Set) provides the basis for determining whether a signal is arriving from that sector. Additional receivers and tractors may be provided to increase the number of sectors, the number depending on the desired resolution for the directional cueing.
  • Fig. 2 schematically shows an electronic tag 22a in the focus of the front sector 28a. The bars in Fig.
  • FIG. 4 show the strength of the signal for each of the receiver pairs (sets) due to the presence of electronic tag 22a, Set 3 in this example receiving the strongest signal.
  • Directional cueing is provided by actuating the stimulus generator (or tractor) associated with the front sector (or Set 3) 28a in response to a trigger algorithm such as the simple logic shown schematically in Fig. 5 for analyzing relative signal strength.
  • the receivers RA, RB, RC and the stimulus generators (or tractors) Tl , T2, T3 are uniformly spaced. Each pair of adjoining spaced apart receivers defines a sector. A separate tractor is positioned in each sector between the adjoining pair of receivers. The presence of the emitter in the sector defined by the receiver pair RA, RC causes the tractor T2 to fire as the sum RA + RC of the strength of the signals received by receiver pair RA, RC is greater than the sum RA + RB of the strength of the signals received by the receiver pair RA, RB and also is greater than the sum RB + RC of the strength of the signals received by the receiver pair RB, RC. [0040] The logic of Fig.
  • a preferred embodiment of the invention may be configured to provide situation awareness of not only the heading of each of the objects but also the status.
  • Fig. 6 schematically represents such a situation in the major accident example above. Depicted in Fig.
  • the electronic tags 22a, 22b, 22c, 22d associated with four different casualties (or patients).
  • the casualty corresponding to electronic tag 22b is in stable condition.
  • the casualties corresponding to electronic tag 22a and electronic tag 22d are not well but also are not in critical condition.
  • the casualty corresponding to electronic tag 22c is in critical condition and requires attention.
  • this embodiment of the RPS 10 determines in the manner discussed above the directional heading of each casualty. Further software executed by the control electronics prioritizes the casualty location and determines the criticality of the casualty. The software then determines the tactile algorithm and visual indicator to be communicated to the operator.
  • the tactile signal is a low intensity signal and the visual indicator is a green circle.
  • the tactile signal is a medium intensity signal and the visual indicator is a yellow square.
  • the tactile signal is a high intensity signal and the visual indicator is a red triangle.
  • only the most critical casualty(ies) is/are displayed using the tactile display while the entire battlefield casualty status is displayed a visual display.
  • the tractor located between the adjoining receiver pairs defining the sector will activate at a high intensity and a red triangle will appear on the visual display of the RPS 10.
  • audible cues varying in tone or intensity based on the severity of the medical status may be communicated to the operator instead of or in addition to the visual cues.
  • Updates could be generated automatically from the electronic tag, if it is configured to process status information from the casualty or other object of interest, from the control electronics 20 based on data from the electronic tag(s) processed by the control electronics to ascertain electronic tag wearer medical status or entered manually by the belt wearer.
  • the electronic tags may be transponder-like devices that only transmit when interrogated and the receivers may be configured to interrogate the transponders at predetermined or operator selectable intervals.
  • another embodiment of the present invention is directed to a method for determining a heading of an object emitting a signal having a signal strength. The method comprises creating a two-dimensional, body-centered coordinate system formed by the plurality of receivers. Each receiver is able to receive the signal from the object. The plurality of receivers are operatively coupled by control electronics. Another step in the method comprises producing with the control electronics a directional cue corresponding to the heading of the object based on the strength of the signal received by each of the plurality of receivers.
  • another embodiment of the present invention is directed to a method for achieving operator awareness of a casualty in an emergent environment, generally designated 100, and hereinafter referred to as the casualty tracking method 100.
  • the casualty to which the casualty tracking method 100 is directed has a heading with respect to the operator and emits a signal 12 having a strength.
  • the signal 12 encodes information representing the identity of the casualty and the vital signs of the casualty.
  • the casualty tracking method 100 comprises a positioning step 110 in which a wearable article, such as the article 14 described above, is positioned on the operator.
  • the article supports a two-dimensional, body-centered coordinate system 26 formed by a plurality of receivers 16 and a plurality of stimulus generators 18.
  • Each receiver of the plurality of receivers 16 is able to receive the signal 12 from the casualty.
  • Each signal generator of the plurality of stimulus generators 18 is able to generate a stimulus perceptible to the operator.
  • the plurality of receivers 16 are operatively coupled to the plurality of stimulus generators 18 by control electronics 20.
  • the casualty tracking method 100 has a detecting step 120 in which the signal 12 emitted by the casualty is detected with the plurality of receivers 16. In instances where the casualty is one casualty of a plurality of casualties, the detecting step detects the signal emitted by each casualty. [0050] In a determining step 130, the casualty tracking method 100 determines the heading of the casualty in the body-centered coordinate system. As discussed above, the heading determination may be based on a differential degradation in the strength of the signal detected by the plurality of receivers 16. The differential degradation may be caused by the body of the operator. If the signals emitted by the casualty contain information related to vital signs, in addition to the heading, the determining step 130 also determines the medical status of each casualty based on the associated vital signs.
  • a prioritizing step 140 prioritizes the medical status of each casualty based on the severity of the medical status.
  • An associating step 150 associates the directional cue with the casualty having a highest prioritized medical status.
  • the casualty tracking method 100 has a communicating step 160 in which a directional cue corresponding to the heading is communicated to the operator.
  • the directional cue is generated by one stimulus generator of the plurality of stimulus generators.
  • the communicating step 160 may also communicate to the operator the severity of the medical status as an intensity of the directional cue.
  • the cutaneous communication may be replaced or augmented by audible or visible signals allowing the heading and medical status of each casualty to be communicated to the operator as visible indicators on a visual display.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Système et procédé de positionnement relatif, le système comprenant une paire adjacente de récepteurs espacés placés à proximité d'un objet source de brouillage avec un signal radioélectrique détectable par chaque récepteur de ladite paire. Le signal radioélectrique est associé à un émetteur. Une électronique de contrôle assure le couplage opérationnel des récepteurs espacés, et elle est configurée pour déterminer une direction de l'émetteur sur la base du brouillage de signal. Selon une variante relative aux système et procédé décrits, l'émetteur est associé à un objet d'intérêt, le signal code l'information relative à l'identité et à l'état de l'objet, et l'information et le cap de l'objet sont communiqués de façon cutanée à un opérateur par un article que celui-ci revêt.
PCT/US2007/020486 2006-09-21 2007-09-21 Système et procédé de positionnement relatif Ceased WO2008036402A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/383,361 US8134460B2 (en) 2006-09-21 2009-03-23 Relative positioning system method
US12/383,358 US8111152B2 (en) 2006-09-21 2009-03-23 Relative positioning system and method

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US84640706P 2006-09-21 2006-09-21
US84682706P 2006-09-21 2006-09-21
US60/846,407 2006-09-21
US60/846,827 2006-09-21
US60/974,003 2007-09-20

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US12/383,361 Continuation-In-Part US8134460B2 (en) 2006-09-21 2009-03-23 Relative positioning system method
US12/383,358 Continuation-In-Part US8111152B2 (en) 2006-09-21 2009-03-23 Relative positioning system and method

Publications (3)

Publication Number Publication Date
WO2008036402A2 true WO2008036402A2 (fr) 2008-03-27
WO2008036402A3 WO2008036402A3 (fr) 2008-06-19
WO2008036402B1 WO2008036402B1 (fr) 2008-08-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2007/020486 Ceased WO2008036402A2 (fr) 2006-09-21 2007-09-21 Système et procédé de positionnement relatif

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8111152B2 (en) 2006-09-21 2012-02-07 Noninvasive Medical Technologies, Inc. Relative positioning system and method
US8692717B2 (en) 2006-09-21 2014-04-08 Noninvasive Medical Technologies, Inc. Antenna for thoracic radio interrogation
FR3044774A1 (fr) * 2015-12-04 2017-06-09 Commissariat Energie Atomique Procede utilisant des mesures de puissances pour determiner des donnees de positionnement entre deux corps

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020054412A1 (en) * 2000-09-20 2002-05-09 Keller Robert C. Optical wireless communication system with multiple receivers
US6752277B1 (en) * 2002-08-20 2004-06-22 Masters Of Branding, Inc. Product display system using radio frequency identification
US8017890B2 (en) * 2004-07-20 2011-09-13 Massachusetts Institute Of Technology Continuous capacitive slider controller for a smooth surfaced cooktop

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8111152B2 (en) 2006-09-21 2012-02-07 Noninvasive Medical Technologies, Inc. Relative positioning system and method
US8134460B2 (en) 2006-09-21 2012-03-13 Noninvasive Medical Technologies, Inc. Relative positioning system method
US8692717B2 (en) 2006-09-21 2014-04-08 Noninvasive Medical Technologies, Inc. Antenna for thoracic radio interrogation
FR3044774A1 (fr) * 2015-12-04 2017-06-09 Commissariat Energie Atomique Procede utilisant des mesures de puissances pour determiner des donnees de positionnement entre deux corps

Also Published As

Publication number Publication date
WO2008036402B1 (fr) 2008-08-28
WO2008036402A3 (fr) 2008-06-19

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