Control for Localization and Visibility Maintenance of an Independent Agent using Robotic Teams

Given a non-cooperative agent, we seek to formulate a control strategy to enable a team of robots to localize and track the agent in a complex but known environment while maintaining a continuously optimized line-of-sight communication chain to a fixed base station. We focus on two aspects of the problem. First, we investigate the estimation of the agent\u27s location by using nonlinear sensing modalities, in particular that of range-only sensing, and formulate a control strategy based on improving this estimation using one or more robots working to independently gather information. Second, we develop methods to plan and sequence robot deployments that will establish and maintain line-of-sight chains for communication between the independent agent and the fixed base station using a minimum number of robots. These methods will lead to feedback control laws that can realize this plan and ensure proper navigation and collision avoidance

Magnetic resonance imaging-guided focused ultrasound to increase localized blood-spinal cord barrier permeability

Spinal cord injury (SCI) affects thousands of people every year in the USA, and most patients are left with some permanent paralysis. Therapeutic options are limited and only modestly affect outcome. To address this issue, we used magnetic resonance imaging-guided focused ultrasound (MRgFUS) as a non-invasive approach to increase permeability in the blood-spinal cord barrier (BSCB). We hypothesize that localized, controlled sonoporation of the BSCB by MRgFUS will aid delivery of therapeutics to the injury. Here, we report our preliminary findings for the ability of MRgFUS to increase BSCB permeability in the thoracic spinal cord of a normal rat model. First, an excised portion of normal rat spinal column was used to characterize the acoustic field and to estimate the insertion losses that could be expected in an MRgFUS blood spinal cord barrier opening. Then, in normal rats, MRgFUS was applied in combination with intravenously administered microbubbles to the spinal cord region. Permeability of the BSCB was indicated as signal enhancement by contrast administered prior to T1-weighted magnetic resonance imaging and verified by Evans blue dye. Neurological testing using the Basso, Beattie, and Breshnahan scale and the ladder walk was normal in 8 of 10 rats tested. Two rats showed minor impairment indicating need for further refinement of parameters. No gross tissue damage was evident by histology. In this study, we have opened successfully the blood spinal cord barrier in the thoracic region of the normal rat spine using magnetic resonance-guided focused ultrasound combined with microbubbles