The purpose of this study was to examine whether low frequency (<100 kHz), low intensity (<100 mW/cm 2 , spatial peak temporal peak) ultrasound can be an effective treatment of venous stasis ulcers, which affect 500 000 patients annually costing over $1 billion per year. Twenty subjects were treated with either 20 or 100 kHz ultrasound for between 15 and 45 min per session for a maximum of four treatments. Healing was monitored by changes in wound area. Additionally, two in vitro studies were conducted using fibroblasts exposed to 20 kHz ultrasound to confirm the ultrasound's effects on proliferation and cellular metabolism. Subjects receiving 20 kHz ultrasound for 15 min showed statistically faster (p < 0.03) rate of wound closure. All five of these subjects fully healed by the fourth treatment session. The in vitro results indicated that 20 kHz ultrasound at 100 mW/cm 2 caused an average of 32% increased metabolism (p < 0.05) and 40% increased cell proliferation (p < 0.01) after 24 h when compared to the control, non-treated cells. Although statistically limited, this work supports the notion that low-intensity, low-frequency ultrasound is beneficial for treating venous ulcers.
This paper describes optimization of un-tethered, low voltage, 20–100 kHz flexural transducers for biomedical ultrasonics applications. The goal of this work was to design a fully wearable, low weight (<100 g), battery operated, piezoelectric ultrasound applicator providing maximum output pressure amplitude at the minimum excitation voltage.
Such implementation of ultrasound applicators that can operate at the excitation voltages on the order of only 10–25 V is needed in view of the emerging evidence that spatial-peak temporal-peak ultrasound intensity (ISPTP) on the order of 100 mW/cm2 delivered at frequencies below 100 kHz can have beneficial therapeutic effects. The beneficial therapeutic applications include wound management of chronic ulcers and non-invasive transdermal delivery of insulin and liposome encapsulated drugs.
The early prototypes of the 20 and 100 kHz applicators were optimized using the maximum electrical power transfer theorem, which required a punctilious analysis of the complex impedance of the piezoelectric disks mounted in appropriately shaped metal housings.
In the implementation tested, the optimized ultrasound transducer applicators were driven by portable, customized electronics, which controlled the excitation voltage amplitude and facilitated operation in continuous wave (CW) or pulsed mode with adjustable (10–90%) duty cycle. The driver unit was powered by remotely located rechargeable lithium (Li) polymer batteries. This was done to further minimize the weight of the applicator unit making it wearable. With DC voltage of approximately 15 V the prototypes were capable of delivering pressure amplitudes of about 55 kPa or 100 mW/cm2 (ISPTP). This level of acoustic output was chosen as it is considered safe and side effects free, even at prolonged exposure.
The work presents a review on ongoing researches in terrain-related challenges influencing the navigation of Autonomous Robots, specifically Unmanned Ground ones. The paper aims to highlight the recent developments in robot design and advanced computing techniques in terrain identification, classification, parameter estimation, and developing modern control strategies. The objective of our research is to familiarize the gaps and opportunities of the aforementioned areas to the researchers who are passionate to take up research in the field of autonomous robots. The paper brings recent works related to terrain strategies under a single platform focusing on the advancements in planetary rovers, rescue robots, military robots, agricultural robots, etc. Finally, this paper provides a comprehensive analysis of the related works which can bridge the AI techniques and advanced control strategies to improve navigation. The study focuses on various Deep Learning techniques and Fuzzy Logic Systems in detail. The work can be extended to develop new control schemes to improve multiple terrain navigation performance.
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