4 citations · 4 across the 9 of their papers we have counts for
9 papers
A Master-Slave Robot Manipulator for Needle-Based Teleoperation in MRI Chamber
Omar Curiel, Jing-Yuan Huang, Po-Chih Chen +6
We present a MR safe, master-slave robot manipulator for abdominal interventions in the MRI chamber. A human operated 2+1-DoF master controller manipulator transmits motion and for…
Unified and Efficient Analysis of Machining Chatter and Surface Location Error
Woraphrut Kornmaneesang, Tsu-Chin Tsao, Niloufar Esfandi +1
Although machining chatter can be suppressed by the choice of stable cutting parameters through means of stability lobe diagram (SLD), surface roughness still remains due to the fo…
Improving Needle Penetration via Precise Rotational Insertion Using Iterative Learning Control
Yasamin Foroutani, Yasamin Mousavi-Motlagh, Aya Barzelay +1
Achieving precise control of robotic tool paths is often challenged by inherent system misalignments, unmodeled dynamics, and actuation inaccuracies. This work introduces an Iterat…
High-Precision Surgical Robotic System for Intraocular Procedures
Yu-Ting Lai, Jacob Rosen, Yasamin Foroutani +4
Despite the extensive demonstration of robotic systems for both cataract and vitreoretinal procedures, existing technologies or mechanisms still possess insufficient accuracy, prec…
Safe Robotic Capsule Cleaning with Integrated Transpupillary and Intraocular Optical Coherence Tomography
Yu-Ting Lai, Yasamin Foroutani, Aya Barzelay +1
Secondary cataract is one of the most common complications of vision loss due to the proliferation of residual lens materials that naturally grow on the lens capsule after cataract…
Control Modes of Teleoperated Surgical Robotic System's Tools in Ophthalmic Surgery
Haoran Wang, Yasamin Foroutani, Matthew Nepo +5
The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input…
Spherical Pendulum with Quad-Rotor Thrust Vectoring Actuation -- A Novel Mechatronics and Control Benchmark Platform
Yuchen Li, Omar Curiel, Sheng-Fan Wen +1
Motor-actuated pendulums have been established as arguably the most common laboratory prototypes used in control system education because of the relevance to robot manipulator cont…
Fault-tolerant Control of an Over-actuated UAV Platform Built on Quadcopters and Passive Hinges
Yao Su, Pengkang Yu, Matthew J. Gerber +2
Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to underactuation…
Design and Implementation of Repetitive Control based Noncausal Zero-Phase Iterative Learning Control
K. Krishnamoorthy, Tsu-Chin Tsao
Discrete-time domain Iterative Learning Control (ILC) schemes inspired by Repetitive control algorithms are proposed and analyzed. The well known relation between a discrete-time p…