6 papers
Robust Autonomous Control of a Magnetic Millirobot in In Vitro Cardiac Flow
Anuruddha Bhattacharjee, Xinhao Chen, Lamar O. Mair +3
Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remai…
Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions
Kimia Forghani, Suraj Raval, Lamar Mair +2
Singularities in robotic and dynamical systems arise when the mapping from control inputs to task-space motion loses rank, leading to an inability to determine inputs. This limits…
AIMD-L: An automated laboratory for high-throughput characterization of structural materials for extreme environments
Todd C. Hufnagel, Pranav Addepalli, Anuruddha Bhattacharjee +14
Rapid developments in artificial intelligence and machine learning as applied to materials science are creating an urgent need for experimental data, which can be provided by high-…
Fluoroscopy-Constrained Magnetic Robot Control via Zernike-Based Field Modeling and Nonlinear MPC
Xinhao Chen, Hongkun Yao, Anuruddha Bhattacharjee +4
Magnetic actuation enables surgical robots to navigate complex anatomical pathways while reducing tissue trauma and improving surgical precision. However, clinical deployment is li…
A Mobile Magnetic Manipulation Platform for Gastrointestinal Navigation with Deep Reinforcement Learning Control
Zhifan Yan, Chang Liu, Yiyang Jiang +3
Targeted drug delivery in the gastrointestinal (GI) tract using magnetic robots offers a promising alternative to systemic treatments. However, controlling these robots is a major…
Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery
Kimia Forghani, Suraj Raval, Lamar Mair +2
Automating surgical systems enhances precision and safety while reducing human involvement in high-risk environments. A major challenge in automating surgical procedures like sutur…