29 citations · 36 across the 13 of their papers we have counts for
4 papers · 1 filter
Video-to-Model: Automatic Modeling of Deformable Linear Objects
Akshun Sharma, Kimia Forghani, Yancy Diaz-Mercado
This paper presents a video-to-model framework for automatically modeling the motion of a deformable suture thread from an input video. We utilize a recently developed CBF--CLF--QP…
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…
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…