This paper presents a novel bilateral control design scheme for pneumatic master-slave teleoperation systems that are actuated by low-cost solenoid valves. The motivation for using pneumatic actuators in lieu of electrical actuators is that the former has higher force to mass ratio than the latter and is inert to magnetic fields, which is crucial in certain teleoperation applications such as MR...

Gas-lifted oil wells are susceptible to failure through malfunction of gas lift valves (GLV). One failure mode occurs when the GLV check valve fails and product passes into the well annulus, potentially reaching the wellhead. This is a growing concern as offshore wells are drilled thousands of meters below the ocean floor in extreme temperature and pressure conditions and repair and monitoring ...

The robotic lumbar spine (RLS) is a 15 degree-of-freedom, fully cable-actuated robotic lumbar spine which can mimic in vivo human lumbar spine movements to provide better hands-on training for medical students. The design incorporates five active lumbar vertebrae and the sacrum, with dimensions of an average adult human spine. It is actuated by 20 cables connected to electric motors. Every vert...

In this effort, we present novel nonlinear modeling of two solenoid actuated butterfly valves subject to a sudden contraction and then develop an optimal configuration in the presence of highly coupled nonlinear dynamics. The valves are used in the so-called smart systems employed in a wide range of applications including bioengineering, medicine, and engineering fields. Typically, thousands of...

While the variety of applications for Aerial Manipulators (AMs) has increased over last years, they are mostly limited to push-and-slide tasks. More complex manipulations dynamic environments poorly addressed and still require handcrafted designs hardware, control, trajectory planning. In this letter we focus on active manipulation articulated objects with AMs. We present a novel planning contr...

BACKGROUND Image-guided endovascular interventions have gained increasing popularity in clinical practice, and magnetic resonance imaging (MRI) is emerging as an attractive alternative to X-ray fluoroscopy for guiding such interventions. Steering catheters by remote control under MRI guidance offers unique challenges and opportunities. METHODS In this review, the benefits and limitations of M...