[2] X. Chen, A. Bhattacharjee, L. Mair, S. Raval, P. Addepalli, O. Erin, A. Bell, Y. Diaz-Mefcado, A. Krieger, “Mitigating Singularities in Control of Magnetic Capsule Endoscopes Using a Novel Nested Electromagnetic Coil System”, in Journal of Medical Robotics Research (JMRR), 2024. [Paper]
[3] Y. Barnoy, O. Erin, S. Raval, W. Pryor, L. Mair, I. Weinberg, Y. Diaz-Mercado, A. Krieger, G. Hager, “Control of Magnetic Surgical Robots With Model-Based Simulators and Reinforcement Learning”, in IEEE Transactions on Medical Robotics and Bionics, vol. 4, no. 4, pp. 945-956, 2022. [Paper]
[4] O. Erin*, S. Raval*, , T. Schwehr, W. Pryor, Y. Barnoy, A. Bell, X. Liu, L. Mair, I. Weinberg, A. Krieger, Y. Diaz-Mercado, “ Enhanced Accuracy in Magnetic Actuation: Closed-Loop Control of a Magnetic Agent With Low-Error Numerical Magnetic Model Estimation”, in IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 4, pp. 9429-9436, 2022. [* indicates equal contribution] [Paper]
[5] L. Mair, S. Chowdhury, X. Liu, O. Erin, O. Udalov, S. Raval, B. Johnson, S. Jafari, D. Cappelleri, Y. Diaz-Mercado, A. Krieger, I. Weinberg, “Going Hands-Free: MagnetoSuture for Untethered Guided Needle Penetration of Human Tissue Ex Vivo”, in Robotics 2021, 10, 129. [Paper]
[6] S. Raval, H. Zhou, A. Baz, “Experimental implementation of an active synthesis of a gyroscopic-nonreciprocal acoustic metamaterial”, in Journal of Applied Physics, 129, 074501, 2021. [Paper]
[7] S. Raval, K. Petrover, A. Baz, “Experimental characterization of a one-dimensional nonreciprocal acoustic metamaterial with anti-parallel diodes”, in Journal of Applied Physics, 129, 074502, 2021. [Paper]
Refereed Conference Proceedings
[1] S. Raval, A. Bhattacharjee, X. Chen, L. Mair, A. Krieger, Y. Diaz-Mercado, “Singularity-Free Approximate Waypoint Tracking Controller for Underactuated Magnetic Robots”, accepted for publication in IFAC Modeling, Estimation and Control Conference (MECC), 2024.
[2] S. Raval, L. Mair, W. Pryor, O. Erin, T. Schwehr, J. Budaraju, A. Krieger, Y. Diaz-Mercado, “Time-Scale Separation Analysis for Surgical Needle Control in Electromagnetic Robotic Systems”, in IFAC-PapersOnLine, Vol. 56, Issue 3, Pages 307-312, Modeling, Estimation and Control Conference (MECC), 2023. [Paper]
[3] S. Raval, O. Erin, X. Liu, L. Mair, W. Pryor, Y. Barnoy, I. Weinberg, A. Krieger, Y. Diaz-Mercado, “Magnetic Model Calibration for Tetherless Surgical Needle Manipulation using Zernike Polynomial Fitting”, in IEEE 21st International Conference on Bioinformatics and Bioengineering (BIBE), 2021, pp. 1-6. [Paper]
[4] W. Pryor, Y. Barnoy, S. Raval, X. Liu, L. Mair, D. Lerner, O. Erin, G. Hager, Y. Diaz-Mercado, A. Krieger, “Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 524-531. [Paper]
Patents
[1] A. Krieger, Y. Diaz-Mercado, X. Liu, M. Fan, L. Mair, I. Weinberg, S. Chowdhury, W. Pryor, Y. Barnoy, S. Raval, O. Erin, “Apparatus and method for robotic procedures with magnetizable tools”, US Patent, 2022. [Link]
Journals
[1] O. Erin, X. Chen, A. Bell, S. Raval, T. Schwehr, X. Liu, P. Addepalli, L. Mair, I. Weinberg, Y. Diaz-Mercado, A. Krieger, “Strong magnetic actuation system with enhanced field articulation through stacks of individually addressed coils”, in Scientific Reports 14, article number: 23123, 2024. [Paper]