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. Author manuscript; available in PMC: 2010 Jun 1.
Published in final edited form as: Med Image Anal. 2009 Feb 20;13(3):445–455. doi: 10.1016/j.media.2009.02.001

Fig. 2.

Fig. 2

Schematic of hydraulic system in (a) forward direction and (b) reverse direction. Arrows depict direction of flow. P.V. = proportional valve, S.V. = solenoid valve. © 2008 IEEE.