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. Author manuscript; available in PMC: 2023 Oct 1.
Published in final edited form as: IEEE Trans Ind Electron. 2023 Oct;70(10):10333–10343. doi: 10.1109/TIE.2022.3220864

Fig. 17.

Fig. 17

Experimental data in the phatom experiment: (a)-(c) operating froces and torques; (d) rotations of stepper motors; (e) displacements and rotations of the US probe; (f) comparison of the local contrast-to-noise ratio (LCNR) for selected ROIs in the SAPM- and manually-acquired images.