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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. 6.

Fig. 6

Workflow diagram of the SAPM. xz, αx, αy mean the displacement in the z-direction, and rotational angles around the x- and y-directions of the US probe, respectively; dj|j=1,2,3 are the moving distances measured by the measurement and buffer units j; Fj|j=1,2,3 are forces applied to the measurement and buffer units j; Fj−0|j=1,2,3 are predetermined forces for the measurement and buffer units j; φj|j=1,2,3 are the rotatinal angles of the stepper motors j in the adjustment units j; Fz indicates the force exerted on the US probe in the z-direction; Mx and My are the torques applied on the US probe around the x- and y-directions, respectively.