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Russell Taylor
127 Hackerman Hall
rht@jhu.edu

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courses:456:2023:projects:456-2023-14:project-14 [2023/05/11 11:25] – [Modelling Data] asing119courses:456:2023:projects:456-2023-14:project-14 [2023/05/11 11:48] (current) – [Improve Content Validity of Virtual Drilling Simulator] asing119
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 ======Improve Content Validity of Virtual Drilling Simulator====== ======Improve Content Validity of Virtual Drilling Simulator======
-**Last updated: 24<sup>th</sup> April 2023 on 0:55 am**+**Last updated: 11<sup>th</sup> May 2023 on 7:48 am**
  
  
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 The technical approach is divided into three major categories - The technical approach is divided into three major categories -
  
-1. __Data Collection__: Data set will be collected on 3 phantoms of different measured densities of dental stone. Drilling will be done with  certain constraints to the environment such as : + ===== Data Collection =====  
 +: Data set will be collected on 3 phantoms of different measured densities of dental stone. Drilling will be done with  certain constraints to the environment such as : 
  
 a. Constant RPM of the drill a. Constant RPM of the drill
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 The collected data will be modeled to relate the sound of the drill to the force.   The collected data will be modeled to relate the sound of the drill to the force.  
  
-__Phantom Prep:__ +Phantom Prep:
  
 Three phantoms were used in the process of data collection. All the phantoms were similar in shape and size. The densities of these phantoms were varied. To mimic bone, the first and second phantoms had the same density as the extreme ends of the density scale of bone(cancelous and cortical). These values are 1178 g/m<sup>3</sup> and 2100 g/m<sup>3</sup>. Average of these two values was used as the density for the third phantom. These phantoms were made using dental stone.  Three phantoms were used in the process of data collection. All the phantoms were similar in shape and size. The densities of these phantoms were varied. To mimic bone, the first and second phantoms had the same density as the extreme ends of the density scale of bone(cancelous and cortical). These values are 1178 g/m<sup>3</sup> and 2100 g/m<sup>3</sup>. Average of these two values was used as the density for the third phantom. These phantoms were made using dental stone. 
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 {{ :courses:456:2023:projects:456-2023-14:phantom.jpeg?300 |}} {{ :courses:456:2023:projects:456-2023-14:phantom.jpeg?300 |}}
-                                         fig 3: Initial Phantom   +fig 3: Initial Phantom   
  
 {{ :courses:456:2023:projects:456-2023-14:screenshot_223_.png?300 |}} {{ :courses:456:2023:projects:456-2023-14:screenshot_223_.png?300 |}}
-                                  fig 4:Final Phantom (mounted onto gamma sensor)+fig 4:Final Phantom (mounted onto gamma sensor)
  
-Data Collection: +====== Experimental Setup: ======
  
-  - The required phantom was secured onto the gamma sensor using bolts.  + 
-  - The force- sensing drill was secured onto the Galen robot.  +===== Lab Setup: ===== 
-  - The drill was moved to its initial position.  +  
-  - The Galen robot, dill sensor and gamma sensor were run and rebiased at the start position. The Galen robot was run in “Research” mode. + 
-  - Recording of audio was started. +The audio file was recorded with a Logitech Yeti X microphone. The microphone was placed on a table along with the gamma sensor. The gamma sensor was mounted with the phantom and fixed with the help of four bolts. An Anspach force-sensing drill was fixed onto the Galen robot. The arm was moved such that the drill bit was positioned over the phantom.  
-  - A rosbag containing the Galen robot, gamma sensor and force-sensing drill was recorded. + 
-  - Manually, the mic and the phantom were “tapped”. This step was used to synchronize the data.  +{{ :courses:456:2023:projects:456-2023-14:picture6.jpg?400 |}} 
-  - The script named “galen_crtk_move_cp_example.py” was run.  + 
-  - After the drilling stopped and the robot returned to its original position, the recordings were stopped.  +fig 5: Experimental setup for data collection
-  - Steps 3-9 were repeated for each recording. +
  
  
-2. 
 ======  Modelling Data ====== ======  Modelling Data ======
  The data set collected will be used to model relations between the forces produced during drilling, the sounds produced during drilling, and the densities of the phantom being drilled on.  The data set collected will be used to model relations between the forces produced during drilling, the sounds produced during drilling, and the densities of the phantom being drilled on.
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 During the recording, the phantom and the microphone were tapped manually before the drilling started. These taps were reflected as two spikes in both the audio and force data. The peak of the first spike was used to synchronize the data. During the recording, the phantom and the microphone were tapped manually before the drilling started. These taps were reflected as two spikes in both the audio and force data. The peak of the first spike was used to synchronize the data.
  
 +{{:courses:456:2023:projects:456-2023-14:picture4.png?200|}} {{:courses:456:2023:projects:456-2023-14:picture5.png?200 |}}
 +
 +fig 6: Taps as visualised in the audio and force data.
 ===== Signal Processing: ===== ===== Signal Processing: =====
    
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 These results will be further discussed in the results section.  These results will be further discussed in the results section. 
  
-. ====== Implementation ====== +{{ :courses:456:2023:projects:456-2023-14:picture1.jpg?400 |}} 
- : A function relating sound and force will be implemented into the simulator. This function will be based on the model of relations done before. This function focuses on generating audio frequencies according to the forces being applied.+fig 7: High pass filter applied on audio wav files 
 +====== Results: ====== 
 +  
 +There was a total of eight samples for LL, seven samples for Avg, and seven samples for UL.  
 +===== Audio Analysis: ===== 
 +  
 +It was observed that the amplitude of the frequencies increased as the density of the phantom was increased.  
 + {{ :courses:456:2023:projects:456-2023-14:picture2.png?600 |}} 
 +fig 8: Single-sided amplitude graphs for LL3, AVG10, and UL7
  
 +The highest amplitudes for the LL, Avg, and UL phantoms were observed at 0.0007,  0.00099, and 0.00103 units respectively. There was a prominent increase in amplitude for the 8000 to 16000 Hz region. 
  
 +===== Force Analysis: =====
 + 
 +For, the gamma sensor, was observed that all wrench-force plots had a sudden increase in the start followed by a steady decline which eventually reduced to zero. The sudden increase is associated with the drill drilling down into the phantom.
 +It was observed that the wrench-force value increased with the increase in the density of the phantom.  
 + {{ :courses:456:2023:projects:456-2023-14:picture3.png?600 |}}
 +fig 9: Force analysis for wrench-force data (Wrench-force measured in N)
 +With an increase in density, the max wrench-force value increases from 0.0146 N in LL to 0.033692 N for Avg and 0.1610 N in UL.
  
 ======Dependencies====== ======Dependencies======
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   * Project Checkpoint   * Project Checkpoint
     * {{ :courses:456:2023:projects:456-2023-14:checkpoint_presentation_final.pptx |}}     * {{ :courses:456:2023:projects:456-2023-14:checkpoint_presentation_final.pptx |}}
-  * Paper Seminar Presentations 
-    * here provide links to all seminar presentations 
   * Project Final Presentation   * Project Final Presentation
-    * {{:courses:456:2023:projects:456-2023-14:final_poster_pdf.pdf|PDF of Poster}}+     *{{ :courses:456:2023:projects:456-2023-14:cisii_poster.pdf |}}
   * Project Final Report   * Project Final Report
-    * {{:courses:456:2023:projects:456-2023-14:final_report.pdf|Final Report}} +    * {{ :courses:456:2023:projects:456-2023-14:final_report.pdf |}}
-    * links to any appendices or other material+
  
 ======Project Bibliography======= ======Project Bibliography=======
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 ======Other Resources and Project Files====== ======Other Resources and Project Files======
-Here give list of other project files (e.g., source code) associated with the project.  If these are online give a link to an appropriate external repository or to uploaded media files under this name space (2023-14). 
 Phantom Model CAD file: https://livejohnshopkins-my.sharepoint.com/:f:/g/personal/asing119_jh_edu/EjcHsydOePZAgZP4_rkOffMBhElDdtH23CpHNLIKw1_Sbw?e=PJ3fFM Phantom Model CAD file: https://livejohnshopkins-my.sharepoint.com/:f:/g/personal/asing119_jh_edu/EjcHsydOePZAgZP4_rkOffMBhElDdtH23CpHNLIKw1_Sbw?e=PJ3fFM
  
 +Data Collection Document: 
 +{{ :courses:456:2023:projects:456-2023-14:data_collection_record.pdf |}}
 +
 +Code files: https://drive.google.com/drive/folders/1vDTytD8-F91ExqGHsYcKsO-DfSpX7div?usp=sharing
courses/456/2023/projects/456-2023-14/project-14.1683804318.txt.gz · Last modified: by asing119




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