Difference between revisions of "2013 Summer Project Week:Open source electromagnetic trackers using OpenIGTLink"

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<gallery>
 
<gallery>
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Image:PW-MIT2013.png|[[2013_Summer_Project_Week#Projects|Projects List]]
 
Image:Dry0030.png|Stylized image of three orthogonal coils used in 6-DOF electromagnetic tracker sensor
 
Image:Dry0030.png|Stylized image of three orthogonal coils used in 6-DOF electromagnetic tracker sensor
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Image:Dry_elphel_model_1_rcvr_coils.jpg|Handmade assembly of three solenoidal coils; each solenoid is 11 millimeters long
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Image:Dry_elphel_model_1_rcvr_coils.jpg|Handmade assembly of three commercial solenoidal coils; each solenoid is 11 millimeters long
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Image:Dry0432_1_1_screenshot2013-06-20.png|Screenshot of -10log10(GOF) in Slicer 3
 
</gallery>
 
</gallery>
  
 
==Key Investigators==
 
==Key Investigators==
 
* Retired: Peter Traneus Anderson
 
* Retired: Peter Traneus Anderson
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* NA-MIC: Tina Kapur, Sonia Pujol
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* BWH: Tina Kapur, Sonia Pujol
  
 
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<div style="margin: 20px;">
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<h3>Objectives</h3>
 
<h3>Objectives</h3>
  
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One goal of this open-source electromagnetic tracker project is to extend the tracker simulators in OpenIGTLink, by replacing the simulated position and orientation data with real data from real sensors using real hardware, all open-sourced.
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The primary goal of this open-source electromagnetic tracker project is to teach and develop open-source electromagnetic trackers, to enable extending performance in directions that existing proprietary trackers do not address.
  
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Another goal of this project, is to provide an open forum for tracker designers to discuss the technology in all its aspects. Open-source tracker projects provide a common basis for discussion among tracker designers who are otherwise trapped behind proprietary walls.
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The physics of electromagnetic trackers only just works. Tracker designers are continually struggling to get enough signal/noise from a small-enough sensor at a large-enough distance for a particular application. Magnetic-field distortion adds to the challenges.
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Low-cost high-speed floating-point computation enables use of compute-intensive modeling and tracking algorithms which give improved accuracy.
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</div>
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<div style="width: 27%; float: left; padding-right: 3%;">
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<h3>Approach, Plan</h3>
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Pete expects to bring last year's hand-built tracker again this year.  Pete is partway through developing a USB-based tracker printed-circuit board set, to be demonstrated next year.
 +
 
 +
Pete's plan for the project week, is to use Slicer to visualize tracker errors versus position.
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</div>
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<div style="width: 40%; float: left;">
  
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The physics of electromagnetic trackers only just works. Tracker designers are continually struggling to get enough signal/noise from a small-enough sensor at a large-enough distance for a particular application. Magnetic-field distortion adds to the challenges.
+
<h3>Progress</h3>
 +
 
 +
Pete successfully used his tracker simulator to image the logarithm of goodness-of-fit, -10log10(GOF), into a NRRD file, and imported that file into Slicer 3. Example image is above.
 +
 
 +
Pete's laptop computer at Summer Project Week has 32-bit Ubuntu, so 64-bit Slicer 4 won't run. Pete is running Slicer 4 on his desktop computer using 64-bit Slackware.
 +
 
 +
Next: Figure out meanings of the images.
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</div>
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</div>
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<div style="width: 97%; float: left;">
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==Delivery Mechanism==
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 +
==References==
  
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Another goal of this project, is to enable researchers to simulate trackers for themselves, to better understand the limits imposed by the physics.
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Pete's published work to date is on
 +
[[Open Source Electromagnetic Trackers|Open Source Electromagnetic Trackers]]
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and on [[http://home.comcast.net/~traneus http://home.comcast.net/~traneus]].
  
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Another goal of this project, is to provide opportunities to gain experience on simple, unusual, and state-of-the-art analog hardware, digital hardware, digital-signal-processing algorithms, electromagnetic modeling, and position-calculation algorithms.
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</div>

Latest revision as of 13:54, 21 June 2013

Home < 2013 Summer Project Week:Open source electromagnetic trackers using OpenIGTLink


  • Stylized image of three orthogonal coils used in 6-DOF electromagnetic tracker sensor

  • Handmade assembly of three commercial solenoidal coils; each solenoid is 11 millimeters long

  • Screenshot of -10log10(GOF) in Slicer 3

Key Investigators

  • Retired: Peter Traneus Anderson
  • BWH: Tina Kapur, Sonia Pujol

Objectives

The primary goal of this open-source electromagnetic tracker project is to teach and develop open-source electromagnetic trackers, to enable extending performance in directions that existing proprietary trackers do not address.

The physics of electromagnetic trackers only just works. Tracker designers are continually struggling to get enough signal/noise from a small-enough sensor at a large-enough distance for a particular application. Magnetic-field distortion adds to the challenges.

Low-cost high-speed floating-point computation enables use of compute-intensive modeling and tracking algorithms which give improved accuracy.

Approach, Plan

Pete expects to bring last year's hand-built tracker again this year. Pete is partway through developing a USB-based tracker printed-circuit board set, to be demonstrated next year.

Pete's plan for the project week, is to use Slicer to visualize tracker errors versus position.

Progress

Pete successfully used his tracker simulator to image the logarithm of goodness-of-fit, -10log10(GOF), into a NRRD file, and imported that file into Slicer 3. Example image is above.

Pete's laptop computer at Summer Project Week has 32-bit Ubuntu, so 64-bit Slicer 4 won't run. Pete is running Slicer 4 on his desktop computer using 64-bit Slackware.

Next: Figure out meanings of the images.

Delivery Mechanism

References

Pete's published work to date is on Open Source Electromagnetic Trackers and on [http://home.comcast.net/~traneus].

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