Design and development of sensorless based 5-DOF bilaterally controlled surgi...journalBEEI
Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to the lack of visibility of the surgical area, instrument orientation, and depth perception. A tele-operated robot assisted minimally invasive surgery is developed to enhance a surgeon's hand dexterity and accuracy. To perform MIS, the surgeon controls a slave manipulator via a master manipulator, so the force feedback and motion feedback are required to imitate an amount of action and reaction force between master and slave manipulator. The complicated MIS requires more complex surgical manipulator with multi DOFs and multiple force feedback. The limitation of multiple DOFs force feedback is a bandwidth of torque sensors. Therefore, this study proposes a sensorless based 5-DOF Bilaterally controlled surgical manipulation. In this research disturbance observer (DOB) is used to identify the internal disturbance of the system, which is used to estimate the reaction torque. This research mainly focuses on a 5-DOF bilaterally controlled surgical manipulator to maintain a position and additional force. The result of torque error in contact motion is less than 2%, the non-contact motion error is not over 5%, and it is evident that the error is always less than 0.3% for the position response.
In this study, the exoskeleton arm has been analyzed to obtain the maximum sustainable load which is to be lifted by the arm hook. This preliminary analysis is required to design the capacity of another power source that operates the exoskeleton arm. For less power consumption and the weight, suitable material is selected. The 3 D model of the exoskeleton arm is prepared by using PROE software and computationally analyzed by using ANSYS transient structural tool. The results are simulated for different hook load condition. The safe design condition of the exoskeleton arm has been determined from the simulated results and the proposed model has been selected for the further advancements. H. A. Bhimgade | Utkarsh S. Dharamthok | Aryan S. Gajwe | Swastik Thawali | Ankush Kumbalwar "Design and Analysis of an Exoskeleton Arm" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-4 | Issue-4 , June 2020, URL: https://www.ijtsrd.com/papers/ijtsrd30962.pdf Paper Url :https://www.ijtsrd.com/engineering/mechanical-engineering/30962/design-and-analysis-of-an-exoskeleton-arm/h-a-bhimgade
Tuning of different controlling techniques for magnetic suspending system usi...IJECEIAES
In this paper, design of proportional- derivative (PD) controller, pseudo-derivative-feedback (PDF) controller and PDF with feedforward (PDFF) controller for magnetic suspending system have been presented. Tuning of the above controllers is achieved based on Bat algorithm (BA). BA is a recent bio-inspired optimization method for solving global optimization problems, which mimic the behavior of micro-Bats. The weak point of the standard BA is the exploration ability due to directional echolocation and the difficulty in escaping from local optimum. The new improved BA enhances the convergence rate while obtaining optimal solution by introducing three adaptations namely modified frequency factor, adding inertia weight and modified local search. The feasibility of the proposed algorithm is examined by applied to several benchmark problems that are adopted from literature. The results of IBA are compared with the results collected from standard BA and the well-known particle swarm optimization (PSO) algorithm. The simulation results show that the IBA has a higher accuracy and searching speed than the approaches considered. Finally, the tuning of the three controlling schemes using the proposed algorithm, standard BA and PSO algorithms reveals that IBA has a higher performance compared with the other optimization algorithms.
Natural Vibration Analysis of Femur Bone Using HyperworksIJERA Editor
The main objective of the femur bone analysis is to know the natural frequencies and identify the fracture location of the bone through simulation based on the HYPERWORKS. The femur bone analysis is subjected to free-free and fixed-fixed boundary conditions. The mode shape shows that the natural frequency of free-free boundary condition varies from 0 Hz to 57 Hz and for fixed-fixed boundary condition 11 Hz to 171 Hz. On the bases of these two boundary conditions mode shape is determined and fracture location can be easily notified.
Design and development of sensorless based 5-DOF bilaterally controlled surgi...journalBEEI
Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to the lack of visibility of the surgical area, instrument orientation, and depth perception. A tele-operated robot assisted minimally invasive surgery is developed to enhance a surgeon's hand dexterity and accuracy. To perform MIS, the surgeon controls a slave manipulator via a master manipulator, so the force feedback and motion feedback are required to imitate an amount of action and reaction force between master and slave manipulator. The complicated MIS requires more complex surgical manipulator with multi DOFs and multiple force feedback. The limitation of multiple DOFs force feedback is a bandwidth of torque sensors. Therefore, this study proposes a sensorless based 5-DOF Bilaterally controlled surgical manipulation. In this research disturbance observer (DOB) is used to identify the internal disturbance of the system, which is used to estimate the reaction torque. This research mainly focuses on a 5-DOF bilaterally controlled surgical manipulator to maintain a position and additional force. The result of torque error in contact motion is less than 2%, the non-contact motion error is not over 5%, and it is evident that the error is always less than 0.3% for the position response.
In this study, the exoskeleton arm has been analyzed to obtain the maximum sustainable load which is to be lifted by the arm hook. This preliminary analysis is required to design the capacity of another power source that operates the exoskeleton arm. For less power consumption and the weight, suitable material is selected. The 3 D model of the exoskeleton arm is prepared by using PROE software and computationally analyzed by using ANSYS transient structural tool. The results are simulated for different hook load condition. The safe design condition of the exoskeleton arm has been determined from the simulated results and the proposed model has been selected for the further advancements. H. A. Bhimgade | Utkarsh S. Dharamthok | Aryan S. Gajwe | Swastik Thawali | Ankush Kumbalwar "Design and Analysis of an Exoskeleton Arm" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-4 | Issue-4 , June 2020, URL: https://www.ijtsrd.com/papers/ijtsrd30962.pdf Paper Url :https://www.ijtsrd.com/engineering/mechanical-engineering/30962/design-and-analysis-of-an-exoskeleton-arm/h-a-bhimgade
Tuning of different controlling techniques for magnetic suspending system usi...IJECEIAES
In this paper, design of proportional- derivative (PD) controller, pseudo-derivative-feedback (PDF) controller and PDF with feedforward (PDFF) controller for magnetic suspending system have been presented. Tuning of the above controllers is achieved based on Bat algorithm (BA). BA is a recent bio-inspired optimization method for solving global optimization problems, which mimic the behavior of micro-Bats. The weak point of the standard BA is the exploration ability due to directional echolocation and the difficulty in escaping from local optimum. The new improved BA enhances the convergence rate while obtaining optimal solution by introducing three adaptations namely modified frequency factor, adding inertia weight and modified local search. The feasibility of the proposed algorithm is examined by applied to several benchmark problems that are adopted from literature. The results of IBA are compared with the results collected from standard BA and the well-known particle swarm optimization (PSO) algorithm. The simulation results show that the IBA has a higher accuracy and searching speed than the approaches considered. Finally, the tuning of the three controlling schemes using the proposed algorithm, standard BA and PSO algorithms reveals that IBA has a higher performance compared with the other optimization algorithms.
Natural Vibration Analysis of Femur Bone Using HyperworksIJERA Editor
The main objective of the femur bone analysis is to know the natural frequencies and identify the fracture location of the bone through simulation based on the HYPERWORKS. The femur bone analysis is subjected to free-free and fixed-fixed boundary conditions. The mode shape shows that the natural frequency of free-free boundary condition varies from 0 Hz to 57 Hz and for fixed-fixed boundary condition 11 Hz to 171 Hz. On the bases of these two boundary conditions mode shape is determined and fracture location can be easily notified.
A Novel Edge Detection Technique for Image Classification and AnalysisIOSR Journals
Abstract: The main aim of this project is to propose a new method for image segmentation. Image
Segmentation is concerned with splitting an image up into segments (also called regions or areas) that each
holds some property distinct from their neighbor. Simply, another word for the Object Detection is
“Segmentation “. Segmentation is divided into two types they are Supervised Segmentation and Unsupervised
Segmentation. Segmentation consists of three types of methods which are divided on the basis of threshold, edge
and region. Thresholding is a commonly used enhancement whose goal is to segment an image into object and
background. Edge-based segmentations rely on edges found in an image by edge detecting operators. Region
based segmentations basic idea is to divide an image into zones of maximum homogeneity, where homogeneity
is an important property of regions. Edge detection has been a field of fundamental importance in digital image
processing research. Edge can be defined as a pixels located at points where abrupt changes in gray level take
place in this paper one novel approach for edge detection in gray scale images, which is based on diagonal
pixels in 2*2 region of the image, is proposed. This method first uses a threshold value to segment the image
and binary image. And then the proposed edge detector. In order to validate the results, seven different
kinds of test images are considered to examine the versatility of the proposed edge detector. It has been
observed that the proposed edge detector works effectively for different gray scale digital images. The results of
this study are quite promising. In this project we proposed a new algorithm for edge Detection. The main
advantage of this algorithm is with running mask on the original image we can detect the edges in the images by
using the proposed scheme for edge detection.
Keywords: Edge detection, segmentation, thresholding.
IOSR Journal of Applied Physics (IOSR-JAP) is an open access international journal that provides rapid publication (within a month) of articles in all areas of physics and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in applied physics. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
IOSR Journal of Applied Chemistry (IOSR-JAC) is an open access international journal that provides rapid publication (within a month) of articles in all areas of applied chemistry and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in Chemical Science. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
A Novel Edge Detection Technique for Image Classification and AnalysisIOSR Journals
Abstract: The main aim of this project is to propose a new method for image segmentation. Image
Segmentation is concerned with splitting an image up into segments (also called regions or areas) that each
holds some property distinct from their neighbor. Simply, another word for the Object Detection is
“Segmentation “. Segmentation is divided into two types they are Supervised Segmentation and Unsupervised
Segmentation. Segmentation consists of three types of methods which are divided on the basis of threshold, edge
and region. Thresholding is a commonly used enhancement whose goal is to segment an image into object and
background. Edge-based segmentations rely on edges found in an image by edge detecting operators. Region
based segmentations basic idea is to divide an image into zones of maximum homogeneity, where homogeneity
is an important property of regions. Edge detection has been a field of fundamental importance in digital image
processing research. Edge can be defined as a pixels located at points where abrupt changes in gray level take
place in this paper one novel approach for edge detection in gray scale images, which is based on diagonal
pixels in 2*2 region of the image, is proposed. This method first uses a threshold value to segment the image
and binary image. And then the proposed edge detector. In order to validate the results, seven different
kinds of test images are considered to examine the versatility of the proposed edge detector. It has been
observed that the proposed edge detector works effectively for different gray scale digital images. The results of
this study are quite promising. In this project we proposed a new algorithm for edge Detection. The main
advantage of this algorithm is with running mask on the original image we can detect the edges in the images by
using the proposed scheme for edge detection.
Keywords: Edge detection, segmentation, thresholding.
IOSR Journal of Applied Physics (IOSR-JAP) is an open access international journal that provides rapid publication (within a month) of articles in all areas of physics and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in applied physics. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
IOSR Journal of Applied Chemistry (IOSR-JAC) is an open access international journal that provides rapid publication (within a month) of articles in all areas of applied chemistry and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in Chemical Science. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
International Journal of Engineering Research and DevelopmentIJERD Editor
Electrical, Electronics and Computer Engineering,
Information Engineering and Technology,
Mechanical, Industrial and Manufacturing Engineering,
Automation and Mechatronics Engineering,
Material and Chemical Engineering,
Civil and Architecture Engineering,
Biotechnology and Bio Engineering,
Environmental Engineering,
Petroleum and Mining Engineering,
Marine and Agriculture engineering,
Aerospace Engineering.
EFFECT of VARIATION of C-ARM ANGLE POSITION to DOSE RATE was RECEIVED in SURG...AM Publications
An anthropomorphic phantom dose rate measurement has been done in C-Arm room at Central Surgical Installation with surveymeter. Measurements were made with 8 variations of the C-Arm fluoroscopy angle commonly used in the operating procedure, as well as the 1 meter point of measurement against the radiation source. The variations of these angles are 00, 450, 900, 1350, 1800, 2250, 2700, and 3150. The dose rate measurements at a distance of 1 m from the radiation source with angle variations are 380 μSv/h, 430 μSv/h, 680 μSv/h, 29 μSv/h, 220 μSv/h, 350 μSv/h, 1370 μSv/h and 1020 μSv/h. The measurement results showed that the highest dose rate at the C-arm angle of 2700 and the lowest dose at the C-Arm 1350 angle position. From the measurement results can be seen the effect of angular position used with the acceptable dose rate, the lowest to highest dose rate received based on the angular position in sequence are 1350, 1800, 2250, 00, 450, 900, 3150, 2700.
In the material testing laboratory, Tensile test was done on a mild steel specimen as figure 4 to identify the young’s modulus, ultimate tensile strength, yield strength and percentage elongation. The results were as table 1
Development of Seakeeping Test and Data Processing Systemijceronline
International Journal of Computational Engineering Research (IJCER) is dedicated to protecting personal information and will make every reasonable effort to handle collected information appropriately. All information collected, as well as related requests, will be handled as carefully and efficiently as possible in accordance with IJCER standards for integrity and objectivity.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Key Trends Shaping the Future of Infrastructure.pdfCheryl Hung
Keynote at DIGIT West Expo, Glasgow on 29 May 2024.
Cheryl Hung, ochery.com
Sr Director, Infrastructure Ecosystem, Arm.
The key trends across hardware, cloud and open-source; exploring how these areas are likely to mature and develop over the short and long-term, and then considering how organisations can position themselves to adapt and thrive.
Essentials of Automations: Optimizing FME Workflows with ParametersSafe Software
Are you looking to streamline your workflows and boost your projects’ efficiency? Do you find yourself searching for ways to add flexibility and control over your FME workflows? If so, you’re in the right place.
Join us for an insightful dive into the world of FME parameters, a critical element in optimizing workflow efficiency. This webinar marks the beginning of our three-part “Essentials of Automation” series. This first webinar is designed to equip you with the knowledge and skills to utilize parameters effectively: enhancing the flexibility, maintainability, and user control of your FME projects.
Here’s what you’ll gain:
- Essentials of FME Parameters: Understand the pivotal role of parameters, including Reader/Writer, Transformer, User, and FME Flow categories. Discover how they are the key to unlocking automation and optimization within your workflows.
- Practical Applications in FME Form: Delve into key user parameter types including choice, connections, and file URLs. Allow users to control how a workflow runs, making your workflows more reusable. Learn to import values and deliver the best user experience for your workflows while enhancing accuracy.
- Optimization Strategies in FME Flow: Explore the creation and strategic deployment of parameters in FME Flow, including the use of deployment and geometry parameters, to maximize workflow efficiency.
- Pro Tips for Success: Gain insights on parameterizing connections and leveraging new features like Conditional Visibility for clarity and simplicity.
We’ll wrap up with a glimpse into future webinars, followed by a Q&A session to address your specific questions surrounding this topic.
Don’t miss this opportunity to elevate your FME expertise and drive your projects to new heights of efficiency.
UiPath Test Automation using UiPath Test Suite series, part 3DianaGray10
Welcome to UiPath Test Automation using UiPath Test Suite series part 3. In this session, we will cover desktop automation along with UI automation.
Topics covered:
UI automation Introduction,
UI automation Sample
Desktop automation flow
Pradeep Chinnala, Senior Consultant Automation Developer @WonderBotz and UiPath MVP
Deepak Rai, Automation Practice Lead, Boundaryless Group and UiPath MVP
GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using Deplo...James Anderson
Effective Application Security in Software Delivery lifecycle using Deployment Firewall and DBOM
The modern software delivery process (or the CI/CD process) includes many tools, distributed teams, open-source code, and cloud platforms. Constant focus on speed to release software to market, along with the traditional slow and manual security checks has caused gaps in continuous security as an important piece in the software supply chain. Today organizations feel more susceptible to external and internal cyber threats due to the vast attack surface in their applications supply chain and the lack of end-to-end governance and risk management.
The software team must secure its software delivery process to avoid vulnerability and security breaches. This needs to be achieved with existing tool chains and without extensive rework of the delivery processes. This talk will present strategies and techniques for providing visibility into the true risk of the existing vulnerabilities, preventing the introduction of security issues in the software, resolving vulnerabilities in production environments quickly, and capturing the deployment bill of materials (DBOM).
Speakers:
Bob Boule
Robert Boule is a technology enthusiast with PASSION for technology and making things work along with a knack for helping others understand how things work. He comes with around 20 years of solution engineering experience in application security, software continuous delivery, and SaaS platforms. He is known for his dynamic presentations in CI/CD and application security integrated in software delivery lifecycle.
Gopinath Rebala
Gopinath Rebala is the CTO of OpsMx, where he has overall responsibility for the machine learning and data processing architectures for Secure Software Delivery. Gopi also has a strong connection with our customers, leading design and architecture for strategic implementations. Gopi is a frequent speaker and well-known leader in continuous delivery and integrating security into software delivery.
State of ICS and IoT Cyber Threat Landscape Report 2024 previewPrayukth K V
The IoT and OT threat landscape report has been prepared by the Threat Research Team at Sectrio using data from Sectrio, cyber threat intelligence farming facilities spread across over 85 cities around the world. In addition, Sectrio also runs AI-based advanced threat and payload engagement facilities that serve as sinks to attract and engage sophisticated threat actors, and newer malware including new variants and latent threats that are at an earlier stage of development.
The latest edition of the OT/ICS and IoT security Threat Landscape Report 2024 also covers:
State of global ICS asset and network exposure
Sectoral targets and attacks as well as the cost of ransom
Global APT activity, AI usage, actor and tactic profiles, and implications
Rise in volumes of AI-powered cyberattacks
Major cyber events in 2024
Malware and malicious payload trends
Cyberattack types and targets
Vulnerability exploit attempts on CVEs
Attacks on counties – USA
Expansion of bot farms – how, where, and why
In-depth analysis of the cyber threat landscape across North America, South America, Europe, APAC, and the Middle East
Why are attacks on smart factories rising?
Cyber risk predictions
Axis of attacks – Europe
Systemic attacks in the Middle East
Download the full report from here:
https://sectrio.com/resources/ot-threat-landscape-reports/sectrio-releases-ot-ics-and-iot-security-threat-landscape-report-2024/
LF Energy Webinar: Electrical Grid Modelling and Simulation Through PowSyBl -...DanBrown980551
Do you want to learn how to model and simulate an electrical network from scratch in under an hour?
Then welcome to this PowSyBl workshop, hosted by Rte, the French Transmission System Operator (TSO)!
During the webinar, you will discover the PowSyBl ecosystem as well as handle and study an electrical network through an interactive Python notebook.
PowSyBl is an open source project hosted by LF Energy, which offers a comprehensive set of features for electrical grid modelling and simulation. Among other advanced features, PowSyBl provides:
- A fully editable and extendable library for grid component modelling;
- Visualization tools to display your network;
- Grid simulation tools, such as power flows, security analyses (with or without remedial actions) and sensitivity analyses;
The framework is mostly written in Java, with a Python binding so that Python developers can access PowSyBl functionalities as well.
What you will learn during the webinar:
- For beginners: discover PowSyBl's functionalities through a quick general presentation and the notebook, without needing any expert coding skills;
- For advanced developers: master the skills to efficiently apply PowSyBl functionalities to your real-world scenarios.
Kubernetes & AI - Beauty and the Beast !?! @KCD Istanbul 2024Tobias Schneck
As AI technology is pushing into IT I was wondering myself, as an “infrastructure container kubernetes guy”, how get this fancy AI technology get managed from an infrastructure operational view? Is it possible to apply our lovely cloud native principals as well? What benefit’s both technologies could bring to each other?
Let me take this questions and provide you a short journey through existing deployment models and use cases for AI software. On practical examples, we discuss what cloud/on-premise strategy we may need for applying it to our own infrastructure to get it to work from an enterprise perspective. I want to give an overview about infrastructure requirements and technologies, what could be beneficial or limiting your AI use cases in an enterprise environment. An interactive Demo will give you some insides, what approaches I got already working for real.
The Art of the Pitch: WordPress Relationships and SalesLaura Byrne
Clients don’t know what they don’t know. What web solutions are right for them? How does WordPress come into the picture? How do you make sure you understand scope and timeline? What do you do if sometime changes?
All these questions and more will be explored as we talk about matching clients’ needs with what your agency offers without pulling teeth or pulling your hair out. Practical tips, and strategies for successful relationship building that leads to closing the deal.
Builder.ai Founder Sachin Dev Duggal's Strategic Approach to Create an Innova...Ramesh Iyer
In today's fast-changing business world, Companies that adapt and embrace new ideas often need help to keep up with the competition. However, fostering a culture of innovation takes much work. It takes vision, leadership and willingness to take risks in the right proportion. Sachin Dev Duggal, co-founder of Builder.ai, has perfected the art of this balance, creating a company culture where creativity and growth are nurtured at each stage.
FIDO Alliance Osaka Seminar: Passkeys at Amazon.pdf
A017540106
1. IOSR Journal of Computer Engineering (IOSR-JCE)
e-ISSN: 2278-0661,p-ISSN: 2278-8727, Volume 17, Issue 5, Ver. IV (Sep. – Oct. 2015), PP 01-06
www.iosrjournals.org
DOI: 10.9790/0661-17540106 www.iosrjournals.org 1 | Page
Development of a Force Acquisition Instrument for Orthodontics
John Carlo Valdez1
1
(Department of Computer Engineering, University of the East, Philippines)
Abstract : In the field of Orthodontics, various appliances and components are being utilized to facilitate tooth
movement. Tissue responses range from physiologic tooth movement to irreversible damage such as pulling a
tooth out of a socket. The aim of the study is to develop a force acquisition instrument which can accurately
measure forces applied by orthodontic components to the tooth. Furthermore, in this paper it test and present
the linearity, bias, and significant difference on the measured and true values when exposed to varying room
temperature of the developed force acquisition instrument for orthodontics.
Keywords: force acquisition instrument, orthodontics, force measurement, ortho-components
I. Introduction
Edward Angle, the father of Modern Orthodontics, is credited with the emergence of orthodontics as a
specialty. Orthodontic treatment involves movement of malpositioned teeth. Brackets are connected to the
surface of the patient’s teeth and an arch wire is placed in a slot of each bracket to move the teeth [1].
Adjustments are made with the replacement of arch wires and use of elastics and coil springs.
A dynamometer is a general instrument that evaluates an applied force. In the practice of orthodontics,
it measures the forces specifically applied on the tooth by orthodontic components. Current clinical
dynamometer is constructed for measuring tensile and compression forces exerted by the springs and elastics for
a range of 1oz-16 oz. It is calibrated with 1 oz. single line and 4 oz. double line increment. The double-ended
calibrated shaft makes it possible to evaluate pull and push forces.
An Australian research that focused on the effect of a static magnetic field on orthodontic movement in
the rat [2], measured the residual forces in each appliance from the induction of tooth movement and verified at
the end of each experimental period using a dynamometer. In [3], it demonstrated the use of the dynamometer in
their application in ensuring that the magnitude of load was always 85g from the force applied by the Ni-Ti
closed-coil springs in the effects of orthodontic load on the periodontium of autogenously transplanted teeth in
beagle dogs.
In general, the clinical dynamometer’s capability varies on the specific application in orthodontics,
ranging from simply assessing the applied force by the orthodontic appliances to estimate the tooth movement
output to standardizing the thickness of adhesive material [4], among others.
The researcher had carefully studied the clinical dynamometer being used in the dental profession.
From the testaments provided to the researcher by the dental faculty members and dental practitioners, no
dynamometer in the market has been manufactured with precise measurement and with sufficient amount of
significant numbers to accurately measure the force applied on the tooth. Dental practitioners and students use
the aid of mechanical dynamometer in measuring gram-force acting on the tooth. Though inaccurate, they
accept the truncated gram-force reading of the device with insufficient number of significant values in the
device scale.
In this study, it aims to develop a force acquisition instrument to measure these forced for orthodontics.
Specifically, it determines the acceptability of the proposed instrument, during the testing, it must satisfy the
hypothesis set to test the linearity, that no offset exist between true and measured value at the specific target
both for the minimum and maximum range, (Ho: a = 0) and bias, that slope between the true and measured
values is equal to one, (Ho: b = 1) at the accuracy of the measurements over the full range. Likewise, no
significant difference must be observed in the measurement once the instrument is exposed to varying
temperature during orthodontic procedures (Ho: c = 0).
II. Related Literature
Certain situations still pose challenges in the practice of orthodontics, even with the great advancement
in technology. The researcher is inspired by how engineering should be applied to a different field of study and
practice. With his specialty in computer engineering, the researcher is initiated to be engaged in an
interdisciplinary application between engineering and orthodontics. Thus, applying the field of biomedical
engineering to enhance and improve the efficiency of orthodontic practice.
The dental profession has to address the following challenges: properly determine the nominal force
applied during orthodontic tooth movement and how this will affect the efficiency of orthodontic tooth
movement.
2. Development of a Force Acquisition Instrument for Orthodontics
DOI: 10.9790/0661-17540106 www.iosrjournals.org 2 | Page
Orthodontic tooth movement is defined as “result of a biologic response to interference in the
physiologic equilibrium of the dentofacial complex by an externally applied force [5]. Only small amounts of
force might be required to effect this outcome, which is accompanied by remodeling changes in the periodontal
ligament and alveolar bone [6].
A typical mechanical dynamometer is used to measure the force enacted by elastics, arch wires and coil
springs as shown in [7]. The researcher asked Orthodontic postgraduate students in the University of the East
Graduate School to use this device. The current device used is unable to provide an exact numerical value of the
measured force. The students are unable to assume nor estimate the exact value due to the limitation of the
device. They only consider the most significant value from the scale, i.e. if there is a scale point between
20grams-force and 40 grams-force, the user cannot include the values in between.
III. Design Methodology
In this study, a system design was created to gather and measure the force applied by the orthodontic
appliances. As suggested by several research studies, a typical magnitude of force to be applied to achieved
orthodontic tooth movement ranges from 25 grams-force to 1515 grams-force [8][9][10]. However, for this
experimental set-up, forces from 5 to 550 grams-force were utilized.
A. Block Diagram
The development of the instrument was guided with the following crucial components as illustrated at
Fig. 1. The full-bridge force sensor configuration was used to acquire the force applied in the sensor in an
analog signal. In which it is necessary to convert the analog signal taken to a digital signal by means of an
analog-to-digital converter (ADC). This is to ensure that the communication of the signal is processed in
accordance to the compability of the microcontroller unit to process the gathered data. Furthermore, the ADC
increases the numerical resolution of the output signal to provide the microcontroller unit to process and display
a higher resolution in the display panel. And lastly, the switch acts a force voltage reference reset switch to
ensure that the reference reading before any measurement is set to zero.
Fig. 1. Force Measurement Instrument Block Diagram
B. Hardware Components and Circuits
In this section, it further elaborates the circuit design of each hardware components.
1) Full-Bridge Force Sensor Configuration:
The force sensor is configured to have four active elements namely the: E+, S+, S-, and E-. Where, E+
and E- are the active elements measuring compressive forces while S+ and S- are the active elements measuring
tensile forces. These pins (E+ and E-) are then connected to be fed with a voltage source, at a nominal 5V, from
the ADC circuit and pins (S+ and S-) are analog signals that holds the corresponding values of the applied force
which are then to be process by the ADC with a 10.15mV/V output rating.
Fig. 2. Full-Bridge Configuration of the Force Sensor
3. Development of a Force Acquisition Instrument for Orthodontics
DOI: 10.9790/0661-17540106 www.iosrjournals.org 3 | Page
2) 24-bit Analog-to-Digital Converter Circuit:
It is a 24-bit analog-to-digital converter for industrial control applications to interface with a bridge
sensor. The circuit is powered with a 5V AVDD analog power supply. An SOP-16L package integrated chip
was used to minimize the space it consumes during the design. The X1 pin (Pin 14) is set to ground to activate
the on-chip oscillator where the output data rate when it uses the internal oscillator is 10. The PD_SCK (Pin 11)
and DOUT (Pin 12) are used for data retrieval, input selection, and gain selection for the microcontroller unit.
Fig. 3. 24-bit Analog-to-Digital Converter Circuit
3) Power Supply:
The normal voltage operability of the circuits generally falls within the 5V source. This circuit ensures
that a stable source of 5V is fed to the entire circuitry system and prevent fluctuation of the voltage signal and
regulate an external battery (V1) to an output voltage with a stable 5V analog voltage.
Fig. 4. 5V Power Supply Circuit
4) PIC16F876A, Force Voltage Reference Reset Switch, and Display:
The PIC16F876A an 28-pin Shrink Small Outline Package (SSOP) which is optimal to achieve
compact design of the circuit and with reasonable operating clock speed, with the 4MHz crystal (X1) which is
ideal for real-time data acquisition processing. The processed digital output by the ADC are then fed to the RA1
(Pin 3) and RA2 (Pin 4) to numerically program the values and display the output at the three 7-segment
display. The displays are multiplex with the microcontroller unit from RB7 (Pin 28) to RB1 (Pin 22) and RC4
(Pin 15) to RC6 (Pin 17) where used to activate the particular 7-segment display and show its corresponding
reading. The VDD (Pin 20) is supplied with a +5V supply while VSS (Pin 8 and Pin 9) were set to ground. In
addition, the SW1 (Pin 6 and Pin 7) is introduced such that any measurement reading, before the actual
measurement, is always set to zero. This is to ensure that no offset will be observed once the device attempts to
conduct the measuring.
4. Development of a Force Acquisition Instrument for Orthodontics
DOI: 10.9790/0661-17540106 www.iosrjournals.org 4 | Page
Fig. 5. PIC16F876A and 3 7-Segment Display
C. System Flow Chart
As shown in Fig. 6, it presents the flow of the operation of the force measuring instrument from how it
gathers the force data, processing, and displaying the expected real-time values.
Fig. 6. Force Measurement Instrument Flow Chart
D. Test Procedures
The instrument underwent numerous testing to ensure that the measurement reading is stable. The
measured and true values are linear or at most nearly close to each other. And the measurement will not be
affected by the given range of room temperature. The instrument were tested using the Universal Testing
Machine (UTM) where it applied forces ranging from 40 grams-force to 550 grams-force. These force ranges
are divided into two: the minimum and maximum range of measurement, with 40-80 grams-force and 300-550
grams-force, respectively. Under each force increment in the testing, each was given with 10 test sample. The
applied force by the UTM is considered the true value in which it will then be compared with the reading taken
by the instrument which is the measured value.
5. Development of a Force Acquisition Instrument for Orthodontics
DOI: 10.9790/0661-17540106 www.iosrjournals.org 5 | Page
IV. Results
In this study, it was tested that the hypothesis set in the research satisfies the followings: (1) no offset
exist between the true and measured values; (2) the slope between the true and measured values is equal to one;
and (3) the measured values with respect to the true values were not affected when exposed to various levels of
room temperature.
Using the SPSS, a statistical software, the gathered data are transformed which supports to validate the
hypothesis set in this study. The followings are the results taken after the testing procedure.
Table 1. t-Test on the Significance Between the True Value and Measured Value from 40 grams-force to
80 grams-force for the Minimum Force Measurement
Measured Value
TrueValue
g-f Mean SD t-value P-value
40 39.8 0.422 -1.500 0.168
45 44.8 0.422 -1.500 0.168
50 49.8 0.422 -1.500 0.168
55 54.8 0.422 -1.500 0.168
60 59.7 0.483 -1.964 0.081
65 64.9 0.316 -1.000 0.343
70 69.7 0.675 -1.406 0.193
75 74.8 0.422 -1.500 0.168
80 79.9 0.316 -1.500 0.343
Table 2. t-Test on the Significance Between the True Value and Measured Value from 300 grams-force to
550 grams-force for the Minimum Force Measurement
Measured Value
TrueValue
g-f Mean SD t-value P-value
300 299.5 0.707 -2.236 0.052
325 324.4 0.843 -2.25 0.051
350 349.3 1.16 -1.909 0.089
375 374.7 0.483 -1.964 0.081
400 399.5 0.707 -2.236 0.052
425 424.5 0.707 -2.236 0.052
450 449.9 0.732 -0.429 0.678
475 474.5 0.972 -1.67 0.138
500 498.8 3.521 -1.078 0.309
525 524.4 0.843 -2.25 0.051
550 549.5 0.972 -1.627 0.138
Table 3. Model Summary for the Linearity of forces from 40 gram-force to 550 gram-force
Model R R2 Adjusted R2 Std. Error of the Estimate
1 1.000 1.000 1.000 2.05523
Table 4. One-Way ANOVA on the Significant Difference in the Measurement on the 50 grams-force
When Exposed to Varying Temperature
Source SS df MS F-value P-value
Columns 0.787 7 0.112 0.612 0.744
Error 13.228 72 0.184
Total 14.015 79
Table 5. One-Way ANOVA on the Significant Difference in the Measurement on the 500 grams-force
When Exposed to Varying Temperature
Source SS df MS F-value P-value
Columns 15.350 7 2.193 0.716 0.659
Error 220.599 72 3.064
Total 235.949 79
6. Development of a Force Acquisition Instrument for Orthodontics
DOI: 10.9790/0661-17540106 www.iosrjournals.org 6 | Page
V. Discussions
Referring to Table 1 and 2, the P-value calculated shows values which are greater than the 0.05 level of
confidence. This also suggests that the hypothesis set (Ho: a=0) is accepted. The test range is true from the
minimum measurement range of 40-80 grams-force and for the maximum measurement range of 300-550
grams-force.
A model summary, in Table 3, was generated to determine if the true and measured values produce a
slope equal to one. Using the test values taken from 40 grams-force to 550 grams-force, with 10 test samples
for each incremented forces, the R2
value is equal to one (Ha: b=1). Statistically, it suggests that there is a
perfect correlation between the values of the true and the measured force.
Lastly, under the exposure of varying temperature during testing, it determines if there is a significance
in the measured values and the true values. Using one-way ANOVA, under Table 4, the test sample at 50 grams-
force when exposed from 18C to 32C shows a P-value of 0.744. While in Table 5, at a 500 grams-force
sample, it exhibit a P-value of 0.659. Comparing the computed P-value, the instrument’s reading were
comparable with the true values when exposed to various level of room temperature.
VI. Conclusion
In this study, it was tested that the hypothesis set in the research satisfies the followings: (1) no offset
exist between the true and measured values; (2) the slope between the true and measured values is equal to one;
and (3) the measured values with respect to the true values were not affected when exposed to various levels of
room temperature.
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