This week, I prepared for the interim demo. I continued collecting data using the hand-held data collection circuit connecting a pair of ultrasonic transmitter and receiver with an ADC and Arduino Nano. I collected more healthy duct data and started collecting corroded material data. The raw data is in the Training Data file linked below. Then, I debugged the MATLAB processing pipeline to handle the data collected and processed the data as training data for the SVM. The processed data is in the GitHub linked below. Then, I wrote another MATLAB processing function specifically meant to be downloaded onto the Jetson to collect data from the teensy MCU and input the processed data into the SVM. I am still in the process of debugging this code. Currently, the SVM is only trained on very few data samples. All of my code is also in the GitHub linked below.
I am on schedule, and the next step is to finish integrating the signal processing pipeline and trained model with the Jetson on the robot. Next steps include continuing to debug the on-board processing pipeline and training the SVM, as well as changing hyperparameters. I would also like to take another look at the features I decided to process the data into and verify that the processing is accurate.
My work for this week can be found here:
https://github.com/aphadke234/ece_capstone_C7