Team:Washington-Software/Project

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Revision as of 03:02, 7 October 2009

Home	The Team	The Project	Parts Submitted to the Registry	Modeling	Notebook

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Tell us more about your project. Give us background. Use this is the abstract of your project. Be descriptive but concise (1-2 paragraphs)

Implement a simple and cheap way to handle liquids in normal genome lab operations(portable genomic science lab)
Only uses lego mindstorm bricks
Document entire process so it can easily be replicated

ALPHA module
- Precise reverse triangulation using Rotational Matrix
- Controller of Master-Slave Synchronization
- Accurately positions pipette head
PHI module
- Pneumatic control to suck and dispense fluid
- Compression pump to "air-clean" system

Alpha module is at the top left, Phi module is at top right, Beta module is the rest of the robot.

ALPHA stands for Automatic Lego Pipet Head Assembly.

Created 8/21/2009
Consists of 3 double-jointed arms.
- One joint is connected to the motor, and is controlled entirely by the motor. This is also referred to as the control arm.
- The other joint moves in a sphere, and is loose. The end of this attaches to the platform which holds the pipet tip. This is referred to as linkage.
Videos
- [http://www.youtube.com/watch?v=Lqp5Ebsu8GQ&feature=channel Robot in Action]
  - This video shows that the module has high accuracy and precision. The stand is module Beta.
- [http://www.youtube.com/watch?v=w3gM0UWEjjQ&feature=channel Two Robots]
  - This video shows that the same code can be used for other versions of ALPHA. The only difference is 6 physical constants:
    1. Top Offset
    2. Bottom Offset
    3. Control Arm Length
    4. Linkage Arm Length
    5. Inter-arm Angle
    6. Gear Ratio
- [http://www.youtube.com/watch?v=bsu2nNNU34g&feature=channel_page Old Video]

BETA stands for Biobrick Enviroment Testing Apparatus.

Consists of a telescoping frame, and a big lego plate.
- The telescoping frame is used for holding ALPHAs and PHIs.
- the big lego plate is where you put the 96-well plates and petri dishes.

PHI stands for Pneumatics Handling Interface.

PHI is the pipette. It consists of three motors.
- Motor A.
  - This motor controls the flow of the air. If you look at it from the side when the switch is visible:
    - When the switch is to the left, there is a direct flow from the pipet head to the air. This makes it possible to use the second motor (motor B) to suck without sucking any liquid, and enabling it to blow extra air out.
    - When the switch is in the middle, there is no connection.
    - When the switch is to the right, the pressure built up in the air tank is released into the pipette head.
- Motor B.
  - This motor is connected to a piston, so it can suck and dispense liquid.
- Motor C.
  - This motor is connected to to compressors compressing air in the air tank. It runs for 7 seconds once the air is released.
Videos
- [http://www.youtube.com/watch?v=WCM2kRFt-w4&feature=channel_page Phi in action]
  - This video shows Phi running by itself.

(Or you can choose different headings. But you must have a team page, a project page, and a notebook page.)

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 |You can write a background of your team here.  Give us a background of your team, the members, etc.  Or tell us more about something of your choosing.