Team:Washington-Software

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Contents

Abstract

RoboLabBricks for Automated BioBrick Assembly

Commercial Liquid Handling Systems are extremely expensive, and are typically beyond the reach of the average molecular biologist interested in performing high throughput methods. To address this problem, our project consists of the design and implementation of an automated laboratory and demonstrate its use for performing high throughput BioBrick assembly. This low cost solution is built using commonly accessible LEGO bricks. We demonstrate a proof-of-principle use for BioBrick assembly by transferring colored dye solutions on a 96-well plate.

We introduce a new concept called RoboLabBricks. Currently the laboratory is built using three RoboLabBrick components: ALPHA (Automated Lego Pipette Head Assembly), BETA(Biobrick Enviormental Testing Apparatus), and PHI(Pneumatic Handling Intergace). We will demonstrate that the same BioBrick assembly software can run on multiple plug-and-play RoboLabBrick instances with different physical dimensions and geometric configurations. The modular design of RoboLabBricks allows easy extension of new laboratory functionalities in the future.

Project Goals

  • 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

Project Summary

Hardware

  • Lego Bricks
    • Commonly accessible industry standard

Firmware

  • RobotC
    • Made in CMU Robotics Academy
    • Enables floating point precision

Software

  • 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

Mathematical Modeling

Alpha

Problem

Given the following construction and point p, find the angles θ1, θ2, and θ3.

Constants

  • TR
    • Top radius
  • BR
    • Bottom radius
  • L
    • Linkage
  • CA
    • Control Arm
  • φ1 and φ2
    • Two angles

Construction

From the top to the bottom:

  • A circle centered at the origin with radius TR

RoboLabBrick Modules

Just like BioBricks are genes that can be connected to make a product, RoboLabBricks are robot modules that can be connected to make a Genomics Lab System.

File:RobotAlphaBetaPhi.jpg
Alpha module is at the top left, Phi module is at top right, Beta module is the rest of the robot.

Module ALPHA

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.
    • The other joint moves in a sphere, and is loose. The end of this attaches to the platform which holds the pipet tip.
  • 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]

Module BETA

BETA stands for Biobrick Enviorment 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.

Module PHI

PHI stands for Pneumatics Handling Interface.

  • PHI is the pipette. It consists of two motors.
    • Motor 1.
      • When it moves in one direction, it builds up air pressure.
      • When it moves the other direction, it releases the air pressure.
    • Motor 2.
      • It is connected to a piston, so when the motor turns, it sucks or dispenses liquid.
  • Videos
    • [http://www.youtube.com/watch?v=WCM2kRFt-w4&feature=channel_page Phi in action]
      • This video shows Phi running by itself.

Past Robots

Past Robots

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