A cartesian coordinate robot for dispensing fruit fly food.

The fruit fly, Drosophila melanogaster, continues to be one of the most widely used model organisms in biomedical research. Though chosen for its ease of husbandry, maintaining large numbers of stocks of fruit flies, as done by many laboratories, is labour-intensive. One task which lends itself to automation is the production of the vials of food in which the flies are reared. Fly facilities typically have to generate several thousand vials of fly food each week to sustain their fly stocks. The system presented here combines a cartesian coordinate robot with a peristaltic pump. The design of the robot is based on an open hardware CNC (computer numerical control) machine, and uses belt and pulley actuators for the X and Y axes, and a leadscrew actuator for the Z axis. CNC motion and operation of the peristaltic pump are controlled by grbl (gnea 2018), an open source, embedded, G-code parser. Grbl is written in optimized C and runs directly on an Arduino. A Raspberry Pi is used to generate and stream G-code instructions to Grbl. A touch screen on the Raspberry Pi provides a graphical user interface to the system. Whilst the robot was built for the express purpose of filling vials of fly food, it could potentially be used for other liquid handling tasks in the laboratory.Equipment grant from the School of Biological Sciences, University of Cambridg

A Protocol Generator Tool for Automatic In-Vitro HPV Robotic Analysis

Human Papilloma Virus (HPV) could develop precancerous lesions and invasive cancer, as it is the main cause of nearly all cases of cervical cancer. There are many strains of HPV and current vaccines can only protect against some of them. This makes the detection and genotyping of HPV a research area of utmost importance. Several biomedical systems can detect HPV in DNA samples; however, most of them do not have a procedure as fast, automatic or precise as it is actually needed in this field. This manuscript presents a novel XML-based hierarchical protocol architecture for biomedical robots to describe each protocol step and execute it sequentially, along with a robust and automatic robotic system for HPV DNA detection capable of processing from 1 to 24 samples simultaneously in a fast (from 45 to 162 min), efficient (100% markers effectiveness) and precise (able to detect 36 different HPV genotypes) way. It includes an efficient artificial vision process as the last step of the diagnostic.FIDETIA P055-12/E03Ministerio de Economía y Competitivida TEC2016-77785-

Avoin ja yleispätevä numeeriseen ohjaukseen ja konenäköteknologioihin pohjautuva maksupäätteiden automaattisen hyväksymistestausympäristön arkkitehtuuri

Software testing is a crucial part of modern software development and it is commonly accepted fact that the earlier software defects and errors are found, the lower the cost of correcting those will be. Early detection of errors also increases the possibility to correct them properly. Acceptance testing is a process of comparing the developed program to the initial requirements. Acceptance testing of a system should be executed in an environment as similar as possible to the production environment of the final product. This master's thesis will discuss how to address these in automated acceptance testing environment of payment terminal software. This master's thesis will discuss the theories related to software testing, testing of embedded systems and the challenges related to the topic. Master's thesis will present an architecture for automated acceptance testing of payment terminals including the needed hardware and software.Ohjelmistotestaus on tärkeä osa modernia ohjelmistotuotantoa ja on yleisesti tunnustettu, että mitä aiemmin virheet ohjelmistosta löytyvät, sitä edullisempaa niiden korjaaminen tulee olemaan. Aikainen virheiden havaitseminen myös edesauttaa virheiden perusteellista ja laadukasta korjaamista. Hyväksymistestaus on ohjelmistotestauksen vaihe, jossa kehitettyä ohjelmistoa verrataan alkuperäisiin ohjelmistovaatimuksiin. Ohjelmiston hyväksymistestaus tulisi suorittaa lopullista tuotantoympäristöä mahdollisimman hyvin vastaavassa ympäristössä. Tämä diplomityö käsittelee näitä ohjeistuksia maksupäätteiden automaattisen hyväksymistestauksen ympäristössä. Tämä diplomityö käsittelee ohjelmistotestaukseen liittyvää teoriaa, sulautettujen järjestelmien testausta sekä aiheeseen liittyviä haasteita. Lisäksi diplomityö esittelee ympäristön maksupäätteiden automaattiseen hyväksymistestaukseen ja käsittelee siihen tarvittuja ohjelmistoja ja fyysisiä komponentteja

Using a 3DOF Parallel Robot and a Spherical Bat to hit a Ping-Pong Ball

Playing the game of Ping-Pong is a challenge to human abilities since it requires developing skills, such as fast reaction capabilities, precision of movement and high speed mental responses. These processes include the utilization of seven DOF of the human arm, and translational movements through the legs, torso, and other extremities of the body, which are used for developing different game strategies or simply imposing movements that affect the ball such as spinning movements. Computationally, Ping-Pong requires a huge quantity of joints and visual information to be processed and analysed, something which really represents a challenge for a robot. In addition, in order for a robot to develop the task mechanically, it requires a large and dexterous workspace, and good dynamic capacities. Although there are commercial robots that are able to play Ping-Pong, the game is still an open task, where there are problems to be solved and simplified. All robotic Ping-Pong players cited in the bibliography used at least four DOF to hit the ball. In this paper, a spherical bat mounted on a 3-DOF parallel robot is proposed. The spherical bat is used to drive the trajectory of a Ping-Pong ball.Fil: Trasloheros, Alberto. Universidad Aeronáutica de Querétaro; MéxicoFil: Sebastián, José María. Universidad Politécnica de Madrid; España. Consejo Superior de Investigaciones Científicas; EspañaFil: Torrijos, Jesús. Consejo Superior de Investigaciones Científicas; España. Universidad Politécnica de Madrid; EspañaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentin

Development of motion control user interface for XY table

An XY table is an equipment which is widely used in industry for automation application. Examples of its application include CNC machining, laser welding, milling and etc. An XY table is controlled by a motion control system consists of the control of software and hardware such as a PLC. In this study an XY table is used to position the focus head to automate the welding process for laser spot welding. A program has been developed to control the XY table. The performance of the XY table for linear and circular interpolation was analyzed. A user interface was also developed to read CAD data file and transform it into XY movement. The user interface is developed using Visual Basic for manual and automatic positioning

Development of a Wireless PC-Controlled Mobile Robot System and Multimedia Based Learning Module

Autonomous mobile robots, which are required to operate safely in ill-defined, complex and time varying environments, are essential elements in achieving improved performance and flexibility in manufacturing. In this thesis, a mobile robot system was designed and fabricated. The system consists of two main sections; namely; system hardware and system software. The system hardware includes motion system, receiver and transmitter, and video camera, all these components are controlled wireless using personal computer. The main purpose of the video camera is to enable the user to monitor the movement of the mobile robot system. The system software includes the development of a user-friendly and flexible interface control code named PC-Mobile Robot Control (PC-MRC). The code has been developed using Object-Oriented Programming Language and Graphic User Interface. The developed control algorithms enable the user to control the mobile robot manually, automatically or by voice recognition commands. There are three ways to control the mobile robot manually (Manual Run, Path Run and Paths Run). For automatic-run, the mobile robot can be controlled using two ways (Run File and Timer). Voice recognition control is also installed and commissioned in the developed robot system. The developed control software has been tested by running experimental movements of the robot in two different directions (forward and backward) and the time and the velocity were recorded. Three different types of motion systems (tracks, legs, wheels) were tested. It has been found that in all motion system types, the backward movement is faster than the forward movement by a range of 2% to 5.5%. It has also been found that in both movements (forward and backward) the wheels motion system is faster than the tracks and legs motion systems. Multimedia technology provides a valuable resource to enhance the teaching and learning experience. The ability to combine practical applications and visualization is among the advantages of technology based training and teaching. In this study a multimedia module for robot teaching and training was developed and implemented using Macromedia Director 7 as authoring tool. The multimedia module is divided into three main sections, which are automation, robotics and mobile robot systems. The mobile robot section shows the fabrication of the mobile robot, construction of gripper arm and some video of the movement of the mobile robot system. The implementation of this multimedia-based learning for robot technology will help to enhance the learning abilities of the engineering students. Hence, it will help to complement the subject and its understanding

Ethnobotany of traditional vegetables used by Sama-Bajau community in Kota Belud, Sabah, and phytochemical and anti-aging investigation of crassocephalum crepidioides

Recording of traditional knowledge (TK) on ethnobotany could be a useful tool to discover new alternative for antioxidant and anti-aging agent from local vegetables. The objectives of this study were: to record ethnobotany of traditional vegetables (ulam) as aging prevention materials, to investigate phytochemical, antioxidant, and anti-aging content of Crassocephalum crepidioides, to determine the anti-aging activity and postulate the efficacy of the selected C. crepidioides extracts (CCE) against the effect of induced UVB radiation in human dermal cells line (HSF1184). TK were qualitatively evaluated using semi-structured interviews with six informants. A total of 46 species of traditional vegetables from 41 genera and 25 families were recorded. The informants believed eating ulam would provide them with nutrition and as functional food for anti-aging. Jaccard’s index of similarity for ulam species between Kampung Taun Gusi and Kampung Menunggui was J = 0.348. In average, informants cited 7.67 ± 3.89 vegetable taxa, and there was no significance difference (paired t-test, two tailed (α = 0.05, d.f.= 2) = 4.30, p > 0.05) between genders and knowledge on traditional vegetables (ulam). Distilled water, hot water, and ethanol crude extracts of C. crepidioides (CCE) were tested for total phenolic content (TPC) (Folin-Ciocalteu method), total flavonoid content (TFC) (aluminium chloride colorimetric method), and three antioxidant assays (DPPH scavenging, ABTS decolourization, and FRAP assays). The identification of phytochemical compound was analyzed using High Performance Liquid Chromatography method (HPLC), which revealed the presence of polyphenols, namely, chlorogenic acid, epicatechin, and rutin. Gas Chromatography Mass Spectrometry (GCMS) analysis of ethanol extract revealed 44 phytocompound. Ethanol extract has shown higher TPC (175.06 ± 0.574 μg/ml) and TFC (139.72 ± 0.923 μg/ml) compared to water extracts. Anti-aging efficacy of CCE was further evaluated in fibroblast dermalcell line (HSF1184), which was induced for photodamage using UVB radiation and hydrogen peroxide. Findings revealed that at lower concentration CCE water extracts exhibited no cytotoxicity at lower concentration (≤ 200 μg/ml) on proliferation of tested dermal cells line (HSF1184). Meanwhile for ROS scavenging assay in fibroblast cell line, hot water extract has shown the higher scavenging 49.64% ± 3.77% at 250 μg/ml treatment, compared to distilled water extract (39.66% ± 10.82%) and ethanol extract (18.69% ± 4.44%) at the same concentration. The inhibition of elastase by CCE were found at concentration range of 0-100 μg/ml. Collagen content of UV induced cells were observed increased after treated with various concentration (0-100 μg/ml) of CCE. The traditional claim of obtaining anti-aging and antioxidant benefits from eating ulam were scientifically validated in this work