Design and Analysis of Robotic Device for Cleaning Window Glass Panel in High Rise Building

This project is implemented to design the possible window cleaning robot for high-rise building. The study only focuses on designing a conceptual design where three main tasks being carried out. The first is to generate several design concepts based from engineering specification generated using QFD diagram which then elaborated using morphological chart. The best concept is then chosen by Pugh Evaluation Chart. The second step involves an engineering analysis on the selected design concept such as the static frictional force, suction cup force, and motor torque required. The final step is to come out with final design using AutoCAD. Based from this, the final design of the robot is designed weighted approximately of 5kg and dimension of 500 x 500 x 200 mm3. The window cleaning robot uses two motors and 4 suction cups where one of the motor acts to drive the robot vertically (upward/downward) and the other one horizontally while the suction cups are used to grip onto the windowpane. This thesis includes background and objectives of this research, design concepts, engineering analysis, the final design, discussion and a conclusion

The electron microscopy proteomic organellar preparation robot /

An Electron Microscopy Proteomic Organellar Preparation (EMPOP) robot was developed as a tool for high-throughput preparation of subcellular fraction samples for electron microscopic identification. It will provide a means for validation of subcellular sample purity and confirmation of protein localization needed for organellar proteomics.The device automates all chemical and mechanical manipulations required to prepare organelles for electron microscopic examination. It has a modular, integrated design that supports automated filtration, chemical processing, delivery and embedding of up to 96 subcellular fraction samples in parallel. Subcellular fraction specimens are extremely fragile. Consequently, the system was designed as a single unit to minimize mechanical stress on the samples by integrating a core mechanism, composed of four modular plates, and seven support subsystems for: (1) cooling, (2-3) fluid handling, (4-7) positioning. Furthermore, control software was developed specifically for the system to provide standardized, reproducible sample processing while maintaining flexibility for adjustment and recall of operational parameters.Development of the automated process progressed from initial validation experiments and process screening to define operational parameters for preservation of sample integrity and establish a basic starting point for successful sample preparation. A series of successive modifications to seal the local environment of the samples and minimize the effect of fluidic perturbations further increased process performance. Subsequent testing of the robot's full sample preparation capacity used these refinements to generate 96 samples in approximately 16 hours; reducing the time and labor requirement of equivalent manual preparation by up to 1,000 fold.These results provide a basis for a structured approach toward process optimization and subsequent utilization the device for massive, parallel preparation of subcellular fraction samples for electron microscopic screening and quantitative analysis of subcellular and protein targets necessary for high-throughput proteomics