Machine Vision & Sample Transport Systems
Mara Robot
Mara Machine Vision, Transport
Mara is a robotic system in development to autonomously conduct material experimentation and development.
A critical step is the ability to quickly and reliably monitor, measure, and transport newly synthesized samples.
Currently, Mara uses the Opentron OT-2 liquid handling platform as its hub, which only sports a basic monitoring camera.
To bridge this gap, my research revolves around enhancing Mara’s machine vision and transport systems.
Current work:
MaraSpec, an automated spectrometer gantry aimed to rapidly measure samples
MaraCam, a camera module for RGB color analysis (completed)
MaraArm, a gripper aimed to assist Mara in sample transport and non-pipetting manipulation
As we are approaching the limits of Opentron’s workspace, MaraArm and future transport systems will allow Mara to pass samples through external characterization stations, even collaborating with our new SCIPRIOS Spin-coating Robot.
Workspace Occupation for Opentron OT2, Top View
MaraSpec is an automated spectrometer, aimed to rapidly measure lead-halide perovskite samples synthesized by Mara. The design principle is similar to a 3D printer, by moving the sample plate (48 or 96 wells) in the y-direction, while the spectrometer probe scans across in the x-direction.
During the project, I worked through a lengthy stage of development, from trade studies, concept sketching, peer discussions, detailed CAD, to 3D printed prototyping/troubleshooting. The initial design phase was particularly difficult, as it had to meet a tight space requirement while using minimal moving parts. The device only takes up 1 deck space on the Opentron workspace, efficiently using the excess space around the plates.
As a self-guided project, I was not only able to refine my technical skills in mechanical design, but also improve my ability to approach open ended problems, and to know when to reach out for help and feedback to maintain good progress.
Mara Camera Module
MaraCam is an open-source, 3D-printed RGB imaging tool compatible with the Opentron OT-2 workspace.
Running Raspberry Pi OS, it is fitted with a 12MP Arducam IMX708 wide angle camera.
Specifications:
Compatible with clear 96 well plates.
152° diagonal FOV camera capable of imaging the underside of a 96 well plate.
User-customizable to fit a variety of cameras and raspberry pi models.
Maximum dimensions (Extruded Raspberry Pi holder): 141.5 (L) x 100 (W) x 82 (H)
Attachment dimensions:
Bottom Opentron attachment: 127 x 85 mm
Top 96 well-plate: 123.94 x 80.96 mm (Inner)
