diff --git a/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/dechorionator.ts b/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/dechorionator-pcbs.ts
similarity index 98%
rename from src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/dechorionator.ts
rename to src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/dechorionator-pcbs.ts
index 2bcbc97..1e6a117 100644
--- a/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/dechorionator.ts
+++ b/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/dechorionator-pcbs.ts
@@ -19,7 +19,7 @@ import half_assembled_main_top_surround_bottom from "@assets/experience/osu-sinn
export const dechorionatorPcb: printedCircuitBoard = {
name: "Dechorionator",
description:
- "Control board which provides motion and water flow control, along with user control and monitoring.",
+ "Control board which provides motion and water flow control, along with user control and monitoring",
revisions: [
{
diff --git a/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/dechorionator.astro b/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/dechorionator.astro
index fc0dc0f..6cec863 100644
--- a/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/dechorionator.astro
+++ b/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/dechorionator.astro
@@ -3,11 +3,13 @@ import ExperienceLayout from "@layouts/ExperienceLayout.astro";
import H2 from "@components/H2.astro";
import H3 from "@components/H3.astro";
+import InlineLink from "@components/InlineLink.astro";
import Li from "@components/Li.astro";
import CustomCarousel from "@components/Media/CustomCarousel/CustomCarousel.astro";
import PageGroup from "@components/PageGroup.astro";
import Paragraph from "@components/Paragraph.astro";
import Paragraphs from "@components/Paragraphs.astro";
+import PopoverWordDefinition from "@components/PopoverWordDefinition.astro";
import PrintedCircuitBoard from "@components/PrintedCircuitBoard.astro";
import SkillMatrix from "@components/SkillMatrix/SkillMatrix.astro";
import Timeline from "@components/Timeline/Timeline.astro";
@@ -18,7 +20,7 @@ import { timelineFromPrintedCircuitBoard } from "@interfaces/printed-circuit-boa
import type { categorySkills } from "@interfaces/skill-matrix.ts";
import type { timelineEntry } from "@interfaces/timeline.ts";
-import { dechorionatorPcb } from "./dechorionator.ts";
+import { dechorionatorPcb } from "./dechorionator-pcbs.ts";
import {
subTitles,
workingTimeline,
@@ -42,8 +44,7 @@ import top_holder_closeup from "@assets/experience/osu-sinnhuber-aquatic-researc
import top_lid_open from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/dechorionator/top-lid-open.jpg";
import top_showerhead from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/dechorionator/top-showerhead.jpg";
import travel_setup from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/dechorionator/travel-setup.jpg";
-import InlineLink from "@components/InlineLink.astro";
-import PopoverWordDefinition from "@components/PopoverWordDefinition.astro";
+import { DateTime } from "luxon";
const headerCarouselGroup: carouselGroup = {
animation: "slide",
@@ -73,6 +74,16 @@ const headerCarouselGroup: carouselGroup = {
const timeline: timelineEntry[] = [
...workingTimeline,
...timelineFromPrintedCircuitBoard(dechorionatorPcb),
+ {
+ event: "Project Started",
+ eventDetail: "Initial Requirements Given",
+ date: DateTime.fromISO("2014-05-01"),
+ },
+ {
+ event: "Project Finished",
+ eventDetail: "Delivered Units to Lab",
+ date: DateTime.fromISO("2016-09-01"),
+ },
];
const categorizedSkills: categorySkills[] = [
diff --git a/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate-pcbs.ts b/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate-pcbs.ts
new file mode 100644
index 0000000..8c7b785
--- /dev/null
+++ b/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate-pcbs.ts
@@ -0,0 +1,91 @@
+import { DateTime } from "luxon";
+
+import type { printedCircuitBoard } from "@interfaces/printed-circuit-board.ts";
+
+import control_bottom_1_0_0 from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/pcbs/control/1-0-0/bottom.jpg";
+import control_top_1_0_0 from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/pcbs/control/1-0-0/top.jpg";
+import control_assembly_bottom_2_0_0 from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/pcbs/control/2-0-0/assembly-bottom.jpg";
+import control_assembly_top_beaglebone_2_0_0 from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/pcbs/control/2-0-0/assembly-top-beaglebone.jpg";
+import control_assembly_top_2_0_0 from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/pcbs/control/2-0-0/assembly-top.jpg";
+import control_bottom_2_0_0 from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/pcbs/control/2-0-0/bottom.png";
+import control_top_2_0_0 from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/pcbs/control/2-0-0/top.png";
+import lights_assembly_bottom_1_0_0 from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/pcbs/lights/1-0-0/assembly-bottom.jpg";
+import lights_assembly_top_1_0_0 from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/pcbs/lights/1-0-0/assembly-top.jpg";
+import lights_assembly_bottom_2_0_0 from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/pcbs/lights/2-0-0/assembly-bottom.jpg";
+import lights_assembly_top_2_0_0 from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/pcbs/lights/2-0-0/assembly-top.jpg";
+import lights_top_panelized_2_0_0 from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/pcbs/lights/2-0-0/top-panelized.png";
+
+export const pnpLights: printedCircuitBoard = {
+ name: "Lighting Board",
+ description:
+ "Compact, bright, 24V lighting to provide high-contrast video for the pick and plate",
+
+ revisions: [
+ {
+ major: 2,
+ minor: 0,
+ patch: 0,
+ date: DateTime.fromISO("2014-09-23"),
+ images: [
+ lights_top_panelized_2_0_0,
+ lights_assembly_top_2_0_0,
+ lights_assembly_bottom_2_0_0,
+ ],
+ notes: [
+ {
+ item: "First panelized PCB design, with built-in test features",
+ },
+ ],
+ },
+ {
+ major: 1,
+ minor: 0,
+ patch: 0,
+ date: DateTime.fromISO("2014-04-07"),
+ images: [lights_assembly_top_1_0_0, lights_assembly_bottom_1_0_0],
+ notes: [
+ {
+ item: "Worked, but couldn't remove heat efficiently long-term",
+ },
+ ],
+ },
+ ],
+};
+export const pnpControl: printedCircuitBoard = {
+ name: "Driver Board",
+ description:
+ "Motion controller, and single-board-computer interface, for the embryo pick and plate machine",
+
+ revisions: [
+ {
+ major: 2,
+ minor: 0,
+ patch: 0,
+ date: DateTime.fromISO("2014-07-11"),
+ images: [
+ control_top_2_0_0,
+ control_bottom_2_0_0,
+ control_assembly_top_2_0_0,
+ control_assembly_bottom_2_0_0,
+ control_assembly_top_beaglebone_2_0_0,
+ ],
+ notes: [
+ {
+ item: "Functional, but ultimately scrapped due to motion control complexity",
+ },
+ ],
+ },
+ {
+ major: 1,
+ minor: 0,
+ patch: 0,
+ date: DateTime.fromISO("2013-12-02"),
+ images: [control_top_1_0_0, control_bottom_1_0_0],
+ notes: [
+ {
+ item: "First printed circuit board I ever designed, which was REALLY bad",
+ },
+ ],
+ },
+ ],
+};
diff --git a/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate.astro b/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate.astro
index 92e3098..9d87756 100644
--- a/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate.astro
+++ b/src/pages/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate.astro
@@ -1,5 +1,316 @@
---
import ExperienceLayout from "@layouts/ExperienceLayout.astro";
+
+import H2 from "@components/H2.astro";
+import H3 from "@components/H3.astro";
+import Li from "@components/Li.astro";
+import CustomCarousel from "@components/Media/CustomCarousel/CustomCarousel.astro";
+import Video from "@components/Media/Video.astro";
+import PageGroup from "@components/PageGroup.astro";
+import Paragraph from "@components/Paragraph.astro";
+import Paragraphs from "@components/Paragraphs.astro";
+import PopoverWordDefinition from "@components/PopoverWordDefinition.astro";
+import PrintedCircuitBoard from "@components/PrintedCircuitBoard.astro";
+import SkillMatrix from "@components/SkillMatrix/SkillMatrix.astro";
+import Timeline from "@components/Timeline/Timeline.astro";
+import Ul from "@components/Ul.astro";
+
+import type { carouselGroup } from "@interfaces/image-carousel.ts";
+import { timelineFromPrintedCircuitBoard } from "@interfaces/printed-circuit-board.ts";
+import type { categorySkills } from "@interfaces/skill-matrix.ts";
+import type { timelineEntry } from "@interfaces/timeline.ts";
+
+import {
+ subTitles,
+ workingTimeline,
+} from "./osu-sinnhuber-aquatic-research-laboratory.ts";
+
+import {
+ pnpControl,
+ pnpLights,
+} from "./zebrafish-embryo-pick-and-plate-pcbs.ts";
+
+import installation_and_tuning from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/installation-and-tuning.jpg";
+import interface_tuning_and_detection from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/interface-tuning-and-detection.png";
+import off_controls_lid_overview from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/off-controls-lid-overview.jpg";
+import off_controls_syringe_overview from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/off-controls-syringe-overview.jpg";
+import off_controls_top_overview from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/off-controls-top-overview.jpg";
+import off_front_working_area_overview from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/off-front-working-area-overview.jpg";
+import off_front from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/off-front.jpg";
+import off_left from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/off-left.jpg";
+import off_lighting from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/off-lighting.jpg";
+import off_rear from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/off-rear.jpg";
+import off_right from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/off-right.jpg";
+import off_touchoff from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/off-touchoff.jpg";
+import on_dishes_lighting_reflection from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/on-dishes-lighting-reflection.jpg";
+import on_front_dishes_beakers from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/on-front-dishes-beakers.jpg";
+import on_front_overview from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/on-front-overview.jpg";
+import on_front from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/on-front.jpg";
+import on_screen from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/on-screen.jpg";
+import on_touchoff_block_isometric from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/on-touchoff-block-isometric.jpg";
+
+import pick_and_placing from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/pick-and-placing.mp4";
+import precision_homing from "@assets/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate/precision-homing.mp4";
+import InlineLink from "@components/InlineLink.astro";
+import { DateTime } from "luxon";
+
+const headerCarouselGroup: carouselGroup = {
+ animation: "slide",
+ images: [
+ installation_and_tuning,
+ on_front_overview,
+ interface_tuning_and_detection,
+ on_front,
+ on_front_dishes_beakers,
+ on_screen,
+ off_touchoff,
+ on_touchoff_block_isometric,
+ off_controls_top_overview,
+ off_controls_syringe_overview,
+ off_controls_lid_overview,
+ off_front,
+ off_front_working_area_overview,
+ off_left,
+ off_rear,
+ off_right,
+ off_lighting,
+ on_dishes_lighting_reflection,
+ ],
+};
+
+const timeline: timelineEntry[] = [
+ ...workingTimeline,
+ ...timelineFromPrintedCircuitBoard(pnpLights),
+ ...timelineFromPrintedCircuitBoard(pnpControl),
+ {
+ event: "Project Started",
+ eventDetail: "Initial Requirements Given",
+ date: DateTime.fromISO("2013-12-01"),
+ },
+ {
+ event: "Project Finished",
+ eventDetail: "Delivered Units to Lab",
+ date: DateTime.fromISO("2016-09-01"),
+ },
+];
+
+const categorizedSkills: categorySkills[] = [
+ {
+ category: "Software & Environments",
+ skills: [
+ {
+ item: "Version Control",
+ subItems: [{ item: "Git" }],
+ },
+ {
+ item: "Programming",
+ subItems: [
+ {
+ item: "Languages",
+ subItems: [
+ { item: "Python 2" },
+ { item: "Bash Shell Scripting" },
+ { item: "Low-Level Embedded C/C++ (Atmel Studio)" },
+ ],
+ },
+ {
+ item: "Frameworks",
+ subItems: [{ item: "OpenCV" }, { item: "Qt" }],
+ },
+ ],
+ },
+ {
+ item: "Operating Systems",
+ subItems: [
+ {
+ item: "Linux",
+ subItems: [{ item: "Debian" }],
+ },
+ { item: "Microsoft Windows" },
+ ],
+ },
+ ],
+ },
+ {
+ category: "Electrical",
+ skills: [
+ {
+ item: "Schematic & PCB Design",
+ subItems: [
+ {
+ item: "Software",
+ subItems: [
+ { item: "Altium Designer" },
+ { item: "Mentor Graphics PADS" },
+ ],
+ },
+ {
+ item: "Manufacturing",
+ subItems: [
+ { item: "Gerber Export" },
+ { item: "BOM Management" },
+ { item: "In-House Assembly" },
+ ],
+ },
+ ],
+ },
+ {
+ item: "Electrical Diagnostics",
+ subItems: [
+ { item: "Multimeters" },
+ { item: "Electronic Loads" },
+ { item: "Oscilloscopes" },
+ ],
+ },
+ {
+ item: "Harnessing Fabrication",
+ subItems: [{ item: "DC Low-Power & Signal" }],
+ },
+ ],
+ },
+ {
+ category: "Mechanical",
+ skills: [
+ {
+ item: "Fabrication",
+ subItems: [{ item: "CNC" }, { item: "Hand Tools" }],
+ },
+ ],
+ },
+];
+
+const videos: string[] = [pick_and_placing, precision_homing];
---
-
+
+
+
+ Summary
+
+ Timeline
+
+
+
+ Key Takeaways
+
+ - Delivered a design, and multiple built units, of a custom embryo
+ pick-and-plate machine
+ - Reduced cost from ~$150,000 for previous generation to ~$10,000
+ - Reduced the size from 4.5'x4.5'x8' for previous generation to
+ 1'x1'x1.5'
+
+
+
+
+
+ Details
+
+
+ For some quick context on why such a machine was even needed, the
+ Sinnhuber Aquatic Research Lab performs toxicology research using
+ Zebrafish. This means tha the lab is also a breeding facility,
+ generating a few thousand eggs a day, which need to be processed and
+ isolated prior to being introduced to experimental conditions. At one
+ point in time, these processes were done by hand, with all researchers
+ spending a significant portion of their day simply prepping the embryos.
+ Later on, they hired a contractor to design an automated solution to the
+ isolation problem, and while they delivered, the units were industrial
+ overkill, using massive arms and enclosures
+ to pick up embryos which were roughly half a millimeter in diameter. They
+ were also very expensive, costing around $150k per machine, and the lab had
+ four installed. Thus, the engineering team was tasked with cost and size reducing
+ them so that more could fit in the same space and throughput could be higher.
+
+
+ My coworker, Dylan Thrush, and I got to work. He focussed on the mechanical side, while I worked
+ on electrical and software. I had recently been learning PCB design
+ after becoming more familiar with it through the OSU robotics club, and
+ decided that a good place to start would be to create a motion
+ controller. Dylan and I had already landed on a simple stepper-motor
+ based system to more than meet the needs of a task like this, and both
+ of us already had experience with stepper-based CNC machines, making it
+ a great jumpoff point. My first PCB was unfortunately a massive failure,
+ because while I did include a quad stepper motor driver,
+ microcontroller, general purpose I/O, and usb to serial interface, I
+ failed to export the gerbers correctly. This resulted in a PCB with no
+ drills, making it completely useless (outside of a good learning
+ experience)! It was also just a poor layout overall, which isn't
+ surprising considering it was my first ever PCB design. If you want to
+ see this embarrassing result, check out the PCB section at the end of
+ this page!
+
+
+ For the second revision, we'd made some progress in other places, but
+ most importantly had decided that we would use a Beaglebone Black single-board-computer to run the whole system. In an effort to simplify
+ the assembly, I decided that the next revision would include headers to directly
+ mount the Beaglebone to the unit, providing power and a serial interface over
+ those pins. This version actually worked as expected, with only a few very
+ minor bodges to the microcontroller's crystal, and some bulk capacitance on
+ the power input. Since things were working, I began writing embedded C to
+ control motion through some higher-level interfaces. Not long into this process,
+ I realized I might have bitten off more than I could chew. Not only was I
+ having to learn the deep ins and outs of microcontroller programming, kinematics,
+ and serial interfaces, but I would still have to greatly improve my Python
+ skills, learn to create graphical user interfaces, and figure out how to detect
+ embryos using a camera and computer vision. While I was sad to scrap this,
+ we decided to fall back on a motion controller called TinyG, which would simply require gcode to be sent over serial to function.
+
+
+ Dylan built up a mechanical testbed, which we could mount a camera to,
+ and I began to focus on embryo detection. I was relatively new to
+ Python, but quickly found the Qt framework for building decent-looking
+ interfaces, and OpenCV for providing generic detection capabilities via
+ webcams. Over the next few years (remember, we were students doing this
+ part time, and working on other projects simultaneously), I eventually
+ created a fairly comprehensive user interface that would allow
+ researchers to tune detection and motion parameters on-the-fly. This was
+ shown on a touchscreen that the beaglebone plugged into, making it quite
+ intuitive. Dylan had also created a mechanical foundation providing
+ repeatable alignment for a petri dish with embryos, the 96-well plate
+ for placement, and a waste container to get rid of extra water in our
+ metal pipette tip that would be used to pick up the embryos. I'd also
+ created some very bright lighting boards to mount to the unit's
+ extrusion, illuminating the embryos from the side, something that was
+ absolutely required for consistent detection with the camera. After a
+ long journey, we finally delivered multiple units to the lab! Seeing
+ such small devices performing the same task next to the behemoths which
+ were the prior versions was quite amusing. You could easily fit a two by
+ two grid of these in the working area of each of those machines.
+ Overall, this was a highly ambitious project, but it developed some of
+ my most successful skills I gained while at OSU while accelerating the
+ research at the lab!
+
+
+
+
+ Videos
+
+ {
+ videos.map((video) => (
+
+ ))
+ }
+
+
+
+ Printed Circuit Boards
+
+
+
+
diff --git a/src/pages/index.astro b/src/pages/index.astro
index 03f4502..42cf981 100644
--- a/src/pages/index.astro
+++ b/src/pages/index.astro
@@ -53,9 +53,9 @@ const headerCarouselGroup: carouselGroup = {
href="/experience/osu-ceoas-ocean-mixing-group/robotic-oceanographic-surface-sampler"
>robotic oceanographic surface sampler
- and an
embryo pick-and-plate machinezebrafish embryo pick-and-plate machine. One my my proudest moments was when our club's mars rover took first
place at the Candian International Rover Challenge in 2018, for which I
was the