Merge pull request 'mars rover and embryo pick and plate content' (#19) from website-content-updates into main

Reviewed-on: #19

Makefile

@@ -84,7 +84,9 @@ convert_video_times:
 		-init_hw_device vaapi=va:/dev/dri/renderD128 \
 		-filter_hw_device va \
 		-i $(input) \
-		-vf 'format=nv12,hwupload,scale_vaapi=-2:720,trim=start=$(start):end=$(end)' \
+		-ss $(start) \
+		-to $(end) \
+		-vf 'format=nv12,hwupload,scale_vaapi=-2:720' \
 		-c:v h264_vaapi \
 		-rc_mode CQP \
 		-qp 28 \

project-words.txt

@@ -3,7 +3,9 @@ Altium
 ASSEM
 astrojs
 Atmel
+automations
 barebones
+beaglebone
 Bitwarden
 Candian
 caperren
@@ -24,6 +26,8 @@ ELMI
 fhhs
 flowbite
 flowrate
+gcode
+gerbers
 Gitea
 HDFS
 headshot
@@ -38,15 +42,20 @@ leconte
 Loctite
 luxon
 MGMT
+microcontroller
+microcontroller's
 Micropumps
 Millis
+modbus
 Mokai
 Multimeters
 nixos
+nvme
 offroad
 Onshape
 OSSM
 OSURC
+panelized
 Passthroughs
 pcbs
 Perren
@@ -58,8 +67,10 @@ RFID
 Rito
 RSSI
 SARL
+SCARA
 showerheads
 Shuttlebox
+simplemotion
 sinnhuber
 sitemapindex
 Smartsheet
@@ -71,9 +82,11 @@ Steller
 Tanguay
 Teamcenter
 timelapse
+touchoff
 triaging
 trivago
 Truong
+Ubiquiti
 Unstow
 uuidv
 vaapi

src/components/H4.astro

@@ -0,0 +1,5 @@
+---
+
+---
+
+<h4 class="md:text-md text-xs sm:text-sm"><slot /></h4>

src/components/PopoverWordDefinition.astro

@@ -11,6 +11,7 @@ const keys: { [key: string]: string } = {
   GUI: "Graphical user interface",
   NUC: "A small and low-power computer made by Intel",
   PCBs: "Printed circuit boards",
+  SCARA: "Selective Compliance Assembly Robot Arm",
   TDD: "Test driven development",
   UPS: "Uninterruptible power supply",
   VISA: "Virtual instrument software architecture",

src/components/PrintedCircuitBoard.astro

@@ -2,6 +2,9 @@
 import Carousel from "@components/Media/CustomCarousel/CustomCarousel.astro";
 import Ul from "@components/Ul.astro";
 
+import H3 from "@components/H3.astro";
+import H4 from "@components/H4.astro";
+import PageGroup from "@components/PageGroup.astro";
 import type {
   printedCircuitBoard,
   printedCircuitBoardRevision,
@@ -19,33 +22,37 @@ const semanticPcbRevisionSort = (
   -((a.major - b.major) * 100 + (a.minor - b.minor) * 10 + (a.patch - b.patch));
 ---
 
-<div class="grid grid-cols-1 gap-4 md:grid-cols-2">
+<PageGroup>
-  {
+  <Fragment slot="header"
-    pcb.revisions?.sort(semanticPcbRevisionSort).map((revision) => (
+    ><H3>{pcb.name}</H3><H4>{pcb.description}</H4></Fragment
-      <div class="border-caperren-green block space-y-2 rounded-lg border bg-black py-2">
+  >
-        <div class="border-caperren-green flex flex-wrap items-center justify-between rounded-none border-b px-4 pb-2">
+  <div class="mt-1 grid grid-cols-1 gap-4 md:grid-cols-2">
-          <div>
+    {
-            <span class="font-black">Revision:</span>
+      pcb.revisions?.sort(semanticPcbRevisionSort).map((revision) => (
-            <span>
+        <div class="border-caperren-green block space-y-2 rounded-lg border bg-black py-2">
-              {revision.major}.{revision.minor}.{revision.patch}
+          <div class="border-caperren-green flex flex-wrap items-center justify-between rounded-none border-b px-4 pb-2">
-            </span>
+            <div>
+              <span class="font-black">Revision:</span>
+              <span>
+                {revision.major}.{revision.minor}.{revision.patch}
+              </span>
+            </div>
+            <div class="text-sm italic">{revision.date.toISODate()}</div>
           </div>
-          <div class="text-sm italic">{revision.date.toISODate()}</div>
+          <div class="px-4">
+            <Carousel
+              class=""
+              carouselGroup={{ images: revision.images }}
+              showBorder={false}
+            />
+          </div>
+          {revision.notes && revision.notes.length > 0 && (
+            <div class="border-caperren-green border-t px-4 pt-4 pb-2 text-sm">
+              <Ul lineItems={revision.notes} />
+            </div>
+          )}
         </div>
-        <div class="px-4">
+      ))
-          <Carousel
+    }
-            class=""
+  </div>
-            carouselGroup={{ images: revision.images }}
+</PageGroup>
-            showBorder={false}
-          />
-        </div>
-        {revision.notes && revision.notes.length > 0 && (
-          <Ul
-            class="border-caperren-green border-t p-4 text-sm"
-            lineItems={revision.notes}
-          />
-        )}
-      </div>
-    ))
-  }
-</div>

src/data/site-layout.ts

@@ -50,7 +50,6 @@ export const siteLayout: navLink[] = [
             placeholderEntry: true,
           },
           {
-            enabled: false,
             navText: "Zebrafish Embryo Pick and Plate",
             isSubItem: true,
             path: "zebrafish-embryo-pick-and-plate",
@@ -81,12 +80,10 @@ export const siteLayout: navLink[] = [
         ],
       },
       {
-        enabled: false,
         navText: "OSU Robotics Club",
         path: "osu-robotics-club",
         children: [
           {
-            enabled: false,
             navText: "Mars Rover Software Team Lead",
             path: "mars-rover-software-team-lead",
           },

src/pages/experience/osu-robotics-club/mars-rover-software-team-lead.astro

@@ -11,20 +11,34 @@ import type { videoConfig } from "@interfaces/video.ts";
 
 import { roverSubTitles } from "./osu-robotics-club.ts";
 
+import H3 from "@components/H3.astro";
+import Li from "@components/Li.astro";
+
+import Video from "@components/Media/Video.astro";
+import Paragraph from "@components/Paragraph.astro";
+import Paragraphs from "@components/Paragraphs.astro";
+import SkillMatrix from "@components/SkillMatrix/SkillMatrix.astro";
+import Timeline from "@components/Timeline/Timeline.astro";
+import Ul from "@components/Ul.astro";
+import type { categorySkills } from "@interfaces/skill-matrix.ts";
+import type { timelineEntry } from "@interfaces/timeline.ts";
+import { DateTime } from "luxon";
+
 import circ_champions from "@assets/experience/osu-robotics-club/mars-rover-software-lead/circ-champions.jpg";
 import corwin_at_competition from "@assets/experience/osu-robotics-club/mars-rover-software-lead/corwin-at-competition.jpg";
 import drumheller_team_photo from "@assets/experience/osu-robotics-club/mars-rover-software-lead/drumheller-team-photo.jpg";
 import final_ground_station_gui from "@assets/experience/osu-robotics-club/mars-rover-software-lead/final-ground-station-gui.png";
 import ground_station_at_competition from "@assets/experience/osu-robotics-club/mars-rover-software-lead/ground-station-at-competition.jpg";
-import iris_pcb_assembly_timelapse_converted from "@assets/experience/osu-robotics-club/mars-rover-software-lead/iris-pcb-assembly-timelapse-converted.mp4";
+import iris_pcb_assembly_timelapse_converted from "@assets/experience/osu-robotics-club/mars-rover-software-lead/iris-pcb-assembly-timelapse.mp4";
 import iris_pcb_working from "@assets/experience/osu-robotics-club/mars-rover-software-lead/iris-pcb-working.jpg";
 import rover_at_competition_from_above from "@assets/experience/osu-robotics-club/mars-rover-software-lead/rover-at-competition-from-above.jpg";
 import rover_at_competition_pickup_test from "@assets/experience/osu-robotics-club/mars-rover-software-lead/rover-at-competition-pickup-test.jpg";
-import rover_gimbal_test_converted from "@assets/experience/osu-robotics-club/mars-rover-software-lead/rover-gimbal-test-converted.mp4";
+import rover_gimbal_test_converted from "@assets/experience/osu-robotics-club/mars-rover-software-lead/rover-gimbal-test.mp4";
 import rover_pose_with_dinosaur from "@assets/experience/osu-robotics-club/mars-rover-software-lead/rover-pose-with-dinosaur.jpg";
 import rover_with_arm_pose_in_desert from "@assets/experience/osu-robotics-club/mars-rover-software-lead/rover-with-arm-pose-in-desert.jpg";
+import senior_design_fair from "@assets/experience/osu-robotics-club/mars-rover-software-lead/senior-design-fair.jpg";
 import silly_poke from "@assets/experience/osu-robotics-club/mars-rover-software-lead/silly-poke.gif";
-import Video from "@components/Media/Video.astro";
+import LinkButton from "@components/LinkButton.astro";
 
 const headerCarouselGroup: carouselGroup = {
   animation: "slide",
@@ -36,6 +50,7 @@ const headerCarouselGroup: carouselGroup = {
     corwin_at_competition,
     rover_at_competition_from_above,
     rover_at_competition_pickup_test,
+    senior_design_fair,
     final_ground_station_gui,
     ground_station_at_competition,
     iris_pcb_working,
@@ -43,17 +58,254 @@ const headerCarouselGroup: carouselGroup = {
   ],
 };
 
+const timeline: timelineEntry[] = [
+  {
+    event: "Project Started",
+    eventDetail: "Design Work Begins",
+    date: DateTime.fromISO("2017-09-01"),
+  },
+  {
+    event: "Senior Design Presentation",
+    eventDetail: "Senior Design Fair",
+    date: DateTime.fromISO("2018-05-18"),
+  },
+  {
+    event: "Won 1st Place!",
+    eventDetail: "CIRC",
+    date: DateTime.fromISO("2018-08-13"),
+  },
+  {
+    event: "Project Finished",
+    eventDetail: "Final Documentation Complete",
+    date: DateTime.fromISO("2018-08-31"),
+  },
+];
+
+const categorizedSkills: categorySkills[] = [
+  {
+    category: "Software & Environments",
+    skills: [
+      {
+        item: "Version Control",
+        subItems: [{ item: "Git" }],
+      },
+      {
+        item: "Programming",
+        subItems: [
+          {
+            item: "Languages",
+            subItems: [
+              { item: "Python 2" },
+              { item: "C++" },
+              { item: "Bash Shell Scripting" },
+              { item: "High-Level Embedded C/C++ (Arduino/Teensy)" },
+            ],
+          },
+          {
+            item: "Frameworks",
+            subItems: [{ item: "OpenCV" }, { item: "Qt" }],
+          },
+        ],
+      },
+      {
+        item: "Operating Systems",
+        subItems: [
+          {
+            item: "Linux",
+            subItems: [{ item: "Ubuntu" }],
+          },
+        ],
+      },
+    ],
+  },
+  {
+    category: "Electrical",
+    skills: [
+      {
+        item: "Schematic & PCB Design",
+        subItems: [
+          {
+            item: "Software",
+            subItems: [{ item: "Altium Designer" }],
+          },
+          {
+            item: "PCB Assembly & Rework",
+            subItems: [
+              { item: "Handheld Soldering" },
+              { item: "Handheld Hot-Air Reflow" },
+              { item: "Oven Reflow" },
+            ],
+          },
+        ],
+      },
+      {
+        item: "Electrical Diagnostics",
+        subItems: [
+          { item: "Multimeters" },
+          { item: "Electronic Loads" },
+          { item: "Oscilloscopes" },
+          { item: "Logic Analyzers" },
+        ],
+      },
+      {
+        item: "Harnessing Fabrication",
+        subItems: [{ item: "DC Power & Signal" }],
+      },
+    ],
+  },
+];
+
 const videos: videoConfig[] = [
   { videoPath: iris_pcb_assembly_timelapse_converted },
   { videoPath: rover_gimbal_test_converted },
   { videoPath: "https://www.youtube-nocookie.com/embed/ZjGW-HWapVA" },
-  { videoPath: "https://www.youtube-nocookie.com/embed/sceA2ZbEV8Y0" },
+  { videoPath: "https://www.youtube-nocookie.com/embed/sceA2ZbEV8Y" },
 ];
 ---
 
 <ExperienceLayout title="Software Team Lead" subTitles={roverSubTitles}>
   <Carousel carouselGroup={headerCarouselGroup} />
-
+  <div class="grid grid-flow-row place-content-center gap-4 md:grid-flow-col">
+    <LinkButton
+      href="https://github.com/OSURoboticsClub/Rover_2017_2018"
+      title="Rover and Ground Station Code"
+    />
+  </div>
+  <PageGroup>
+    <Fragment slot="header"><H2>Summary</H2></Fragment>
+    <PageGroup>
+      <Fragment slot="header"><H3>Timeline</H3></Fragment>
+      <Timeline timeline={timeline} />
+    </PageGroup>
+    <PageGroup>
+      <Fragment slot="header"><H3>Key Takeaways</H3></Fragment>
+      <Ul>
+        <Li>Won 1st place in an international competition</Li>
+        <Li
+          >Wrote software in Python and C++ for the Rover's onboard computer</Li
+        >
+        <Li
+          >Wrote firmware in embedded C/C++ for the Rover's distributed
+          microcontroller sub-systems</Li
+        >
+        <Li
+          >Hand-assembled most of the custom PCBs for the Rover's distributed
+          microcontroller sub-systems</Li
+        >
+        <Li>Hand-fabricated much of the custom harnessing on the Rover</Li>
+        <Li>Piloted the Rover during some competition events</Li>
+      </Ul>
+    </PageGroup>
+    <SkillMatrix categorizedSkills={categorizedSkills} />
+  </PageGroup>
+  <PageGroup>
+    <Fragment slot="header"><H2>Details</H2></Fragment>
+    <PageGroup>
+      <Fragment slot="header"><H3>My Experience</H3></Fragment>
+      <Paragraphs>
+        <Paragraph>
+          I had not originally planned to be software lead for this Rover year,
+          as I was already working two part time jobs and going to school
+          full-time, but after my best friend Nick decided to become team and
+          electrical lead, and my other best friend Dylan would create the
+          rover's arm for his senior design project, I just couldn't say no.
+          This also came hot off the heels of me being the emergency software
+          lead for Rover the previous year, writing enough code in the nine days
+          before competition to at least give them a fighting chance, which they
+          had, so I was even more prepped and ready. I only had one hard
+          requirement, joining as the software lead, and it was that we would
+          have to create a serious ground station setup. When I first joined the
+          robotics club in 2011, I did so because I was enraptured by the rover,
+          but especially its ground station, which was a full-screen display
+          full of stats, indicators, and buttons that got the nerd in me
+          excited. If I was going to go all-in, I was going to do the same, and
+          ended up making the ground station software my university senior
+          design project.
+        </Paragraph>
+        <Paragraph>
+          The upcoming year of work turned out to be some of the most intense I
+          ever had at OSU, mostly self-inflicted due to not wanting to let this
+          opportunity get wasted. It's worth noting, that not only was I writing
+          the ground station software, but also the software running on the
+          rover's onboard Jetson TX2 computer, all the firmware for each of the
+          many distributed systems, on top of also hand-assembling/debugging
+          most of the rover's PCBs, and creating many of its electrical wiring
+          harnesses. In total, I put in over 2000 hours of work on this project,
+          while working two part-time jobs and taking classes. It was a lot,
+          but, it also turned out to be my proudest achievement while at OSU, so
+          I'd argue it was worth it!
+        </Paragraph>
+        <Paragraph>
+          After these countless hours, what resulted was some incredibly robust
+          hardware and software, which didn't crash, and which allowed us to
+          absolutely crush the competition at the Canadian International Rover
+          Challenge in Drumheller, Alberta, Canada. We won first place, with a
+          final score of 287 points. The second best team got 159, so it wasn't
+          even close! On top of doing that well, the software was also feature
+          complete by halfway through the competition, which was no small feat
+          considering the amount of scope creep a project like this tends to
+          encounter. I was particularly proud of the ground station by this
+          point as well. Not only was it a treasure trove of information about
+          the Rover's state, but included live GPS mapping, multiple switchable
+          camera views with pan/tilt capabilities and quality-switching,
+          artificial speed limiting, and automations to automatically complete
+          some of the tasks from the competition with just a few button presses.
+          Considering the robotics team hadn't placed over 3rd since before I'd
+          started in 2011, finally getting a first place win was a breath of
+          fresh air, and made it much more cathartic when graduating the
+          following year.
+        </Paragraph>
+      </Paragraphs>
+    </PageGroup>
+    <PageGroup>
+      <Fragment slot="header"><H3>Technical Overview</H3></Fragment>
+      <Paragraphs>
+        <Paragraph>
+          The ground station itself contained an Intel NUC with a Core i5, 16GB
+          ram, nvme ssd, and was connected to two 23″ 1080p monitors. I chose
+          two so we would be able to see all primary Rover systems without
+          having to swap between tabs or pages, which I’d had to do on some
+          other software I’d written and knew wouldn’t be efficient when we were
+          in the middle of a timed event. The desktop ran Ubuntu 16.04 with the
+          ROS2 stack. For the UI, PyQt was used, allowing for easy tweaking
+          using QtCreator, and which provided access to QtSignals, a feature
+          that made simple cross-thread communication much easier in Python. The
+          Python code itself was Python 2, which was a limitation of the ROS2
+          stack. Control of the rover was done via USB xbox controllers, plus a
+          keyboard and mouse.
+        </Paragraph>
+        <Paragraph>
+          The Rover itself ran on an NVidia Jetson TX2 single-board computer
+          powered from a 500Wh li-on battery. The electronics box also contained
+          a fuse box, power cutoff, network switch, battery backup, composite to
+          network video converter, usb hub, FrSky controller receiver, and
+          custom usb->RS485 adapter board. The TX2 ran Ubuntu 16.04 with the
+          ROS2 stack, just like the ground station. All remote control boards on
+          the Rover were communicated to using the modbus protocol over RS485.
+          Interfacing with the arm was achieved via RS485 as well, but using the
+          custom simplemotion control library provided by the motor controller
+          company. Using linux UDEV rules, usb->serial and cameras were
+          symlinked to custom, repeatable names at /dev/rover/name so that
+          devices could be accessed identically after reboots. Custom ROS nodes
+          were written for each system to be controlled, and the whole Rover ROS
+          package set to start automatically at boot. The Rover could be
+          controlled with an FrSky X9D controller whether the ground station was
+          running or not. The controller could also override all other control
+          inputs on-the-fly by flipping a switch on the controller. This was a
+          safety feature to ensure runaway ground station or autonomy code
+          wouldn’t allow the Rover to take off on its own. Conversely, the Rover
+          would also work without the controller powered on, but would
+          immediately allow for this override if turned on at any time.
+          Communication with the ground station was done using two Ubiquiti
+          Rocket M2 long-range wifi radios, along with their 10dB
+          omnidirectional antennas. This simple setup allowed for a transparent
+          ethernet link to be made between the two systems, allowing for useful
+          features such as remote debugging and code upload. The radios were
+          tested to work at roughly a kilometer away, when mostly line-of-sight.
+        </Paragraph>
+      </Paragraphs>
+    </PageGroup>
+  </PageGroup>
   <PageGroup>
     <Fragment slot="header"><H2>Videos</H2></Fragment>
     <div class="grid grid-cols-1 gap-4 md:grid-cols-2">

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: [
     {

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 { DateTime } from "luxon";
-import PopoverWordDefinition from "@components/PopoverWordDefinition.astro";
 
 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[] = [

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",
+        },
+      ],
+    },
+  ],
+};

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];
 ---
 
-<ExperienceLayout title="SARL - Zebrafish Embryo Pick and Plate" />
+<ExperienceLayout title="Zebrafish Embryo Pick and Plate" subTitles={subTitles}>
+  <CustomCarousel carouselGroup={headerCarouselGroup} />
+  <PageGroup>
+    <Fragment slot="header"><H2>Summary</H2></Fragment>
+    <PageGroup>
+      <Fragment slot="header"><H3>Timeline</H3></Fragment>
+      <Timeline timeline={timeline} />
+    </PageGroup>
+    <PageGroup>
+      <Fragment slot="header"><H3>Key Takeaways</H3></Fragment>
+      <Ul>
+        <Li
+          >Delivered a design, and multiple built units, of a custom embryo
+          pick-and-plate machine</Li
+        >
+        <Li>Reduced cost from ~$150,000 for previous generation to ~$10,000</Li>
+        <Li
+          >Reduced the size from 4.5'x4.5'x8' for previous generation to
+          1'x1'x1.5'</Li
+        >
+      </Ul>
+    </PageGroup>
+    <SkillMatrix categorizedSkills={categorizedSkills} />
+  </PageGroup>
+  <PageGroup>
+    <Fragment slot="header"><H2>Details</H2></Fragment>
+    <Paragraphs>
+      <Paragraph>
+        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 <PopoverWordDefinition key="SCARA" /> 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.
+      </Paragraph>
+      <Paragraph>
+        My coworker, <InlineLink href="https://dylanthrush.com"
+          >Dylan Thrush</InlineLink
+        >, 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!
+      </Paragraph>
+      <Paragraph>
+        For the second revision, we'd made some progress in other places, but
+        most importantly had decided that we would use a <InlineLink
+          href="https://www.beagleboard.org/boards/beaglebone-black"
+          >Beaglebone Black</InlineLink
+        > 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 <InlineLink
+          href="https://synthetos.com/project/tinyg">TinyG</InlineLink
+        >, which would simply require gcode to be sent over serial to function.
+      </Paragraph>
+      <Paragraph>
+        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!
+      </Paragraph>
+    </Paragraphs>
+  </PageGroup>
+  <PageGroup>
+    <Fragment slot="header"><H2>Videos</H2></Fragment>
+    <div class="grid grid-cols-1 gap-4 md:grid-cols-2">
+      {
+        videos.map((video) => (
+          <Video
+            videoPath={video}
+            autoPlay={true}
+            loop={true}
+            playsInline={true}
+          />
+        ))
+      }
+    </div>
+  </PageGroup>
+  <PageGroup>
+    <Fragment slot="header"><H2>Printed Circuit Boards</H2></Fragment>
+    <PrintedCircuitBoard pcb={pnpLights} />
+    <PrintedCircuitBoard pcb={pnpControl} />
+  </PageGroup>
+</ExperienceLayout>

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</InlineLink
         >
-        and an <InlineLink
+        and a <InlineLink
           href="/experience/osu-sinnhuber-aquatic-research-laboratory/zebrafish-embryo-pick-and-plate"
-          >embryo pick-and-plate machine</InlineLink
+          >zebrafish embryo pick-and-plate machine</InlineLink
         >. 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 <InlineLink