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sgbaird
reviewed
Oct 3, 2024
| This module revolves around "transfer of solid samples", and completes complex automation tasks through ROS, AprilTags, multi-axis robots and workflow orchestration platform. The goal is to learn how to coordinate different modules (including robot control, visual recognition, and workflow management) to complete complex solid sample transfer processes, such as performing a grabbing task from one workstation to another for sample processing (such as screwing a bottle cap or dropping a liquid). This is a multi-step automation process involving the coordinated operation of multiple hardware devices and software platforms. | ||
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| ### System Overview | ||
| - MyCobot Pi: For precise sample handling and manipulation |
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| ### System Overview | ||
| - MyCobot Pi: For precise sample handling and manipulation | ||
| - AGV (Automated Guided Vehicle): For transporting samples between stations |
| - [AprilTags Python Library](https://pypi.org/project/apriltag/) | ||
| Used for spatial referencing and tracking of sample containers using AprilTags for accurate positioning. | ||
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| - Printed AprilTags (can be generated and printed from [AprilTag Generation](https://github.com/AprilRobotics/apriltag-generation)) |
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| ### 1. Scalability: | ||
| - For larger-scale operations, consider implementing a multi-robot system with centralized control. | ||
| - Utilize a database to track sample information and processing history. |
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Nice point here. Can maybe refer back to corresponding hello world module. Maybe a small code snippet of using pymongo? (Up to you)
| This tutorial provides a basic framework for automated solid sample transfer. However, real-world applications often require more complex setups and face various challenges. Here are some considerations for extending the system and troubleshooting common issues: | ||
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| ### 1. Scalability: | ||
| - For larger-scale operations, consider implementing a multi-robot system with centralized control. |
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I wonder what would make sense to be within ROS2 vs. Prefect when a couple robots are involved.
| - Use sensors to detect collisions or unexpected obstacles. | ||
| - Develop a logging system to record all operations and errors for later analysis. | ||
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| Let's take the liquid handling station as an example to demonstrate error handling and logging: |
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This might be a good place to show an example of human-in-the-loop workflow orchestration with Prefect (e.g., error occurred - trigger an operator to go and check it out)
I have a YouTube video about this
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