Semester Project 2020 Fall at Ramdya Lab (Neuroengineering Laboratory) with 6.0/6.0. The project is continued by a course project of BIOENG-456 Controlling behavior in animals and robots.
Project goal
This semester project aims at redesigning, prototyping and programming the carousel, gripper and arena module for the old Optobot system to increase its precision on carrying out optogenetic experimentation, which helps to expose Drosophilas to accurately controlled stimuli and record their behaviors. More info on the lab page.
The redesigned model addressed 3 catastrophic failure modes of the previous design(rotation error, gripping error and returning error) which have made the unsupervised experiments impossible.
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The project is continued by the course project of BIOENG-456 Controlling behavior in animals and robots to explore more on the analysis of collected data. The drosophila melanogasters are segmented with OpenCV and the neuromechanical model key points are extracted with a deep-learning based approach LiftPose3D, which first estimates the 2D key-point of drosophila and then lift the pose to 3D space.
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Project content
- design and model new carousel, gripper and arena module to resolve the diagnosed failure modes from hardware.
- close the control loop of motor motion with new sensor and increase system precision from software.
- adapt control logic and update program interface to fit the new design.
- analyze recorded data of the new system with computer vision and deep learning method. (course project)
Semester Project Demo:
Note that the shelf material was out of stock by the semester end. The demo is a show case without shelf. A pink marker is pasted on carousel base to represent the rotating shelves.
