Autonomous Integration of Bench-Top Wet Lab Equipment

Laboratory automation is an expensive and complicated endeavor with limited inflexible options for smallscale labs. We developed a prototype system for tending to a bench-top centrifuge using computer vision methods for color detection and circular Hough Transforms to detect and localize centrifuge buckets. Initial results showed that the prototype is capable of automating the usage of regular bench-top lab equipment. Experimental results showed the computer vision system to have successful detection rate of 98%, a 70% success rate for removing test tubes from a centrifuge and a 95% success rate for inserting them.