Abstract: A drop deposition apparatus, and a method and computer program products using the drop deposition apparatus, for fabricating at least one addressable array of biopolymers on a substrate. The drop deposition apparatus has a drop dispenser unit and a sensing element. The method comprises includes for each of multiple addresses, dispensing droplets carrying the biopolymers or biopolymer precursors from a drop dispenser unit onto the sensing element, and onto the substrate so as to fabricate the array. Electrical signals resulting from dispensed droplets striking the sensing element are detected. A performance characteristic of the deposition apparatus is evaluated based on the detected signals.

Abstract: A method and apparatus for fabricating an array of polynucleotides on a substrate. A polynucleotide deposition system is operated to deposit an array of polynucleotide containing fluid droplets on the substrate and which, when dry, will yield polynucleotide containing spots of respective target locations and dimensions. Droplets deposited by the system are allowed to dry to yield actual spots. An image is captured of the substrate with dried actual spots. Dried actual spot locations or dimensions from the image, are compared with target locations or dimensions of polynucleotide containing spots. A signal indicative of the result of the comparison may be generated.

Abstract: A method and apparatus for fabricating an array of polynucleotides on a substrate. A polynucleotide deposition system is operated to deposit an array of polynucleotide containing fluid droplets on the substrate and which, when dry, will yield polynucleotide containing spots of respective target locations and dimensions. Droplets deposited by the system are allowed to dry to yield actual spots. An image is captured of the substrate with dried actual spots. Dried actual spot locations or dimensions from the image, are compared with target locations or dimensions of polynucleotide containing spots. A signal indicative of the result of the comparison may be generated.

Abstract: A method and apparatus for fabricating an array of polynucleotides on a substrate. A polynucleotide deposition system is operated to deposit an array of polynucleotide containing fluid droplets on the substrate and which, when dry, will yield polynucleotide containing spots of respective target locations and dimensions. Droplets deposited by the system are allowed to dry to yield actual spots. An image is captured of the substrate with dried actual spots. Dried actual spot locations or dimensions from the image, are compared with target locations or dimensions of polynucleotide containing spots. A signal indicative of the result of the comparison may be generated.

Abstract: Liquids are transferred from a plurality of wells or depots having openings arranged in a selected format to one or more receptacles, by displacing liquid contained in each well so that a convex meniscus swells from the opening, and contacting the receptacle with the swollen meniscus to draw a portion of the liquid into the receptacle. An apparatus for carrying out the method includes a depot member having a plurality of wells having openings supported in a selected format, and a receiving member defining at least one receptacle and usually a plurality of receptacles in a corresponding or complementary format; means for displacing liquid contained within the wells toward and through the openings; and means for bringing at least one selected well opening into proximity with at least one selected receptacle.

Abstract: Liquids are transferred from a plurality of wells or depots having openings arranged in a selected format to one or more receptacles, by displacing liquid contained in each well so that a convex meniscus swells from the opening, and contacting the receptacle with the swollen meniscus to draw a portion of the liquid into the receptacle. According to the invention, the liquid transfer is effected directly from the depot to the corresponding receptacle without contact between depots and receptacles, and without interposition of any transfer device between depots and receptacles.

Abstract: Liquids are transferred from a plurality of wells or depots having openings arranged in a selected format to one or more receptacles, by displacing liquid contained in each well so that a convex meniscus swells from the opening, and contacting the receptacle with the swollen meniscus to draw a portion of the liquid into the receptacle. According to the invention, the liquid transfer is effected directly from the depot to the corresponding receptacle without contact between depots and receptacles, and without interposition of any transfer device between depots and receptacles.

Abstract: Non-contact fluid deposition devices having multiple axis printhead adjusters are provided. The subject printhead adjusters are made up of a single rigid frame that holds at least one printhead housing, where in certain embodiments multiple printhead housings, e.g., two, are held in side-by-side configuration in the single rigid frame of the adjuster. Each housing is adjusted in said adjuster by its own set of axis adjustment elements, where the set includes a rotational axis adjustment element for each horizontal and/or vertical axis adjustment element that is present. In using the subject devices, a printhead present in the adjuster is loaded with a volume of fluid, which in many embodiments is a fluid that includes a biopolymer or precursor thereof. The loaded printhead is then placed in opposing relation to a surface of a substrate and actuated to deposit a volume of fluid on the substrate.

Abstract: Planar optical waveguide apparatus and methods for fabricating planar optical waveguide apparatus. The apparatus has a core layer and a cladding layer, the core layer having at least one optical waveguide, and an alignment structure spaced from and positioned with respect to the at least one optical waveguide to facilitate measuring a position of the at least one optical waveguide. The alignment structure has a first alignment structure, such as a reflecting member, to facilitate measuring a height of the at least one optical waveguide; and a second alignment structure, such as alignment marks, to facilitate measuring positions of the at least one optical waveguide in a plane of the at least one optical waveguide. The method includes forming both the optical waveguide and at least a portion of the alignment structure simultaneously in a single processing step to ensure that the optical waveguide and the alignment structure are in perfect registration.

Abstract: A coupling mechanism permits a robot hand to be coupled to, and uncoupled from, application-specific tools by the motion of the robotic hand relative to a tool stand.

Abstract: An accommodating linkage device which operates in three modes to provide, upon command, either: (1) a standard, resetable, rigid linkage between two objects; (2) a flexible linkage which responds to relative motion (forces) between two objects; (3) or an arbitrary, rigid linkage between two objects. The device includes two ball joints which connect to the two objects, a pair of locking pistons, and a pair of alignment pistons. Operation of the device is in response to either control signals or to forces generated by the relative motion of the two objects, depending upon operating mode.

Abstract: An experimental robot system using vision and a parallel jaw gripper acquires randomly oriented cylindrical workpieces piled in bins. Binary image analysis guides the gripper into multilayered piles of workpieces. Complementary information is provided by sensors on the gripper.

Abstract: A robot assembly for acquiring unorientated workpieces from a bin. A sensing system views the bin and collects data. A computer analyzes the data to determine candidate holdsites on the workpiece. The hand of the robot assembly then engages a workpiece at a selected holdsite. The workpiece is moved to a pose where the position and orientation of the workpiece are determined. After this determination, the workpiece may be disengaged, or moved to an intermediate or final goal site.

Abstract: Apparatus for acquiring individual workpieces from a supply of randomly oriented workpieces in a storage bin or the like. The apparatus includes a movably mounted head assembly having a gripper connected thereto by an intermediate flexible support. A sensor generates a control signal responsive to a contact force exerted by the gripper on a workpiece. The gripper operates to grip the workpiece contacted thereby. The flexible support is then retracted to lock the gripper against an abutment surface fixed relative to the head assembly. Operation of the gripper and/or movement of the head assembly may be controlled in response to said control signal.