Automatic transfer between vials

Abstract

The disclosed robot system may include one or more robot arms configured to transfer content, such as live fruit flies, from one vial into another. The robot arms may remove a cap from a new vial, remove a cap from a used vial, and connect the vials using a vial connector. The robot arms may shake or drop the vials to help move the content from the used vial into the new vial. The robot arms may also discard the used vial and cap the new vial after the transfer. The robot arms may also apply a new label to the new vial. Various other methods, systems, and computer-readable media are also disclosed.

Description

AUTOMATIC TRANSFER BETWEEN VIALSBRIEF DESCRIPTION OF THE DRAWINGS

[0001] The accompanying drawings illustrate a number of example embodiments and are a part of the specification. Together with the following description, these drawings demonstrate and explain various principles of the present disclosure.

[0002] FIG. 1 is a block diagram of an example system / network environment for automatic transfer between vials.

[0003] FIG. 2 is a simplified diagram of an example robot system for automatic transfer between vials.

[0004] FIG. 3 is an illustration of an example robot system for automatic transfer between vials.

[0005] FIG. 4 is an illustration of a workspace for an example robot system for automatic transfer between vials.

[0006] FIG. 5A-C is a flow diagram of an example process of transferring fruit flies between vials.

[0007] FIG. 6 are illustrations of example vials of fruit flies.

[0008] FIG. 7 is an illustration of an example vial rack.

[0009] FIGS. 8A-B are illustrations of example vial connectors.

[0010] FIG. 9 is an illustration of an example connection between vials.

[0011] FIG. 10 is an illustration of example holders for a robot system.

[0012] FIG. 11 is an illustration of picking a vial from a vial rack.1Attorney Docket No.: 200027-080800

[0013] FIGS. 12A-B are diagrams of an example waste chute.

[0014] FIG. 13 are illustrations of example waste chutes.

[0015] FIG. 14 is a flow diagram of an example method for automatic transfer between vials.

[0016] Throughout the drawings, identical reference characters and descriptions indicate similar, but not necessarily identical, elements. While the exemplary embodiments described herein are susceptible to various modifications and alternative forms, specific embodiments have been shown byway of example in the drawings and will be described in detail herein. However, the exemplary embodiments described herein are not intended to be limited to the particular forms disclosed. Rather, the present disclosure covers all modifications, equivalents, and alternatives falling within the scope of the appended claims.DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS

[0017] Robots and other robotic systems / devices are capable of performing various tasks that require manipulation of tools or other physical objects. For example, a robotic arm may have multiple degrees-of-freedom (DOF) or axes of movement or articulation, allowing the robotic arm to perform different tasks. This further allows collaboration with other robots for various workflows.

[0018] A collaborative robot may refer to a robot intended for interaction with a human within a shared space or otherwise operate with a human in close proximity and may accordingly be configured with certain safety protocols / behaviors. For example, a robot arm as2Attorney Docket No.: 200027-080800described above may be a collaborative robot. The robot arm may be useful for performing certain manual tasks automatically without direct human intervention.

[0019] Drosophila (e.g., fruit flies) are often used for biological studies. Different genetic strains are normally kept in separate tubes or vials. When a food source in a vial is depleted, a human operator normally transfers the flies into a new vial with a fresh food source. However, automating this transfer often requires anesthetizing the flies and using a purpose- built machine for the transfer. Anesthetizing flies may adversely affect their behavior for experiments / observations. Moreover, the purpose-built machine may lack flexibility in streamlining a workflow (e.g., as compared to a robot arm) and may further require a human operator.

[0020] The present disclosure is generally directed to automated transfer of content between vials. As will be explained in greater detail below, embodiments of the present disclosure may include one or more robot arms that may connect a first (e.g., new) vial to a second (e.g., old / used) vial using a vial connector. The robot arms may physically agitate the vial to facilitate the content transfer, apply an appropriate label to the input vial, and place the input vial in an appropriate rack. The systems and methods provided herein may advantageously allow robot arms to transfer content between vials without anesthesia and further allows the robot arms to perform ancillary tasks (e.g., labelling vials, discarding vials, placing vials, etc.) to further streamline the transfer process. According to some embodiments, the transfer content includes an insect. According to some embodiments, the transfer content includes a small insect, which is about 3 mm in length and 2 mm wide. According to some embodiments, the transfer content includes a fly. According to some embodiments, the transfer content includes a small fly, which3Attorney Docket No.: 200027-080800is about 3 mm in length and 2 mm wide. According to some embodiments, the transfer content includes a live fly. According to some embodiments, the transfer content includes a live small fly, which is about 3 mm in length and 2 mm wide. According to some embodiments, the transfer content includes a fruit fly. According to some embodiments, the transfer content includes a live fruit fly. According to some embodiments, the transfer content includes an insect of the order Diptera. According to some embodiments, the transfer content includes an insect in the family Drosophilidae. According to some embodiments, the transfer content includes an insect in the genus Drosophila. According to some embodiments, the transfer content includes a Drosophila melanogaster. According to some embodiments, the transfer content includes a Drosophila subobscura. According to some embodiments, the transfer content includes a Drosophila sechellia. According to some embodiments, the transfer content includes one or more of an insect, a small insect (about 3 mm in length and 2 mm wide), a fly, a small fly (about 3 mm in length and 2 mm wide), a live fly, a live small fly (about 3 mm in length and 2 mm wide), a fruit fly, a live fruit fly, an insect of the order Diptera, an insect in the family Drosophilidae, an insect in the genus Drosophila, Drosophila melanogaster, Drosophila subobscura, and / or Drosophila sechellia.

[0021] Features from any of the embodiments described herein may be used in combination with one another in accordance with the general principles described herein. These and other embodiments, features, and advantages will be more fully understood upon reading the following detailed description in conjunction with the accompanying drawings and claims.

[0022] The following will provide, with reference to FIGS. 1-14, detailed descriptions of automated transfer of content between vials. Detailed descriptions of example4Attorney Docket No.: 200027-080800systems / apparatuses will be provided with respect to FIGS. 1-4, and 6-13. Detailed descriptions of corresponding methods and processes will be provided with respect to FIGS. 5 and 14.

[0023] In some implementations, all or a portion of the systems described herein may represent portions of an example robot system 100 in FIG. 1. FIG. 1 illustrates robot system 100 implementing aspects of the present disclosure. Robot system 100 includes computing device 102, a network 104, and a robot 106. Computing device 102 may be any computing device, such as a controller (e.g., teach pendant) as described herein, and may also correspond to and / or interface with a user device, such as a desktop computer, laptop computer, tablet device, smartphone, an artificial / extended reality system (e.g., an augmented-reality system, a virtual- reality system, etc.) or other computing device. Computing device 102 may include a physical processor 130, which may be one or more processors, and memory 132, which may store data and / or programs / instructions corresponding to the processes described herein.

[0024] Robot 106 may represent or include one or more robots as described herein. In some implementations, robot 106 may include a physical processor 130, memory 132, a motor unit 134, and a torque sensor 136. Robot 106 may correspond to a robot arm or other collaborative robot (e.g., a robot configured to operate in a vicinity of people) having multiple degrees of freedom, such as a 3 DOF (or 3 axis) robot, a 4 DOF (or 4 axis) robot, a 5 DOF (or 5 axis) robot, a 6 DOF (or 6 axis) robot, a 7 DOF (or 7 axis) robot, an 8 DOF (or 8 axis) robot, or other number of axes. Motor unit 134 may correspond to any motor (e.g., a servomotor, DC motor, stepper motor, or other motor device, along with other appropriate components such as a gearbox, sensors and controllers to receive and actuate commands) and torque sensor 136 may correspond to any torque sensor (e.g., any appropriate sensor for sensing torque and / or force 5Attorney Docket No.: 200027-080800applied such as a torque transducer, load cell, etc.). In some examples, torque sensor 136 may be coupled to motor unit 134 to detect a load opposite or otherwise resisting a force from motor unit 134. For instance, torque sensor 136 may utilize a speed and / or position sensor for measuring movement or other positional feedback of one or more components of motor unit 1 34 (e.g., a shaft, rotor, gear, etc.) to determine torque. In other examples, torque sensor 136 may correspond to an electrical sensor, such as for measuring a current or other electromagnetic properties that may be associated with control feedback of motor unit 134.

[0025] In some examples, motor unit 134 may correspond to all axes of robot 106, although in other examples, robot 106 may include additional iterations of motor unit 134 (e.g., one for each axis, one for each joint, etc. as needed) for articulation in all supported axes. Similarly, in some examples torque sensor 136 may correspond to all axes of robot 106, although in other examples, robot 106 may include additional iterations of torque sensor 136 (e.g., one for each axis, one for each joint, one for each motor unit 134, etc. as needed). Moreover, in some examples torque sensor 136 may be integrated with or otherwise directly coupled to motor unit 134. In some examples, torque sensor 136 may be indirectly coupled to motor unit 134 (e.g., coupled to a corresponding joint / arm, etc.).

[0026] Physical processor 130 may correspond to one or more processors (e.g., microprocessors, microcontrollers, Central Processing Units (CPUs), Field-Programmable Gate Arrays (FPGAs) that implement softcore processors, Application-Specific Integrated Circuits (ASICs), hardware accelerators, graphics processing units (GPUs), co-processors, portions of one or more of the same, variations or combinations of one or more of the same, or any other suitable physical processor) and memory 132 may correspond to any memory device (e.g., any type or 6Attorney Docket No.: 200027-080800form of volatile or non-volatile storage device or medium capable of storing data and / or computer-readable instructions. In one example, a memory device may store, load, and / or maintain one or more of the modules described herein. Examples of memory devices include, without limitation, Random Access Memory (RAM), Read Only Memory (ROM), flash memory, Hard Disk Drives (HDDs), Solid-State Drives (SSDs), optical disk drives, caches, variations or combinations of one or more of the same, or any other suitable storage memory).

[0027] Computing device 102 may be communicatively coupled to robot 106 through network 104. Network 104 may represent any type or form of communication network, such as the Internet, and may comprise one or more physical connections, such as LAN, and / or wireless connections, such as WAN. In some examples, network 104 may correspond to one more cables connecting robot 106 with computing device 102. Computing device 102 may be configured to provide a control interface and / or instructions (e.g., based on inputs in the control interface) to robot 106, for example for performing tasks relating to the methods and processes described herein. Computing device 102 may further be configured to receive feedback from robot 106 for updating instructions as needed. Additionally and / or alternatively, robot 106 may operate based on feedback (e.g., from torque sensor 136).

[0028] FIG. 2 illustrates a robot system 200 (corresponding to robot system 100) including a robot (e.g., robot 106) represented by an arm 206A and an arm 206B (e.g., a left robot arm and a right robot arm, although in other implementations a fewer or greater number of arms may be used). FIG. 2 also includes a rigid vial holder 222A and a rigid vial holder 222B, a friction grip mechanism 224A and a friction grip mechanism 224B, a cap holder 226A and a cap holder 226B, and a vial connector 220 (also referred to as a vial connector herein). FIG. 2 further includes 7Attorney Docket No.: 200027-080800a feeder 240 having a new rack 242A and an old rack 242B, a printer 246, a reader 244 and a chute 248.

[0029] Rigid vial holder 222A and rigid vial holder 222B may correspond to rigid structures for holding or otherwise supporting vials, which may operate in conjunction with friction grip mechanism 224A and friction grip mechanism 224B, respectively, for gripping vials when actuated, as will be discussed further below with respect to FIG. 10. In some implementations, friction grip mechanism 224A and / or friction grip mechanism 224B may represent a solenoid and / or any other mechanical actuator for gripping. Cap holder 226A and cap holder 226B may correspond to structures for holding vial caps, as will also be discussed further below with respect to FIG. 10.

[0030] Printer 246 may correspond to a label printer for printing labels (e.g., adhesive barcode labels). Reader 244 may correspond to a scanner or barcode reader for reading labels. As will be discussed further below, reader 244 may read a label on a vial, and printer 246 may print a corresponding new label for affixing to a vial (e.g., matching with the transferred contents).

[0031] Feeder 240 may correspond to a workspace for holding vial racks (described further with respect to FIG. 7), including new rack 242A and old rack 242B for holding new vials and old (used) vials. Vials, as will be discussed further with respect to FIG. 6, may hold content, for example live insects such as fruit flies (e.g., Drosophila), and other content that may be difficult to transfer. Whereas materials such as liquids, powders, solids, etc. may be transferred using gravity (e.g., pouring from one vial into another), transferring content such as live insects present additional challenges. For instance, transferring live insects without anesthesia may 8Attorney Docket No.: 200027-080800require sealing the vials to prevent insects from escaping, as well as agitation to cause the insects to actively and / or passively move into the new vial.

[0032] Vial connector 220 corresponds to a vial connector (also referred to as a "jig" or "transfer jig" herein), as will be discussed further with respect to FIGS. 8 and 9. Vial connector 220 may allow the robot arms (e.g., arm 206A and / or arm 206B), and specifically the grippers thereof, to manipulate vials for sealing and agitating vials, as described herein. For example, the robot arms may be able to connect vials with vial connector 220 as will be described further below.

[0033] Chute 248 corresponds to a waste chute, as will be discussed further with respect to FIGS. 12 and 13. The robot arms may discard old / used vials into chute 248 after transferring its contents, to properly dispose of the used vials and reduce contamination (e.g., mixing of flies from different strains).

[0034] FIG. 3 illustrates a robot system 300 corresponding to robot system 200. For instance, robot system 300 includes a robot 306 (corresponding to robot 106) having a robot arm 306A (corresponding to arm 206A) and a robot arm 306B (corresponding to arm 206B). FIG. 3 further includes a holder 322A (corresponding to rigid vial holder 222A), a holder 322B (corresponding to rigid vial holder 222B), a solenoid 324A (corresponding to friction grip mechanism 224A), a solenoid 324B (corresponding to friction grip mechanism 224B), a cap holder 326A (corresponding to cap holder 226A), a cap holder 326B (corresponding to cap holder 226B), a feeder 340 (corresponding to feeder 240) having a new rack 342A (corresponding to new rack 242A) and an old rack 342B (corresponding to old rack 242B), various vials 352, a printer 3469Attorney Docket No.: 200027-080800(corresponding to printer 246), a reader 344 (corresponding to reader 244), and a chute 348(corresponding to chute 248).

[0035] FIG. 3 illustrates additional features, including a teach pendant 350 (corresponding to computing device 102) for providing an operator interface, and locking castors 351, allowing transporting of robot system 300 as well as locking to keep robot system 300 stationary.

[0036] FIG. 4 illustrates a workspace view of a robot system 400 corresponding to robot system 300. Robot system 400 includes a robot arm 406A (corresponding to robot arm 306A), a robot arm 406B (corresponding to robot arm 306B), a holder 422 (corresponding to holder 322A and / or holder 322B), a vial connector 420 (corresponding to vial connector 220), a new vial 452A (corresponding to an example of vial 352), a used vial 452B (correspond to another example of vial 352) having a cap 454B, a new rack 442A (corresponding to new rack 342A), and a used rack 442B (corresponding to old rack 342B).

[0037] FIG. 4 further illustrates a gripper 408A of robot arm 406A, and a gripper 408B of a robot arm 406B. Gripper 408A and / or gripper 408B may correspond to a gripper and / or any appropriate end effector for grabbing and / or manipulating objects such as new vial 452A, used vial 452B, cap 454B, and / or vial connector 420.

[0038] Turning nowto FIGS. 5A-5C, FIGS. 5A-C is a flow diagram of an example process 500 for automated content transfer between vials / tubes. The steps shown in FIGS. 5A-5C may be performed by any suitable system, including the system(s) illustrated in FIGS. 1-4, and / or 6- 13. In one example, each of the steps shown in FIGS. 5A-5C may represent an algorithm whose structure includes and / or is represented by multiple sub-steps, examples of which will be 10Attorney Docket No.: 200027-080800provided in greater detail below. In some examples, process 500 may correspond to a portion of method 1400 described further below.

[0039] Process 500 corresponds to a two-arm system, although in other implementations (e.g., having a different number of arms), each contiguous sequence of actions taken by either the left or right arm may be performed by other arms. For example, a legend illustrated in FIGS. 5A-5C corresponds to robot system 200 in FIG. 2, such that a shading pattern in each block may correspond to a particular component performing the action, although in other examples, other similarly capable components may alternatively perform such actions. As illustrated in FIG. 5A, at step 502 an automatic feeder (e.g., feeder 240) may bring vial racks within reach of the robot arms, for instance by moving a platform loaded with vial racks. In some examples, the robot system 200 may track locations of vials / tubes within the racks, to facilitate returning tubes into its original location within a corresponding rack.

[0040] Turning now to FIG. 6, FIG. 6 illustrates vials 600 including a new vial 652A, a new vial 652C, a used vial 652B, and a used vial 652D. Although the examples herein reference "new," "used," and / or "old," rather than describing a condition of the vials themselves, these descriptions distinguish between vials having a fresh food source (e.g., "new") and depleted food source (e.g., "used" or "old"). In other examples, these descriptions may refer to an original container or source container of content (e.g., "used" or "old") and a receiving or target container (e.g., "new").

[0041] The vials may correspond to any suitable and / or standard size, such as 28.5 x 95 mm (e.g., new vial 652C and used vial 652D), or other sizes (e.g., new vial 652A and used vial 652B). Each of the vials may have caps, such as a cap 654A (e.g., for new vial 652A and used vial 11Attorney Docket No.: 200027-080800652B) or a cap 654B (e.g., for new vial 652C and used vial 652D). Some caps may correspond to plastic stoppers (e.g., cap 654A) that may be made of rigid and / or resilient material. Some caps may correspond to cotton plugs (e.g., cap 654B) that may be made of expandable and / or breathable material.

[0042] The vials may contain food 656, corresponding to an appropriate food source. In some examples, the new vials may be pre-loaded with food 656 (e.g., before placing into racks), although in other examples loading food 656 into the vials may be part of the process described herein. As also illustrated in FIG. 6, the used vials may include flies 658 corresponding to the content to be transferred.

[0043] FIG. 7 illustrates a feeder environment 700 for a vial rack 742 (corresponding to new rack 242A and / or old rack 242B) for holding vials 752 (corresponding to any of the vials described herein, such as new vial 652C). Vial rack 742 may be configured to hold multiple vials 752 in a particular arrangement, such as a grid arrangement that may facilitate a robot arm's gripper in locating and picking up a vial 752 from vial rack 742. In some examples, vial rack 742 may be made of a rigid or resilient material (e.g., a hard plastic) that may not deform or otherwise lose its structure. In other examples, vial rack 742 may be made of a flexible or otherwise pliable material that may not maintain a rigid structure (e.g., cardboard), as illustrated in FIG. 7.

[0044] Turning back to FIG. 5A, the left arm (e.g., arm 206A, or alternatively arm 206B) may perform a sequence of actions, starting at step 504 with picking up a new vial from a new vial rack (e.g., new rack 242A) and at step 506 transferring the new vial to a holder (e.g., rigid vial holder 222A). The holders may hold the vial in a steady position to allow the arms to manipulate the vial as needed. FIG. 10 illustrates a holder system 1000.12Attorney Docket No.: 200027-080800

[0045] FIG. 10 illustrates a holder 1022A (corresponding to rigid vial holder 222A), a holder 1022B (corresponding to rigid vial holder 222B), a linear solenoid 1024A (corresponding to friction grip mechanism 224A), and a linear solenoid 1024B (corresponding to friction grip mechanism 224B). FIG. 10 further illustrates a reader 1044 (corresponding to reader 244), a large jig 1020A (corresponding to vial connector 220), a small jig 1020B (corresponding to vial connector 220), and a cap holder 1026 (corresponding to cap holder 226A and / or cap holder 226B), which will be described further below.

[0046] The holders (e.g., holder 1022A and / or holder 1022B) may be rigid structures having vial-shaped (e.g., cylindrical) openings for receiving vials. The linear solenoids (e.g., linear solenoid 1024A and / or linear solenoid 1024B), may be a solenoid that when actuated, may physically hold against at least a sidewall of the vials within the holders, allowing at least a top of the vials to remain exposed outside of the holder. Further, although the examples herein describe linear solenoids, in other implementations, other types of mechanical actuators may be used.

[0047] Further in FIG. 5A, after the left arm (e.g., using its gripper) transfers the new vial to the holder (at step 506), at step 546 a linear solenoid (e.g., friction grip mechanism 224A, linear solenoid 1024A, and / or linear solenoid 1024B) may grip the vial from the bottom. For example, the vial in the holder may be held in place via the linear solenoid, which may apply an appropriate friction grip to the vial.

[0048] Optionally at step 508, the left arm decaps (e.g., removes the cap) the new vial, and places the cap in the new cap holder (e.g., cap holder 1026, cap holder 226A, and / or cap holder 226B). Because the holder may grip the vial from the bottom, the left arm (e.g., gripper thereof) may grip the cap from the top, and a friction hold on the vial may be stronger than a 13Attorney Docket No.: 200027-080800friction / fit between the cap and the vial opening, such that the left arm may remove the cap from the vial when lifting or otherwise moving the cap a sufficient distance away from the vial. As illustrated in FIG. 10, cap holder 1026 may be near the corresponding holder 1022B.

[0049] Optionally at step 548, the new cap holder (e.g., cap holder 1026, cap holder 226A, and / or cap holder 226B) for holding the new cap (e.g., cap from the new vial) may taper the new cap from the bottom, which may allow for easier insertion into a vial at a later step. In some examples, the cap holder may include a linear solenoid or other mechanical actuator that may apply an appropriate force to the cap in order to taper the cap's shape. Although step 548 is illustrated as being performed after step 508, step 548 may be performed at any appropriate time after step 508 and before the cap is used (e.g., step 540 which will be described further below). In addition, steps 508 and / or 548 may be optional, for example if the new vial does not have a cap (e.g., such that a separate cap such as a cap from another vial or an unused cap may later be used).

[0050] Continuing from step 508 to step 510 in FIG. 5B (indicated by "A"), the left arm may put on a vial connector (e.g., vial connector 220, vial connector 420, and / or any other vial connector described herein such as in FIGS. 8A-8B), on the new vial. FIG. 8A illustrates a vial connector 820A and a vial connector 820B (e.g., also referred to herein as transfer jigs or jigs) corresponding to different vial sizes. More specifically, the vial connectors may correspond to a rigid material (e.g., a metal or other rigid material) having a generally hollow cylindrical shape (e.g., similar to vials), of a particular thickness, and having an opening therethrough corresponding to the vial size (e.g., having a radius larger than that of the corresponding vial to allow the vial to fit into the opening). In some examples, the vial connectors may have one or 14Attorney Docket No.: 200027-080800more of a grip feature 864 and / or a grip feature 866, each providing a flat portion of the cylindrical shape to facilitate gripping by a gripper (e.g., having flat gripping fingers). As illustrated in FIG. 8A, grip feature 864 may be transverse or otherwise generally perpendicular to a longitudinal axis of the vial connector whereas grip feature 866 may be generally parallel to such longitudinal axis. In other examples, the grip features (e.g., grip feature 864 and / or grip feature 866) may have other shapes (e.g., corresponding to shapes complementary to grippers) and may further be positioned and / or oriented in other locations.

[0051] FIG. 8A further illustrates a spring plunger 862 made of a resilient material such as nylon. One or more of spring plunger 862 may be inserted into the vial connectors to provide a friction grip with vials inserted into the vial connectors at multiple positions, as illustrated in FIG. 8A. In some examples, the spring plunger(s) 862 may extend further into the opening of the vial connectors (e.g., at a smaller radius than that of the corresponding vial) such that the spring plunger(s) 862 may be compressed as the vial is inserted, applying a spring tension against the sidewall of the vial to provide the friction grip. In other examples, other mechanisms for gripping vials may be used.

[0052] FIG. 9 illustrates an environment 900 of a gripper 908A (corresponding to gripper 408A and / or any other gripper described herein) holding a vial connector 920 (corresponding to vial connector 820B and / or any other vial connector described herein) by a grip feature 964 (corresponding to grip feature 864).

[0053] Returning to step 510 in FIG. 5B, the left arm may place the vial connector on the new vial, which may be friction fit. In some examples, the left arm may push the vial connector onto the top of the new vial (being held in the holder), overcoming the friction grip15Attorney Docket No.: 200027-080800until the new vial extends approximately halfway into the vial connector, or any other appropriate distance.

[0054] Turning back now to FIG. 5A, the right arm (e.g., arm 206B, or alternatively arm 206A) may perform in parallel a sequence of actions, which in some examples may be concurrent with and / or overlap with actions performed by the left arm, starting at step 518 with picking up an old vial from an old vial rack (e.g., old rack 242B). The right arm may present the new vial to a barcode scanner / reader (e.g., reader 244), which at step 522 the barcode reader may scan / read the old vial's barcode label for identification and / or other information regarding the contents of the vial (e.g., strain of flies and other related information). FIG. 10 illustrates reader 1044 which may have an optical scanner for reading the barcode label. Although the examples described herein reference barcode labels, in other examples, other types of identifiers and appropriate readers may be used, such as other types of images, symbols, and / or text-based labels, RFID tags, etc.

[0055] If at step 550 there is a bad label or other issue with reading the barcode, the right arm may place the vial back into the old rack, or suggest the same (e.g., presented via a user interface such as with teach pendant 350) at step 552. Otherwise (e.g., if there are no issues with the barcode label), continuing to FIG. 5B (indicated by "C"), at step 554 a printer (e.g., printer 246 and / or printer 346) may print a new label corresponding to the read / old label. In some examples, the new label may have the same barcode, an updated barcode, and / or other additional information as needed.

[0056] Returning to FIG. 5A, as the printer may act independently from the robot arms, the right arm, after scanning the barcode at step 522, may transfer the old vial to a holder16Attorney Docket No.: 200027-080800(e.g., rigid vial holder 222B) at step 524. Continuing to FIG. 5B (as indicated by "B"), at step 526 the right arm may tap the old vial. In some examples, tapping may include the right arm (e.g., gripper thereof), striking the old vial (e.g., at a sidewall and / or at the top) with enough force to shake the old vial within the holder without damaging the vial and / or holder. In other example, tapping may include lifting the vial and dropping the vial into the holder, which may have a hard inner surface so as to absorb less energy from the impact. The robot arm may lift and drop the vial at a distance so as not the damage the vial and / or holder. In some examples, step 526 (e.g., the tapping process) may be repeated as needed. Tapping may allow the old vial's contents (e.g., flies) to be dislodged (e.g., from a cap, food, sidewalls, etc.), and may facilitate transfer of contents without escaping from the old or new vial s (e.g., by keeping flies away from the opening of the old tube).

[0057] Afterthe tapping, at step 558, the linearsolenoid (e.g., friction grip mechanism 224B) of the holder may grip the old vial from the bottom. At step 528, the right arm may decap the old vial (gripped by the linear solenoid) and place the old cap in a holder (e.g., cap holder 226B). As step 560, the old cap holder may taper the cap from the bottom for easier insertion later (e.g., at step 536 described further below).

[0058] At step 512, the left arm may put the new vial having the vial connector (as prepared at step 510) onto the old vial. FIG. 8B illustrates how the vial connectors (e.g., vial connector 820A and / or vial connector 820B) may connect vials (e.g., a vial 852A to a vial 852B each corresponding to any vial / tube described herein) in a holder 822 (corresponding to any holder described herein). For example, with vial 852B held in holder 822, the robot arm may place vial connector 820A and / or vial connector 820B, having vial 852A already inserted therein, over 17Attorney Docket No.: 200027-080800vial 852B. By pushing against vial 852B (and further against a rigid / ha rd bottom surface of holder822), the vial connector may be friction fit against the sidewalls of vial 852B. In addition, by extending vial 852B sufficiently into the vial connector, the openings of vial 852B and vial 852A may connect, to seal off the openings and prevent the contents of the vials from exiting through either opening. As further illustrated in FIG. 8B, a depth of the opening within holder 822 may be an appropriate depth to allow the vial connector to be pushed sufficiently onto vial 852B without being blocked by holder 822.

[0059] Returning to FIG. 5B, at step 514, the left arm may flip both the old and new vials with the vial connector and place the new vial in the new vial holder. For example, the left arm may lift the vials (connected via the vial connector) which may start with the old vial on the bottom, may lift the vials (e.g., after the linear solenoid releases the old vial) from the holder and may reorient the vials such that the opening of the old vial faces downward (e.g., to allow the contents to fall from the old vial into the new vial).

[0060] FIG. 9 illustrates how gripper 908A may lift both a vial 952A and a vial 952B (as connected by vial connector 920) by holding grip feature 964. The friction grip applied by vial connector 920 allows vial 952A and vial 952B to remain connected and move as a single unit by the robot arm, without explicitly requiring a gripper 908B to provide additional support. For example, gripper 908A may remove vial 952B from and / or insert vial 952B into a holder 922.

[0061] Continuing with FIG. 5B, at step 516 the left arm may tap both vials held together with the vial connector. In some examples, tapping may involve the left arm striking one or more of the old vial, the new vial, and / or the transfer jig, although in other examples, tapping may involve dropping the connected vials into an appropriate holder (e.g., dropping the new vial 18Attorney Docket No.: 200027-080800onto the bottom surface of the new vial holder). Step 516 may be repeated as needed (e.g., a predetermined number of times and / or until a threshold amount of the contents have been transferred from the old vial to the new vial).

[0062] Continuing onto FIG. 5C (as indicated by "D"), at step 530 the right arm may remove the vial connector with the old vial from the new vial. For example, the new vial holder (using its linear solenoid), may grip the new vial (at step 562) from the bottom with a friction grip stronger than the friction grip of the vial connector, such that when the right arm grabs the vial connector, right arm removes the vial connector (still holding the old vial).

[0063] At step 540, the left arm may recap the new vial (now containing the contents, e.g., flies). For example, the left arm may grab the new cap (which may be tapered at step 548), position the new cap over the opening of the new vial (which may still be gripped by the linear solenoid from step 562), and insert the new cap into the opening of the new vial by moving the new cap a sufficient distance (e.g., predetermined) and / or based on a torque feedback. In some examples, (e.g., if the new vial was not initially capped), the left arm may instead cap the new vial using the old cap (from the old vial), an unused cap, etc. At step 542, the left arm may move the new vial to a labeler (e.g., as part of or near printer 246), which at step 556, the labeler may apply the new label (printed at step 554) onto the new vial.

[0064] At step 544, the left arm may place the new vial back into the new rack, for example into the location it was originally picked from, although in other examples the left arm may place the new vial into any other appropriate space. FIG. 11 illustrates an environment 1100 of a robot 1106 (corresponding to robot 106) having a robot arm (corresponding to arm 206A) with a gripper 1108 (corresponding to gripper 408A). Robot 1106 may place a vial 1152 19Attorney Docket No.: 200027-080800(corresponding to for example vial 352) back into a vial rack 1142 (corresponding to new rack242A) at the original location it was picked from. In some examples, vial rack 1142 may be rigid, such that robot 1106 may place vial 1152 based on location (e.g., generally a center of the appropriate space in vial rack 1142). In other examples, vial rack 1142 may not be rigid, such that robot 1106 may use feedback (e.g., torque feedback) to ensure that vial 1152 is properly seated in the appropriate location in vial rack 1142.

[0065] Returning to FIG. 5C, at step 532, the right arm may place the old vial and vial connector on the old vial holder. At step 564, the linear solenoid may grip the old vial from the bottom, such that at step 534 the right arm may remove the vial connector from the old vial (e.g., the linear solenoid providing a friction grip stronger than that of the vial connector). At step 536, the right arm may optionally recap the old vial (e.g., using the old cap that may be tapered at step 560). In some examples, the old cap may have been used to cap the new vial such that the old vial may remain uncapped. At step 538, the right arm may discard the old vial in a chute (e.g., chute 248). FIGS. 12A-12B illustrate examples of a waste chute system 1200 and FIG. 13 illustrates an example of a waste chute system 1300 (corresponding to waste chute system 1200).

[0066] FIG. 12A-12B illustrate a waste chute 1248 having a tube portion 1245, a chamber portion 1247, and a waste container 1249. As illustrated in FIGS. 12A-12B, tube portion 1245 may extend out of chamber portion 1247 and a radius of tube portion 1245 may be less than a radius of chamber portion 1247. Waste container 1249 may correspond to any appropriate container for holding waste, such as a plastic bag or other receptacle, which may further include a rigid bin (e.g., a biohazard bin as illustrated in FIG. 12A).20Attorney Docket No.: 200027-080800

[0067] Waste vials / tubes may traverse tube portion 1245 (e.g., indicated by the down arrow in FIG. 12B) to be deposited into waste container 1249. However, as not all contents (e.g., flies) may be transferred out of old tubes before discarding, the flies may escape and potentially contaminate or otherwise undesirably mix with contents of other tubes. The arrangement depicted in FIGS. 12A-12B may address such potential stray flies via chamber portion 1247 having the radius larger than the radius of tube portion 1245, as stray flies would fly into chamber portion 1247 (indicated by the up arrows in FIG. 12B) and trapped therein.

[0068] FIG. 13 illustrates waste chute system 1300 with a waste chute 1348 (corresponding to waste chute 1248) having a tube portion 1345 (corresponding to tube portion 1245) and a chamber portion 1347 (corresponding to chamber portion 1247).

[0069] FIG. 13 further illustrates features for maintaining biosecurity, such as a trap door 1372 for tube portion 1345, one or more air nozzles 1374, one or more breather vents 1376, and one or more air nozzle connectors 1378. Trap door 1372 may seal off tube portion 1345 until a vial is to be discarded (e.g., opening to allow a robot arm to discard an old vial into tube portion 1345), to prevent stray flies from exiting through tube portion 1345.

[0070] Air nozzles 1374 may blow air in a vicinity of waste chute system 1300, which may further prevent stray flies from flying into the workspace of the robot system and prevent cross-contamination. Although not illustrated in FIG. 13, air nozzle connectors 1378 may be connected by hoses for directing air flow as needed.

[0071] In addition, chamber portion 1347 may include breather vents 1376, allowing air flow without allowing flies to escape (e.g., via a mesh or other screen structure). Breather21Attorney Docket No.: 200027-080800vents 1376 may prevent unfavorable vacuum conditions (e.g., with a waste receptacle attached to chamber portion 1347).

[0072] As further illustrated in FIG. 13, various brackets and support columns may allow waste chute system 1300 to be held in a particular configuration. Further, although FIGS. 12A-12B and 13 illustrate generally cylindrical shapes, in other implementations other shapes may be used.

[0073] FIG. 14 is a flow diagram of an example method 1400 for automatic transfer between vials. The steps shown in FIG. 14 may be performed by any suitable system, including the system(s) illustrated in FIGS. 1-4, and / or 6-13. In one example, each of the steps shown in FIG. 14 may represent an algorithm whose structure includes and / or is represented by multiple sub-steps, examples of which will be provided in greater detail below.

[0074] As illustrated in FIG. 14, at step 1402 one or more of the systems described herein may mount, using at least one robot arm, a vial connector to an opening of an input vial. For example, robot 106 may mount vial connector 820B to an opening of vial 852A (e.g., a new vial).

[0075] The systems described herein may perform step 1402 in a variety of ways. In one example, before the mounting, robot 106 may remove a cap (e.g., cap 654B) from the input vial as described herein.

[0076] At step 1404 one or more of the systems described herein may connect, via the vial connector and using the at least one robot arm, the opening of the input vial to an opening of an output vial. For example, robot 106 may connect the opening of vial 852A to the opening of vial 852B via vial connector 820B, as described herein.22Attorney Docket No.: 200027-080800

[0077] The systems described herein may perform step 1404 in a variety of ways. In one example, robot 106 may reading, before the connecting, a barcode label from the output vial, to allow printing a first barcode label based on the read barcode. In some examples, robot 106 may also remove a cap from the output vial before the connecting.

[0078] At step 1406 one or more of the systems described herein may agitate, using the at least one robot arm, the output vial to transfer content from the output vial to the input vial. For example, robot 106 may agitate at least vial 852B.

[0079] The systems described herein may perform step 1406 in a variety of ways. In one example, robot 106 may perform a tapping process by reorienting the connected input vial and output vial such that the opening of the output vial faces downwards and dropping the connected input vial and output vial into a vial holder such that the content falls from the output vial into the input vial. As described herein, robot 106 may repeat the tapping as needed (e.g., for a predetermined or configurable number of times such as 4).

[0080] At step 1408 one or more of the systems described herein may remove, using the at least one robot arm, the output vial and the vial connector from the input vial. For example, robot 106 may remove vial connector 820B from vial 852A. As vial connector 820B may still hold vial 852B, removing vial connector 820B may also remove vial 852B from vial 852A.

[0081] The systems described herein may perform step 1408 in a variety of ways. In one example, robot 106 may removing the vial connector from the input vial and discard the output vial as described herein.

[0082] In some examples, after removing the output vial and the vial connector from the input vial, robot 106 may cap the input vial with the cap. In some examples, capping the input 23Attorney Docket No.: 200027-080800vial with the cap may include placing the cap onto the opening of the input vial, inserting the cap into the opening of the input vial based on torque sensing feedback (e.g., stopping the insertion when a threshold torque is sensed).

[0083] At step 1410 one or more of the systems described herein may place, using the at least one robot arm, the input vial into an input area (e.g., a vial rack) and the output vial into an output area (e.g., a vial rack). For example, robot 106 may place vial 852A into an open space in vial rack 1142, which in some examples may correspond to the original location of vial 852A.

[0084] The systems described herein may perform step 1410 in a variety of ways. In one example, before placing the input vial into the vial rack, robot 106 may affix the first barcode label to the input vial.

[0085] In some examples, placing the input vial into the vial rack may include aligning the input vial with an empty section of the vial rack, moving the input vial into the empty section, and adjusting the input vial based on torque sensing feedback from the at least one robot arm until the input vial is seated into the empty section.

[0086] In some examples, robot 106 may place the output vial into an error rack in response to an error condition, for example during any step described herein. For instance, in response to any errors in reading labels, in inserting / removing vial connectors, in transferring content, etc., robot 106 may place the output vial into the error rack. In some implementations, the error rack may correspond to the original rack and / or location for the output vial. In other implementations, the error rack may correspond to another rack holding old tubes, such that robot 106 may later retry transferring content.24Attorney Docket No.: 200027-080800

[0087] As detailed above, Drosophila is a well-established model organism for studying various aspects of biology, including genetics, development, and behavior. Because Drosophila share many genetic and developmental mechanisms with humans, Drosophila is often an ideal model for studying humans. Drosophila is relatively easy to manipulate genetically, allowing researchers to create transgenic fly lines that encode specific genes or proteins of interest, allowing the effects of these genes or proteins on the organism's behavior and development to be studied.

[0088] Human operators typically tap-and-transfer flies every month to their new food vial for strain maintenance. Automation methods for transfer often require anesthetizing the flies and pushing them to transfer them from one vial to the other. This anesthetizing method, which often involves adding CO2 to vials, may potentially change the behavior of the flies, specifically for the traits which they are observed during the experiments, adversely impacting the observations and conclusions.

[0089] The systems and methods described herein allow a streamlined process, such that smaller labs (e.g., not stock centers) may effectively maintain their strains and avoid the prohibitive cost (e.g., time and financial) of losing a strain from not being able to transfer the strains on time. With this automation solution provided herein, robot arms may be used to transfer and thus maintain efficient, reliable, accurate and high-quality specimens to carryout research without the need for a person to manually tap and transfer flies.

[0090] Several advantages of the systems and methods described herein may include no longer requiring anesthetization of flies during the transfer process, leveraging a collaborative25Attorney Docket No.: 200027-080800robotic workstation, integration of a barcode scanner for vial / tube identification, integration of a tube labeler device, providing an interactive graphical user interface, etc.

[0091] One example workflow may include the following steps. Before start of production, an operator may prepare the robotic workstation with the components including vial holder(s), cap holder(s) and rack holder corresponding to the vial size to be processed. The operator may transfer the rack (e.g., "Full Vials Rack" or old rack 242B) containing Drosophila from an incubation area to the robotic workstation and placed onto an appropriate Full Vials incoming plate. The operator may also place the rack containing empty vials (e.g., "Empty Vials Rack" or new rack 242A) onto an appropriate Empty Vials incoming plate.

[0092] The robot (e.g., arm 206A and / or 206B) may retrieve a new, empty vial from the Empty Vials Rack and place it in position for operation inside a vial holder (e.g., rigid vial holder 222A and / or rigid vial holder 222B). The robot may then remove the plastic or cotton cap, which may be saved for later use (e.g., into cap holder 226A and / or 226B). Once the new vial is prepared, the robot may grasp a vial containing Drosophila from the Full Vials Rack and present it in front of the barcode reader (e.g., reader 244) for vial identification. After identification of the tube, a request of printing a new label may be sent to the labeler (e.g., printer 246).

[0093] The robot may tap the fruit fly vial on benchtop repeatedly to prevent flies from escaping after the vial is opened. While tapping, the second arm of the robot may apply the newly printed label to the new vial. After tapping, the robot may place the new vial on top of the old vial while removing the cap from the old vial using coordination of the robotic arms.

[0094] The robot may execute a coordinated motion path to transfer fruit flies between vials. The robot may cap the vial contain flies using the previously saved cotton cap and 26Attorney Docket No.: 200027-080800may also discard the used vial through a chute (e.g., chute 248). The robot may further repeat this sequence until no vials are left on incoming racks. When all vials are transferred, the operator may remove the processed Full Vials Rack and Empty Vials Rack and replace them with new racks to repeat transfer operation as needed.

[0095] In some aspects, the techniques described herein relate to a method including: mounting, using at least one robot arm, a vial connector to an opening of a input vial; connecting, via the vial connector and using the at least one robot arm, the opening of the input vial to an opening of a output vial; agitating, using the at least one robot arm, the output vial to transfer content from the output vial to the input vial; removing, using the at least one robot arm, the output vial and the vial connector from the input vial; and placing, using the at least one robot arm, the input vial into an input area.

[0096] In some aspects, the techniques described herein relate to a method, further including: removing, using the at least one robot arm and before the mounting, a cap from the input vial; and capping, using the at least one robot arm and after removing the output vial and the vial connector from the input vial, the input vial with the cap.

[0097] In some aspects, the techniques described herein relate to a method, wherein capping the input vial with the cap includes: placing, using the at least one robot arm, the cap onto the opening of the input vial; and inserting, using the at least one robot arm, the cap into the opening of the input vial based on torque sensing feedback from the at least one robot arm.

[0098] In some aspects, the techniques described herein relate to a method, further including: reading, before the connecting, a barcode label from the output vial; printing a first27Attorney Docket No.: 200027-080800barcode label based on the read barcode; and affixing, using the at least one robot arm, the first barcode label to the input vial before placing the input vial into the vial rack.

[0099] In some aspects, the techniques described herein relate to a method, wherein agitating the output vial further includes: reorienting, using the at least one robot arm, the connected input vial and output vial such that the opening of the output vial faces downwards; and dropping, using the at least one robot arm, the connected input vial and output vial into a vial holder such that the content falls from the output vial into the input vial.

[0100] In some aspects, the techniques described herein relate to a method, further including, after removing the output vial and the vial connector from the input vial: removing, using the at least one robot arm, the vial connector from the input vial; and discarding, using the at least one robot arm, the output vial.

[0101] In some aspects, the techniques described herein relate to a method, wherein placing the input vial into the input area includes: aligning, using the at least one robot arm, the input vial with an empty section of a vial rack; moving, using the at least one robot arm, the input vial into the empty section; and adjusting, using the at least one robot arm, the input vial based on torque sensing feedback from the at least one robot arm until the input vial is seated into the empty section.

[0102] In some aspects, the techniques described herein relate to a method, further including placing, using the at least one robot arm, the output vial into an error rack in response to an error condition.

[0103] In some aspects, the techniques described herein relate to a system including: a rigid vial holder configured for a first friction grip; a vial connector configured for a second28Attorney Docket No.: 200027-080800friction grip weaker than the first friction grip; and at least one robot arm configured to: place a input vial into the rigid vial holder; mount the vial connector to an opening of the input vial, wherein the rigid vial holder holds the input vial with the first friction grip to overcome the second friction grip of the vial connector; connect, via the vial connector, the opening of the input vial to an opening of a output vial; agitate the output vial to transfer content from the output vial to the input vial; remove the output vial and the vial connector from the input vial; cap the input vial with a cap; and place the input vial into a vial rack.

[0104] In some aspects, the techniques described herein relate to a system, further including a second rigid vial holder, wherein the at least one robot arm is configured to: place the output vial in the second rigid vial holder; and connect the input vial to the opening of the output vial by removing the input vial from the rigid vial holder after mounting the vial connector to the opening of the input vial.

[0105] In some aspects, the techniques described herein relate to a system, wherein agitating the output vial further includes: removing the output vial, the vial connector, and the input vial from the second rigid vial holder; reorienting the output vial, the vial connector, and the input vial to position the input vial over the rigid vial holder; and dropping the input vial into the rigid vial holder such that the content falls from the output vial into the input vial.

[0106] In some aspects, the techniques described herein relate to a system, further including a barcode printer, and a barcode scanner, wherein the at least one robot arm is configured to: move the output vial to the barcode scanner for reading a barcode from the output vial; and affix, to the input vial before placing the input vial into the vial rack, a first barcode printed by the barcode printer based on the read barcode.29Attorney Docket No.: 200027-080800

[0107] In some aspects, the techniques described herein relate to a system, wherein the at least one robot arm is configured to, after removing the output vial and the vial connector from the input vial: remove the vial connector from the output vial; and discard the output vial.

[0108] In some aspects, the techniques described herein relate to a system, further including a waste chute, wherein the at least one robot arm is configured to discard the output vial into the waste chute.

[0109] In some aspects, the techniques described herein relate to a system, wherein the waste chute includes: a tube portion for accepting waste vials; a chamber portion, wherein the tube portion extends into the chamber portion and a radius of the chamber portion is greater than a radius of the tube portion; and one or more air nozzles on an exterior of the waste chute.

[0110] In some aspects, the techniques described herein relate to a system, wherein the at least one robot arm is configured to place the input vial into the vial rack by: aligning the input vial with an empty section of the vial rack; moving the input vial into the empty section; and adjusting the input vial based on torque sensing feedback from the at least one robot arm until the input vial is seated into the empty section.

[0111] In some aspects, the techniques described herein relate to a system, wherein the at least one robot arm includes a first robot arm and a second robot arm.

[0112] In some aspects, the techniques described herein relate to a non-transitory computer-readable medium including instructions that when executed by a processor coupled to at least one robot arm, cause the at least one robot arm to: remove a first cap from a input vial; mount a vial connector to an opening of the input vial; remove a second cap from a output vial; connecting, via the vial connector, the opening of the input vial to an opening of the output30Attorney Docket No.: 200027-080800vial; agitate the output vial to transfer content from the output vial to the input vial; remove the output vial and the vial connector from the input vial; recap the input vial with the first cap; and place the input vial into a vial rack.

[0113] In some aspects, the techniques described herein relate to a non-transitory computer-readable medium, wherein the instructions for placing the input vial into the vial rack further includes instructions that cause the at least one robot arm to: align the input vial with an empty section of the vial rack; move the input vial into the empty section; and adjust the input vial based on torque sensing feedback from the at least one robot arm until the input vial is seated into the empty section.

[0114] In some aspects, the techniques described herein relate to a non-transitory computer-readable medium, further including instructions that cause the at least one robot arm to: recap the output vial with the second cap; and discard the output vial.

[0115] As detailed above, the computing devices and systems described and / or illustrated herein broadly represent any type or form of computing device or system capable of executing computer-readable instructions, such as those contained within the memory devices described herein. In their most basic configuration, these computing device(s) may each include at least one memory device and at least one physical processor.

[0116] In some examples, the term "memory device" generally refers to any type or form of volatile or non-volatile storage device or medium capable of storing data and / or computer-readable instructions. In one example, a memory device may store, load, and / or maintain one or more of the modules described herein. Examples of memory devices include, without limitation, Random Access Memory (RAM), Read Only Memory (ROM), flash memory, 31Attorney Docket No.: 200027-080800Hard Disk Drives (HDDs), Solid-State Drives (SSDs), optical disk drives, caches, variations or combinations of one or more of the same, or any other suitable storage memory.

[0117] In some examples, the term "physical processor" generally refers to any type or form of hardware-implemented processing unit capable of interpreting and / or executing computer-readable instructions. In one example, a physical processor may access and / or modify one or more modules stored in the above-described memory device. Examples of physical processors include, without limitation, microprocessors, microcontrollers, Central Processing Units (CPUs), Field-Programmable Gate Arrays (FPGAs) that implement softcore processors, Application-Specific Integrated Circuits (ASICs), hardware accelerators, graphics processing units (GPUs), co-processors, portions of one or more of the same, variations or combinations of one or more of the same, or any other suitable physical processor.

[0118] Although described / illustrated as separate elements, the instructions described and / or illustrated herein may represent portions of a single instruction, code, program, and / or application. In addition, in certain embodiments one or more of these instructions may represent one or more software applications or programs that, when executed by a computing device, may cause the computing device to perform one or more tasks. For example, one or more of the instructions described and / or illustrated herein may represent instructions stored and configured to run on one or more of the computing devices or systems described and / or illustrated herein. One or more of these instructions may also represent all or portions of one or more special-purpose computers configured to perform one or more tasks.

[0119] In some embodiments, the term "computer-readable medium" generally refers to any form of device, carrier, or medium capable of storing or carrying computer-readable 32Attorney Docket No.: 200027-080800instructions. Examples of computer-readable media include, without limitation, transmissiontype media, such as carrier waves, and non-transitory-type media, such as magnetic-storage media (e.g., hard disk drives, tape drives, and floppy disks), optical-storage media (e.g., Compact Disks (CDs), Digital Video Disks (DVDs), and BLU-RAY disks), electronic-storage media (e.g., solid- state drives and flash media), and other distribution systems.

[0120] The process parameters and sequence of the steps described and / or illustrated herein are given by way of example only and can be varied as desired. For example, while the steps illustrated and / or described herein may be shown or discussed in a particular order, these steps do not necessarily need to be performed in the order illustrated or discussed. The various exemplary methods described and / or illustrated herein may also omit one or more of the steps described or illustrated herein or include additional steps in addition to those disclosed.

[0121] The preceding description has been provided to enable others skilled in the art to best utilize various aspects of the exemplary embodiments disclosed herein. This exemplary description is not intended to be exhaustive or to be limited to any precise form disclosed. Many modifications and variations are possible without departing from the spirit and scope of the present disclosure. The embodiments disclosed herein should be considered in all respects illustrative and not restrictive. Reference should be made to the appended claims and their equivalents in determining the scope of the present disclosure.

[0122] Unless otherwise noted, the terms "connected to" and "coupled to" (and their derivatives), as used in the specification and claims, are to be construed as permitting both direct and indirect (i.e., via other elements or components) connection. In addition, the terms "a" or 33Attorney Docket No.: 200027-080800"an," as used in the specification and claims, are to be construed as meaning "at least one of." Finally, for ease of use, the terms "including" and "having" (and their derivatives), as used in the specification and claims, are interchangeable with and have the same meaning as the word "comprising."34Attorney Docket No.: 200027-080800

Claims

WHAT IS CLAIMED IS:

1. A method comprising: mounting, using at least one robot arm, a vial connector to an opening of an input vial; connecting, via the vial connector and using the at least one robot arm, the opening of the input vial to an opening of an output vial; agitating, using the at least one robot arm, the output vial to transfer content from the output vial to the input vial; removing, using the at least one robot arm, the output vial and the vial connector from the input vial; and placing, using the at least one robot arm, the input vial into an input area.

2. The method of claim 1, further comprising: removing, using the at least one robot arm and before the mounting, a cap from the input vial; and capping, using the at least one robot arm and after removing the output vial and the vial connector from the input vial, the input vial with the cap.

3. The method of claim 2, wherein capping the input vial with the cap comprises: placing, using the at least one robot arm, the cap onto the opening of the input vial; and inserting, using the at least one robot arm, the cap into the opening of the input vial based on torque sensing feedback from the at least one robot arm.35Attorney Docket No.: 200027-0808004. The method of claim 1, further comprising: reading, before the connecting, a barcode label from the output vial; printing a first barcode label based on the read barcode; and affixing, using the at least one robot arm, the first barcode label to the input vial before placing the input vial into the input area.

5. The method of claim 1, wherein agitating the output vial further comprises: reorienting, using the at least one robot arm, the connected input vial and output vial such that the opening of the output vial faces downwards; and dropping, using the at least one robot arm, the connected input vial and output vial into a vial holder such that the content falls from the output vial into the input vial.

6. The method of claim 1, further comprising, after removing the output vial and the vial connector from the input vial: removing, using the at least one robot arm, the vial connector from the input vial; and discarding, using the at least one robot arm, the output vial.

7. The method of claim 1, wherein placing the input vial into the input area comprises: aligning, using the at least one robot arm, the input vial with an empty section of a vial rack;36Attorney Docket No.: 200027-080800moving, using the at least one robot arm, the input vial into the empty section; and adjusting, using the at least one robot arm, the input vial based on torque sensing feedback from the at least one robot arm until the input vial is seated into the empty section.

8. The method of claim 1, further comprising placing, using the at least one robot arm, the output vial into an error rack in response to an error condition.

9. A system comprising: a rigid vial holder configured for a first friction grip; a vial connector configured for a second friction grip weaker than the first friction grip; and at least one robot arm configured to: place an input vial into the rigid vial holder; mount the vial connector to an opening of the input vial, wherein the rigid vial holder holds the input vial with the first friction grip to overcome the second friction grip of the vial connector; connect, via the vial connector, the opening of the input vial to an opening of an output vial; agitate the output vial to transfer content from the output vial to the input vial; remove the output vial and the vial connector from the input vial; cap the input vial with a cap; and place the input vial into a vial rack.37Attorney Docket No.: 200027-08080010. The system of claim 9, further comprising a second rigid vial holder, wherein the at least one robot arm is configured to: place the output vial in the second rigid vial holder; and connect the input vial to the opening of the output vial by removing the input vial from the rigid vial holder after mounting the vial connector to the opening of the input vial.

11. The system of claim 10, wherein agitating the output vial further comprises: removing the output vial, the vial connector, and the input vial from the second rigid vial holder; reorienting the output vial, the vial connector, and the input vial to position the input vial over the rigid vial holder; and dropping the input vial into the rigid vial holder such that the content falls from the output vial into the input vial.

12. The system of claim 9, further comprising a barcode printer, and a barcode scanner, wherein the at least one robot arm is configured to: move the output vial to the barcode scanner for reading a barcode from the output vial; and affix, to the input vial before placing the input vial into the vial rack, a first barcode printed by the barcode printer based on the read barcode.38Attorney Docket No.: 200027-08080013. The system of claim 9, wherein the at least one robot arm is configured to, after removing the output vial and the vial connector from the input vial: remove the vial connector from the output vial; and discard the output vial.

14. The system of claim 13, further comprising a waste chute, wherein the at least one robot arm is configured to discard the output vial into the waste chute.

15. The system of claim 14, wherein the waste chute comprises: a tube portion for accepting waste vials; a chamber portion, wherein the tube portion extends out of the chamber portion and a radius of the chamber portion is greater than a radius of the tube portion; and one or more air nozzles on an exterior of the waste chute.

16. The system of claim 9, wherein the at least one robot arm is configured to place the input vial into the vial rack by: aligning the input vial with an empty section of the vial rack; moving the input vial into the empty section; and adjusting the input vial based on torque sensing feedback from the at least one robot arm until the input vial is seated into the empty section.Attorney Docket No.: 200027-08080017. The system of claim 9, wherein the at least one robot arm comprises a first robot arm and a second robot arm.

18. A non-transitory computer-readable medium comprising instructions that when executed by a processor coupled to at least one robot arm, cause the at least one robot arm to: remove a first cap from an input vial; mount a vial connector to an opening of the input vial; remove a second cap from an output vial; connecting, via the vial connector, the opening of the input vial to an opening of the output vial; agitate the output vial to transfer content from the output vial to the input vial; remove the output vial and the vial connector from the input vial; recap the input vial with the first cap; and place the input vial into a vial rack.

19. The non-transitory computer-readable medium of claim 18, wherein the instructions for placing the input vial into the vial rack further comprises instructions that cause the at least one robot arm to: align the input vial with an empty section of the vial rack; move the input vial into the empty section; and adjust the input vial based on torque sensing feedback from the at least one robot arm until the input vial is seated into the empty section.40Attorney Docket No.: 200027-08080020. The non-transitory computer-readable medium of claim 18, further comprising instructions that cause the at least one robot arm to: recap the output vial with the second cap; and discard the output vial.

21. The method of any of claims 1-8, wherein the transfer content includes one or more of an insect, a small insect, a fly, a small fly, a live fly, a live small fly, a fruit fly, a live fruit fly, an insect of the order Diptera, an insect in the family Drosophilidae, an insect in the genus Drosophila, Drosophila melanogaster, Drosophila subobscura and / or a Drosophila sechellia.

22. The system of any of claims 9-17, wherein the transfer content includes one or more of an insect, a small insect, a fly, a small fly, a live fly, a live small fly, a fruit fly, a live fruit fly, an insect of the order Diptera, an insect in the family Drosophilidae, an insect in the genus Drosophila, Drosophila melanogaster, Drosophila subobscura and / or a Drosophila sechellia.41Attorney Docket No.: 200027-080800

Images