====== Pipette tip volumetric calculation ======

This describes a technique that involves measuring the volume of fluids aspirated using this LabBot pipetting technology which involves using simple disposable 1ml Luer lock syringes and servo-driven 3 way stop cock valves with silicone tubing. 

|Figure 1 Syringe pump {{ :syringe.png?200 |}}|Figure 2 Servo valve {{ :valve.png?200 |}}|

So although the technique has more functionality than say using a multichannel pipetter (unlimited aspiration and dispensing volume, can be used with different types of pipette tips and different types of liquid handling techniques like (piezoelectric, displacement, pneumatic and peristaltic), the issue is just how does it work compared to a multichannel pipetter or even how it works with a Cavro pump using Upchurch (PTFE) tubing. 

This study demonstrates a method using a RaspberryPi based camera that is used for imaging and quantifying the volume of aspirated fluid (having a green dye in this example). The camera is positioned to the side of the deck and is used for taking photos. This functions as an Internet-of-thing tool that runs a messaging subscriber that responds to programmatically published messages through the LabAutoBox automation scheduler software. 

An example of the image processed data is shown Figure 3. 

Figure 3 Volume measurement in pipette tip {{ :347_50_airdyeair8120115newpic.png?400 |}}

 
The aspiration process follows the following steps:
  - Aspirate air 5ul
  - Aspirate sample 6ul
  - Aspirate air 3ul 

Here is a video showing the aspiration process:

{{youtube>VBb4YAIR5CY?&rel=0 | Pipette aspiration for volumetric quantification example}}


The macro used to do this is posted:
<code>
G1Z0F1000_0.5
//valve-1_1_1_1_1_1_1_1-valveinput
valve-1_1_1_1_1_1_1_1-input
//syringe 300 speed 40 acc 20
sg1e300s40a20_15
//valve-1_1_1_1_1_1_1_1-valveoutput
valve-1_1_1_1_1_1_1_1-output
sg1e305s6a3_10
//valve-1_1_1_1_1_1_1_1-valvebypass
valve-1_1_1_1_1_1_1_1-bypass
//dyeaspmodel
//dyeaspmodel
//motion 96well zh 20 row 2 F3000
G1Z0F3000
G1X228.16666666667Y183.5F5000_8
G1Z40F3000
//motion 96well zh 0 row 2 F500
G1X228.16666666667Y183.5F500
G1Z60F500_5
//valve-1_1_1_1_1_1_1_1-valveoutput
valve-1_1_1_1_1_1_1_1-output
//syringe 326 speed 6 acc 3
sg1e311s6a3_8
G1Z60F500_2
//valve-1_1_1_1_1_1_1_1-valvebypass
valve-1_1_1_1_1_1_1_1-bypass
//motion 96well zh 20 row 2 F3000
G1X228.16666666667Y183.5F3000
G1Z40F3000
//valve-1_1_1_1_1_1_1_1-valveoutput
valve-1_1_1_1_1_1_1_1-output
sg1e313s6a3_8
//valve-1_1_1_1_1_1_1_1-valvebypass
valve-1_1_1_1_1_1_1_1-bypass
//washmodel
//motion wash station zh 0 row 1 F3000
G1Z0F3000
G1X235.5Y36F3000
G1Z40F3000
//waste 2 on
wasteon
//wash 1 on
washon
G1Z40F3000_30
//wash 1 off
washoff
//waste 2 off
wasteoff
//just dry function
G1Z0F3000_2
touchdry Z20F3000ZT0T1
</code>