(Fig. predicts the cell growth curve by processing cell images, and decides the best times for passage. We have succeeded in developing a system that maintains the cultures of two HEK293A cell plates with no human intervention for 192 h. is the cell density, is the cell area that the program recognizes as being cells (Suppl. Fig. S2C), is the well area, and is a function that converts area to a pixel count. The method utilized for cell area detection is BINA as explained by MathWorks28 except for our method using the Canny algorithm in place of the Sobel algorithm for edge detection.29 Software: Growth Curve Predictor The GCP predicts cell density by fitting the logistic differential equation.30 We defined the logistic function as is the elapsed time from the initial cell count, is the growth rate, and is the maximum cell count. and are determined by minimizing the loss calculated as is the observed density at time is the quantity of passages at time is the current quantity of observations, is the quantity of observations at time is the current quantity of observations, is the initial cell density PKX1 when the number of passages is usually is the time from your last passage when the number of BINA passages is usually to 0.1, to 1 1, and to 1. The GCP applies the NelderCMead method32 to eq 3 for function minimization. One limitation of this approach is usually that it may provide a local minimum rather than the desired global minimum. To circumvent this limitation, the initial values of are sampled 50 occasions from a standard distribution ranging from 0.01 to 0.2 and from 0.1 to 2 2, respectively. If a newly sampled value for yields a smaller loss than that around the first try, are updated to the new value. Software: Robot Job Manager The robot job manager (RJM) assembles appropriate jobs from the job library according to the remaining amounts of reagents and/or labware for LabDroid to perform the appropriate operation. The RJM manages the positions of tubes and plates using a tree data structure, referred to as the supply management model (SMM). The system obtains the initial positions of reagent tubes and plates from the user as a form of SMM. The user then places tubes and plates around the robot workspace (LabDroid booth; observe Fig. 2 ). Open in a separate window Physique 2. LabDroid Maholo including peripheral gear. A birds-eye view of the LabDroid booth: (1) dual-arm robot, (2) refrigerator, (3) CO2 incubator, (4) micropipettes, (5) dust bin, (6) aspirator, (7) tip sensor, (8) 50 mL tube subrack, (9) pipette suggestions, (10) 50 mL tube main rack, (11) six-well plate rack, (12) dry bath, and (13) microscope. The RJM assembles jobs sent to LabDroid using batch design, the job library, and the SMM. The user prepares the batch design and job library, and they remain unchanged BINA during control. A batch design is an ordered list of jobs for observation or passage, and the job library is usually a list of jobs. Some jobs in a batch design may have unspecified details, such as having no source position for BINA the new plate. However, all jobs in the job library have detailed instructions. When sending jobs for observation or passage, the program uses the SMM to first search for executable jobs from the job library. It then replaces some jobs in the batch design with executable jobs in the job library. After.