Patent Publication Number: US-2022221377-A1

Title: Automated Contamination-Free Seed Sampler And Methods Of Sampling, Testing And Bulking Seeds

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 16/376,415, filed Apr. 5, 2019, which is a divisional of U.S. patent application Ser. No. 15/200,411 (now U.S. Pat. No. 10,254,200), filed Jul. 1, 2016, which is a continuation of U.S. patent application Ser. No. 14/685,033, filed Apr. 13, 2015 (now U.S. Pat. No. 9,383,291), which is a continuation of U.S. patent application Ser. No. 14/032,850, filed Sep. 20, 2013 (now U.S. Pat. No. 9,027,278), which is a continuation of U.S. patent application Ser. No. 13/210,212, filed Aug. 15, 2011 (now U.S. Pat. No. 8,539,713), which is a divisional of U.S. patent application Ser. No. 11/680,180, filed Feb. 28, 2007 (now U.S. Pat. No. 7,998,669), which claims priority to and the benefit of U.S. Provisional Application No. 60/778,830, filed Mar. 2, 2006. The disclosure of each of these applications is incorporated herein by reference in its entirety. 
    
    
     FIELD 
     This disclosure relates to systems and methods for taking samples from biological materials such as seeds. 
     BACKGROUND 
     The statements in this section merely provide background information related to the present disclosure and may not constitute prior art. 
     In plant development and improvement, genetic improvements are made in the plant, either through selective breeding or genetic manipulation, and when a desirable improvement is achieved, a commercial quantity is developed by planting and harvesting seeds over several generations. Not all seeds express the desired traits, and thus these seeds need to be culled from the population. To speed up the process of bulking up the population, statistical samples are taken and tested to cull seeds from the population that do not adequately express the desired trait. However, this statistical sampling necessarily allows some seeds without the desirable trait to remain in the population, and also can inadvertently exclude some seeds with the desirable trait from the desired population. 
     U.S. patent application Ser. No. 11/213,430 (filed Aug. 26, 2005); U.S. patent application Ser. No. 11/213,431 (filed Aug. 26, 2005); U.S. patent application Ser. No. 11/213,432 (filed Aug. 26, 2005); U.S. patent application Ser. No. 11/213,434 (filed Aug. 26, 2005); and U.S. patent application Ser. No. 11/213,435 (filed Aug. 26, 2005), which are incorporated herein by reference in their entirety, disclose apparatus and systems for the automated sampling of seeds as well as methods of sampling, testing and bulking seeds. 
     However, at least some known automated sampling and testing systems allow for various types of contamination to taint collected samples and skew results. Therefore, there exists a need for the automated sampling of seeds in a substantially contamination-free manner. 
     SUMMARY 
     The present disclosure relates to systems and methods of non-destructively sampling material from seeds. The methods are particularly adapted for automation, which permits greater sampling than was previously practical. With automated, non-destructive sampling permitted by at least some of the embodiments of this disclosure, it is possible to test every seed in the population, and cull those seeds that do not express a desired trait. This greatly speeds up the process of bulking a given seed population, and can result in an improved final population. 
     Various embodiments of the present disclosure facilitate the testing of most or all of the seeds in a population before planting, so that time and resources are not wasted in growing plants without the desired traits. Further, various embodiments allow for the automated sampling of seeds in a contamination-free manner, thereby substantially eliminating cross-over between samples. 
     In various embodiments, the present disclosure provides an automated seed sampler system that includes a milling station for removing at least a portion of seed coat material from a seed and a sampling station for extracting a sample of seed material from the seed where the seed coat has been removed. A seed transport subsystem conveys the seed between the milling station and the sampling station and a seed deposit subsystem conveys the seed from the seed transport subsystem to a selected well in a seed tray after the seed has been sampled. 
     In various other embodiments, the present disclosure provides an automated seed sampler system that includes a milling station for removing at least a portion of seed coat material from a seed and a sampling station for extracting a sample of seed material from the seed where the seed coat has been removed. A sample collection and transport subsystem captures the extracted sample in a collection tube mounted on a collection tube placement device of the sample collection and transport subsystem. Additionally, a sample deposit subsystem conveys the sample from the sample collection and transport subsystem to a selected well in a sample tray. 
     In yet other various embodiments, the present disclosure provides a method of extracting sample material from a seed for testing. The method includes loading a seed in a seed holder of an automated seed sampler system and removing at least a portion of seed coat material from the seed at a milling station of the seed sampler system. A sample of seed material is then extracted from the seed where the seed coat has been removed at a sampling station of the seed sampler system. The sampled seed is then conveyed to a selected well in a seed tray using a seed deposit subsystem of the seed sampler system. The extracted sample is coincidentally conveyed to a selected well in a sample tray using a sample deposit subsystem of the seed sampler system. The deposited sample can then be tested for at least one desired seed characteristic. 
     In still other embodiments, the present disclosure provides an automated system for sequentially removing sample material from a plurality of seeds while leaving the viability of the seeds intact. The system includes a milling station for sequentially removing at least a portion of seed coat material from each seed and a sampling station for sequentially extracting a sample of seed material from each seed where the seed coat has been removed from the respective seed. A seed transport subsystem conveys the seeds between the milling station and the sampling station and a seed deposit subsystem sequentially conveys each seed from the seed transport subsystem to a selected one of a plurality of wells in a selected one of a plurality of seed trays. The system additionally includes a sample collection and transport subsystem for sequentially capturing the extracted sample of each seed in a corresponding collection tube mounted on one of a plurality of collection tube placement devices. The system further includes a sample deposit subsystem for sequentially conveying each sample from the sample collection and transport subsystem to a selected one of a plurality of wells in a selected one of a plurality of sample trays. 
     In other embodiments of the present disclosure, a method for removing tissue samples from seeds generally includes orienting seeds in a desired orientation, transporting the oriented seeds to a sampling station, and removing tissue samples from the oriented seeds at the sampling station. 
     In other embodiments of the present disclosure, an automated method for removing a tissue sample from a seed generally includes isolating an individual seed from a plurality of seeds, orienting the isolated seed using an actuator, and removing a tissue sample from the oriented seed. Here, the actuator is configured to position the seed in a desired orientation. 
     In other embodiments of the present disclosure, a method for removing tissue samples from seeds generally includes orienting multiple seeds together in a seed transport and removing tissue samples from the oriented seeds while the oriented seeds are in the seed transport. 
     The systems and methods of this disclosure facilitate the automated, non-destructive sampling of seeds in a substantially contamination-free manner. They permit the testing and sorting of large volumes of seeds, thereby facilitating the bulking up of seed populations with desirable traits. These and other features and advantages will be in part apparent, and in part pointed out hereinafter. 
     Further areas of applicability of the present teachings will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present teachings. 
    
    
     
       DRAWINGS 
       The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present teachings in any way. 
         FIG. 1  is a perspective view of a seed sampler system in accordance with various embodiments of the present disclosure. 
         FIG. 2  is an enlarged perspective view of a seed loading station of the seed sampler system shown in  FIG. 1 , in accordance with various embodiments of the present disclosure. 
         FIG. 3  is an enlarged perspective view of a seed orientation system of the seed sampler system shown in  FIG. 1 , in accordance with various embodiments of the present disclosure. 
         FIG. 4  is a side elevation view of the seed orientation system shown in  FIG. 3 , in accordance with various embodiments of the present disclosure. 
         FIG. 5  is a perspective view of the seed orientation system shown in  FIG. 3  including a seed holder, in accordance with various embodiments of the present disclosure. 
         FIG. 6  is an enlarged perspective view of the seed holder shown in  FIG. 5 , in accordance with various embodiments of the present disclosure. 
         FIG. 7  is an enlarged side elevation view of the seed holder shown in  FIG. 6 , in accordance with various embodiments of the present disclosure. 
         FIG. 8  is a perspective view of a milling station and a seed transport subsystem of the seed sampler system shown in  FIG. 1 , in accordance with various embodiments of the present disclosure. 
         FIG. 9  is a perspective view of a sampling station of the seed sampler system shown in  FIG. 1 , in accordance with various embodiments of the present disclosure. 
         FIG. 10  is an enlarged side elevation view of the seed sampling station, shown in  FIG. 9 , during operation of the seed sampler system shown in  FIG. 1 , in accordance with various embodiments of the present disclosure. 
         FIG. 11  is a side elevation view of a liquid delivery apparatus of the seed sampling system, shown in  FIG. 1 , in a retracted position, in accordance with various embodiments of the present disclosure. 
         FIG. 12  is a side elevation view of the liquid delivery apparatus shown in  FIG. 11 , in an extended position, in accordance with various embodiments of the present disclosure. 
         FIG. 13  is a perspective view of a sample tray platform of the seed sampler system shown in  FIG. 1 , in accordance with various embodiments of the present disclosure. 
         FIG. 14  is a perspective view of a seed treatment station of the seed sampler system shown in  FIG. 1 , in accordance with various embodiments of the present disclosure. 
         FIG. 15  is a side elevation view of a seed conveyor of the seed sampler system shown in  FIG. 1 , in accordance with various embodiments of the present disclosure. 
         FIG. 16  is a perspective view of a seed tray platform of the seed sampler system shown in  FIG. 1 , in accordance with various embodiments of the present disclosure. 
         FIG. 17  is a side elevation view of a collection tube loading station of the seed sampler system shown in  FIG. 1 , in accordance with various embodiments of the present disclosure. 
         FIG. 18  is a perspective view of a collection tube preparation subsystem of the seed sampler system shown in  FIG. 1 , in accordance with various embodiments of the present disclosure. 
         FIG. 19  is a perspective view of a cleaning station of the seed sampler system shown in  FIG. 1 , in accordance with various embodiments of the present disclosure. 
     
    
    
     Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings. 
     DETAILED DESCRIPTION 
     The following description is merely exemplary in nature and is in no way intended to limit the present teachings, application, or uses. Throughout this specification, like reference numerals will be used to refer to like elements. 
       FIG. 1  illustrates an automated seed sampler system  10 , in accordance with various embodiments of the present disclosure. Generally, the seed sampler system  10  includes a seed loading station  100 , a seed orientation system  200 , a seed transport subsystem  300 , a milling station  400 , a sampling station  500 , a sample collection and transport subsystem  600 , a liquid delivery subsystem  700 , a sample deposit subsystem  800 , a seed treatment station  900  and a seed deposit subsystem  1000 . 
     The seed sampler system  10  is structured and operable to isolate a seed from a seed bin  104  of the seed loading station  100 , orient the seed at the seed orientation station  200  and transfer the seed to the milling station  400 , via the transport subsystem  300 . The seed sampler system  10  is further structured and operable to remove a portion of the seed coat material at the milling station  400 , transfer the seed to the sampling station  500 , via the seed transport subsystem  300 , where sample material is extracted from the seed at the point where the seed coat material has been removed. The seed sampler system  10  is still further structured and operable to convey the extracted sample to the sample deposit subsystem  800 , via the sample transport subsystem  700 , and deposit the extracted sample into a sample tray  14  located on the sample deposit subsystem  800 . In various embodiments, the sample material is collected in a disposable sample tube and delivered to the sample tray  14  using liquid, as described further below. Further yet, the seed sampler system  10  is structured and operable to treat, e.g., apply a protective coating to, the exposed portion of the seed at the seed treatment station  900  and convey the seed to the seed deposit subsystem  1000 , where the seed is deposited into a seed tray  18  located on a platform of the seed deposit subsystem  1000 . 
     It should be understood that the seed sampler system  10 , as shown and described herein, includes various stationary braces, beams, platforms, pedestals, stands, etc. to which various components, devices, mechanisms, systems, subsystems, assemblies and sub-assemblies described herein are coupled, connected and/or mounted. Although such braces, beams, platforms, pedestals, stands, etc. are necessary to the construction of the seed sampler system  10 , description of their placement, orientation and interconnections are not necessary for one skilled in the art to easily and fully comprehend the structure, function and operation of the seed sampler system  10 . Particularly, such braces, beams, platforms, pedestals, stands, etc. are clearly illustrated throughout the figures and, as such, their placement, orientation and interconnections are easily understood by one skilled in the art. Therefore, for simplicity, such braces, beams, platforms, pedestals, stands, etc. will be referred to herein merely as system support structures, absent further description of their placement, orientation and interconnections. 
     Referring now to  FIGS. 2 and 3 , in various embodiments, the seed loading station includes the seed bin  104  and a separating wheel  108 . The separating wheel  108  is mounted for rotation in a vertical plane such that a portion of the separating wheel  108  extends into an interior reservoir of the seed bin  104 . Another portion of the separating wheel  108  extends outside of the seed bin  104  such that a face  120  of the separating wheel  108  is positioned adjacent a seed collector  124 . The seed separating wheel  108  includes a plurality of spaced apart recessed ports  128  that extend through the face  120  and are communicatively coupled to a vacuum system (not shown) such that a vacuum can be provided at each of the recessed ports  128 . 
     To initiate operation of the seed sampler system  10 , seeds to be sampled and tested are placed in the seed bin  104  interior reservoir and a vacuum is provided to at least some of the recessed ports  128 , e.g., the recessed ports  128  in the face  120  of the portion of the separating wheel  108  extending into the interior reservoir of the seed bin  104 . The seed separating wheel  108  is then incrementally rotated, via an indexing motor  132 , such that recessed ports  128  sequentially rotate through the interior reservoir of the seed bin  104 , out of the seed bin  104 , and past seed collector  124  before re-entering the interior reservoir of the seed bin  104 . As the separating wheel incrementally rotates and the recessed ports  128  incrementally pass through the seed bin  104  interior reservoir, individual seeds are picked up and held at each recessed port  128  by the vacuum provided at the respective recessed ports  128 . As the separating wheel  108  incrementally rotates, the seeds are carried out of the seed bin  104  to the seed collector  124  where each seed is removed from the face  120  of the separating wheel  108 . After each seed is removed from the separating wheel  108 , the seed is funneled to a loading station transfer tube  136 . The seed is then passed through the loading station transfer tube  136 , via gravity, vacuum or forced air, into a seed imaging fixture  204  of the seed orientation system  200 . The loading station transfer tube  136  is sized to have an inside diameter that will only allow the seed to pass through the loading station transfer tube  136  in a longitudinal orientation. That is, the seed can only pass through the loading station transfer tube  136  in either a tip-up or tip-down orientation and the inside diameter will not allow the seed to tumble or flip as it passes through the loading station transfer tube  136 . 
     In various embodiments, the seed collector  124  includes a wiper (not shown) that physically dislodges each seed from the respective recessed port  128  as the separating wheel  108  incrementally rotates past the seed collector  124 . Thereafter, the dislodged seed passes through the loading station transfer tube  136  to the imaging fixture  204 . Alternatively, in various other embodiments, each seed can be released from respective recessed port  128  by temporarily terminating the vacuum at each individual recessed port  128  as the individual recessed port  128  is positioned adjacent the seed collector  124 . Thereafter, the dislodged seed is transferred to the imaging fixture  204 , via the loading station transfer tube  136 . In still other embodiments, each seed can be blown from the respective recessed port  128  by temporarily providing forced air at each individual recessed port  128  as the individual recessed port  128  is positioned adjacent the seed collector  124 . Thereafter, the dislodged seed is transferred to the imaging fixture  204 , via the loading station transfer tube  136 . 
     Additionally, in various embodiments the seed loading station  100  can include a bulk seed hopper  140  having a shaped surface and a vibrating feeder mechanism  144 . Large amounts of seed can be placed in the hopper  140  where the seed is funneled onto the vibrating feed mechanism  144 . The vibrating feeder mechanism  144  can be controlled to meter seeds into the seed bin  104  where the seeds are separated and transferred to the imaging fixture  204  of the seed orienting system  200 , as described above. 
     Referring now to  FIGS. 3 and 4 , the seed orientation system  200  comprises the seed imaging fixture  204 , an imaging device  208 , and a seed orienting device  212  mounted to a stationary center platform  214  of the seed sampler system  10 . The seed imaging fixture  204  includes a window  216  and an internal seed orientation area that is visible through the window  216 . The orienting device  212  includes a flipper actuator  220  operable to rotate the seed while the seed is suspended in the seed orientation area. The imaging fixture  204  is connected to an end of the loading station transfer tube  136  and the imaging device  208  is mounted to a system support structure adjacent the imaging fixture such that the imaging device  208  is positioned to view a seed suspended in the seed orientation area through the window  216 . 
     When a seed is transferred to the imaging fixture  204 , via the loading station transfer tube  136 , the seed is suspended within the seed orientation area, adjacent the window  216 , and viewed by the imaging device  208  through the window  216 . In various other embodiments, the seed is levitated within the seed orientation area using air provided through an orientation system transfer tube  224  connected to the bottom of the imaging fixture  204 , opposite the loading station transfer tube  136 . Or, in various embodiments, the seed can be physically held within the seed orientation area using any suitable mechanical holding means. 
     As the seed is suspended adjacent the window  216 , an image of the seed within the imaging fixture  204  is collected by the imaging device  208 . The imaging device  208  can be any imaging device suitable for collecting images through the window  216  of the seeds suspended within the seed orientation area. For example, in various embodiments, the imaging device  208  comprises a high speed, high resolution digital camera, such as a disruptive visual technology (DVT) machine vision camera. The image is communicated to a computer based system controller (not shown), where an orientation of the seed, i.e., tip-up or tip-down, is determined. In a various embodiments, the seed imaging device  208  additionally locates a centroid of the seed and identifies the farthest point from the centroid as the tip. 
     If the seed is determined to be tip-down, the seed is conveyed in the tip-down orientation, via the orientation system transfer tube  224 , to one of a plurality of seed holders  304 . If the seed is determined to be tip-up, the flipper actuator  220  is commanded by the system controller to rotate the seed 180° to place the seed in the tip-down orientation. For example, the flipper actuator  220  can be air-operated such that air is used to rotate the seed until the tip-down orientation is detected by the imaging device  208 . Or, the flipper actuator can be a mechanical actuator that rotates the seed held by a suitable mechanical holding device to place the seed in the tip-down orientation. Once in the tip-down orientation, the seed is conveyed in the tip-down orientation, via the orientation system transfer tube  224 , to one of the seed holders  304 . Orienting the seeds in the tip-down position minimizes the impact to the seed&#39;s viability when a sample is removed from the seed, as described below. In various embodiments, the seeds are conveyed via the orientation system transfer tube  224  utilizing gravity, i.e., the seeds fall from the imaging fixture  204 , through the transfer tube  224  and into one of the seed holders  304 . Additionally, each seed is maintained in the proper orientation, i.e., tip-down, during conveyance to the respective seed holder  304  by providing the orientation system transfer tube  224  with an inside diameter sized such that the seeds cannot rotate to the tip-up position. 
     As used herein, the system controller can be a single computer based system, or a plurality of subsystems networked together to coordinate the simultaneous operations of the seed sample system  10 , described herein. For example, the system controller can include a plurality of controller subsystems, e.g., a controller subsystem for each station described herein. Each controller subsystem could include one or more processors or microprocessors that communicate with various seed sampler system sensors, devices, mechanisms, motors, tools, etc., and are networked together with a main computer system to cooperatively operate all the stations, systems and subsystems of the seed sampler system  10 . Or alternatively, the system controller could comprise a single computer communicatively connected to all the various sensors, devices, mechanisms, motors, tools, etc., to cooperatively operate all the stations, systems and subsystems of the seed sampler system  10 . 
     The seed holders  304  are mounted to, and equally spaced around a perimeter area of, a motorized turntable  308  of the seed transport subsystem  300 . The orientation system transfer tube  224  is connected at a first end to the seed imaging fixture  204  such that a second end of the orientation system transfer tube  224  is positioned a specific distance above a perimeter portion of the turntable  308 . More particularly, the second end of the orientation system transfer tube  224  is positioned above the turntable  308  a distance sufficient to allow the seed holders  304  to pass under the orientation system transfer tube second end. However, the second end of the orientation system transfer tube  224  is also positioned above the turntable  308  such that there is only a small amount of clearance between the second end and the holders  304 . Therefore, each seed will remain in the tip-down orientation as it transitions from the orientation system transfer tube  224  to one of the seed holders  304 . 
     Referring now to  FIGS. 5, 6 and 7 , each seed holder  304  is structured and used to rigidly retain a respective seed in the tip-down orientation. Each seed holder  304  includes a pair of opposing clamp heads  312  slidingly positioned within opposing clamp pockets  316 . The opposing clamp pockets  316  are separated by a seed channel  318  laterally formed along a centerline C of the seed holder  304 . Each clamp head  312  is connected to a respective clamp piston  320  via a respective clamp shaft  324 . Each clamp piston  320  is slidingly housed within a respective longitudinal internal piston cylinder  328  of seed holder  304 . A compression spring  332  is positioned within each piston cylinder  328  between a base of the respective piston and a bottom of the respective piston cylinder  328 . Accordingly, each clamp head  312  is biased toward the centerline C of the seed holder  304 . When a seed holder  304  is in an idle state, that is, when the respective seed holder is not holding a seed or being manipulated to hold a seed, the opposing clamp heads  312  will be biased by the springs  332  to a fully extended, or deployed, position. When the clamp heads  312  are in the deployed position, a top of each respective piston  320  will extend into a respective fork passageway  336  extending laterally through the seed holder  304  on opposing sides of the seed channel  318 . 
     Each clamp head  312  is fabricated from a slightly soft, resilient material, such as neoprene, such that a seed held between the opposing clamp heads  312 , as described below, will not be damaged. 
     As described above, the seed holders  304  are mounted to, and equally spaced around a perimeter area of, the turntable  308 . Prior to, subsequent to, or substantially simultaneously with the seed orientation process described above, the turntable  308  is rotated to place an empty, i.e., absent a seed, seed holder  308  under the orientation system transfer tube  224 . More specifically, the seed channel  318  is positioned under the orientation system transfer tube  224 . When a seed holder  304  is positioned under the orientation system transfer tube  224  an automated clamp head spreader  340  is activated to spread the clamp heads  312  such that a seed can be received between the clamp heads  312 . The clamp head spreader  340  is mounted to system support structure adjacent the seed orienting device  212  and includes a pair of fork tangs  344  coupled to a fork base  348 . The clamp head spreader  340  is operable to extend the fork base  348  and tangs  344  toward the seed holder  304 . For example, the clamp head spreader  340  can be a pneumatic device operable to extend and retract the fork base  348 . Each fork tang  344  has a chamfered distal end portion and is sized to fit within the fork passageways  336 . 
     Upon activation of the clamp head spreader  340 , the fork base  348  is extended toward the seed holder  304  such that the tangs  344  are inserted into the fork passageways  336 . As each tang  344  slides into the respective fork passageway  336  the chamfered distal end portions slide between the top of each respective piston  320  and an inner wall of the fork passageway  336 . As the tangs  344  are extended further into each fork passageway  336 , the chamfer of each tang forces the respective piston  320  outward and away from the centerline C of the seed holder. Accordingly, as the pistons  320  are moved outward and away from the centerline C, the clamp heads  312  are also moved outward and away from each other and the centerline C. Thus, the clamp heads  312  are moved to a retracted position where a seed can be placed between them. 
     Once the clamp heads  312  have been retracted, a properly oriented seed can be conveyed through the orientation system transfer tube  224  and positioned in the tip-down orientation between the clamp heads  312 . In various embodiments, the seed sampler system  10  additionally includes a seed height positioning subsystem  360  for positioning the seed at a specific height within the respective seed holder  304 . The seed height positioning subsystem includes a vertical positioner  364  mounted to system support structure below the perimeter area of the turntable  308 , directly opposite the orientation system transfer tube  224 , and a datum plate actuator  368  mounted to the center platform  214  directly opposite the clamp head spreader  340 . The vertical positioner  364  includes a spring loaded plunger  372  mounted to a positioner head  376  and the datum plate actuator  368  includes a datum plate  380  mounted to a datum plate actuator head  384 . The vertical positioner  364  is operable to extend the positioner head  376  and plunger  372  toward a bottom of the turntable  308  directly opposite the seed holder centerline C. For example, the vertical positioner  364  can be a pneumatic device operable to extend and retract the plunger  372 . Similarly, the datum plate actuator  368  is operable to extend the actuator head  384  and datum plate  380  over the top of the seed holder seed channel  318 . For example, the datum plate actuator  368  can be a pneumatic device operable to extend and retract the datum plate  380 . 
     Once the seed has been positioned between the retracted clamp heads  312 , the positioner head  376  is extended upward to insert a plunger shaft  388  through a hole (not shown) in the bottom of the turntable  308  and a coaxially aligned hole (not shown) in the bottom of the seed holder seed channel  318 . Substantially simultaneously, the datum plate actuator  368  extends the actuator head  384  to position the datum plate  380  a specified distance above the seed holder  304 , directly above the hole in the bottom of the seed holder seed channel  318 . More specifically, as positioner head  376  is moved upward, the plunger shaft  388  is extended into the coaxially aligned holes and contacts the tip of the seed. The seed is then pushed upward between the clamp heads  312  until the crown of the seed contacts the datum plate  380 . The spring loaded structure of the plunger  372  allows the shaft  388  to retract within the plunger  372  when the seed crown contacts the datum plate  380  so that the seed is held in place without damaging the seed. Accordingly, the crown of the seed is located at a specific height relative to the top of the turntable  308 . 
     With the seed crown held against the datum plate  380  by the spring loaded plunger  372 , the clamp head spreader  340  is operated to retract the fork base  348  and withdraw the tangs  344  from the respective passageways  336 . Upon withdrawal of the tangs  344 , the springs  332  bias the clamp heads  312  toward the deployed position and firmly clamp the seed between the clamp heads  312 . The datum plate  380  and plunger shaft  388  are subsequently retracted leaving the seed properly positioned, or ‘loaded’, in the respective seed holder  304 . The system controller then rotates the turntable  308  to position the ‘loaded’ seed holder  304  beneath the milling station  400  and the next empty seed holder  304  beneath the seed orienting device  212 . 
     Referring now to  FIG. 8 , as described above, the seed sampler system  10  includes the seed transport subsystem  300  for conveying the seeds between individual stations of the sampler system, e.g., the seed loading station  100 , milling station  400 , sampling station  500 , etc. Generally, the seed transport subsystem  300  can be any suitable conveyance mechanism such as, for example, a belt conveyor, roller conveyor, and the like. In various embodiments, however, the transport subsystem  300  comprises the round turntable  308  that is pivotally mounted at its center for rotation. The turntable  308  is virtually divided into a plurality of sectors, with each sector containing a seed holder  304 . The number of sectors available on the turntable  308  may be even or odd with a number chosen which depends in large part on the diameter of the turntable  308 , the size of the seed holders  304  and the needs of the transport application. 
     The circular turntable  308  is pivotally mounted at its center to a shaft and bearing system  390 . In various embodiments, a shaft (not shown) of the shaft and bearing system  390  can be directly coupled to an actuating motor  392 . Alternatively, the shaft may be separate from the actuating motor  392  and driven for rotation by a suitable chain drive, pulley drive or gear drive. In various implementations, the actuating motor  392  can be a high torque stepper motor. 
     In operation, the actuating motor  392  for the turntable  308  is actuated to step forward (which can be either clockwise or counter clockwise, depending on configuration) to rotationally move the turntable  308  from station to station of the sampler system  10 . Therefore, the seed holders  304  are aligned with auxiliary devices, such as the loading station  100 , milling station  400 , sampling station  500 , etc. In this configuration, an auxiliary device can be positioned about the turntable  308  at stations which are in alignment with each position and thus have precise access to the seeds and seed holders  304 . To the extent necessary, the peripheral edges of the turntable  308  may be supported with rollers, guides, slides, or the like, to assist with smooth rotation of the turntable conveyor. 
     Referring to  FIG. 8  further, as described above, once each seed holder  304  is ‘loaded’ with a seed, the system controller rotates the turntable  308  to position the ‘loaded’ seed holder  304  beneath the milling station  400 . The milling station  400  includes at least one milling tool  404  mounted to system support structure above the perimeter area of the turntable  308 . The one or more milling tools  404  are used to remove a portion of the seed coat from each seed when the respective seed holder  304  is positioned beneath the milling station  400 . Each milling tool  404  includes a Z-axis actuator  408  operable to lower and raise at least a portion of the respective milling tool  404  along the Z-axis. Each milling tool  404  is controlled by the system controller and can be electrically, pneumatically or hydraulically operated. 
     The milling tool(s)  404  can be any suitable mechanism for removing a portion of seed coat material from each seed. For example, in various embodiments, each milling tool  404  is a rotary device including the Z-axis actuator  408  and a rotary drive  412  operationally coupled to a bit chuck  416 . Each Z-axis actuator  408  is operable to lower and raise the respective bit chuck  416  and a milling tool bit  420  held within the bit chuck  416  along the Z-axis. The milling tool bit  420  can be any instrument suitable for removing the seed coat material, such as a mill bit, drill bit, a router bit, a broach, or a scraping tool. For example, in various embodiments, the milling tool bit  420  comprises an end mill bit. Each Z-axis actuator  408  is controlled by the system controller to lower the respective Z-axis actuator  408  a specific predetermined distance. The rotary drive  412  of each rotary milling tool  404  functions to rotate, or spin, the respective bit chuck  416  and any milling tool bit  420  held within the bit chuck  416 . 
     In operation, when a seed holder  304  is positioned below a rotary milling tool  404 , the rotary drive  412  is activated to begin spinning the bit chuck  416  and milling tool bit  420 . The Z-axis actuator  408  is then commanded to lower the respective bit chuck  416  and milling tool bit  420  a specific predetermined distance. As the spinning milling tool bit  420  is lowered, it contacts the crown of the seed and removes the seed coat from at least a portion of the crown. This exposes a portion of the inner seed material that can be extracted and utilized to test and analyze the various traits of the respective seed, as described below. 
     In various embodiments, the milling station  400  comprises at least two milling tools  404  mounted to a milling station horizontal movement stage  424  that is mounted to system support structure. The milling station horizontal movement stage  424  is controlled by the system controller to position a selected one of the milling tools  404  above a seed holder  304  positioned below the milling station  400 . The selected milling tool  404  is then operated as described above to remove the seed coat from at least a portion of the respective seed crown. Subsequently, the system controller can position a second one of the milling tools  404  above a subsequent seed holder  304  positioned below the milling station  400 . The second selected milling tool  404  is then operated as described above to remove the seed coat from at least a portion of the respective seed crown. In such embodiments, the milling station  400  can additionally include at least one milling bit cleaning assembly  428  for cleaning the bit  416  of the idle, i.e., not in use, milling tool  404 . That is, while one milling tool  404  is operable to remove the seed coat from a respective seed, the bit  420  of an idle second milling tool  404  can be cleaned by a cleaning assembly  428  in preparation for the next milling operation. In various embodiments, the milling bit cleaning assemblies  428  utilize air pressure and or vacuum pressure to remove and/or collect any seed coat residue that may collect on the bits  420  of the milling tools  404 . 
     Referring now to  FIG. 9 , once the seed coat has been removed from a seed, the system controller rotates the turntable  308  to position the respective seed holder  304  beneath the sampling station  500 . The sampling station  500  includes at least one sampling tool  504  mounted to system support structure anchored to the center platform  214  above the turntable  308 . The one or more sampling tools  504  are used to remove a portion, i.e., a sample, of the exposed inner seed material when the respective seed holder  304  is positioned beneath the sampling station  500 . Each sampling tool  504  includes a Z-axis actuator  508  operable to lower and raise at least a portion of the respective sampling tool  504  along the Z-axis. Each sampling tool  504  is controlled by the system controller and can be electrically, pneumatically or hydraulically operated. 
     The sampling tool(s)  504  can be any suitable mechanism for removing a sample of the exposed inner seed material from each seed. For example, in various embodiments, each sampling tool  504  is a rotary device including the Z-axis actuator  508  and a rotary drive  512  operationally coupled to a bit chuck  516 . Each Z-axis actuator  508  is operable to lower and raise the respective bit chuck  516  and a sampling tool bit  520  held within the bit chuck  516  along the Z-axis. The sampling tool bit  520  can be any instrument having an outer diameter smaller than the circumference of the area of exposed inner seed material, and suitable for removing a sample from the exposed inner seed material, such as a drill bit, a router bit, a broach, or a coring tube. It is important that the sampling tool bit  520  be of a smaller diameter than the milling tool bit  420  to ensure that sample material is obtained from an area where the seed coat material has been removed, thereby substantially eliminating any seed coat material from contaminating the sample material collected. 
     For example, in various embodiments, the sampling tool bit  520  comprises a spade tip drill bit having an outer diameter that is smaller than an outer diameter of the milling tool bit  420 . Each Z-axis actuator  508  is controlled by the system controller to lower the respective Z-axis actuator  508  a specific predetermined distance. The rotary drive  512  of each rotary sampling tool  454  functions to rotate, or spin, the respective bit chuck  516  and any sampling tool bit  520  held within the bit chuck  516 . 
     In operation, when a seed holder  304  is positioned below a rotary sampling tool  504 , the rotary drive  512  is activated to begin spinning the bit chuck  516  and sampling tool bit  520 . The Z-axis actuator  508  is then commanded to lower the respective bit chuck  516  and sampling tool bit  520  a specific predetermined distance. As the spinning sampling tool bit  520  is lowered, it contacts the exposed inner material of the seed and cuts away a sample of the inner material. The sample is then removed, or extracted, to be tested and analyzed for various traits and/or characteristics of the respective seed, as described below. 
     In various embodiments, the sampling station  500  comprises at least two sampling tools  504  mounted to a sampling station horizontal movement stage  524  that is mounted to system support structure. The sampling station horizontal movement stage  524  is controlled by the system controller to position a selected one of the sampling tools  504  above a seed holder  304  positioned below the sampling station  500 . The selected sampling tool  504  is then operated as described above to remove the sample from the exposed inner material of the respective seed. Subsequently, the system controller can position a second one of the sampling tools  504  above a subsequent seed holder  304  positioned below the sampling station  500 . The second selected sampling tool  504  is then operated as described above to remove the sample from the exposed inner material of the respective seed. In such embodiments, the sampling station  500  can additionally include at least one sampling bit cleaning assembly  528  for cleaning the sampling bit  520  of the idle, i.e., not in use, sampling tool  504 . That is, while one sampling tool  504  is operable to remove the sample from a respective seed, the sampling bit  520  of an idle second sampling tool  504  can be cleaned by a sampling bit cleaning assembly  528  in preparation for the next sampling operation. In various embodiments, the sampling bit cleaning assemblies  528  utilize air pressure and or vacuum pressure to remove and/or collect any inner seed material residue that may collect on the sampling bits  520  of the sampling tools  504 . 
     Referring now to  FIGS. 9 and 10 , the sample collection and transport (SCT) subsystem  600  is controlled by the system controller to operate in synchronized coordination with the sampling station  500  to collect each sample as it is removed from each seed. The SCT subsystem  600  includes a motorized rotating platform  604  driven by an actuating motor (not shown) similar to the turntable  308  actuating motor  392  (shown in  FIG. 8 ). The SCT subsystem additionally includes a plurality of collection tube placement (CTP) devices  608  equally spaced around, and mounted to a perimeter area of the rotating platform  604 . Each CTP device  608  includes a pivot bar  612  having a hollow tube mount  616  mounted through a transverse bore (not shown) in the pivot bar  612 . The tube mount  616  includes a distal end  618  structured to accept a base  620  of a collection tube  624  and a proximal end  628  adapted to receive pneumatic tubing (not shown). 
     Each CTP device  608  further includes a pivot bar actuator  632  controllable by the system controller to rotate the pivot bar  612  to various positions about a longitudinal axis of the pivot bar  612 . In various embodiments, the pivot bar actuator  632  is operable to pivot the tube mount  616  between a flushing position, as illustrated in  FIG. 11 , a collection position, as illustrated in  FIG. 10 , and a load and deposit position, as illustrated in  FIGS. 13 and 17 . The CTP device  608  additionally includes a stop arm  636  connected to the pivot bar  612  and an adjustable stop  640 , e.g., a set screw, adjustably engaged with the stop arm  636 . The stop arm  636  and adjustable stop  640  pivot with the pivot bar  612  and function to accurately stop rotation of the pivot bar  612  so that the tube mount  616  is in the collection position. 
     Simultaneously with the operation of the seed loading station  100 , the milling station  400  and the sampling station  500 , the SCT subsystem  600  operates to load the collection tube  624  on the tube mounts  616  of each CTP device  608 , collect the samples in the collection tubes  624  as each sample is being removed, and deposit the collected samples in the sample trays  14 . Loading the collection tubes  624  on the tube mounts  616  and depositing the collected sample in the sample trays  14 , will be described further below with reference to  FIG. 17 , and  FIGS. 12 and 13 , respectively. The collection tubes  624  can be any container or device suitable for mounting on the tube mounts  616  and collecting the samples as described below. For example, in various embodiments, the collection tubes  624  are disposable such that each sample is collected in a clean collection tube  624 . An example of such a disposable collection tube  624  is a filtered pipette. 
     As described above, the SCT subsystem  600  is controlled by the system controller to operate in synchronized coordination with the sampling station  500  to collect each sample as it is removed from each seed. More specifically, prior to removing the sample from the seed, the system controller rotates the platform  604  to position a CTP device  608  adjacent the sampling station  500 . Particularly, a CTP device  608  is positioned adjacent the sampling station  500  such that the respective tube mount  616  is aligned with the seed held within an adjacent seed holder  304  that has been positioned below a sampling device  504 , via the controlled rotation of the turntable  308 . Prior to positioning the CTP device  608  adjacent the seed holder  304  positioned at the sampling station  500 , the SCT system  600  has loaded a collection tube  624  on the respective tube mount distal end  618  and the respective pivot bar actuator  632  has raised the collection tube  624  to a position above the collection position, e.g., the flushing position. Once the CTP device  608  is positioned adjacent the respective seed holder  304 , the pivot bar actuator  632  lowers the loaded collection tube  624  until the adjustable stop  640  contacts a stop plate  648  mounted to system support structure between the turntable  308  and the platform  604  adjacent the sampling station  500 . The adjustable stop  640  is preset, i.e., pre-adjusted, such that the rotation of the pivot bar  612  is stopped to precisely locate a tip  672  of the collection tube  624  in very close proximity to, or in contact with, the crown of the seed held in the adjacent seed holder  304 . 
     The sampling bit  620  of a sampling tool  504  is then lowered to begin removing the sample, as described above. As sampling bit  620  is lowered, a vacuum is provided at the collection tube tip  672 . The vacuum is provided via vacuum tube (not shown) connected to the proximal end  628  of the tube mount  616 . The vacuum tube is also connected to a vacuum source (not shown) such that the vacuum is through the vacuum tube, the hollow tube mount  616  and the collection tube  624 . Accordingly, as the sampling bit  620  removes the sample material, the sample is drawn into the collection tube  624 , where the sample is collected. In various embodiments, the sampling station  500  can include a positive pressure device (not shown) to assist the vacuum provided at the respective seed to collect substantially all the removed sample in the respective collection tube  624 . 
     Each collection tube includes a filter  676  that prevents the sample from being drawn into the tube mount  616  and vacuum tube. Once the sample has been collected, the pivot bar actuator  632  raises the collection tube  624  to the flush position and the respective CTP device  608  is advanced to a position adjacent the liquid delivery subsystem  700 . Consequently, another CTP device  608  and empty collection tube  624  are positioned adjacent a subsequent seed holder  304  and un-sampled seed that have been moved to the sampling station. 
     Referring now to  FIGS. 11 and 12 , the liquid delivery subsystem  700  includes a liquid injection device  704  mounted to a linear actuator  708  operable to extend and retract the liquid injection device  704  along a linear axis M. More specifically, the linear actuator  708  is operable to insert and withdraw an injection needle  712 , fastened to the liquid injection device  704 , into and out of the tip  672  of the respective collection tube  624 . When a collection tube  624  with a collected sample has been raised to the flush position and advanced to be positioned adjacent the liquid delivery subsystem  700 , the linear actuator  708  and injection needle  712  are in the retracted position, as illustrated in  FIG. 11 . The pivot bar actuator  632  and rotating platform  604  are controlled by the system controller such that when the CTP device  608  is adjacent the liquid delivery subsystem  700  and the collection tube  624  is raised to the flush position, a linear axis of the collection tube  624  is substantially coaxial with the linear axis M of the liquid injection device  704 , as shown in  FIG. 11 . 
     Once the linear axis of the collection tube  624  is positioned to be coaxial with the M axis, the linear actuator  708  extends to insert the injection needle  712  into the tip  672  of the collection tube  624 . The liquid injection device  704  is connected to an extraction fluid supply source (not shown) via a fluid port  716  coupled to a metering valve  720  of the liquid injection device  704 . Therefore, once the injection needle  712  is inserted into the collection tube tip  672 , the fluid injection device  704  injects a metered amount of extraction fluid into the collection tube  624 . The injected extraction fluid flushes, or washes, the interior sides of the collection tube  624  and creates an aqueous solution with the respective sample, herein referred to as an aqueous sample. Thus, any of the collected sample that may have gathered on the interior walls of the collection tube  624  is flushed off so that substantially all the collected sample is suspended in the resulting aqueous solution. The extraction liquid can be any liquid suitable for delivering substantially all the sample material collected within each respective collection tube  624 , without interfering with the desired analysis, e.g., chemical and genetic analysis, of the sample material. For example, in various embodiments, the extraction liquid may comprise distilled water or any suitable solvent compatible with the desired sample analysis. 
     Once the collected sample has been mixed with the extraction liquid, the linear actuator  708  retracts to withdraw the injection needle  712  from collection tube tip  672 . The system controller then advances the rotating platform  604  to position the CTP device  608  above the sample deposit subsystem  800 . The system controller additionally commands the respective pivot bar actuator  632  to position the collection tube in the load and deposit position. The load and deposit position points the tube mount  616  and mounted collection tube  624  downward to a substantially vertical orientation. 
     Referring now to  FIG. 13 , the sample deposit subsystem  800  includes a sample tray platform  804  adapted to securely retain a plurality of sample trays  14  in fixed positions and orientations. Each sample tray  14  includes a plurality of sample wells  22 , each of which are adapted for receiving a collected aqueous sample. The sample tray platform  804  is mounted to an X-Y stage  808 . The X-Y stage  808  is a two-dimensional translation mechanism, including a first translating track  812  and a second translating track  816 . The X-Y stage  808  additionally includes a first linear actuator  818  operable to bidirectionally move a first carriage (not shown) along the length of the first translating track  812 . The X-Y stage  808  further includes a second linear actuator  820  operable to bidirectionally move a second carriage (not shown) along the length of the second translating track  816 . The second translating track  816  is mounted to the first carriage and the sample tray platform  804  is mounted to the second carriage. 
     The first and second linear actuators  818  and  820  are controlled by the system controller to precisely move the sample tray platform  804  in two dimensions. More particularly, the first and second actuators  818  and  820  move the sample tray platform  804  within an X-Y coordinate system to precisely position any selected well  22  of any selected sample tray  14  at a target location beneath the CTP device  608  holding the collection tube  624  containing the collected aqueous sample. The target location is the location in the X-Y coordinate system that is directly below the collection tube tip  672  when the collection tube  624  is in the load and deposit position above the sample tray platform  804 . Thus, once the CTP device  608  is positioned above the sample tray platform  804  and the respective collection tube  624  is placed in the load and deposit position, with the tip  672  pointing at the target location, the system controller positions a selected well  22 , of a selected sample tray  14  at the target location. The aqueous sample is then deposited into the selected well  22  by providing positive pressure to the proximal end  628  of tube mount  616 . 
     As the sample trays  14  are placed on the sample tray platform  804 , a tray identification number, e.g., a bar code, for each sample tray  14  and the location of each sample tray  14  on the platform  804  is recorded. Additionally, as each aqueous solution is deposited in a well  22 , an X-Y location of the well, i.e., the target location, on the sample tray platform  804  can be recorded. The recorded tray and well positions on the sample tray platform  804  can then be compared to the X-Y locations of each deposited aqueous sample, to identify the specific aqueous sample in each well  22  of each sample tray  14 . 
     Once each aqueous sample is deposited into a selected well  22 , the system controller advances the rotating platform  604  to position a subsequent CTP device  608 , holding a collection tube  624  containing a subsequent aqueous sample, above the sample deposit subsystem  800 . Additionally, the CTP device  608  holding the used, empty collection tube  624  is advanced to a collection tube discard station  850  (shown in  FIG. 1 ) where the used collection tube  624  can be removed or ejected from the respective tube mount  616  and discarded. Referring briefly to  FIG. 1 , in various embodiments, the collection tube discard station  850  includes a collection tube removal device  854  mounted to a linear actuator  858  operable to extend and retract an automated gripper  862 . When a CTP device  608  holding a used collection tube  624  is positioned adjacent the collection tube removal device  854 , the system controller commands the linear actuator  858  to extend and gripper  862  to grasp the used collection tube  624 . The system controller then commands the linear actuator  858  to retract, thereby removing the used collection tube  624  from the respective tube mount  616 . The gripper  862  can then be commanded to release the used collection tube  624  allowing it to fall into a discard container (not shown). 
     Referring now to  FIG. 14 , in various embodiments, after a seed has had a sample extracted at the sampling station  500 , the system controller may advance the turntable  308  to position the respective seed holder  304  adjacent a seed treatment station  900 . The seed treatment station  900  includes a treatment dispenser  904  mounted to system support structure above the perimeter area of the turntable  308 . The treatment dispenser  904  includes an applicator  908  configured to apply a seed treatment such as a sealant to the exposed portion of the respective seed, i.e., the area of the seed crown where the seed coat has been removed and the sample extracted. The seed treatment can be any substance designed to enhance one or more properties of the seed or to protect the seed from bacteria or other harmful elements that could damage the seed and destroy the germination viability of the seed. For example, in various embodiments, the seed treatment is a sealant comprising a fungicide and/or polymer delivered to the seed by the treatment dispenser  904  via the applicator  908 . The applicator  908  can be any device suitable to apply the desired seed treatment to the seeds, for example, a brush, needle or nozzle. In various embodiments, the applicator  908  comprises a spray nozzle and the treatment dispenser  904  includes a fluid port  912  coupled to a metering valve  916 . In such embodiments, the treatment dispenser  904  is connected to liquid seed treatment supply source (not shown) via the fluid port  912 . Accordingly, when a seed holder  304  is positioned at the seed treatment station  900 , beneath the treatment dispenser  904 , the system controller commands the treatment dispenser  904  spray a metered amount of seed treatment on the respective seed. 
     Referring now to  FIGS. 15 and 16 , after sampling and the optional seed treatment, the system controller advances the turntable  308  until the respective seed holder  304  is positioned adjacent a second clamp head spreader  1004  of the seed deposit subsystem  1000 . The clamp head spreader  1004  is mounted to system support structure and includes a pair of fork tangs  1008  coupled to a fork base  1012 . The clamp head spreader  1004  is substantially identical in form and function as the clamp head spreader  340  described above with reference to  FIG. 5 . Accordingly, upon activation of the clamp head spreader  1004 , the fork base  1012  is extended toward the seed holder  304  such that the tangs  1008  are inserted into the fork passageways  336 . As the tangs  1008  slide into the respective fork passageways  336 , the clamp heads  312  of the respective seed holder  304  are retracted, as similarly described above. As the clamp heads  312  retract, the respective seed is allowed to fall through the coaxially aligned holes in the bottom of the seed holder seed channel  318  and the turntable  308  into a funnel  1016  of a seed conveyor  1020 . 
     The seed conveyor  1020  comprises a first tube section  1024  coupled at a first end to the funnel  1016  and to an inlet of a first venturi device  1028  at a second end. A second tube section  1032  is connected at a first end to an outlet of the first venturi device  1028  and at a second end to an inlet of a second venturi device  1036 . An outlet of the second venturi device  1036  is connected to seed dispenser  1040  that is mounted to system support structure above a seed tray platform  1044 . The first venturi device  1028  is operable to induce an air flow in the first and second tube sections  1024  and  1032  toward the seed dispenser  1040 . At the same time, the second venturi device  1036  is operable to induce an air flow toward the funnel  1016 . Thus, the air flow induced by the first venturi device  1028  will draw the seed into the first funnel  1016  and first tube section  1020 . Additionally, as the seed enters the first tube section  1024  it is propelled toward the seed dispenser  1040  by the air flow provided by the first venturi device  1028 . Subsequently, as the seed nears the seed dispenser  1040 , the seed is slowed down by the air flow provided by the second venturi device  1036  so that the seed is gently dispensed from the seed dispenser  1040 , into a seed tray  18  without damaging the seed. In various embodiments, the air flow provided by the second venturi  1036  actually stops the movement of the seed, allowing the seed to drop under gravity into a seed tray  18 . Various position sensors (not shown) can be provided on the first and second tube sections  1024  and  1032  to detect the presence of the seed, and provide input to the system controller to control operation of the seed conveyor  1020 . 
     Referring particularly to  FIG. 16 , the seed deposit subsystem  1000  additionally includes a seed tray platform  1044  adapted to securely retain a plurality of seed trays  18  in fixed positions and orientations. Each seed tray  18  includes a plurality of seed wells  26 , each of which are adapted for receiving a seed dispensed from the seed dispenser  1040 . The seed dispenser  1040  is mounted to system support structure above the seed tray platform  1044  such that seeds can be dispensed from the seed dispenser  1040  into selected seed wells  26  of selected seed trays  18 . 
     The seed tray platform  1044  is mounted to an X-Y stage  1048 . The X-Y stage  1048  is a two-dimensional translation mechanism, including a first translating track  1052  and a second translating track  1056 . The X-Y stage  1048  additionally includes a first linear actuator  1060  operable to bidirectionally move a first carriage (not shown) along the length of the first translating track  1052 . The X-Y stage  1048  further includes a second linear actuator  1064  operable to bidirectionally move a second carriage (not shown) along the length of the second translating track  1056 . The second translating track  1056  is mounted to the first carriage and the seed tray platform  1044  is mounted to the second carriage. 
     The first and second linear actuators  1060  and  1064  are controlled by the system controller to precisely move the seed tray platform  1044  in two dimensions. More particularly, the first and second actuators  1060  and  1064  move the seed tray platform  1044  within an X-Y coordinate system to precisely position any selected well  26  of any selected seed tray  18  at a target location beneath the seed dispenser  1040 . The target location is the location in the X-Y coordinate system that is directly below a tip  1068  of the seed dispenser  1040 . Once a seed holder  304  is positioned above the funnel  1016 , the system controller positions a selected well  26 , of a selected seed tray at the target location. The seed in the seed holder  304  is released into the funnel  1016  and transported to seed dispenser  1040 , as described above, and gently deposited into the selected well. 
     As the seed trays  18  are placed on the seed tray platform  1044 , a tray identification number, e.g., a bar code, for each seed tray  18  and the location of each seed tray  18  on the seed tray platform  1044  is recorded. Additionally, as each seed is deposited in a well  26 , an X-Y location of the well, i.e., the target location, on the seed tray platform  1044  can be recorded. The recorded tray and well positions on the sample tray platform  1044  can then be compared to the X-Y locations of each deposited seed, to identify the specific seed in each well  26  of each seed tray  18 . 
     As described above, each of the seed trays  18  and the sample trays  14  include a plurality of wells  26  and  22 , respectively. In various embodiments, the number and arrangement of the wells  26  in the seed trays  18  corresponds to the number and arrangement of the wells  22  in the sample trays  14 . This facilitates a one-to-one correspondence between a seed and its extracted sample. However, in some embodiments, it may be desirable to provide multiple wells  22  in the sample trays  14  for each well  26  in the seed trays  18 , for example, where multiple tests may be run on the samples, or where different samples may be taken from the same seed (e.g. samples from different depths). 
     Referring now to  FIG. 17 , in various embodiments, the seed sampler system  10  additionally includes a collection tube loading station  1100  for mounting the collection tubes  624  on the tube mounts  616  of each CTP device  608 . The tube loading station  1100  includes a hopper  1104  having a shaped surface and a vibrating feeder chute  1108  extending from an open bottom of the hopper  1104 . Large amounts of collection tubes  624  can be deposited into the hopper  1104  where the vibrating feeder chute  1108  feeds the collection tubes  624  into a vibrating bowl feeder  1112 . A gravity based feed track  1116  is connected to an outlet  1118  of the vibrating bowl feeder  1112  at a first end  1116 A. A second end of the feed track  1116  terminates at a collection tube ram device  1120 . The ram device  1120  extends orthogonally downward from the feed track second end  1116 B and includes a longitudinal lift channel  1124  extending along the length of the ram device  1120 . The ram device  1120  additionally includes a push mechanism (not shown) internal to the ram device  1120 . The push mechanism can be any mechanism operable to push a collection tube  624 , longitudinally positioned within the lift channel  1124 , out an upper end  1120 A of the ram device  1120 . For example, the push mechanism can include a linear actuator that drives a ram shaped to receive at least a portion of a collection tube  624 . 
     As the vibrating feeder bowl  1112  vibrates, collection tubes  624  migrate toward the outlet  1118  of the vibrating bowl feeder  1112 . At the outlet  1118 , the collection tubes  624  fall into the feed track first end  1116 A that is shaped to cause the collection tubes  624  fall into a tube slot (not shown) that extends the length of the feed track  1116 . More specifically, the collection tubes  624  are caused to fall tip-down into the tube slot and hang within the tube slot by a lip  620 A of the collection tube base  620  (shown in  FIG. 10 ). Gravity and vibration from the vibrating feeder bowl  1112  cause the collection tubes  624  to travel the length of the feed track  1116  and accumulate, single-file, at the feed track second end  1116 B. As the collection tubes  624  accumulate, single-file at the second end  1116  the lead collection tube  624  will be longitudinally oriented within the longitudinal lift channel. The ram device  1120  is then actuated such that the push mechanism pushes the lead collection tube  624  out the upper end  1124 A of the ram device lift channel  1124 . 
     Prior to actuating the ram device  1120 , the system controller will advance the rotating platform  604  to position a CTP device  608  above the second end  1116 B of the feed track  1116 . The system controller will further command the pivot bar actuator  632  to position the tube mount  616  in the load and deposit position, such that the tube mount distal end  618  is directly above the lift channel upper end  1124 A. Therefore, as the lead collection tube is pushed, or lifted, out of the lift channel upper end  1124 A the collection tube base  620  is pushed onto the tube mount distal end  618 . The tube mount distal end  618  is sized such that there will be a friction fit between the collection tube base  620  and the tube mount distal end  618 . Accordingly, the collection tube  624  is lifted out of the ram device  1120  and mounted on the respective tube mount. The next collection tube  624  in the feed track  1116  will then be positioned within the lift channel  1124  and a subsequent tube mount distal end  618  positioned to receive the collection tube  624 . 
     Referring now to  FIG. 18 , in various embodiments, the collection tubes  624  can comprise commercially available pipettes, referred to herein as pipettes  624 ′. In such embodiments, the pipettes  624 ′ may require a portion of the tip  672 ′ be removed to allow for proper extraction of the sample, flushing of the pipette, and depositing of the aqueous sample in the sample trays  14 . Therefore, in such embodiments, the seed sampler system  10  can include a collection tube preparation subsystem  1150  operable to cut off a portion of each pipette tip  672 ′ after each pipette  624 ′ has been mounted on a respective tube mount  616 . The collection tube preparation subsystem  1150  includes a linear actuator  1154  operable to extend and retract a base  1158 A of a cutter  1158  along a linear axis P. The linear actuator  1154  is mounted to system support structure below the rotating platform  604  such that when a newly mounted pipette  624 ′, i.e., the pipette  624 ′ has just been mounted on the respective tube mount  616 , is advanced to the collection tube preparation subsystem  1150 , the pipette tip  672 ′ is positioned within a cutting chamber  1162 . 
     The cutting chamber  1162  is formed between the cutter base  1158 A and a cutting recess  1166  formed in a head  1158 B of the cutter  1158 . As illustrated in  FIG. 18 , when the newly mounted pipette  624 ′ is advanced from the collection tube loading station  1100 , the cutter base  1158 A is in the retracted position and the tip  672 ′ is positioned within the cutting recess  1166 . Subsequently, the system controller commands the linear actuator  1154  to extend the cutter base  1158 A. The cutter  1158  includes a cutting instrument  1170 , e.g., a knife blade, fixedly coupled with, or held to, the cutter base  1158 A by a cutting instrument bracket  1174 . The cutting instrument is fixedly positioned such that when the linear actuator  1154  extends the cutter base  1158 A, the cutting instrument will sever the pipette tip  672 ′ thereby removing a portion of the tip  672 ′. 
     Referring now to  FIG. 19 , in various embodiments, after the sampled seed has been deposited in a selected well  26  of a selected seed tray  18 , the system controller advances the turntable  308  and positions the now empty seed holder  304  at a cleaning station  1200 . The cleaning station  1120  is operable to clean and remove any residual seed sample and/or seed treatment, e.g., sealant, from the respective seed holder  304  after the sampled seed has been conveyed to a seed tray  18  and before a new seed is oriented and placed in the seed holder  304 . The cleaning station comprises a roller brush  1204  and a vacuum  1208 . The vacuum  1208  is connected to a vacuum source (not shown) to provide a vacuum at vacuum nozzle  1212  positioned in close proximity to the seed holder seed channel  318  when the respective seed holder  304  is advanced to the cleaning station  1200 . The provided vacuum will remove any residual sample material and/or seed treatment that may have collected on the seed holder  304 . Additionally, the roller brush  1204  is driven, e.g., electrically or pneumatically, to rotate on or with a roller shaft  1216 . Simultaneous with providing the vacuum at the vacuum nozzle  1212 , the system controller rotates the roller brush  1204  to remove any residual sample material and/or seed treatment that may have collected on the seed holder  304 . 
     Applications 
     The present disclosure provides methods for analyzing seeds having a desired trait, marker or genotype. In one aspect of the disclosure, the analytical methods allow individual seeds to be analyzed that are present in a batch or a bulk population of seeds such that the chemical and/or genetic characteristics of the individual seeds can be determined. 
     Samples prepared by the present disclosure can be used for determining a wide variety of physical, morphological, chemical and/or genetic traits. Generally, such traits are determined by screening the samples for one or more chemical or genetic characteristics indicative of the traits. Non-limiting examples of chemical characteristics include proteins, oils, starches, fatty acids, and metabolites. Accordingly, non-limiting examples of chemical traits include protein content, starch content, oil content, determination of fatty acid profiles, determination of metabolite profiles, etc. Genetic characteristics may include, for example, genetic markers, alleles of genetic markers, genes, DNA-derived sequences, RNA-derived sequences, promoters, quantative trait loci (QTL), 5′UTR, 3′UTR, satellite markers, transgenes, mRNA, ds mRNA, transcriptional profiles and methylation patterns. 
     In some embodiments, the methods and devices of the present disclosure can be used in a breeding program to select plants or seeds having a desired trait or marker genotype. The methods of the present disclosure can be used in combination with any breeding methodology and can be used to select a single generation or to select multiple generations. The choice of breeding method depends on the mode of plant reproduction, the heritability of the trait(s) being improved, and the type of cultivar used commercially (e.g., F 1  hybrid cultivar, pureline cultivar, etc.). Selected, non-limiting approaches for breeding the plants of the present disclosure are set forth below. It is further understood that any commercial and non-commercial cultivars can be utilized in a breeding program. Factors such as, for example, emergence vigor, vegetative vigor, stress tolerance, disease resistance, branching, flowering, seed set, seed size, seed density, standability, and threshability etc., will generally dictate the choice. 
     In various embodiments, the methods of the present disclosure are used to determine the genetic characteristics of seeds in a marker-assisted breeding program. Such methods allow for improved marker-assisted breeding programs wherein nondestructive direct seed sampling can be conducted while maintaining the identity of individuals from the seed sampler to the field. As a result, the marker-assisted breeding program results in a “high-throughput” platform wherein a population of seeds having a desired trait, marker or genotype can be more effectively bulked in a shorter period of time, with less field and labor resources required. Such advantages will be more fully described below. 
     In other embodiments, the present disclosure provides a method for analyzing individual seeds within a population of seeds having genetic differences. The method comprises removing a sample comprising cells with DNA from seeds in the population without affecting the germination viability of the seeds; screening the DNA extracted from the sample for the presence or absence of at least one genetic marker; selecting seeds from the population based upon the results of the DNA screening; and cultivating plants from the selected seed. 
     As described above, the sampling systems and methods of this disclosure protect germination viability of the seeds so as to be non-destructive. Germination viability means that a predominant number of sampled seeds (i.e., greater than 50% of all sampled seeds) remain viable after sampling. In some particular embodiments, at least about 75% of sampled seeds, and in some embodiments at least about 85% of sampled seeds remain viable. It should be noted that lower rates of germination viability may be tolerable under certain circumstances or for certain applications, for example, as genotyping costs decrease with time because a greater number of seeds could be sampled for the same genotype cost. 
     In yet other embodiments, germination viability is maintained for at least about six months after sampling to ensure that the sampled seed will be viable until it reaches the field for planting. In some particular embodiments, the methods of the present disclosure further comprise treating the sampled seeds to maintain germination viability. Such treatment may generally include any means known in the art for protecting a seed from environmental conditions while in storage or transport. For example, in some embodiments, the sampled seeds may be treated with a polymer and/or a fungicide to protect the sampled seed while in storage or in transport to the field before planting. 
     In various embodiments, the samples of the present disclosure are used in a high-throughput, non-destructive method for analyzing individual seeds in a population of seeds. The method comprises removing a sample from the seed while preserving the germination viability of the seed; and screening the sample for the presence or absence of one or more characteristics indicative of a genetic or chemical trait. The method may further comprise selecting seeds from the population based on the results of the screening; and cultivating plants from the selected seed. 
     DNA may be extracted from the sample using any DNA extraction methods known to those of skill in the art which will provide sufficient DNA yield, DNA quality, and PCR response. A non-limiting example of suitable DNA-extraction methods is SDS-based extraction with centrifugation. In addition, the extracted DNA may be amplified after extraction using any amplification method known to those skilled in the art. For example, one suitable amplification method is the GenomiPhi® DNA amplification prep from Amersham Biosciences. 
     The extracted DNA is screened for the presence or absence of a suitable genetic marker. A wide variety of genetic markers are available and known to those of skill in the art. The DNA screening for the presence or absence of the genetic marker can be used for the selection of seeds in a breeding population. The screening may be used to select for QTL, alleles, or genomic regions (haplotypes). The alleles, QTL, or haplotypes to be selected for can be identified using newer techniques of molecular biology with modifications of classical breeding strategies. 
     In other various embodiments, the seed is selected based on the presence or absence of a genetic marker that is genetically linked with a QTL. Examples of QTLs which are often of interest include but are not limited to yield, lodging resistance, height, maturity, disease resistance, pest resistance, resistance to nutrient deficiency, grain composition, herbicide tolerance, fatty acid content, protein or carbohydrate metabolism, increased oil content, increased nutritional content, stress tolerance, organoleptic properties, morphological characteristics, other agronomic traits, traits for industrial uses, traits for improved consumer appeal, and a combination of traits as a multiple trait index. Alternatively, the seed can be selected based on the presence or absence of a marker that is genetically linked with a haplotype associated with a QTL. Examples of such QTL may again include, without limitation, yield, lodging resistance, height, maturity, disease resistance, pest resistance, resistance to nutrient deficiency, grain composition, herbicide tolerance, fatty acid content, protein or carbohydrate metabolism, increased oil content, increased nutritional content, stress tolerance, organoleptic properties, morphological characteristics, other agronomic traits, traits for industrial uses, traits for improved consumer appeal, and a combination of traits as a multiple trait index. 
     Selection of a breeding population could be initiated as early as the F 2  breeding level, if homozygous inbred parents are used in the initial breeding cross. An F 1  generation could also be sampled and advanced if one or more of the parents of the cross are heterozygous for the alleles or markers of interest. The breeder may screen an F 2  population to retrieve the marker genotype of every individual in the population. Initial population sizes, limited only by the number of available seeds for screening, can be adjusted to meet the desired probability of successfully identifying the desired number of individuals. See Sedcole, J. R. “Number of plants necessary to recover a trait.”  Crop Sci.  17:667-68 (1977). Accordingly, the probability of finding the desired genotype, the initial population size, and the targeted resulting population size can be modified for various breeding methodologies and inbreeding level of the sampled population. 
     The selected seeds may be bulked or kept separate depending on the breeding methodology and target. For example, when a breeder is screening an F 2  population for disease resistance, all individuals with the desired genotype may be bulked and planted in the breeding nursery. Conversely, if multiple QTL with varying effects for a trait such as grain yield are being selected from a given population, the breeder may keep individual identity preserved, going to the field to differentiate individuals with various combinations of the target QTL. 
     Several methods of preserving single seed identity can be used while transferring seed from the chipping lab to the field. Methods include, but are not limited to, transferring selected individuals to seed tape, a cassette tray, or indexing tray, transplanting with peat pots, and hand-planting from individual seed packets. Multiple cycles of selection can be utilized depending on breeding targets and genetic complexity. 
     The screening methods of the disclosure may further be used in a breeding program for introgressing a trait into a plant. Such methods comprise removing a sample comprising cells with DNA from seeds in a population, screening the DNA extracted from each seed for the presence or absence of at least one genetic marker, selecting seeds from the population based upon the results of the DNA screening; cultivating a fertile plant from the seed; and utilizing the fertile plant as either a female parent or male parent in a cross with another plant. 
     Examples of genetic screening to select seeds for trait integration include, without limitation, identification of high recurrent parent allele frequencies, tracking of transgenes of interest or screening for the absence of unwanted transgenes, selection of hybrid testing seed, and zygosity testing. 
     The identification of high recurrent pair allele frequencies via the screening methods of the present disclosure again allows for a reduced number of rows per population and an increased number of populations, or inbred lines, to be planted in a given field unit. Thus, the screening methods of the present disclosure may also effectively reduce the resources required to complete the conversion of inbred lines. 
     The methods of the present disclosure further provide quality assurance (QA) and quality control by assuring that regulated or unwanted transgenes are identified and discarded prior to planting. 
     The methods of the present disclosure may be further applied to identify hybrid seed for transgene testing. For example, in a conversion of an inbred line at the BCnF 1  stage, a breeder could effectively create a hybrid seed lot (barring gamete selection) that was 50% hemizygous for the trait of interest and 50% homozygous for the lack of the trait in order to generate hybrid seed for testing. The breeder could then screen all F 1  seeds produced in the test cross and identify and select those seeds that were hemizygous. Such method is advantageous in that inferences from the hybrid trials would represent commercial hybrid genetics with regard to trait zygosity. 
     Other applications of the screening methods of this disclosure for identifying and tracking traits of interest carry the same advantages identified above with respect to required field and labor resources. Generally, transgenic conversion programs are executed in multi-season locations which carry a much higher land and management cost structure. As such, the impact of either reducing the row needs per population or increasing the number of populations within a given field unit are significantly more dramatic on a cost basis versus temperate applications. 
     Still further, the screening methods of this disclosure may be used to improve the efficiency of the doubled haploid program through selection of desired genotypes at the haploid stage and identification of ploidy level to eliminate non-haploid seeds from being processed and advancing to the field. Both applications again result in the reduction of field resources per population and the capability to evaluate a larger number of populations within a given field unit. 
     In various embodiments, the disclosure further provides an assay for predicting embryo zygosity for a particular gene of interest (GOI). The assay predicts embryo zygosity based on the ratio of the relative copy numbers of a GOI and of an internal control (IC) gene per cell or per genome. Generally, this assay uses an IC gene that is of known zygosity, e.g., homozygous at the locus (two IC copies per diploid cell), for normalizing measurement of the GOI. The ratio of the relative copy numbers of the IC to the GOI predicts the GOI copy number in the cell. In a homozygous cell, for any given gene (or unique genetic sequence), the gene copy number is equal to the cell&#39;s ploidy level since the sequence is present at the same locus in all homologous chromosomes. When a cell is heterozygous for a particular gene, the gene copy number will be lower than the cell&#39;s ploidy level. The zygosity of a cell at any locus can thus be determined by the gene copy number in the cell. 
     In some particular embodiments, the disclosure provides an assay for predicting corn embryo zygosity. In corn seed, the endosperm tissue is triploid, whereas the embryo tissue is diploid. Endosperm that is homozygous for the IC will contain three IC copies. Endosperm GOI copy number can range from 0 (homozygous negative) to 3 (homozygous positive); and endosperm GOI copy number of 1 or 2 is found in seed heterozygous for the GOI (or hemizygous for the GOI if the GOI is a transgene). Endosperm copy number is reflective of the zygosity of the embryo: a homozygous (positive or negative) endosperm accompanies a homozygous embryo, heterozygous endosperm (whether a GOI copy number of 1 or 2) reflects a heterozygous (GOI copy number of 1) embryo. The endosperm GOI copy number (which can range from 0 to 3 copies) can be determined from the ratio of endosperm IC copy number to endosperm GOI copy number (which can range from 0/3 to 3/3, that is, from 0 to 1), which can then be used to predict zygosity of the embryo. 
     Copy numbers of the GOI or of the IC can be determined by any convenient assay technique for quantification of copy numbers, as is known in the art. Examples of suitable assays include, but are not limited to, Real Time (TaqMan®) PCR (Applied Biosystems, Foster City, Calif.) and Invader® (Third Wave Technologies, Madison, Wis.) assays. Preferably, such assays are developed in such a way that the amplification efficiency of both the IC and GOI sequences are equal or very similar. For example, in a Real Time TaqMan® PCR assay, the signal from a single-copy GOI (the source cell is determined to be heterozygous for the GOI) will be detected one amplification cycle later than the signal from a two-copy IC, because the amount of the GOI is half that of the IC. For the same heterozygous sample, an Invader® assay would measure a GOI/IC ratio of about 1:2 or 0.5. For a sample that is homozygous for both the GOI and the IC, the GOI signal would be detected at the same time as the IC signal (TaqMan®), and the Invader assay would measure a GOI/IC ratio of about 2:2 or 1. 
     These guidelines apply to any polyploid cell, or to haploid cells (such as pollen cells), since the copy number of the GOI or of the IC remain proportional to the genome copy number (or ploidy level) of the cell. Thus, these zygosity assays can be performed on triploid tissues such as corn endosperm. 
     The description herein is merely exemplary in nature and, thus, variations that do not depart from the gist of that which is described are intended to be within the scope of the teachings. Such variations are not to be regarded as a departure from the spirit and scope of the teachings.