In biotechnologischen Laboratorien ist die Qualitat der typischerweise pharmazeutischen Produkte ein wortwortlich lebenswichtiges Ziel. Die Qualitat der Zellkultivierungen wurde historisch nur durch off-line Messungen von physikalischen Prozessparametern wie pH und pO2 sichergestellt. Biologische Parameter wie die Zelldichte und -viabilitat wurden nur off-line gemessen, weil das dazu notwendige Probenmanagement hochkomplizierte Manipulationen und Analysen beinhaltet und deshalb nicht automatisiert werden konnte. Es gibt zwar mehrere automatisierte Gerate, um einem Labortechniker zu assistieren, aber kein System, welches das gesamte Probenmanagement automatisiert. In dieser Arbeit wird ein neuer Typ von Serviceroboter prasentiert, der aus einem auf einer mobilen Plattform montierten Roboterarm besteht und diese Lucke schliest.
Dieser Roboter muss eine ganze Reihe von Problemen bewaltigen: Er muss seine Position im Labor bestimmen konnen (Lokalisation), er muss eine kollisionsfreie Bahn zu den beteiligten Geraten finden konnen (Bahnplanung mit Hindernisvermeidung), er darf bei seinen Bewegungen keine Menschen gefahrden oder Laborausrustung beschadigen (Kollisionsvermeidung), er muss die zu bedienenden Gerate erkennen und ihre Position prazise messen konnen (Bildverarbeitung), er muss sie bedienen konnen (Armsteuerung), er muss Objekte greifen konnen (Greifer und Finger) und er muss sie gefugig handhaben konnen, um sie nicht zu beschadigen (Kraftregelung). Er muss autonom sein, um nur die allernotwendigste Menge an Benutzereingriffen zu benotigen, und doch durch ein Laborsteuerprogramm kontrollierbar sein, um Eingriffe zu erlauben. Schlieslich muss er einfach durch ungeschultes Personal zu warten sein. All diese Aspekte werden von dem in dieser Arbeit prasentierten neuen Robotersystem abgedeckt.

A mobile service robot for automisation of sample taking and sample management in a biotechnological pilot laboratory

The clinical and analytical laboratory has been at the forefront of the fight against the COVID-19 pandemic. This is where testing is carried out, guiding hospitalization and providing information on the spread of the disease. It is also central to the development of new medicines and the vaccines that are still being tested. Laboratories make extensive use of robotics and automation to safely improve quality and productivity at an acceptable cost.

/pdf/using-robotics-in-laboratories-during-the-covid-19-outbreak-1mg72pj4e5.pdf

Using Robotics in Laboratories During the COVID-19 Outbreak: A Review

In this paper we present the actual stage in the development of a mobile robot assistant that is going to be capable of safe cooperation with humans in a populated environment. The service robot is intended to assist users in biological and pharmaceutical laboratories by carrying out routine jobs such as filling and transportation of microplates. Relevant safety requirements are outlined and a safety concept is devised, which consists of various sensor systems such as laser scanners, thermographic components and artificial skin. An overview of the design of the mobile platform with a robotic arm is provided. Moreover, the approaches to object recognition and intuitive multimodal human-machine interaction using speech and touchpad input are described. All aspects are regarded concerning safety since the robot and humans share a common environment and interact closely.

/pdf/safe-human-robot-interaction-in-a-life-science-environment-b8t0002di6.pdf

Safe Human-Robot Interaction in a Life Science Environment

In this paper we present a technology that establishes a framework for task-oriented programming of mobile robot systems. The framework allows writing distributed control or monitoring programs for easy adoption of robots to specific tasks. It enables the programmer to send programs referred to as Roblets® to a Roblet®-server running on the robot. Contrary to other distributed system frameworks these Roblets® consist of data and code. The Roblet®-server executes the Roblets® with well-defined behaviour, even in case of malfunctions. The framework hides all network details from the programmer, so that writing programs on a local computer is similar to working directly with the remote robot. This decreases the development time of programs controlling the robots. The framework is implemented in JavaTM and tested with two service robots.

/pdf/a-flexible-framework-for-task-oriented-programming-of-2tnyubl3p0.pdf

A flexible framework for task-oriented programming of service robots

A mobile robot system was developed that is capable of automating the complete sample management in a biotechnological laboratory. The robot consists of a wheeled platform and a mounted industrial robot arm with a gripper tool attached to it. The proper interaction with the biotechnological devices is given by the use of a colour camera for object recognition, a force/torque sensor to prevent damages and laser scanners for localisation. Furthermore necessary changes to the environment of the robot are kept to a minimum. By providing a scripting language, the robot system can be easily adapted to new devices and further tasks. By the use of this autonomous robot operating distinct devices, a fully automated sample management system was established which is available day and night.

/pdf/the-use-of-a-mobile-robot-for-complete-sample-management-in-4nugrb63og.pdf

The Use of a Mobile Robot for Complete Sample Management in a Cell Culture Pilot Plant

In this paper we present a mobile robot system that is capable of automating the sample management in a biotechnological laboratory. The system consists of a mobile platform and a robot arm. It can navigate freely in the laboratory and operate standard devices needed for the sample management. The platform uses an extended Kalman filter for localization and A* algorithm for path planning on a tangent graph computed from the laboratory's map. Motion execution has been designed to be as predictable as possible to not irritate, disturb or harm human personnel. The robot arm uses color vision to detect devices and compensate for positioning errors. The parameters and tasks needed to operate the devices are specified in simple scripts to allow quick and easy adaptations to other situations.

/pdf/a-service-robot-for-automating-the-sample-management-in-32q0vxakjr.pdf

A service robot for automating the sample management in biotechnological cell cultivations

Robot Automation of Sampling and Sample Management in Pilot Scale

Mobile Manipulatoren und ihre aufgabenorientierte Programmierung

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A service robot for automating the sample management in biotechnological cell cultivations

A flexible framework for task-oriented programming of service robots

Robot Automation of Sampling and Sample Management in Pilot Scale

Mobile Manipulatoren und ihre aufgabenorientierte Programmierung