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

Torsten Scherer; Iris Poggendorf; Axel Schneider; Daniel Westhoff; Jianwei Zhang; Dirk Lütkemeyer; Jürgen Lehmann; Alois Knoll

doi:10.1109/ETFA.2003.1248725

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

Torsten Scherer, Iris Poggendorf, Axel Schneider, Daniel Westhoff, Jianwei Zhang, Dirk Lütkemeyer, Jürgen Lehmann, Alois Knoll

nformatics 6 - Chair of IRobotics, Artificial Intelligence and Real-time Systems

Research output: Contribution to journal › Conference article › peer-review

10 Scopus citations

Abstract

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.

Original language	English
Article number	1248725
Pages (from-to)	383-390
Number of pages	8
Journal	IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Volume	2
Issue number	January
DOIs	https://doi.org/10.1109/ETFA.2003.1248725
State	Published - 2003
Event	2003 IEEE Conference on Emerging Technologies and Factory Automation, ETFA 2003 - Lisbon, Portugal Duration: 16 Sep 2003 → 19 Sep 2003

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10.1109/ETFA.2003.1248725

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Scherer, T., Poggendorf, I., Schneider, A., Westhoff, D., Zhang, J., Lütkemeyer, D., Lehmann, J., & Knoll, A. (2003). A service robot for automating the sample management in biotechnological cell cultivations. IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, 2(January), 383-390. Article 1248725. https://doi.org/10.1109/ETFA.2003.1248725

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abstract = "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.",

author = "Torsten Scherer and Iris Poggendorf and Axel Schneider and Daniel Westhoff and Jianwei Zhang and Dirk L{\"u}tkemeyer and J{\"u}rgen Lehmann and Alois Knoll",

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Scherer, T, Poggendorf, I, Schneider, A, Westhoff, D, Zhang, J, Lütkemeyer, D, Lehmann, J & Knoll, A 2003, 'A service robot for automating the sample management in biotechnological cell cultivations', IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, vol. 2, no. January, 1248725, pp. 383-390. https://doi.org/10.1109/ETFA.2003.1248725

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T1 - A service robot for automating the sample management in biotechnological cell cultivations

AU - Scherer, Torsten

AU - Poggendorf, Iris

AU - Schneider, Axel

AU - Westhoff, Daniel

AU - Zhang, Jianwei

AU - Lütkemeyer, Dirk

AU - Lehmann, Jürgen

AU - Knoll, Alois

PY - 2003

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AB - 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.

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DO - 10.1109/ETFA.2003.1248725

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EP - 390

JO - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA

JF - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA

IS - January

M1 - 1248725

T2 - 2003 IEEE Conference on Emerging Technologies and Factory Automation, ETFA 2003

Y2 - 16 September 2003 through 19 September 2003

ER -

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

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