DocumentCode :
2334968
Title :
A service robot for automating the sample management in biotechnological cell cultivations
Author :
Scherer, Torsren ; Poggendorf, Iris ; Schneider, Axel ; Westhoff, Daniel ; Zhang, Jianwei ; Lütkemeyer, Dirk ; Lehmann, Jürgen ; Knoll, Aaron
Author_Institution :
Dept. of Cell Culture Technol., Bielefeld Univ., Germany
Volume :
2
fYear :
2003
fDate :
16-19 Sept. 2003
Firstpage :
383
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.
Keywords :
Kalman filters; biological techniques; biotechnology; cellular biophysics; end effectors; image colour analysis; mobile robots; motion control; path planning; robot vision; A* algorithm; biotechnological cell cultivation; color vision; extended Kalman filter; localization; mobile robot system; path planning; positioning error compensation; robot arm; sample management; service robot; tangent graph; Bioreactors; Computer science; Humans; Laboratories; Mobile robots; Navigation; Personnel; Robotics and automation; Sampling methods; Service robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Emerging Technologies and Factory Automation, 2003. Proceedings. ETFA '03. IEEE Conference
Print_ISBN :
0-7803-7937-3
Type :
conf
DOI :
10.1109/ETFA.2003.1248725
Filename :
1248725
Link To Document :
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