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Mobile robot transportation for multiple labware with hybrid pose correction in life science laboratories

Ali M. M., Abdulla A. A., Stoll N., Thurow K.

Journal of Automation Mobile Robotics and Intelligent Systems

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2017

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Vol. 11, No. 4

51--64

EN

In automated working environments, mobile robots can be used for different purposes such as material handling, domestic services, and objects transportation. This work presents a transportation process for multiple labware with hybrid pose correction in life science laboratories using H20 mobile robots. Multiple labware and tube racks, which contain chemical and biological components, have to be transported safely between laboratories on different floors of life science environment. Therefore, an accurate approach for labware transportation is required. The H20 robot has dual arms each consisting of 6 revolute joints with 6-DOF. The problem statement of robot positioning error in front of the workstation is presented. The navigation strategy with its related systems is presented for multi-floor mobile robot transportation environment. A Stargazer module is used as a stable and low-cost mapping and localization sensor with artificial landmarks. An error management system to overcome incorrect stargazer reading problems is presented. Different strategies of pose correction for mobile robots are described. The H20 robot is equipped with sonar sensors and Kinect V2 to be used for labware manipulation and position correction. The Kinect sensor V2 with SURF algorithm (Speeded-Up Robust Features) is used to recognize and localize the target. The communication procedure between the transportation platforms is done using client-server models.

2

Integration of navigation, vision, and arm manipulation towards elevator operation for laboratory transportation system using mobile robots

Abdulla A. A., Ali M. M., Stoll N., Thurow K.

Journal of Automation Mobile Robotics and Intelligent Systems

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2017

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Vol. 11, No. 4

34--50

EN

In the automated environments, mobile robots play an important role to perform different tasks such as objects transportation and material handling. In this paper, a new method for a glassy elevator handling system based on H20 mobile robots is presented to connect distributed life science laboratories in multiple floors. Various labware and tube racks have to be transported to different workstations. Locating of elevator door, entry button detection, internal buttons recognition, robot arm manipulation, current floor estimation, and elevator door status checking are the main operations to realize a successful elevator handling system. The H20 mobile robot has dual arms where each arm consists of 6 revolute joints and a gripper. The gripper has two degrees of freedom. Different sensors have been employed with the robot to handle these operations such as Intel RealSense F200 vision sensor for entry and internal buttons detection with position estimation. A pressure sensor is used for current floor estimation inside the elevator. Also, an ultrasonic proximity distance sensor is utilized for checking the elevator door status. Different strategies including HSL color representation, adaptive binary threshold, optical character recognition, and FIR smoothing filter have been employed for the elevator operations. For pressing operation, a hand camera base and a new elevator finger model are designed. The elevator finger is resolved in a way to fit the arm gripper which is used also to manipulate the labware containers. The Kinematic solution is utilized for controlling the arms’ joints. A server/client socket architecture with TCP/IP command protocol is used for data exchange between Multi-Floor System and the H20 robot arms. Many experiments were conducted in life science laboratories to validate the developed systems. Experimental results prove an efficient performance with high success rate under different lightening condition.

3

Kinematic Analysis of 6-DOF Arms for H20 Mobile Robots and Labware Manipulation for Transportation in Life Science Labs

Ali M. M., Liu H., Stoll N., Thurow K.

Journal of Automation Mobile Robotics and Intelligent Systems

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2016

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Vol. 10, No. 4

40--52

EN

This paper presents the kinematic analysis of the H20 humanoid mobile robot. The kinematic analysis for the robot arms is essential to achieve accurate grasping and placing tasks for object transportation. The H20 robot has dual arms with 6 revolute joints with 6-DOF. For each arm, the forward kinematics is derived and the closed-form solution for the inverse kinematic problem with different cases of singularities is found. A reverse decoupling mechanism method is used to solve the inverse kinematic problem analytically by viewing the arm kinematic chain in reverse order. The kinematics solution is validated using MATLAB with robotics toolbox. A decision method is used to determine the optimal solution within multiple solutions of inverse kinematic depending on the joints’ limits and minimum joints motion. The workspace analysis of the arm is found and simulated. Finally, a verification process was performed on the real H20 arms by applying blind and vision based labware manipulation strategies to achieve the transportation tasks in real life science laboratories.

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Antibacterial Activities of Some Schiff Bases Involving Thiosemicarbazide and Ketones

Shariar S. M. S., Jesmin M., Ali M. M.

International Letters of Chemistry, Physics and Astronomy

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2014

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Vol. 7

53--61

EN

Three Schiff bases derived from thiosemicarbazide and ketones (Vanillin, Benzophenone and Acetophenone) were used to study their antibacterial activities against some pathogenic bacteria by disc diffusion method. Of these, benzophenone thiosemicarbazone showed significant antibacterial activity as compared with that of Kanamycin. All these three compounds were found to possess cytotoxic effect. Minimum inhibitory concentration of these compounds was also determined.

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Antibacterial Activities of Some Transition Metal Schiff Base Complexes

Islam M.N., Shahriar S.M.S., Islam M.K., Jesmin M., Ali M.M., Khanam J.A.

International Letters of Chemistry, Physics and Astronomy

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2013

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Vol. 5

12-20

EN

A new series of four transition metal complexes of a Schiff base derived from salicylaldehyde and glycine, viz. [N-salicylidene glycinato diaqua cobalt (II) dimer] (SGCo)2, [N- salicylideneglycinato-di-aqua-nickel(ll)dimer] (SGN)2, [N-salicylideneglycinato-aqua-copper(II)] (SGC) and [N-salicylidene glycinato diaqua zinc(II) dimer] (SGZ)2 have been synthesized and characterized through a rapid, simple, and efficient methodology in excellent yield. These compounds were screened for in vitro antibacterial activities against six pathogenic bacteria, such as Shigella sonnei, Escherichia coli, Bacilus subtilis, Sarcina lutea, Staphylococcus aureus and Pseudomonas arioginosa. The antibacterial activity was determined by the disc diffusion method using DMSO as solvent. The results indicate that (SGC) compound exhibit a significant antibacterial activity, depending on the bacterial strain and (SGCo)2, (SGN)2 and (SGZ)2 compounds show a moderate sensitivity even with higher doses. All these compounds were found to possess cytotoxic effect.