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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

2017

Vol. 11, No. 4

51--64

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.

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

2017

Vol. 11, No. 4

34--50

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.