Mobile Robot for Life Science Automation

The paper presents a control system for mobile robots in distributed life science laboratories. The system covers all technical aspects of laboratory mobile robotics. In this system: (a) to get an accurate and low-cost robot localization, a method using a StarGazer module with a number of ceiling la...

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Main Authors: Hui Liu, Norbert Stoll, Steffen Junginger, Kerstin Thurow
Format: Article
Language:English
Published: SAGE Publishing 2013-07-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/56670
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spelling doaj-0e11059525cf43d8a8beffa53d9c10a02020-11-25T03:45:17ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-07-011010.5772/5667010.5772_56670Mobile Robot for Life Science AutomationHui Liu0Norbert Stoll1Steffen Junginger2Kerstin Thurow3 Institute of Automation, University of Rostock, Germany Center for Life Science Automation, Germany Institute of Automation, University of Rostock, Germany Center for Life Science Automation, GermanyThe paper presents a control system for mobile robots in distributed life science laboratories. The system covers all technical aspects of laboratory mobile robotics. In this system: (a) to get an accurate and low-cost robot localization, a method using a StarGazer module with a number of ceiling landmarks is utilized; (b) to have an expansible communication network, a standard IEEE 802.11g wireless network is adopted and a XML-based command protocol is designed for the communication between the remote side and the robot board side; (c) to realize a function of dynamic obstacle measurement and collision avoidance, an artificial potential field method based on a Microsoft Kinect sensor is used; and (d) to determine the shortest paths for transportation tasks, a hybrid planning strategy based on a Floyd algorithm and a Genetic Algorithm (GA) is proposed. Additionally, to make the traditional GA method suitable for the laboratory robot's routing, a series of optimized works are also provided in detail. Two experiments show that the proposed system and its control strategy are effective for a complex life science laboratory.https://doi.org/10.5772/56670
collection DOAJ
language English
format Article
sources DOAJ
author Hui Liu
Norbert Stoll
Steffen Junginger
Kerstin Thurow
spellingShingle Hui Liu
Norbert Stoll
Steffen Junginger
Kerstin Thurow
Mobile Robot for Life Science Automation
International Journal of Advanced Robotic Systems
author_facet Hui Liu
Norbert Stoll
Steffen Junginger
Kerstin Thurow
author_sort Hui Liu
title Mobile Robot for Life Science Automation
title_short Mobile Robot for Life Science Automation
title_full Mobile Robot for Life Science Automation
title_fullStr Mobile Robot for Life Science Automation
title_full_unstemmed Mobile Robot for Life Science Automation
title_sort mobile robot for life science automation
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2013-07-01
description The paper presents a control system for mobile robots in distributed life science laboratories. The system covers all technical aspects of laboratory mobile robotics. In this system: (a) to get an accurate and low-cost robot localization, a method using a StarGazer module with a number of ceiling landmarks is utilized; (b) to have an expansible communication network, a standard IEEE 802.11g wireless network is adopted and a XML-based command protocol is designed for the communication between the remote side and the robot board side; (c) to realize a function of dynamic obstacle measurement and collision avoidance, an artificial potential field method based on a Microsoft Kinect sensor is used; and (d) to determine the shortest paths for transportation tasks, a hybrid planning strategy based on a Floyd algorithm and a Genetic Algorithm (GA) is proposed. Additionally, to make the traditional GA method suitable for the laboratory robot's routing, a series of optimized works are also provided in detail. Two experiments show that the proposed system and its control strategy are effective for a complex life science laboratory.
url https://doi.org/10.5772/56670
work_keys_str_mv AT huiliu mobilerobotforlifescienceautomation
AT norbertstoll mobilerobotforlifescienceautomation
AT steffenjunginger mobilerobotforlifescienceautomation
AT kerstinthurow mobilerobotforlifescienceautomation
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