Inhalt

•  
   I Thesis
•  
  Introduction
•  
   Motivation
•  
   State of the Art
•  
   About this Work
•  
   Thesis Structure
•  
   Terminology
•  
   A Note on HTTP Links
•  
   Automating a Biotechnological Laboratory
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  Biotechnology
•  
   Cells Compounds versus Single Cells
•  
   Cultivation of Mammalian Cells in Pilot Scale
•  
   Sample Management
•  
   Preliminary Task Definition
•  
   The Automation System Architecture
•  
   The Laboratory
•  
   The Sampling Device(s)
•  
   The Pipetting Device
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   The Cell Counter
•  
   The Centrifuge
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   The Fridge
•  
   Task Definition
•  
   Robot Architecture
•  
   Accurate Positioning of a Mobile Platform
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   The ``Neobotix MP-L655“ Mobile Platform
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   Localisation
•  
   Sensors
•  
   Odometry
•  
   Gyro Compass
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   Laser Scanners
•  
   Kinematics Issues
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   Dead Reckoning
•  
   Improving the Kinematic Model
•  
   Borenstein Tests
•  
   Summary
•  
  Least Squares Fit
•  
   Initial Guess
•  
   Least Squares Fit
•  
   Summary
•  
   Kalman Filter
•  
   System and Measurement Model
•  
   Predict and Update
•  
   Summary
•  
  Extended Kalman Filter
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   Simplifications
•  
   Summary
•  
   The MP-L655 Extended Kalman Filter
•  
   State Definitions
•  
   Models
•  
   Model without Acceleration
•  
  Kalman Filtering Summary
•  
   General Issues
•  
   Localisation Issues
•  
   Numerical Issues
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   Consequences
•  
   Realisation
•  
  Path-Planning
•  
   Maps
•  
   Map Design
•  
   Map Expansion
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  Graphs
•  
   Visibility Graph
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   Tangent Graph
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  Path Search
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   Arbitrary Start and Goal Points
•  
   A* Algorithm
•  
   Summary
•  
  Motion Execution
•  
   Kinematics and Motion Types
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   Neobotix Software
•  
   Tracking & Inverse Kinematics
•  
   Conclusions
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  Trajectory Generation Filter with Velocity Profiles
•  
   Velocity Profiles
•  
   Position Setpoints
•  
   Velocity Setpoints
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   Summary
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   Absolute Rotations
•  
   Absolute Translations
•  
   Relative Translations
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   Collision Avoidance
•  
   Realization & Enhancements
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   Summary
•  
  Future Work
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   Sensors
•  
   Localisation
•  
   Path-Planning
•  
   Behaviours
•  
   Experimental Results
•  
   Localisation Position
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   Absolute Verification of Localisation Position
•  
   Relative Visual Verification of Localisation Position
•  
   Summary
•  
   Advanced Robot Arm Control
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  The Robot Arm & Tool
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   The ``Mitsubishi PA-10'' Robot Arm
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   The Tool
•  
  Robot Control Software
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   The PA-Library
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   The ``Robot Control C-Library'' RCCL
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   Consequences
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   RCCL on the PA-10
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   Kinematic
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   ARCNet Interface and Protocol
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   PA-10 ARCNet Hardware
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   PA-10 Protocol
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   Joint Controllers
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   Results
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  Path Tracking Performance
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   Cartesian spiral Motion
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   Cartesian square Motion
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   Force Control
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   Summary
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   Robust Colour Vision
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  The Implemented Colour Vision System
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   Why Colour?
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   Vision Hardware
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   System Structurisation
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  Image Segmentation
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   Smart Smoothing
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   Colour Similarity
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   Fixed Colours
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   Adaptive Colours
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   Flood Fill
•  
   Object Recognition & Displacement Computation
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   Object Models
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   Model Generation
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  Model Matching
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   Displacement Model
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   Least-Squares Fit
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   Permutations
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   Iterative Displacement Compensation
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   Experiments & Results
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   Experiments
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   Basic Repeat Accuracy
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   Robot Arm Positioning Noise
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   Influence of Vision Parameters
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   Planar Marker Displacement
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   Tilted Marker Displacement
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   Centrifuge Displacement
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   Classification Error Comparison
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   Summary
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   Future Work & Applications
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   Realisation and Integration
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   Robot Command Scripts
•  
   Custom Script Language
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   Script Language Commands
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   Example
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   Robot State Automaton
•  
  Database
•  
   Database Considerations
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   InfoBase
•  
  Networking
•  
   TCP/IP Networking
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   CNETOBJ
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   Network Support for Laboratory Devices
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   CLABMSG / CLABDEV / CLABDEVD
•  
   Laboratory Devices
•  
  The Networked Robot
•  
   CROBOT / CROBOTD
•  
   robotd
•  
   Modifying/Extending the Functionality
•  
   Summary
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  Automated Sample Management Results
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   Automated Sample Management
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   The Sample Management Sequence
•  
   The Robot Actions
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   Biotechnological Results
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   Summary
•  
   Conclusions & Future Work
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   The Robot System
•  
   Roblets
•  
   Applications
•  
   Bibliography
•  
   Index
•  
   II Appendices
•  
  Mobile Platform Documentation
•  
  The ``Neobotix MP-L655“ Mobile Platform
•  
   Hardware
•  
   Software
•  
  The CAN Interface
•  
   CAN Hardware
•  
   CAN Frames
•  
   The C164 Motor Controller(s)
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   The C167 I/O Controller
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  The LMS-200 Serial Communication
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   Serial Communication Hardware Issues
•  
   Serial Communication Software Issues
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   Telegrams and Modes
•  
   Summary
•  
   mobiled
•  
  Robot Arm Documentation
•  
  The ``Mitsubishi PA-10'' Robot Arm
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   Level 1 -- The PA-10 Arm
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   Level 2 -- The PA-10 Controller
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   Level 3 -- The PA-10 Motion Control Board / PA-Library
•  
   Newer PA-10 Versions
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  The Robot Tool
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   The ``ATI Force Torque Sensor''
•  
   The ``phd Electrical Gripper''
•  
   Gripper Fingers
•  
  RCCL
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  Mathematic Computations
•  
   Transforms
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   Kinematic
•  
   Position Equations
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   Arbitrary Motions
•  
   Singularities
•  
  (Virtual) Robot Cooperation
•  
   Cooperation
•  
   Virtual Robots
•  
  Vision System Documentation
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  Vision Hardware
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   JAI M1250 Microhead Colour Camera
•  
   Matrox Meteor Framegrabber
•  
  Introduction to Computer Vision
•  
   Image Representation
•  
  Colour Spaces
•  
   RGB
•  
   YUV
•  
   HSV / HSI / HSL
•  
   Linear Image Filtering
•  
   Convolutions
•  
   Smoothing
•  
   Laplace Filter
•  
   Sobel Filter
•  
   Non-Linear Image Filtering
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   Median
•  
   Smart Smoothing
•  
   SUSAN
•  
  Segmentation
•  
   Top-Down Approaches
•  
   Bottom-Up Approaches
•  
   Feature Based Classification
•  
   Neural Networks
•  
   Fuzzy Controllers
•  
   Appearance Based Classification
•  
   Principal Component Analysis
•  
   Output Related Features
•  
   Summary
•  
  C++ Class Documentation
•  
   CINFOBASE -- Accessing the InfoBase
•  
  CNETOBJ -- Communicating over a TCP/IP network
•  
   CCHUNK
•  
   CNETOBJ
•  
  CLABDEV -- Control of Laboratory Devices
•  
   CLABMSG
•  
   CLABDEV
•  
   CLABDEVD
•  
  CROBOT -- Accessing the Mobile Robot System
•  
   CROBOT
•  
   CROBOTD
•  
   CMOBILE
•  
   Nonsense