Norbert Stoll’s research while affiliated with University of Rostock and other places

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Publications (142)


Figure 1. a) 3D CAD model of the vLiPDs function module (for one target container only, including a strainer on top) in a pouring process; b) 3D CAD design of the whole device; c) integrated prototype of the vLiPD during a straining process.
Figure 2. Electronics-and communication structure, here exemplary controlled via ICS.
Figure 3. Generic pouring sequence; a) x-movement to the target containers position; b) z-movement, position for liquid-level detection; c) x-movement close to the target container; d) x-and ry-movement in parallel to pour.
Figure 4. a) Form of the pour container divided into four segments; b) assignment dosing and remaining volume; c) view into tilted container segment (in x-direction) with radius (r), differential height (h(l)) and central angle (a); d) side view from tilted container segment with tilt angle (b), segments height (l max ), segments radius (r) and differential height (h(l)).
Figure 5. Draft of the simulation setting (left: start position; right: position in process) and the enlarged part of the sketch, which shows the rotation points (white marks) of this simulation.

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Automated System for Pouring and Filtration Tasks in Laboratory Applications
  • Article
  • Full-text available

May 2021

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364 Reads

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3 Citations

Chemie Ingenieur Technik

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Using established needle- and tip-based liquid-handlers partially restricts applications that require the handling of greater sample amounts, options for filtration or handling of liquids with uncommon behavior. In this paper the prototype development of a versatile liquid pouring device (vLiPD) is described, which offers complementary features to usual liquid-handling solutions. For mapping the container characteristics, a geometrical and an on 3D-CAD-model-based approach are introduced and compared. Influences by the liquids' behaviors are compensated by liquid-specific calibration factors.

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Figure 1. Typical hierarchically structured environment of the hierarchical workflow management system (HWMS).
Integrating Mobile Robots into Automated Laboratory Processes: A Suitable Workflow Management System

November 2020

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48 Reads

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4 Citations

SLAS TECHNOLOGY Translating Life Sciences Innovation

The general trend of automation is currently increasing in life science laboratories. The samples to be examined show a high diversity in their structures and composition as well as the determination methods. Complex automation lines such as those used in classic industrial automation are not a suitable solution with respect to the required flexibility of the systems due to changing application requirements. Rather, full automation requires the connection of several different subsystems, including manual process steps by the laboratory staff. This requires suitable workflow management systems that enable the planning and execution of complex process steps. The integration of mobile robots for transportation tasks is currently an important development trend for realizing full automation in life science laboratories. The article “Workflow Management System for the Integration of Mobile Robots in Future Labs of Life Sciences” presents the development and application of a hierarchical workflow management system (HWMS) as a top-level process management and control system. This concept combines the typical hierarchical automation structure with novel approaches for the integration of transportation tasks with variable degrees of automation. The aim is to create a general-purpose workflow management system that can be used in different areas of the life sciences, regardless of the specific device components and applications used.


Ubiqsense: A Personal Wearable in Ambient Parameters Monitoring based on IoT Platform

March 2020

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53 Reads

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9 Citations

In the new era of technology, healthcare protection is shifting from traditional methodologies to predictive and preventive aspects. This can be achieved by a prolonged and comprehensive effective health parameter observation. Ambient air monitoring, activity measurements or critical physiological and vital signs evaluation might be embedded in this category and construct the ambient assisted living (AAL) environment. Due to the importance of environmental parameter monitoring in health, in particular with an adverse impact on patients, children and elderly, a prolonged personalized ambient air monitoring is a crucial part in healthcare protection. In this work a suitable wearable device within IoT platform is proposed. The wearables for evaluation of the most important indicators in healthcare construct the first tier as wireless sensor network (WSN). For a sustainable monitoring, data protection and analysis, these data are transmitted to a cloud via a gateway (e.g. smartphone). In this paper, we design, implement and justify a personalized wrist-worn system for ambient air monitoring. The major focus of this work is nitrogen dioxide (NO2 ) evaluation in a realistic laboratory environment.


A Flexible and Pervasive IoT Based Healthcare Platform for Physiological and Environmental Parameters Monitoring

March 2020

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299 Reads

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137 Citations

IEEE Internet of Things Journal

The concentration in the new era of healthcare is medical Internet of things according to preventive and prediction (p2Health). In large scale and general perspective, the effective parameters from behavioral, ambient, and physiological domains as the most influencing fields of interest in healthcare, must be monitored. In personalized healthcare monitoring, wearables are playing an important role in terms of data measurement and collection. We aim at creating a configurable and adaptable platform for comprehensive parameters monitoring, according to convenient mode of wearability. Hence, we develop an innovative wrist-worn prototype for ambient monitoring, and a flexible IoT-gateway. The prototype measures the most critical parameters from ambient domain. In this platform, via IoT-gateway as an intermediate hub between wearables and IoT-server, bidirectional communication between the end-user and medics is established in real-time. In addition, physician as the real-time observer of patients are given the possibility to set up the required parameters for measurement through the IoT-gateway and activate/deactivate the sensors on the wearables. Therefore, depending on the target investigation, status of patients, requirements, and demands, medics can determine the setup parameters for measurement. Thus, the application of this platform is not limited to specific groups, but widely may be applied whether in daily routine or medical research investigation. Under the flexible IoT-gateway, the new wearables can readily be integrated and synchronized into the platform. The users are not restricted to select only one specific product but there are alternatives as well. To support the solution, experimental results are provided.


Intelligent Labware Transportation Solution for the Hierarchical Life Science Automation

January 2020

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48 Reads

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1 Citation

In life science laboratories spatially distributed automation systems are increasingly applied to process complex professional tasks of an overall workflow. The transportation-logistic fusion of interacting automation systems is so far often the job of human operators who are parallel involved in regular laboratory tasks.



Accuracy evaluation of forecasting results (Robot 1)
Transportation robot battery power forecasting based on bidirectional deep-learning method

December 2019

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37 Reads

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5 Citations

Transportation Safety and Environment

This paper proposes a data-driven hybrid model for forecasting the battery power voltage of transportation robots by combining a wavelet method and a bidirectional deep-learning technique. In the proposed model, the on-board battery power data is measured and transmitted. A WPD (wavelet packet decomposition) algorithm is employed to decompose the original collected non-stationary series into several relatively more stable subseries. For each subseries, a deep learning–based predictor – bidirectional long short-term memory (BiLSTM) – is constructed to forecast the battery power voltage from one step to three steps ahead. Two experiments verify the effectiveness and generalization ability of the proposed hybrid forecasting model, which shows the highest forecasting accuracy. The obtained forecasting results can be used to decide whether the robot can complete the given task or needs to be recharged, providing effective support for the safe use of transportation robots.




Multi-floor laboratory transportation technologies based on intelligent mobile robots

January 2019

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1,045 Reads

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13 Citations

Transportation Safety and Environment

Transportation technologies for mobile robots include indoor navigation, intelligent collision avoidance and target manipulation. This paper discusses the research process and development of these interrelated technologies. An efficient multi-floor laboratory transportation system for mobile robots developed by the group at the Center for Life Science Automation (CELISCA) is then introduced. This system is integrated with the multi-floor navigation and intelligent collision avoidance systems, as well as a labware manipulation system. A multi-floor navigation technology is proposed, comprising sub-systems for mapping and localization, path planning, door control and elevator operation. Based on human–robot interaction technology, a collision avoidance system is proposed that improves the navigation of the robots and ensures the safety of the transportation process. Grasping and placing operation technologies using the dual arms of the robots are investigated and integrated into the multi-floor transportation system. The proposed transportation system is installed on the H20 mobile robots and tested at the CELISCA laboratory. The results show that the proposed system can ensure the mobile robots are successful when performing multi-floor laboratory transportation tasks.


Citations (85)


... Another system with a central robot was developed for cell-based medical diagnostics, which enables the fully automatic processing of sputum samples for subsequent examination using cell CT (see Fig. 2). The system has an integrated centrifuge, a liquid handling system for the realization of the dosing steps in the µL to mL range, specially developed cappers, adapted vortexers, and a filtration unit [24]. In the process, the height of the resulting cell pellets must be detected several times, which is realized using image processing methods [25]. ...

Reference:

Strategies for automating analytical and bioanalytical laboratories
Automated System for Pouring and Filtration Tasks in Laboratory Applications

Chemie Ingenieur Technik

... In the scientific literature, several proposals have been presented related to the development of Workflow systems in the automation of business processes in different areas: patient care [9], clinical laboratory [10], imaging [7], and manufacturing industry [4]. However, although these systems are recent, most of them have been developed according to the requirements of a particular area, without being based on a standard reference model for Workflow Management Systems, only the process automation system of the manufacturing industry, based on its research and development on the WfMC standard for its engine construction. ...

Integrating Mobile Robots into Automated Laboratory Processes: A Suitable Workflow Management System

SLAS TECHNOLOGY Translating Life Sciences Innovation

... The wheelchair's motion is controlled through head movement or with a smartphone application via Bluetooth. However, many of these electric wheelchairs are not easy and comfortable to use or operate for the seated user [19]. In addition, some of these wheelchairs can be very expensive [18]. ...

Low-Cost, Flexible, and Reliable Hybrid Wheelchair Controller for Patients with Tetraplegia
  • Citing Conference Paper
  • September 2019

... Haghi and Thurow co-autored two papers [32] [33] where they emphasized the role of wearables in multiparameter monitoring, miniaturization, sensor integration and data fusion. Together with Stoll in [34]- [37] demonstrated the practical applicability of a multi-layer wearable devices. ...

Ubiqsense: A Personal Wearable in Ambient Parameters Monitoring based on IoT Platform
  • Citing Conference Paper
  • March 2020

... In addition, C#-deployed frameworks for associating and aggregating requests across trustworthy zones, as well as Ethereum and cascading blockchains, were incorporated into the system. Haghi et al. [36] developed a flexible IoT gateway and an innovative wrist-worn application for environmental monitoring. The model accumulates environmental data to determine the most crucial parameters. ...

A Flexible and Pervasive IoT Based Healthcare Platform for Physiological and Environmental Parameters Monitoring
  • Citing Article
  • March 2020

IEEE Internet of Things Journal

... The application of deep learning techniques to forecast time series is a very intensive field of research in the last decade as they have proved to be an effective solution given their capacity to automatically learn the temporal dependencies present in time series in different domains (Busseti et al., 2012;Gasparin et al., 2019;Han et al., 2019;Kotsiopoulos et al., 2021;Lara-Benítez et al., 2021;Morariu & Borangiu, 2018;Sezer et al.,2020). However, there is a lack of published research for this topic in the Industry 4.0 area (Gui & Xu, 2021;Thurow et al., 2019) and to the best of our knowledge, this work is the first to combine Industry 4.0, 5G networks and deep learning to investigate the application of deep learning models to predict in advance AGV trajectory difficulties using a new generation of AGVs where the PLC is virtualized and the communications between the AGV and PLC are deployed in a 5G network. ...

Transportation robot battery power forecasting based on bidirectional deep-learning method

Transportation Safety and Environment

... The past years have seen great developments in the degree of automation in laboratories [1]. Apart from the workflow design, the state monitoring of the sample and automation equipment becomes an inseparable part of the automated laboratories. ...

Multi-floor laboratory transportation technologies based on intelligent mobile robots

Transportation Safety and Environment

... A multi-level software system is required to schedule and to control multiple automated workflows supported by robotic systems, on measurement instrumentation as well as in interaction with human operators and mobile transportation robots [45]. The overall process with individual subprocesses-sample preparation of dust specimens including robot-assisted liquid handling and microwave digestion, the ICP-MS measurements, transportation steps as well as data processing and visualization-is managed by the high-level workflow management system [47]. The subprocesses supported by robots were controlled by the process control software "SAMI Workstation Ex 4.0" (Beckman Coulter, Krefeld, Germany) representing the middle-level software. ...

Workflow Management System for the Integration of Mobile Robots in Future Labs of Life Sciences
  • Citing Article
  • January 2019

Chemie Ingenieur Technik

... The handling of information interaction systems needs to be improved. In a nutshell, these wheelchairs are far from intelligent [2,3]. For example, most available wheelchairs are not equipped with an antilock braking system (ABS) to avoid skidding [4]. ...

Development and Testing of Intelligent Wheelchair Controller for Quadriplegic Patients
  • Citing Article
  • October 2018

... In addition, the failure of different subsystems during the process flow requires rescheduling. 5 The HWMS may not necessarily be the highest level of the workflow structure. Its combination with a higher level business process management system (BPMS) allows modeling the end-to-end processes, including all involved (manual) operator-based and automated subprocesses. ...

A new method for the indicator of dynamic scheduling in life science laboratories using artificial neural networks
  • Citing Conference Paper
  • May 2018