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

Publications (142)

Article
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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...
Article
Full-text available
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 flexibi...
Conference Paper
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 thi...
Article
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 m...
Chapter
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.
Article
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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 o...
Article
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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 Scie...
Article
A present goal of life science automation is to network the wide range of automation systems distributed in laboratory buildings to control whole process chains. This work pursues the approach of combining mobile robots, human operators and established automation solutions in complex life science workflows. To achieve a higher level of automation,...
Chapter
This paper introduces a new multiple mobile robot management strategies for transportation tasks in automated laboratories environment. In this strategy, two aspects have been considered. First, the appropriate robot selection method which is either based on the highest charging level or based on the nearest robot to the transportation station. The...
Article
In this research paper, the development and evaluating of a smart controller for electrical powered wheelchairs are presented. The controller aimed to assist quadriplegic, paralyzed, and handicap patients who cannot use their hands to drive an electrical wheelchair by using a joystick controller. Two sub control units have been combined in one hybr...
Conference Paper
The monitoring of ambient working conditions is a crucial part in occupational medicine. In this paper a low power, adjustable and prolonged environmental monitoring device with several sensors is described. The device is designed and demonstrated by using a MLMS (Multi-Layer Multi-Sensor) concept. The entire system is centralized and sensors are d...
Article
Pressure gradient and micro-pressure wave induced by a high-speed train entering a tunnel were investigated for the parametric design of equal-transect oblique tunnel portal. A moving model experimental test was conducted to verify the computational method and mesh. The influence of three main factors (portal shape, slope value, and aperture ratio)...
Article
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 contai...
Article
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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 r...
Conference Paper
Human exposure to environmental harmful factors (e.g. air pollution and high sound levels) which are known as hazardous might cause many chronic diseases (e.g. asthma) and mental health disorders (e.g. anxiety) in particular for people who are exposed for long time. However, the use of fixed environmental stations is limited due to large required f...
Article
This study uses a three-dimensional, compressible, turbulence model to investigate the alleviation effect on tunnel aerodynamics of equal-transect ring oblique tunnel portals with different slope values. The turbulent flow around the train body is computed using the RNG κ-ε turbulence model, and a sliding mesh method is utilized to treat the relati...
Conference Paper
The monitoring of the ambient working conditions is a crucial part in occupational medicine. A wearable system for monitoring environmental conditions including physical and chemical parameters is introduced. The system operates based on an integrated and add on-board multi-layer sensors and fusion approach. It uniquely consists of only a small and...
Conference Paper
Full-text available
A head tilt controller has been used to help quadriplegics and paralyzed patient to control an electrical wheelchair by head movement instead of using the conventional joystick control. In this paper, several functions for improving the performance of the head tilt controller have been proposed. Command confirmation function has been used to remove...
Article
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In this paper, a secure elevator handling system is presented to enable a flexible movement of wheeled mobile robots among laboratories distributed in different floors. The automated handling system consists mainly of an ADAM module which has the ability to call the elevator to the robot’s current floor and to request the destination floor. The LPS...
Article
Full-text available
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 grasping and placing operation for multiple labware and tube racks in life science laboratories using the H20 mobile robots. The H20 robot has dual arms where each arm con...
Article
Full-text available
In this paper, a novel approach for collision avoidance for indoor mobile robots based on human-robot interaction is realized. The main contribution of this work is a new technique for collision avoidance by engaging the human and the robot in generating new collision-free paths. In mobile robotics, collision avoidance is critical for the success o...
Article
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Wheelchair controller design is very important for handicapped users such as quadriplegia, amputee, paralyzed and elderly. The safe use, easiness, and comfort are an important factor that can directly affect the user’s social efficiency and quality of life. In this paper, the design, implementation, and test of a new low-cost hybrid wheelchair cont...
Conference Paper
Full-text available
Wheelchair controller selection is very important for users or patients with disabilities like quadriplegia, paralyzed, amputee and elderly. The comfort, simplicity, and safe use, directly affect their social efficiency and quality of life. In this paper, the design and test of a new low-cost intelligent wheelchair controller for users with disabil...
Article
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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...
Conference Paper
In this paper, a new system is presented to manage the elevator operations. A Wi-Fi socket is established to connect with the ADAM module for calling the elevator and requesting the destination floor. This technique does not provide any feedback on the elevator’s door status or its current floor which in some situations can make the robot losing it...
Article
Modern business process management (BPM) is increasingly interesting for laboratory automation. End-to-end workflow automation and improved top-level systems integration for information technology (IT) and automation systems are especially prominent objectives. With the ISO Standard Business Process Model and Notation (BPMN) 2.X, a system-independe...
Article
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Network-on-Chip (NoC) paradigm has been proposed as an alternative bus-based schemes to achieve high performance and scalability in System-on-Chip (SoC) design. Performance analysis and evaluation of on-chip interconnect architectures are widely considered. Time latency and throughput are two very critical parameters which play vital role to improv...
Conference Paper
Over the last years, growing numbers of mobile robots have been employed for transportation tasks in indoor laboratories. In this paper, a new hybrid path planning strategy with its related systems is presented for multi-floor mobile robot transportation in life science laboratories. The presented method meets the requirements of life science labor...
Conference Paper
In service robot applications, the detection and pose calculation of the desired objects are very essential to manipulate them. This paper presents an intelligent system to realize manipulation tasks for different objects in life science laboratories. This system uses the H20 mobile robots equipped with Kinects as visual sensors to recognize the re...
Article
Full-text available
The use of intelligent wheelchair and rehabilitation robots has increased rapidly in the recent years owing to a growing number of patients experiencing paralysis, quadriplegia, amputation, and geriatric conditions. In this paper, the design and development of a powerful voice control system is proposed. It includes three modes of operational voice...
Conference Paper
In this paper, a new human feature based method is proposed for the intelligent HMRI (Human-Mobile Robot Interaction) in the indoor life science laboratories. The proposed method includes the contents as: (a) the Microsoft Kinect Sensors equipped on the mobile robots are adopted to detect the human and measure their face color images; (b) the diffe...
Conference Paper
Full-text available
Nowadays, there is a significant increase in the number of older persons in all countries of the world. This segment of society, as well as patients with quadriplegia and amputee's hands, lost the ability to use their arms to control traditional wheelchair which is controlled by Joystick. They need to use special control systems to control robotic-...
Conference Paper
a new robust method is developed for elevator operation in semi-outdoor environment for mobile robot transportation systems in life science laboratories. Elevator operation includes the entry button detection, floor button recognition, and reading of current floor information. Different techniques have been employed for the elevator operation inclu...
Article
The CSDA1OF dual-arm robot effectively automates sample preparation for the life science laboratory. Operators can design processes with the user-friendly GUI provided by SAMI Workstation EX software, without having prior experience with robotic systems.
Article
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In this paper, anew robust method is proposed for multi-floor navigation in distributed Life Science Laboratories. This method proposes a solution for many technical issues including: (a) mapping and localization with ceiling landmarks and a StarGazer module for achieving an accurate and low cost multi-floor navigation system. (b) A new method for...
Article
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Laboratories providing environmental measurements will gain on improving analysis' efficiency, robustness, and reliability by automating sample preparation for the analysis of toxic elements, such as arsenic, cadmium, mercury, and lead. Nevertheless, automating analytical sample preparation is still an unsolved challenge due to the fact that commer...
Conference Paper
Robots are widely used in life science automation due to their advantages, such as reducing manpower, ensuring uniformity and eliminating contaminations. Single-arm robots, with multiple degrees of freedom, have been used to transport labware, e.g. transporting microplates. Nowadays dual-arm robots draw much attraction due to their flexibility, but...
Article
Life science areas require specific sample pretreatment to increase the concentration of the analytes and/or to convert the analytes into an appropriate form for the detection and separation systems. Various workstations are commercially available, allowing for automated biological sample pretreatment. Nevertheless, due to the required temperature,...
Article
The use of automated systems in life science laboratories is rising in recent years. Robots play a vital role in laboratory procedures, ranging from chemical analysis to drug development. In high degrees of automation situations, such as transferring plates, adding covers to the plates or transferring bulk liquids, single-arm robots with multiple d...
Article
For a secure navigation of indoor mobile robots, several tasks have to be achieved to ensure the ability of these robots to implement manipulation tasks successfully. One of these challenges is the ability of robots to specify its location into the work environment under different conditions. Several localization methods have been implemented for d...
Conference Paper
In this paper, a new multi-floor navigating method is proposed for the intelligent mobile robot transportation in life science laboratories. The proposed method includes two technical solutions as follows: (a) a solution is presented to build a multi-floor map for the mobile robots based on the ceiling landmarks and the robot on-board StarGazer sen...
Article
People who have lost their walking and moving ability need to use a wheelchair. In cases of losing complete control of the upper and lower limbs, intelligent solutions are required to ensure the autonomy and independence of those patients. The intelligent application must be designed carefully to use the available self-controlled electrical and phy...
Article
There are numerous applications across all the spectrum of scientific areas that demand the mathematical study of signals/data. The two typical study areas of theoretical research on signal/data processing are of modeling (i.e., understanding of signal's behavior) and of analysis (i.e., evaluation of given signal for finding its association to exis...
Article
A new system named Laboratory Mobile Robot Transportation System (LMRTS) is proposed for the dynamic & complex mobile robotic transportation in life science laboratories. In this paper, three collaborative strategies of the LMRTS system are presented, including the multiple mobile robot controlling, the robot-door automated integration and the robo...
Article
An intelligent system named Laboratory Mobile Robot Transportation System (LMRTS) has been developed for the mobile robotic transportation in laboratory automation. In this paper, a new approach is presented to predict and manage the on-board battery voltages of the mobile robots for optimizing the LMRTS system. The LMRTS can select and optimize th...
Article
The unique identification of children is crucial for information technology supported vaccine delivery to the unprivileged population of third world countries. New robust image matching algorithms are required to match two ear photographs taken under nonstandard real-world conditions such as the presence of unwanted background objects in the photog...
Article
The fuzzy-membership-function-based local image descriptors are introduced as a competing alternative to widely accepted histogram-based image descriptors. The fuzzy membership descriptors are highly distinctive and, thus, facilitate an accurate image matching. This study utilizes fuzzy membership descriptors to design a method meant for image matc...
Article
This text provides several applications scenarios of introduced signals' modeling and analysis framework to solve the practical problems. Some of the challenging practical problems related to signal/data processing have been formulated in a manner that the negative free energy maximizing filtering and variational information maximizing analysis alg...
Article
Full-text available
This paper presents a fast approach to organizing arm grasping and placing manipulations for mobile robot transportation systems in life science laboratories. The approach builds a blind framework to realize the robot arm operations without integrating any other sensors or recognizing computation, but only adopting the robot's existing on-board ult...
Conference Paper
To realize visualization for Process Control Systems (PCS) in Life Science Automation (LSA), the authors developed a Control and Simulation System. As an intermediary, the system receives scheduling data of experiment workflow from the PCS via a TCP/IP socket. Based on these data, it drives the simulation software 3DCreate to realize the automated...
Conference Paper
The paper presents a new method to realize mobile robot arm grasping in indoor laboratory environments. This method adopts a blind strategy, which does not need the robot arms be mounted any kind sensors and avoid calculating the complex kinematic equations of the arms. The method includes: (a) two robot on-board ultrasonic sensors in base are util...
Article
Full-text available
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 com...