Abstract: Systems and methods are provided for controlling robotic movement of a tool based on one or more virtual boundaries. The system comprises a tool and a manipulator to support the tool. A control system controls operation of the manipulator and movement of the tool based on a relationship between the tool and the one or more virtual boundaries associated with a target site. The control system includes a boundary handler to determine whether the tool is in compliance with the one or more virtual boundaries or is in violation of the one or more virtual boundaries.

Abstract: A sampling system controller includes a control unit for interfacing with a collection chamber module having a plurality of sampling chambers. The control unit controls the times at which the sampling chambers acquire samples of a fluid flow and control flow rates into the sampling chambers. The timing of the sampling chambers and the flow rates may be programmed by a user and downloaded into the control unit through an interface. The control unit measures the flow rate of the fluid flow to be sampled and controls the flow rate through each sampling chambers in order to achieve a desired and known rate through the sampling chambers. The flow rates through the fluid flow and through the sampling chambers are recorded on a data module. The control unit may be equipped with a portable weather station for monitoring weather conditions and with a global positioning system for determining a geographic position of the sampling chambers. The weather and location information may be recorded on the data module.