Abstract: An order fulfillment system is disclosed including a storage structure and mobile robots capable of moving vertically and horizontally within the storage structure to transfer product totes to and from storage locations within the storage structure. The mobile robots may move along a track system including horizontal rails for horizontal travel of the mobile robot and vertical towers for vertical travel of the mobile robot. The vertical towers include two opposed pairs of tracks having U-shaped slots. The order fulfillment system may further comprise a mobile robot configured to travel vertically and horizontally along the track system to transfer product containers to and from the storage locations in the storage structure, and horizontally about a horizontal deck spanning the storage aisles. The mobile robot includes four wheel assemblies, each assembly including a pair of wheels mounted on ends of a climbing link.

Abstract: A storage cassette including a plurality of generally vertical compartments for storing sample tube racks and/or SBS formatted plates is constructed to be flexible along its substantially vertical axis thereby facilitating reliable robotic placement and retrieval of the cassette from nesting tubes located within a horizontal freezer compartment. Insulated walls and solid shelves minimize heat transfer from storage racks or plates placed in the storage cassette when the cassette is removed from an ultra-low temperature or cryogenic freezer. The outer walls of the cassette includes mechanical indexing locations to ensure appropriate positioning when robotically removing storage racks or plates from the cassette.

Abstract: A tube picking mechanism is designed for use in an automated, ultra-low temperature (e.g. ?80° C. or ?135° C.) or cryogenic (e.g., about ?140° C. to ?196° C.) storage and retrieval system that stores biological or chemical samples. The samples are contained in storage tubes held in SBS footprint storage racks that are normally stored within an ultra-low temperature or cryogenic freezer compartment. The tube picking mechanism includes a tube picking chamber that is maintained at about ?80° C., about ?135° C. or at cryogenic temperatures in cryogenic applications. Active electrical and mechanical components are maintained in a compartment above and separate from the refrigerated, ultra-low temperature or cryogenic compartment.

Abstract: A rack robot lifts and transfers sample tube storage racks or plates with a refrigerated enclosure maintained, e.g., at ?20° C. The samples are normally held in ultra-low temperature, e.g., ?80° C., or cryogenic freezers. From time to time, the racks or plates need to be roved from the ultra-low temperature or cryogenic freezers for processing and the rack robot transfers the racks or plates to the various processing stations within the refrigerated enclosure, such as tube picking, barcode reading, or frost removal stations.

Abstract: A manually directed, multi-channel electronic pipettor includes a software biasing mode to assure proper alignment over wells in the 96-well plate and the 384-well plate. The system also includes manual repositioning levers for nesting receptacles which are customized for 96 well-plates and 384 well-plates respectively.

Abstract: A manually directed, multi-channel electronic pipetting system is designed to transfer liquids from a standard multi-well plate, deep-well plate or reservoir into another multi-well plate. The preferred pipetting head includes an array of 96-tip fittings. A deck with at least one but preferably two or more wellplate nesting receptacles holds one or more multi-well plates or reagent reservoirs for access by an array of disposable pipette tips mounted to the pipetting head. The electronic motion control system includes a control handle that is mounted to a load cell, the carriage for the pipetting head and is held in the palm of the user. In use, the user grasps the control handle and operates the system in a manner similar to one using a handheld electronic pipettor.

Abstract: A manually directed, electronic multi-channel pipettor uses servo controlled motors to drive a carriage and pipetting head in response to a user's manipulation of a control handle. The pipetting head include an array of tip fittings, e.g. 96. The system includes a check processor to avoid unintended motion in case of system faults or crashes. The system requires substantial force to attach the array of tips, and therefore includes controls that require both of the user's hands be occupied during the tip attachment process.

Abstract: A tube picking mechanism is designed for use in an automated, ultra-low temperature (e.g., ?80° C.) storage and retrieval systems which stores biological or chemical samples. The samples are contained in storage tubes held in SBS footprint storage racks that are loaded into trays located within an ultra-low temperature freezer compartment (?80° C.). A tube picking mechanism resides in a tube picking chamber that is located adjacent the freezer compartment. The tube picking chamber is maintained at about ?20° C. when the tube picking mechanism is in operation. The tube picking mechanism includes a cache within the tube picking chamber to facilitate fast paced shuttling of the tube racks from the freezer compartment into the tube picking chamber. The shuttle has a clamping mechanism to secure a tube rack in place when a gripper head picks a tube from the rack. The system also includes a push pin that pushes on the bottom of the respective tube as it is being picked from the tube rack.

Abstract: A cassette puller for an automated storage and retrieval system that stores biological or chemical samples in freezers maintained at ultra-low temperature (e.g., ?80° C.) or cryogenic temperatures includes a vertical sleeve into which the selected cassette is lifted. The cassette puller is mounted to a traveling gantry and transports cassettes from one freezer location to another and to the system input/output module, and also includes an ejection mechanism that inserts and retrieves tube storage racks or plates from a selected shelf on the cassette. Other components such as a rack robot, a tube picking mechanism, a sample identification station, etc. are mounted on the traveling gantry as well.

Abstract: An automated storage and retrieval system for storing chemical and biological samples includes freezer chests maintained at an ultra-low temperature (e.g. ?80° C.) or a cryogenic temperature. The freezer chests are located within a refrigerated (e.g. ?20° C.) enclosure. Samples are loaded through a wall of the enclosure and are then transferred to an input/output buffer section in an ultra-low temperature or cryogenic freezer chest that is thermally segregated from a long-term storage section in the same freezer. Specialized input/output cassettes are used for transferring the samples through an input/output module into the system.

Abstract: A tube picking mechanism is designed for use in an automated, ultra-low temperature (e.g. ?80° C. or ?135° C.) or cryogenic (e.g., about ?140° C. to ?196° C.) storage and retrieval system that stores biological or chemical samples. The samples are contained in storage tubes held in SBS footprint storage racks that are normally stored within an ultra-low temperature or cryogenic freezer compartment. The tube picking mechanism includes a tube picking chamber that is maintained at about ?80° C., about ?135° C. or at cryogenic temperatures in cryogenic applications. Active electrical and mechanical components are maintained in a compartment above and separate from the refrigerated, ultra-low temperature or cryogenic compartment.

Abstract: A storage cassette including a plurality of generally vertical compartments for storing sample tube racks and/or SBS formatted plates is constructed to be flexible along its substantially vertical axis thereby facilitating reliable robotic placement and retrieval of the cassette from nesting tubes located within a horizontal freezer compartment. Insulated walls and solid shelves minimize heat transfer from storage racks or plates placed in the storage cassette when the cassette is removed from an ultra-low temperature or cryogenic freezer. The outer walls of the cassette includes mechanical indexing locations to ensure appropriate positioning when robotically removing storage racks or plates from the cassette.

Abstract: A manually directed, multi-channel electronic pipettor includes a software biasing mode to assure proper alignment over wells in the 96-well plate and the 384-well plate. The system also includes manual repositioning levers for nesting receptacles which are customized for 96 well-plates and 384 well-plates respectively.

Abstract: A manually directed, electronic multi-channel pipettor uses servo controlled motors to drive a carriage and pipetting head in response to a user's manipulation of a control handle. The pipetting head include an array of tip fittings, e.g. 96. The system includes a check processor to avoid unintended motion in case of system faults or crashes. The system requires substantial force to attach the array of tips, and therefore includes controls that require both of the user's hands be occupied during the tip attachment process.

Abstract: A manually directed, multi-channel electronic pipetting system is designed to transfer liquids from a standard multi-well plate, deep-well plate or reservoir into another multi-well plate. The preferred pipetting head includes an array of 96-tip fittings. A deck with at least one but preferably two or more wellplate nesting receptacles holds one or more multi-well plates or reagent reservoirs for access by an array of disposable pipette tips mounted to the pipetting head. The electronic motion control system includes a control handle that is mounted to a load cell, the carriage for the pipetting head and is held in the palm of the user. In use, the user grasps the control handle and operates the system in a manner similar to one using a handheld electronic pipettor.

Abstract: An automated storage and retrieval system stores containers, typically containing biological or chemical samples, at ultra-low temperatures, i.e., from about ?50° C. to about ?90° C., preferably about ?80° C. under normal operating conditions. A robot automatically places sample storage containers in stationary storage racks within the freezer compartment. Magnetic couplings are used to transmit mechanical power from outside of the freezer compartment to the robot inside of the freezer compartment. The robot has a simplified mechanical configuration.

Abstract: An automated storage and retrieval system stores containers, typically containing biological or chemical samples, at ultra-low temperatures, i.e., from about ?50° C. to about ?90° C., preferably about ?80° C. under normal operating conditions. Dry gas air flows are used to reduce moisture and the consequential frost within the freezer compartment. A custom insulated door is provided with an access module and a tube picking compartment as well as servo motors for controlling a robot within the ultra-low temperature freezer compartment. The robot automatically places sample storage containers in stationary storage racks within the freezer compartment. Magnetic couplings are used to transmit mechanical power from outside of the freezer compartment to the robot inside of the freezer compartment. The robot has a simplified mechanical configuration. The custom door can be readily attached to standard freezer bodies.

Abstract: A tube picking mechanism is designed for use in an automated, ultra-low temperature (e.g., ?80° C.) storage and retrieval systems which stores biological or chemical samples. The samples are contained in storage tubes held in SBS footprint storage racks that are loaded into trays located within an ultra-low temperature freezer compartment (?80° C.). A tube picking mechanism resides in a tube picking chamber that is located adjacent the freezer compartment. The tube picking chamber is maintained at about ?20° C. when the tube picking mechanism is in operation. The tube picking mechanism includes a cache within the tube picking chamber to facilitate fast paced shuttling of the tube racks from the freezer compartment into the tube picking chamber. The shuttle has a clamping mechanism to secure a tube rack in place when a gripper head picks a tube from the rack. The system also includes a push pin that pushes on the bottom of the respective tube as it is being picked from the tube rack.

Abstract: An automated storage and retrieval system stores containers, typically containing biological or chemical samples, at ultra-low temperatures, i.e., from about ?50° C. to about ?90° C., preferably about ?80° C. under normal operating conditions. Dry gas air flows are used to reduce moisture and the consequential frost within the freezer compartment. A custom insulated door is provided with an access module and a tube picking compartment as well as servo motors for controlling a robot within the ultra-low temperature freezer compartment. The robot automatically places sample storage containers in stationary storage racks within the freezer compartment. Magnetic couplings are used to transmit mechanical power from outside of the freezer compartment to the robot inside of the freezer compartment. The robot has a simplified mechanical configuration. The custom door can be readily attached to standard freezer bodies.

Abstract: A system for monitoring and regulating pressure and concentration in a moving fluid stream inside of a conduit is provided. The fluid stream includes a first fluid. The system comprises an infusion assembly that includes a catheter having a series of holes distributed around an exterior surface and a pumping system for introducing a second fluid into said catheter to create a solution mixture. A data collection system is provided for collecting data indicative of pressure and conductivity values. Data from the data collection system is forwarded to a data processing and control apparatus. The data processing and control apparatus comprises conversion means for converting the measured conductivity into a concentration value and control means for controlling operation of the infusion assembly based on a comparison of selected values with data received from the data collection system. A user control and analysis system allows user interaction.