*AUTOMATED ROBOTIC SAMPLE PREPARATION SYSTEM*

Robotic sample preparation refers to the use of robotic systems to automate the various steps involved
in preparing samples for analysis in scientific experiments. This process is common in fields such as
molecular biology, genomics, proteomics, and analytical chemistry. Here's a general overview of how
robotic sample preparation works:

1. **Liquid Level Sensors:**

- These sensors are essential for accurately dispensing and aspirating liquids. They help the robotic
system determine the volume of liquid in containers and avoid overflows or insufficient volumes.

2. **Temperature Sensors:**

- Temperature sensors monitor and control the temperature of samples during various steps of sample
preparation, such as incubation or enzymatic reactions.

3. **Force/Torque Sensors:**

- Force and torque sensors are used to provide feedback on the force applied by robotic arms during
handling and manipulation of samples. This helps in avoiding damage to delicate samples and
equipment.

4. **Vision Systems/Cameras:**

- Vision systems or cameras are crucial for visualizing the workspace and identifying objects. Computer
vision algorithms can be used to guide the robotic arm to pick up samples, locate specific features, or
ensure accurate pipetting.

5. **Pressure Sensors:**

- Pressure sensors may be used to monitor and control pressure in systems, especially during processes
such as filtration or when working with pressurized liquid handling systems.

6. **pH Sensors:**

- pH sensors are employed when working with reactions or processes that are sensitive to changes in
acidity or alkalinity. These sensors help maintain the desired pH conditions during sample preparation.
7. **Weight Sensors/Load Cells:**

- Weight sensors or load cells can be integrated into liquid handling systems to measure the weight of
samples or reagents. This helps in dispensing precise volumes and ensures accuracy in sample
preparation.

8. **Optical Sensors:**

- Optical sensors may be used for detecting the presence or absence of specific materials or
compounds. For example, they can be utilized in conjunction with colorimetric assays for qualitative or
quantitative analysis.

9. **Magnetic Sensors:**

- Magnetic sensors are employed in systems that use magnetic beads for sample purification processes.
These sensors assist in the separation and manipulation of magnetic particles.

10. **Ultrasonic Sensors:**

- Ultrasonic sensors can be used for liquid level detection, ensuring accurate liquid handling without
physical contact with the sample.

*ACTUATORS* play a crucial role in robotic sample preparation systems. Actuators are devices that
produce physical movement or mechanical action in response to an input signal. In the context of robotic
systems for sample preparation, various types of actuators are used to control the movement of robotic
arms and other components. Here are some common types of actuators involved:

**Pneumatic Actuators:**

- **Pneumatic Cylinders:** These actuators use compressed air to produce linear motion. They are
often employed in sample handling systems for tasks such as gripping, lifting, or transferring samples.

**Hydraulic Actuators:**

- **Hydraulic Pistons:** In some cases, hydraulic actuators may be used for generating linear or
rotational motion. These actuators are powerful and can be suitable for heavy-duty applications.
**Linear Actuators:**

- **Screw-Driven Actuators:** These actuators convert rotary motion into linear motion, providing
controlled movement along a linear path. They can be used for tasks like pipetting or moving robotic
arms.

**Stepper Motors:**

- **Stepper Motors:** These motors move in discrete steps, allowing for precise control of position
and speed. They are commonly used in robotic systems where accurate positioning is critical, such as in
sample handling.

**Linear Resonant Actuators (LRAs):**

- **LRAs:** These are used for haptic feedback or vibration in certain robotic systems. While not as
common in sample preparation, they can be integrated for specific applications.