GB2200469A - Automatic weight sampling system - Google Patents

Automatic weight sampling system Download PDF

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Publication number
GB2200469A
GB2200469A GB08801465A GB8801465A GB2200469A GB 2200469 A GB2200469 A GB 2200469A GB 08801465 A GB08801465 A GB 08801465A GB 8801465 A GB8801465 A GB 8801465A GB 2200469 A GB2200469 A GB 2200469A
Authority
GB
United Kingdom
Prior art keywords
sampling
location
weight
robot arm
processing unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB08801465A
Other versions
GB2200469B (en
GB8801465D0 (en
Inventor
Shigeru Terakado
Teruo Hatakenaka
Katsuo Abe
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Doryokuro Kakunenryo Kaihatsu Jigyodan
Original Assignee
Doryokuro Kakunenryo Kaihatsu Jigyodan
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Doryokuro Kakunenryo Kaihatsu Jigyodan filed Critical Doryokuro Kakunenryo Kaihatsu Jigyodan
Publication of GB8801465D0 publication Critical patent/GB8801465D0/en
Publication of GB2200469A publication Critical patent/GB2200469A/en
Application granted granted Critical
Publication of GB2200469B publication Critical patent/GB2200469B/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G21/00—Details of weighing apparatus
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G17/00—Apparatus for or methods of weighing material of special form or property
    • G01G17/04—Apparatus for or methods of weighing material of special form or property for weighing fluids, e.g. gases, pastes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/22—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for apportioning materials by weighing prior to mixing them
    • G01G19/38—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for apportioning materials by weighing prior to mixing them programme controlled, e.g. by perforated tape
    • G01G19/384—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for apportioning materials by weighing prior to mixing them programme controlled, e.g. by perforated tape involving comparison with a reference value
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
    • G01N1/38—Diluting, dispersing or mixing samples
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/0093—Radioactive materials
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N2035/00178—Special arrangements of analysers
    • G01N2035/00207—Handling bulk quantities of analyte
    • G01N2035/00217—Handling bulk quantities of analyte involving measurement of weight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N2035/00178—Special arrangements of analysers
    • G01N2035/00277—Special precautions to avoid contamination (e.g. enclosures, glove- boxes, sealed sample carriers, disposal of contaminated material)
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N2035/00178—Special arrangements of analysers
    • G01N2035/00306—Housings, cabinets, control panels (details)
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N2035/1027—General features of the devices
    • G01N2035/1032—Dilution or aliquotting

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Immunology (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Food Science & Technology (AREA)
  • Medicinal Chemistry (AREA)
  • Sampling And Sample Adjustment (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)
  • Manipulator (AREA)

Description

1 1 220 0 4 6 9 AUTOMATIC WEIGHT SAMPLING SYSTEM This invention relates to
an automatic weight sampling system in which the sampling of radioactive -assay samples and the processing of samples such as the diluting thereof at a radioactive substance handling facility such as a reprocessing plant are performed on the basis of weight and through automatic remote manipulation.
In general, the processing of radioactive assay samples at radioactive substance handling facilities such as reprocessing plants is extremely important. As for the assayng of plutonium samples in sample processing, analysis and measurement can be carried out very accurately owing to an improvement in analytical techniques. The sampling of these samples and a preadjustment sampling operation such as dilution are exercised by manual manipulation and on the basis of volume.
However, the fact that the sampling of plutonium and a preadjustment sampling operation such as dilution are performed by manual manipulation and on the basis of volume is the chief source of error in sample analysis. Accordingly, it has been contemplated to carry out sampling on the basis of weight, which is a more accurate expedient, rather _than on the basis of volume. With the present state of the art, however, -2sampling of this kind can only be accomplished by manual manipulation, in which the worker performing analysis must carry out a series of sampling activities within a glove box and is also compelled to arrange and enter the relevant data. Consequently, the efficiency of the operation is low and it is difficult for the work to be done by a single individual.
Accordingly, an object of the present invention is to provide an automatic weight sampling system through which the sampling of plutonium samples at a radioactive substance handling facility such as a reprocessing plant is performed on a.weight basis to raise sampling accuracy and by way of automatic remote manipulation, whereby the efficiency of the operation can be improved and labor eliminated.
According to the present invention, the foregoing object is attained by providing an automatic weight sampling system comprising a glove box, a central processing unit located outside the glove box, a robot arm arranged in the glove box and remotely controlled by the central processing unit, a sampling device arranged in the glove box, a diluting device arranged in the glove box, and an electronic weigher arranged in the glove box for measuring the weights of assay samples and vessels, wherein sampling and weighing of assay samples are performed by the robot arm in response to commands received from the central processing unit, data resulting from the measurements being transferred from the electronic weigher to the central processing unit, where these data are processed.
Other features and advantages of the present 'invention will be apparent from the following description taken in conjunction with the accompanying drawings, in which like referehce characters designate the same or similar parts throughout the figures thereof, and in which:
Fig. 1 is a.block diagram illustrating an embodiment of an automatic weight sampling system' according to the present invention; Fig. 2 is an external view showing the system of Fig. 1; and Fig. 3 is a flowchart for describing the operation and the manipulation procedure of the automatic weight.sampling system'of the invention.
Referring to the drawings, the system of Fig. 1 includes a central processing unit (CPU) 1, a floppy disc drive (F/D) 2, a printer 31 an input/output interface (for a pulse motor) 4, an input/output interface 5, a manual control panel and relay unit 6, a 4 power supply unit 7, a transducer 8 for an electronic weigher, a dispenser 9, a robot arm 10, an electronic weigher 11, a sampling device 12, a turntable (for vials) 13, a turntable (for vessels such as polystyrene cups) 14, a diluting tip 15, a sample setting station 16, a hood 17 for the electronic weigher 11, a stirrer 18, s nsors 19 for sensing whether vessels are present, a tip setting station 20, a pedestal 21, and a glove box 22.
The robot arm 10, the electronic weigher 11, the sampling device 12, the turntables 13 and 14, the diluting tip 15, the sample setting station 16 and the weigher hood 17, all of which are carried on the pedestal 21, are arranged within the glove box 22.
The electronic weigher 11, only the weighing mechanism of which is located inside the glove box 22, has its transducer 8 arranged outside the glove box 11 to facilitate maintenance. All of the devices arranged inside the glove box 11 are in the form of individual units so that their components can be replaced with ease.
The CPU 1, which acts through the interfaces 4, 5, is for controlling the robot arm 11 and for processing data acquired by weight measurements. In response to commands received from the CPU 1, the input/output interfaces 4, 5 transmit signals to the manual control panel and relay unit 6 to successively actuate the various components. Signals confirming actuation of t v Ii these componets are transmitted to the input/output interface 5, which then sends them to the CPU 1. These signals also cause processes to be displayed on a CRT. The operations associated with these processes are all managed on a real-time basis. When required, manual -manipulation is also possible using the manual control panel 6. The results of measurement are printed out by the printer 3 when required.
The operation and manipulation procedure of the system shown in Figs.1 and 2 will now be described while referring to the flowchart of Fig. 3.
(a) Preparations (inputting of data and setting of vials, vessels, etc.) A floppy disc is set in the F/D unit 2 and the CPU 1 is started up to execute program loading and prepare for manipulations.
Data for measurement purposes needed to start weight sampling are inputted to the CPU at step (1) of the flowchart. These data include a primary sampling quantity, a dilution quantity, a.secondary sampling quantity, a vessel number, a vial number and the like. Vials are set on the turntable 13 and vessels (polystyrene cups) are set on the turntable 14. Next, a sample solution is set on the sample setting station 16. At the conclusion of these operations, weight sampling is started at step (2).
(b) Primary sampling The robot arm 10 grasps a tip holder of the sampling device 12, automatically sets a tip, which is accommodated in the tip setting station 20, in the tip holder and then returns to the position of the sampling device 12.
Next, the presence of vials and vessels is checked -by the sensors 19 built in the turntables 13, 14. After the vessels and vials are set at home positions, the robot arm 10 takes a vessel from the turntable 14 and sets it on the electronic weigher 11 [steps (3) and M]. The hood 17 of the electronic weigher is closed and the weight of the vessel is measured at step (5). To determine the weight of a vessel in this case, ten items, for example, of weight data are gathered by the electronic weigher 11, the maximum and minimum values are excluded, and the remaining eight of these items of weight data are averaged. The average value is adopted as the weight A of the vessel.
After the weighing operaion, the hood 17 is opened. The robot arm 10 then grasps the previously set tip holder of the sampling device 12, takes a primary sampling, of an amount inputted to the CPU 1 beforehand, from a sample which has been set at the sample setting station 16, and adds this sample to the vessel on the electronic weigher 11 at step (6). The robot arm 10 then returns the tip holder to the sampling device 12. The hood 17 is closed and the total weight of the vessel and sampled solution is measured by the electronic weigher 11 at step (7).
11 w k t The measurement data obtained are transferred from the electronic weigher 11 to the CPU 1. Letting the weight indicated by these data be represented by B, the primary sampling weight is obtained as follows:
primary sampling weight (g) = (weight B - weight A) (c) Dilution The robot arm 10 grasps the diluting tip 15 to dispense a diluent, of an amount inputted to the CPU 1 beforehand, into the vessel on the electronic weigher 11 from the dispenser 9, thereby diluting the sample in the vessel at step (8). The diluting tip 15 is then ieturned to its original position, the hood 17 is closed and the total weight of the vessel, the sample solution and the diluent is measured by the electronic weigher 11 at step (9). The measurement data obtained are transferred from the electronic weigher 11 to the CPU 1. Letting the weight indicated by these data be represented by C, the weight of the diluted solution i obtaine. d as follows:
diluted soltition weight (g) = (weight C - weight A) The robot arm 10 returns the vessel on the electronic weigher 11 to.its original position on turntable 14. The latter is then rotatively indexed to stop this vessel at the position of the stirrer 18, whereby the solution in the vessel is stirred at step (10). These operations are performed for the number of vessels inputted to the CPU 1 in advance. The primary sampling is ended at the completion of these operations [step (11)1.
(d) Secondary sampling The robot arm 10 automatically discards the tip used in the primary sampling and then sets a tip for secondary sampling in the tip holder. Thereafter, the robot arm 10 moves a vial from the turntable 13 and places the vial on the electronic weigher 11 [steps (12) and (13H. The hood 17 of the weigher is closed and the weight of the vial is measured at step (14). The resulting data are transferred from the electronic weigher 11 to the CPU 1. The weight of the vial is determined just as in step (5). That is, ten items of weight data are gathered by the electronic weigher 11, the maximum and minimum values are excluded, and the remaining eight of these items of weight data are averaged. The average value is adopted as the weight D of the vial.
Next, the robot arm grasps the tip holder, samples a diluted solution, in an amount inputted to the CPU 1 in advance, from the designated vessel, and adds the sampled diluted solution to the vial placed on the electronic weigher 11 [step (15H.
The hood 17 of the electronic weigher is closed and the total weight of the vial (the tare of the vial) and sampled solution is measured by the electronic weigher 11. The resulting weight data are transferred from the electronic weigher to the CPU 1. Letting the weight indicated by these data be represented by E, the 1 Z secondary sampling weight is obtained as follows: secondary sampling weight (g) = (weight E - weight D) These operations are performed for the number of vials inputted to the. CPU 1 in advance [step (16H. The secondary sampling is ended at the completion of these operations.
At the conclusion of all of the foregoing operations, the CPU 1 processes the data and stores the processed data on the floppy disc. If necessary, the data can be printed out on the printer 3 by pressing an appropriate key.
Though the embodiment described above relates to a process in which the components of the system are arranged in a glove box, the invention is not limited to this embodiment but can be utilized widely in remote manipulations for radioactive substance treatment and the like.
In accordance with the present invention as described above, sampling is carried out on the basis of weight. As a result, errors caused by sampling can be red uced to about one-tenth in comparison with sampling performed on a volume basis. In addition, since sampling is carried out by automatic remote manipulatio n in response to commands from a central processing unit located outside the glove box, processing capacity can be increased from two samples to four samples per day, so that the amount of work can k -lo- be reduced from 1 manhour/l sample to 0.5 manhour/(l to 4 samples). Furthermore, the electronic weigher, which is the heart of the system, is installed with its weighing mechanism and electronic components arranged separately, thereby facilitating the maintenance of the weigher itself. Since even the components arranged inside the glove box are in the form of individual units so as-to enable all parts to be readily replaced, maintenance is greatly facilitated.
As many apparently widely different embodiments of the present invention can be made without departing from the spirit and scope thereof, it is to be understood that the invention is not limited to the specific embodiments thereof except as defined in the appended claims.
!Z k zr 1 I

Claims (4)

  1. An automatic weight sampling system comprising: a central processing unit located at a first location; a robot arm arranged at a second location and remotely controllable by said central processing unit; sampling device arranged at said second location diluting device arranged at said second location; and an electronic weigher arranged at said second location for measuring the weights of assaysamples and vessels; the arrangement being such that, in use, sampling and weighing of assay samples are performed by said robot arm in response to commands received from said central processing unit, and data resulting from the measurements are transferred from said electronic weigher to said central processing unit, where these data are processed.
  2. 2. A system according to Claim 1, wherein the arrange- ment is such that sampling of an assay sample) by said robot arm includes a primary sampling, diluting and a secondary sampling.
  3. 3. A system according to Claim 1 or 2, wherein said electronic weigher has a weighing mechanism arranged at said second location and an electronic section arranged at said first location.
  4. 4. A system according to any of of Claims 1 - 3, wherein each of the devices arranged at said second location are constituted by components in the form of individual units.
    A system according to any one of Claims 1 - 4, wherein said second location comprises the inside of a glove box, and said first location comprises a location outside said glove box.
    711 6. An automatic weight sampling system substantially as- described herein with reference to the accompanying drawings.
    c Published 19R8'at'rhe Patent Office, State House. 6671 High Holborn, London WCIR 4TP. Further copies maybe obtained from The Patent Office. Sales Branch, St Mary Cray, Orpington, Kent BRS 3RD. Printed by Multiplex techniques ltd. St Mary Cray, Kent. Con. 1187.
GB8801465A 1987-01-22 1988-01-22 Automatic weight sampling system Expired - Fee Related GB2200469B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62013081A JPS63180832A (en) 1987-01-22 1987-01-22 Automatic weight sampling apparatus

Publications (3)

Publication Number Publication Date
GB8801465D0 GB8801465D0 (en) 1988-02-24
GB2200469A true GB2200469A (en) 1988-08-03
GB2200469B GB2200469B (en) 1990-10-24

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Application Number Title Priority Date Filing Date
GB8801465A Expired - Fee Related GB2200469B (en) 1987-01-22 1988-01-22 Automatic weight sampling system

Country Status (4)

Country Link
JP (1) JPS63180832A (en)
DE (1) DE3801218A1 (en)
FR (1) FR2610111B1 (en)
GB (1) GB2200469B (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0507943A1 (en) * 1990-10-26 1992-10-14 The Dow Chemical Company Preparing an admixture
EP0509919A1 (en) * 1991-04-17 1992-10-21 Cogema Compagnie Generale Des Matieres Nucleaires Automatic system for the transfer and weighing of bottles filled with a radioactive liquid between a sampling unit and an analyser
GB2284901A (en) * 1993-12-18 1995-06-21 Bruker Analytische Messtechnik Automatic weighing of powder samples
US6293750B1 (en) 1998-07-14 2001-09-25 Bayer Corporation Robotics for transporting containers and objects within an automated analytical instrument and service tool for servicing robotics
WO2002068964A1 (en) * 2001-02-28 2002-09-06 Intellitech Automation Limited Sample preparation apparatus
CN101936764A (en) * 2010-03-24 2011-01-05 河北东旭投资集团有限公司 Weighing system and assorted weighing method for toxic raw materials
US20110223672A1 (en) * 2008-12-16 2011-09-15 Sea Marconi Technologies Di Vander Tumiatti S.A.S. Integrated methods for corrosivity, ageing and fingerprinting determination, as well as diagnosis, decontamination, depolarisation and detoxification of oils
ITUD20120037A1 (en) * 2012-03-07 2013-09-08 Luca Gianaroli "MACHINE AND METHOD FOR THE PRODUCTION OF CULTURED LAND"
ITUD20120038A1 (en) * 2012-03-07 2013-09-08 Luca Gianaroli "METHOD AND MACHINE FOR THE PRODUCTION OF CULTURED LANDS"
US20140123738A1 (en) * 2011-07-05 2014-05-08 Institut De Recherche Pour Le Developpement (Ird) Device for measurement coupled with water parameters of soil

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DE19702621A1 (en) * 1997-01-27 1998-07-30 Wildanger Hans Joerg Automatic analysis apparatus
DE19714504C2 (en) * 1997-04-08 1999-09-30 Krupp Polysius Ag Method and device for preparing fines samples
CN1109350C (en) * 1999-01-22 2003-05-21 大庆石油管理局第四采油厂 System for transportation and dividing package opevation of radio isotope
CH709629B1 (en) 2000-10-06 2015-11-30 Chemspeed Technologies Ag A device having a tool holder, a tool and a scale.
AU2001289472A1 (en) 2000-10-06 2002-04-15 Chemspeed Ltd Device comprising a tool holder and a removably attachable tool
WO2006075201A1 (en) * 2004-09-08 2006-07-20 Pfizer Products Inc. Automated system for handling and weighing analytic quantities of particulate substances
DE602004014172D1 (en) 2004-12-23 2008-07-10 Mettler Toledo Flexilab Sas Apparatus and method for dosing substances in containers
US8297320B2 (en) * 2006-07-26 2012-10-30 Health Robotics S.R.L. Machine for the preparation of pharmaceutical products
JP6020785B2 (en) * 2011-12-26 2016-11-02 三菱マテリアル株式会社 Cement clinker production system
JP5998684B2 (en) * 2012-07-05 2016-09-28 株式会社Ihi Glove box equipment
CN110181513A (en) * 2019-05-30 2019-08-30 北京农业信息技术研究中心 Crop canopies phenotype and assimilation synchro measure robot
CN114383852B (en) * 2021-12-31 2023-08-25 西安航天动力研究所 Test device for automatically and synchronously collecting and clamping attitude and orbit control engine product
CN115096686B (en) * 2022-08-24 2022-11-29 成都青软智控科技有限公司 Automatic weighing and sample separating equipment for soil powder

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0507943A1 (en) * 1990-10-26 1992-10-14 The Dow Chemical Company Preparing an admixture
EP0507943A4 (en) * 1990-10-26 1994-11-02 Dow Chemical Co Net weight dispensing system and method
EP0509919A1 (en) * 1991-04-17 1992-10-21 Cogema Compagnie Generale Des Matieres Nucleaires Automatic system for the transfer and weighing of bottles filled with a radioactive liquid between a sampling unit and an analyser
FR2675582A1 (en) * 1991-04-17 1992-10-23 Cogema AUTOMATED PITCHER TRANSFER AND WEIGHING SYSTEM CONTAINING A RADIOACTIVE LIQUID BETWEEN A SAMPLING UNIT AND AN ANALYSIS CHAIN.
US5280140A (en) * 1991-04-17 1994-01-18 Cogema-Compagnie Generale Des Matieres Nucleaires Automated installation for the transfer and weighing of pots containing a radioactive liquid between a sampling unit and an analysis chain
GB2284901A (en) * 1993-12-18 1995-06-21 Bruker Analytische Messtechnik Automatic weighing of powder samples
US5544683A (en) * 1993-12-18 1996-08-13 Bruker Analytische Messtechnik Gmbh Sample filling device
GB2284901B (en) * 1993-12-18 1998-03-11 Bruker Analytische Messtechnik Sample discharging device and installation
US6293750B1 (en) 1998-07-14 2001-09-25 Bayer Corporation Robotics for transporting containers and objects within an automated analytical instrument and service tool for servicing robotics
US6332636B1 (en) 1998-07-14 2001-12-25 Bayer Corporation Robotics for transporting containers and objects within an automated analytical instrument and service tool for servicing robotics
US6374982B1 (en) 1998-07-14 2002-04-23 Bayer Corporation Robotics for transporting containers and objects within an automated analytical instrument and service tool for servicing robotics
WO2002068964A1 (en) * 2001-02-28 2002-09-06 Intellitech Automation Limited Sample preparation apparatus
US20110223672A1 (en) * 2008-12-16 2011-09-15 Sea Marconi Technologies Di Vander Tumiatti S.A.S. Integrated methods for corrosivity, ageing and fingerprinting determination, as well as diagnosis, decontamination, depolarisation and detoxification of oils
US9075038B2 (en) * 2008-12-16 2015-07-07 Sea Marconi Technologies Di Vander Tumiatti S.A.S. Integrated methods for corrosivity, ageing and fingerprinting determination, as well as diagnosis, decontamination, depolarisation and detoxification of oils
CN101936764A (en) * 2010-03-24 2011-01-05 河北东旭投资集团有限公司 Weighing system and assorted weighing method for toxic raw materials
US20140123738A1 (en) * 2011-07-05 2014-05-08 Institut De Recherche Pour Le Developpement (Ird) Device for measurement coupled with water parameters of soil
US9429555B2 (en) * 2011-07-05 2016-08-30 Valorhiz Device for measurement coupled with water parameters of soil
ITUD20120037A1 (en) * 2012-03-07 2013-09-08 Luca Gianaroli "MACHINE AND METHOD FOR THE PRODUCTION OF CULTURED LAND"
ITUD20120038A1 (en) * 2012-03-07 2013-09-08 Luca Gianaroli "METHOD AND MACHINE FOR THE PRODUCTION OF CULTURED LANDS"

Also Published As

Publication number Publication date
FR2610111B1 (en) 1991-05-24
FR2610111A1 (en) 1988-07-29
GB2200469B (en) 1990-10-24
DE3801218A1 (en) 1988-08-04
GB8801465D0 (en) 1988-02-24
JPS63180832A (en) 1988-07-25

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