## 2 Use Cases  
For the current research, three specific use cases in biomanufacturing that can be automated with the mobile robot were identified by consulting with partners from project MARVIN--a project to apply robotic automation for environmental monitoring [79]. The tasks identified were:  
1. Retrieval and transport of samples stored in rigid containers such as centrifugal tubes. Centrifugation is a prevalent method in biomanufacturing for separating various components from the sample and for separating the cells harvested for autologous therapies [19; 80]. Centrifugation is also used for harvesting the final product. Other cell separation methods include sedimentation, immunomagnetic cell separation, immunodensity cell isolation, Fluorescence-Activated Cell Sorting (FACS), microfluid \begin{table}
\begin{tabular}{l c} \hline \hline
**Application Area** & **Related Work** \\ \hline Mobile robots for aseptic production/pharmaceutical facility & [5; 76; 77] \\ Robotic manipulator for biomanufacturing & [52; 53; 54; 55; 56] \\ Robotic surgery & [60; 61; 62; 63] \\ Application of robots in cleanrooms & [72; 73; 74; 75] \\ Application of teleoperated robot in contamination critical environment & [78] \\ Application of robots in personal health care & [64; 65; 66; 67; 68; 69; 70; 71] \\ \hline \hline \end{tabular}
\end{table} 
Table 4: List of relevant work discussing the application of fixed and mobile robots in areas very close to the field of biomanufacturing and personal medicine. \begin{table}
\begin{tabular}{l c c} \hline \hline
**Keyword Used** & **Web of Science** & **Scopus** \\ \hline Personalised medicine & 77,047 & 69,971 \\ Personalised Medicine and Mobile Robot & 17 & 12 \\ Mobile robot and pharmaceutical & 17 & 26 \\ Aseptic production and Robot & 6 & 12 \\ Cleanroom and Mobile robot & 3 & 4 \\ Biomanufacturing and Mobile Robot & 0 & 0 \\ Manufacturing and Mobile robot & 2631 & 1756 \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Number of indexed research articles related to biomanufacturing and personalised medicine as of the seventh of June 2022.  
idic cell separation, etc. use centrifugal tubes or vials similar to centrifugal tubes for processing the sample [81; 82; 83]. Vials similar in size to centrifugal tubes are also used during the scale out stage of biomanufacturing [84; 85] and for laboratory scale production of cell therapies [86]. In a typical biomanufacturing facility, several vials of this kind are moved daily from one place to another. Transport and manipulation of centrifugal tubes can be automated with the help of mobile robots [5]. Hence, a mobile collaborative robot was utilised to transport centrifugal tubes in this use case. 2. Retrieval and transport of individual samples stored in flexible containers such as blood bags. Infusion/blood bags are the most preferred device for storing blood and its components and are suitable for a storage period of up to 42 days [87]. Such bags are also used for packaging pharmaceuticals [88; 89; 90]. The autologous therapy sector uses these bags to harvest the donor blood for cryopreservation, and to transport the product [91; 92]. Vials with blood bag style closure and access systems are available to store and transport autologous cells [93]. Cellbags are used as bioreactor vessels [94; 95; 96; 97]. In short, blood bags/infusion bags are very common methods used in biomanufacturing for moving fluids. These bags are deformable, making them more challenging for robots to grip, which is why this area has not been explored yet for robotic automation. However, this is an application that robots could potentially carry out. This use case demonstrates the potential use of a mobile collaborative robot for manipulating blood bags. 3. Environmental monitoring through the placement and retrieval of Petri dishes at various locations throughout the facility. Environmental samples are collected to monitor the quality of the biomanufacturing environment.