Robotic sample management

Abstract

A robotically executed experimental workflow may include operating a robotic system, such as a robotic arm coupled with a suitable end effector, to unload, from a large format instrument configured to interface with a plurality of samples, a multi-sample fixture securing the plurality of samples. A subset of samples from the plurality of samples may be decoupled by robotic operations from the multi-sample fixture before being disposed in a fixture configured to secure one or more individual samples. The robotic system may be further operated to load, onto a small format instrument configured to interface with the one or more individual samples, the fixture including the subset of samples. The location of the subset of samples from the large format instrument to the small format instrument may be tracked using computer vision and / or a persistent identifier.

Description

ROBOTIC SAMPLE MANAGEMENTCROSS REFERENCE TO RELATED APPLICATION

[0001] This application claims priority to U.S. Provisional Application No. 63 / 712,039, entitled “ROBOTIC SAMPLE MANAGEMENT” and filed on October 25, 2024, the disclosure of which is incorporated herein by reference in its entirety.TECHNICAL FIELD

[0002] The subject matter described herein relates generally to materials discovery, and more specifically to a robotically executed experimental workflow.BACKGROUND

[0003] Materials science is an interdisciplinary field that includes the discovery and design of new materials including, for example, ceramics, polymers, semiconductors, magnets, biomaterials, nanomaterials, and / or the like. The endeavor to discover and design a new material may include an exploration of the relationships among the structure of the material, the methods for processing the material, and the properties exhibited by the material. For example, the structure of the material may be evaluated on an atomic scale using a variety of techniques such as diffraction (e.g., with X-rays, electrons, or neutrons), spectroscopy (e.g., Raman spectroscopy, energy-dispersive spectroscopy), thermal analysis (e.g. calorimetry), chemical assays (e.g., chromatography), and microscopy (e.g., with an electron microscope). The utility of the material, including its suitability for certain applications, may be contingent upon the properties exhibited by the material including, for example, mechanical properties, chemical properties, electrical properties, thermal properties, optical properties, magnetic properties, and / or the like.SUMMARY

[0004] Systems, methods, and articles of manufacture, including fixtures securing one or more samples for use in a robotically executed experimental workflow, are provided.

[0005] In one aspect, there is provided a method of operating a robotic system for robotic manipulation of a test sample. The method includes operating the robotic system to: unload, from a large format instrument, a multi-sample fixture securing a plurality of samples, the large format instrument configured to interface with the plurality of samples in parallel; decouple, from the multi-sample fixture, a subset of samples from the plurality of samples; dispose the subset of samples in a fixture configured to secure one or more individual samples; and load, onto a small format instrument configured to interface with the one or more individual samples, the fixture including the subset of samples.

[0006] In some variations, one or more features disclosed herein including the following features can optionally be included in any feasible combination.

[0007] In some variations, the large format instrument is configured to perform, on the plurality of samples secured in the multi-sample fixture, at least one of synthesis, processing, or characterization.

[0008] In some variations, the small format instrument is configured to perform, on the subset of samples secured in the fixture, a different type of experiment than the large format instrument.

[0009] In some variations, the large format instrument and the small format instrument are configured to perform, on the subset of samples, different experiments comprising a single workflow.

[0010] In some variations, the method further includes operating the robotic system to: decouple, from the multi-sample fixture, a different subset of samples from the plurality of samples; dispose the different subset of samples in a different fixture; and load, onto a different small format instrument, the different fixture with the different subset of samples.

[0011] In some variations, the subset of samples include one or more individual samples from the plurality of samples secured by the large format instrument.

[0012] In some variations, the method further includes operating the robotic system to: unload the plurality of samples from a different large format instrument configured to process the plurality of samples in parallel; and transfer the plurality of samples to the large format instrument prior to loading, onto the large format instrument, the plurality of samples secured in the multi-sample fixture.

[0013] In some variations, the method further includes operating the robotic system to: transfer, to the multi-sample fixture, the plurality of samples secured in another multi-sample fixture configured to interface with the different large format instrument.

[0014] In some variations, the large format instrument and the different large format instrument are configured to perform, on the plurality of samples, different experiments comprising a single workflow.

[0015] In some variations, the method further includes operating the robotic system to: identify, based at least on a type of the multi-sample fixture, an end effector for engaging the multi-sample fixture; and couple, with a robotic arm comprising the robotic system, the end effector for unloading the multi-sample fixture from the large format instrument.

[0016] In some variations, the method further includes operating the robotic system to: identify the fixture as a suitable type of fixture for securing the subset of samples based at least on a type of experiment performed at the small format instrument.

[0017] In some variations, the fixture is identified based at least on a material of the fixture being compatible with the type of experiment performed at the small format instrument.

[0018] In some variations, the fixture is identified based at least on the fixture having one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the small format instrument.

[0019] In some variations, the method further includes operating the robotic system to: identify, based at least on a type of the fixture, an end effector for disposing the subset of sample in the fixture and / or loading the fixture onto the small format instrument; and couple the end effector with a robotic arm comprising the robotic system.

[0020] In some variations, the method further includes operating the robotic system to: identify the multi-sample fixture as a suitable type of fixture for securing the plurality of samples based at least on a type of experiment performed at the large format instrument.

[0021] In some variations, the multi-sample fixture is identified based at least on a material of the fixture being compatible with the type of experiment performed at the large format instrument.

[0022] In some variations, the multi-sample fixture is identified based at least on the multi-sample fixture having one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the large format instrument.

[0023] In some variations, the method further includes operating the robotic system to: align the subset of samples with the fixture prior to disposing the subset of samples in the fixture.

[0024] In some variations, the subset of samples is aligned with the fixture using one or more pins, magnetic couplings, or fiducial markers.

[0025] In some variations, the method further includes operating the robotic system to: track a location of the subset of samples from the large format instrument to the small format instrument.

[0026] In some variations, the tracking is performed based at least on one or more images of the subset of samples and / or the fixture securing the subset of samples.

[0027] In some variations, the tracking is performed based at least on a persistent identifier affixed to the subset of samples and / or the fixture securing the subset of samples.

[0028] In some variations, the method further includes operating the robotic system to: identify, amongst the plurality of samples secured in the multi-sample fixture, the subset of samples. The subset of samples is identified based at least on one or more persistent identifiers affixed to the subset of samples.

[0029] In some variations, the one or more persistent identifiers include one or more of a radio frequency identification (RFID) tag, a barcode, or a quick response (QR) code.

[0030] In some variations, each sample in the subset of samples includes a membrane electrode assembly (MEA) sample that includes a working electrode, an electrocatalyst, and an electrolyte.

[0031] In some variations, the small format instrument includes an MEA reactor configured to evaluate an activity and / or a durability of the electrocatalyst by at least coupling the MEA sample with a counter electrode and delivering a liquid electrolyte to the counter electrode.

[0032] In some variations, each sample in the subset of samples includes an electrode sample.

[0033] In some variations, the small format instrument includes an electrochemical reactor configured to evaluate an interface between the electrode sample and one or more liquid electrolytes by at least delivering the one or more liquid electrolytes to the electrode sampling while coupling the electrode sample with a counter electrode.

[0034] In some variations, the large format instrument is configured to perform parallel synthesis and / or parallel thermal processing of the plurality of samples while the small format instrument is configured to characterize the subset of samples.

[0035] In some variations, the method further includes operating the robotic system to: engage one or more grip points in the fixture when loading, onto the small format instrument, the fixture including the subset of samples.

[0036] In another aspect, there is provided a robotic sample management system. The robotic sample management system includes: a multi-sample fixture configured to secure a plurality of samples while the plurality of samples undergo an experiment at a large format instrument; a fixture configured to secure a subset of samples from the plurality of samples while the subset of samples undergoes a different experiment at a small format instrument; and a robot operable to transfer the subset of samples from the multi-sample fixture to the fixture and loading the fixture including the subset of samples onto the small format instrument.

[0037] In some variations, one or more features disclosed herein including the following features can optionally be included in any feasible combination.

[0038] In some variations, the fixture includes one or more fasteners configured to secure the subset of samples.

[0039] In some variations, the one or more fasteners include one or more spring plungers.

[0040] In some variation, the robot is operable to transfer the subset of samples by at least disposing the subset of samples on the fixture and engaging the one or more fasteners to secure the subset of samples.

[0041] In some variations, the fixture includes one or more grip points configured to engage with an end effector of a robotic arm coupled with the robot.

[0042] In some variations, the robot is operable to engage the one or more grip points when loading, into the small format instrument, the fixture including the subset of samples.

[0043] In some variations, the fixture includes one or more alignment features. The robot is operable to transfer the subset of samples to the fixture by at least using the one or more alignment features to align the subset of samples with the fixture.

[0044] In some variations, the one or more alignment features enable the fixture to be aligned with the small format instrument with an alignment resolution between 0.5 microns per centimeter to 1.5 microns per centimeter.

[0045] In some variations, the robot is operable to transfer the subset of samples from the multi-sample fixture to the fixture by at least: unloading, from the large formatinstrument, the multi-sample fixture securing the plurality of samples; decoupling the subset of samples from the multi-sample fixture; and disposing the subset of samples in the fixture.

[0046] In some variations, the multi-sample fixture is adapted for a type of experiment performed at the large format instrument.

[0047] In some variations, the multi-sample fixture is formed from a material suitable for the type of experiment performed at the large format instrument.

[0048] In some variations, the multi-sample fixture includes one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the large format instrument.

[0049] In some variations, the fixture is adapted for a type of experiment performed at the small format instrument.

[0050] In some variations, the fixture is formed from a material suitable for the type of experiment performed at the small format instrument.

[0051] In some variations, the fixture includes one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the small format instrument.

[0052] In some variations, the robotic sample management system further incudes: one or more end effectors configured to couple with a robotic arm of the robot.

[0053] In some variations, the one or more end effectors are configured to engage with the fixture and / or the multi-sample fixture.

[0054] In some variations, the fixture includes a persistent identifier, and wherein the subset of samples is identified for processing at the small format instrument based at least on the persistent identifier.

[0055] In some variations, the persistent identifier is further adapted for tracking the subset of samples during a transfer from the large format instrument to the small format instrument.

[0056] In some variations, the persistent identifier includes one or more of a radio frequency identification (RFID) tag, a barcode, or a quick response (QR) code.

[0057] In some variations, the large format instrument is configured to perform, on the plurality of samples, at least one of synthesis, processing, or characterization.

[0058] In some variations, the large format instrument and the small format instrument are configured to perform different experiments comprising a single workflow.

[0059] In some variations, the large format instrument is configured to perform parallel synthesis and / or parallel thermal processing of the plurality of samples while the small format instrument is configured to characterize the subset of samples.

[0060] In some variations, the robotic sample management system further includes: a different multi-sample fixture configured to secure the plurality of samples while the plurality of samples undergo parallel processing at a different large format instrument.

[0061] In some variations, the robotic sample management system further includes: a different fixture configured to secure a same subset of samples or a different subset of samples for experimentation at a different small format instrument.

[0062] In some variations, the robot is further operable to transfer a different subset of samples from the plurality of samples while the different subset of samples undergoes experimentation at a same small format instrument or a different small format instrument.

[0063] In some variations, each sample in the subset of samples includes a membrane electrode assembly (MEA) sample that includes a working electrode, an electrocatalyst, and an electrolyte.

[0064] In some variations, the small format instrument includes an MEA reactor configured to evaluate an activity and / or a durability of the electrocatalyst by at least coupling the MEA sample with a counter electrode and delivering a liquid electrolyte to the counter electrode.

[0065] In some variations, each sample in the subset of samples includes an electrode sample.

[0066] In some variations, the small format instrument includes an electrochemical cell reactor configured to evaluate an interface between the electrode sample and one or more liquid electrolytes by at least delivering the one or more liquid electrolytes to the electrode sample while coupling the electrode sample to a counter electrode.

[0067] In another aspect, there is provided a fixture. The fixture includes: a substrate including one or more grip points configured to engage with an end effector of a robotic system, one or more fasteners for securing one or more samples disposed on the substrate, and one or more grooves for securing a coupling between the fixture and a small format instrument configured to perform at least one experiment on the one or more samples.

[0068] In some variations, one or more features disclosed herein including the following features can optionally be included in any feasible combination.

[0069] In some variations, the one or more fasteners include one or more retaining spring plungers.

[0070] In some variations, the substrate further includes a persistent identifier for identifying the fixture and / or the one or more samples disposed on the substrate.

[0071] In some variations, the substrate includes one or more alignment features for aligning the one or more samples with the fixture.

[0072] In some variations, the one or more alignment features enable the fixture to be aligned with the small format instrument with an alignment resolution between 0.5 microns per centimeter to 1.5 microns per centimeter.

[0073] In another aspect, there is provided a robotic sample management system. The robotic sample management system includes: means for securing a plurality of samples while the plurality of samples undergo parallel processing at a large format instrument; means for securing a subset of sample from the plurality of samples while the subset of samples undergoes processing at a small format instrument; and means for robotically transferring the subset of samples from the multi-sample fixture to the fixture and loading the fixture including the subset of samples onto the small format instrument.

[0074] The details of one or more variations of the subject matter described herein are set forth in the accompanying drawings and the description below. Other features and advantages of the subject matter described herein will be apparent from the description and drawings, and from the claims. While certain features of the currently disclosed subject matter are described for illustrative purposes in relation to electrochemistry and the discovery of materials for electrochemical applications, it should be readily understood that such features are not intendedto be limiting. The claims that follow this disclosure are intended to define the scope of the protected subject matter.DESCRIPTION OF DRAWINGS

[0075] The accompanying drawings, which are incorporated in and constitute a part of this specification, show certain aspects of the subject matter disclosed herein and, together with the description, help explain some of the principles associated with the disclosed implementations. In the drawings,

[0076] FIG. 1 depicts a planar view of an example of a multi-sample fixture, in accordance with some example embodiments;

[0077] FIG. 2 depicts a planar view of an example of a fixture, in accordance with some example embodiments;

[0078] FIG. 3 depicts a flowchart illustrating an example of a process for robotic sample management, in accordance with some example embodiments; and

[0079] FIG. 4 depicts a flowchart illustrating another example of a process for robotic sample management, in accordance with some example embodiments.

[0080] When practical, similar reference numbers denote similar structures, features, or elements.DETAILED DESCRIPTION

[0081] The discovery of new materials and novel uses for known materials is a key area of research and development in many industries. For example, metal organic frameworks (MOF) are a class of porous polymers that can be deployed in a variety of electrochemicalapplications, including electrochemical energy conversion and storage. As such, the design of metal organic frameworks having desirable catalytic performance is of significant interest in the renewable energy sector. To that end, the discovery of novel materials or novel uses for known materials, such as the aforementioned metal organic frameworks, may entail the synthesis, characterization, and testing of samples. Experimental workflows in materials discovery may require integrating multiple instruments, at least some of which are configured to interface with different size samples. For example, in some cases, a large format instrument performing deposition and / or processing may operate in an area having at least one dimension that is in excess of 5 centimeters and is thus capable of interfacing with larger format samples (e.g., a substrate that is 15 centimeters in diameter). Contrastingly, a small format instrument performing high-resolution synthesis, processing, and characterization may operate in a smaller area. For instance, in some cases, the aforementioned high-resolution synthesis, processing, and characterization may be localized to a small region of a small format sample (e.g., a 2 x 2 centimeter substrate).

[0082] Traditional high throughput materials experimentation relies heavily on the use of materials libraries, which are large format samples suitable for interfacing with large format instruments. Typical materials libraries may include discrete or a continuous composition spectrum of samples in different formats (e.g., bulk materials, thin film materials, and / or the like) configured in a planar array. Parallel synthesis techniques, such as co-deposition of multiple materials in a physical vapor deposition system or rapid deposition of material precursors via inkjet printing, are well adapted to the larger sample footprint of materials libraries. Contrastingly, materials characterization instruments, particularly ones with advanced automation, and robotic manipulation (e.g., with robotic arms) of individual samples are geared toward smaller sample footprints. Inadequate integration of instruments interfacing different size samples in a singlerobotically executed experimental workflow is a major bottleneck in the throughput of materials experimentation, even as advances in artificial intelligence are poised to vastly accelerate the pace of materials discovery. As such, in some example embodiments, a robotic sample management system may be configured to support a robotically executed experimental workflow in which samples are transferred between two or more instruments configured to interface with different format samples. In some cases, the robotic sample management system may include at least one multi-sample fixture configured to secure multiple samples while the samples undergo an experiment at a large format instrument. Furthermore, the robotic sample management system may include at least one fixture configured to secure at least one individual sample while the individual sample undergoes a different experiment at a small format instrument. In some cases, the transfer of individual samples between fixtures as well as the loading and unloading of fixtures from instruments may be accomplished through robotic operations, such as by a robotic system having a robotic arm coupled with one or more suitable end effectors. As described in more detail below, in some cases, one or more persistent identifiers may be affixed to each individual sample and / or the fixture securing the individual samples in order for the individual samples to be identified and tracked throughout the course of the experimental workflow.

[0083] In some example embodiments, the robotically executed experimental workflow may include the robotic system being operated to unload, from a large format instrument configured to interface with large format samples, a multi-sample fixture securing a plurality of samples before an individual sample is decoupled from the multi-sample fixture. For example, the robotic system may be operated to decouple a subset of samples, which may include one or multiple individual samples, from the multi-sample fixture. In some cases, the robotic system may be further operated to dispose the subset of samples in a fixture configured to secure the subset ofsamples before the fixture including the subset of samples is loaded onto the small format instrument configured to interface with one or more individual samples. In some cases, the large format instrument and the small format instrument may be configured to perform, on the individual samples, different experiments in a single experimental workflow. For example, in some cases, the large format instrument may perform parallel synthesis of multiple samples before a subset of these samples undergoes characterization and / or testing at the small format instrument. As described in more details below, the fixture and the multi-sample fixture may be configured to support robotic manipulation as well as the experiments performed at the corresponding instruments. For instance, the material of each of the fixture and the multi-sample fixture may be compatible with the type of experiment performed at the corresponding instrument. Moreover, each of the fixture and the multi-sample fixture may include one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the corresponding instrument.

[0084] In some example embodiments, the robotically executed experimental workflow may include identifying, based at least on the type of experiment performed at the large format instrument, the multi-sample fixture for coupling with the large format instrument. In some cases, the multi-sample fixture may be identified based at least on a material of the fixture being compatible with the type of experiment performed at the large format instrument. For example, in some cases, the multi-sample fixture may be identified based at least the fixture being constructed from a material capable of tolerating one or more environmental factors present during the experiment performed at the large format instrument. Examples of such environmental factors may include temperature, chemistry, pressure (e g., vapor pressure), electromagnetic field, and / or the like. Furthermore, in some cases, the multi-sample fixture may be identified based at least onthe multi-sample fixture including one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the large format instrument. In some cases, one or more end effectors for engaging the multi-sample fixture may be identified based at least on the type of the multi-sample fixture. In some cases, the robotically executed experimental workflow may further include coupling a robotic arm with the one or more end effectors in order for the robotic system to be operated to maneuver the multi-sample fixture, for example, to load and unload the multi-sample fixture from the large format instrument, as well as to manipulate one or more of the samples secured on the multi-sample fixture.

[0085] In some example embodiments, the robotically executed experimental workflow may include identifying, based at least on the type of experiment performed at the small format instrument, the fixture for coupling with the small format instrument. In some cases, the fixture may be identified based at least on a material of the fixture being compatible with the type of experiment performed at the large format instrument. For example, in some cases, the fixture may be identified based at least the fixture being constructed from a material capable of tolerating one or more environmental factors (e.g., temperature, chemistry, pressure, electromagnetic field, and / or the like) present during the experiment performed at the small format instrument. Alternatively and / or additionally, the multi-sample fixture may be identified based at least on the multi-sample fixture including one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the small format instrument. In some cases, one or more end effectors for engaging the fixture may be identified based at least on the type of the fixture. In some cases, the robotically executed experimental workflow may further include coupling a robotic arm with the one or more end effectors in order for the robotic systemto be operated to maneuver the fixture, for example, to load and unload the fixture from the small format instrument, as well as to manipulate the samples secured thereon.

[0086] In some example embodiments, the robotically executed experimental workflow may include tracking the location of the samples from the large format instrument to the small format instrument. For example, in some cases, the tracking of sample may be performed based on one or more images of the samples and / or the fixture securing the samples. Alternatively and / or additionally, the tracking of the samples may be performed on a persistent identifier (e.g., one or more of a radio frequency identification (RFID) tag, a barcode, or a quick response (QR) code, and / or the like) affixed to the each sample and / or the fixture securing the samples. It should be appreciated that the persistent identifier may be of a type that is compatible with the type of experiments performed on the samples at various instruments during the experimental workflow. Moreover, upon completion of the experiment performed at the small format instrument, the samples may be tracked as it undergoes one or more subsequent experiments at one or more additional instruments. For instance, upon completion of the experiment at the small format instrument, the samples may be transferred to another small or large format instrument for additional experimentation (e.g., synthesis, characterization, testing, and / or the like).

[0087] In some example embodiments, the robotically executed experimental workflow described herein may incorporate a wide variety of instruments. Examples of instruments may include those performing various types of synthesis (e.g., deposition, coating, alloying, processing, and / or the like), characterization (e.g., microscopy, spectroscopy, and / or the like), and testing (e.g., electrical, chemical, thermal, magnetic, optical, and / or the like). Accordingly, in some cases, the robotically executed experimental workflow may be adaptable to any type of materials experimentation. For instance, in some cases, the robotically executedexperimental workflow may be adapted for electrochemical experiments. Accordingly, in some cases, the samples may be membrane electrode assembly (MEA) samples that are synthesized and / or processed at a large format instruction before undergoing characterization in at least one reactor configured to evaluate the activity and / or durability of the constituent electrocatalysts (e.g., metal nanoparticles). Alternatively, the samples may be electrode samples configured to operate as cathodes or anodes. In some cases, subsequent to synthesis and / or processing at a large format instrument, the electrode samples may undergo experiments in at least one reactor configured to evaluate the interface (e.g., electrode-electrolyte interface (EEI)) that is formed between each electrode sample and one or more liquid electrolytes.

[0088] In some example embodiments, the multi-sample fixture may include a substrate with one or more fasteners (e.g., magnets, clips, adhesive, spring plungers, posts, and / or the like) configured to secure multiple samples to the substrate. It should be appreciated that it is possible for the multiple samples secured to the multi-sample fixture to be a monolithic piece of material (e.g., a single contiguous piece of substrate) that is divided into individual samples before a subset of these samples is transferred to a small format instrument while secured to the fixture. In some example embodiments, the fixture securing the subset of samples may also include a substrate and one or more fasteners (e.g., magnets, clips, adhesive, spring plungers, posts, and / or the like) for securing the samples thereto. In some cases, the substrate forming each of the fixture and the multi-sample fixture may include one or more grip points for engaging with one or more end effectors (e.g., parallel gripper, vacuum gripper, magnetic gripper, and / or the like) coupled with a robotic arm of the robotic system. Furthermore, the substrate forming each of the fixture and / or the multi-sample fixture may include one or more grooves (or other features such asmagnets, threading, snaps, and / or the like) for securing the coupling between the fixture and a corresponding instrument.

[0089] FIG. 1 depicts a planar view of an example of a multi-sample fixture 100, in accordance with some example embodiments. In some example embodiments, the multi-sample fixture 100 may include a substrate 105 to which a large format sample 110 is secured by one or more fasteners 107 (e.g., magnets, clips, adhesive, spring plungers, posts, and / or the like). In the example shown in FIG. 1, the large format sample 110 includes multiple individual, small format samples (e.g., a first small format sample 111, a second small format sample 113, and / or the like) arranged in a formation having at least one dimension satisfying the one or more thresholds associated with the large format instrument. For instance, in FIG. 1, the large format sample 110 may be a contiguous arrangement of 32 small format samples in the form of 2 X 2 centimeter substrate while the substrate 105 to which the large format sample 110 is secured has a diameter of 155 millimeters. Alternatively, the large format sample 110 may be a monolithic piece of material having at least one dimension satisfying the one or more thresholds. As described in more details below, in instances where the large format sample 110 is a monolithic piece of material, the large format sample 110 may be divided into individual, small format samples, such as the first small format sample 111 and the second small format sample 113, before at least one such small format sample is transferred to a fixture configured to secure one or more small format samples.

[0090] Referring again to FIG. 1, in some cases, the multi-sample fixture 100 may secure the large format sample 110 for interfacing with a large format instrument configured to operate in an area having at least one dimension satisfying one or more thresholds. In some cases, the multi-sample fixture 100 may be a part of a robotic sample management system that utilizes one or more robotic arms to manipulate the multi-sample fixture 100 and the large format sample110. Such manipulations may include loading / unloading the multi-sample fixture 100 (e.g., from the large format instrument) and coupling / decoupling the large format sample 110 (e.g., from the multi-sample fixture 100). Accordingly, in some cases, the multi-sample fixture 100 may include one or more grip points configured to engage with an end effector of a robotic arm such that the multi-sample fixture 100 and / or the large format sample 110 may be manipulated by robotic operations. For example, in some cases, the robotic arm may be operated to load and unload the multi-sample fixture 100 from the large format instrument. Furthermore, in some cases, the robotic arm may be operated to transfer the multi-sample fixture 100 between the large format instrument and one or more other instruments. In some cases, the robotic arm may include an end effector configured to engage with the multi-sample fixture 100 through one or more of mechanical interaction, magnetic interaction, pneumatic interaction, and / or the like. FIG. 1 shows one example in which the substrate 105 of the multi-sample fixture 100 includes one or more grip points 130 configured to interface with an end effector, such as an intrusive gripper, coupled with the robotic arm. In some cases, it is also possible for the one or more grip points 1 0 to serve as a retention mechanism for aligning and / or securing the multi-sample fixture 100 to the large format instrument while the large format sample 110 undergoes experimentation (e.g., synthesis, processing, testing, and / or the like) at the large format instrument. For instance, in some cases, FIG. 1 shows the one or more grip points 130 being cavities or holes configured to receive one or more alignment features, such as dowels, bolts, and / or the like, such that the robotic arm is able to align the multi-sample fixture 100 with the large format instrument when loading the multi-sample fixture 100 onto the large format instrument. In some cases, the one or more grip points 130 may also engage with one or more corresponding fasteners, such as mechanical fasteners (e.g., bolts, clamps, and / or the like), magnetic fasteners, vacuum fasteners, and / or the like, to secure thecoupling between the multi-sample fixture 100 and the large format instrument. It should be appreciated that the fasteners may, in some cases, serve to align the multi-sample fixture 100 with the large format instrument, thus obviating separate alignment features (e.g., dowels, bolts, and / or the like).

[0091] In some cases, the one or more alignment features may enable the robotic arm to align the multi-sample fixture 100 with the large format instrument with a high degree of accuracy and precision. In some cases, the alignment accuracy and precision may be quantified in terms of alignment resolution, which is a metric expressed as a maximum margin of alignment error relative to one or more dimensions of the multi-sample fixture 100 (e.g., microns per centimeters). For example, in some cases, the one or more alignment features may enable the robotic arm to achieve a precision and accuracy within 1 micron per centimeter. In some cases, the one or more alignment features may enable the robotic arm to achieve a precision and accuracy between 0.5 microns per centimeter to 1.5 microns per centimeter. It should be appreciated that the sample(s) on the multi-sample fixture 100 may be microscopic in scale. Alternatively, in some cases, the large format instrument may be required to operate in areas on the sample(s) with microscopic-scale dimensions. Thus, a high degree of alignment accuracy and precision may be necessary to ensure that the large format instrument operate in precise areas.

[0092] As noted, the multi-sample fixture 100 may be a part of a robotic sample management system. In some cases, this robotic sample management system may include, in addition to the multi-sample fixture 100, other fixtures. Some of those other fixtures may also be multi-sample fixtures that can accommodate a large format sample for interfacing with a large format instrument. Alternatively and / or additionally, the robotic sample management system may also include fixtures that are configured to accommodate a small format sample for interfacingwith a small format instrument. It should be appreciated that different fixtures may be configured to accommodate not only different format samples but also interface with different format instruments and / or support different experimentation. In other words, not all fixtures may be used interchangeably throughout the robotically executed experimental workflow. Instead, as described in more details below, the multi-sample fixture 100 may be selected for use during the robotically executed experimental workflow based at least on the type of experiment performed at the large format instrument on the large format sample 110. For example, in some cases, the multi-sample fixture 100 may be selected based at least on a material of the multi-sample fixture 100 (e.g., that of the substrate 105, the fasteners 107, and / or the like) being able to tolerate one or more environmental factors (e.g., temperature, chemistry, pressure (e.g., vapor pressure), electromagnetic field, and / or the like) present during the experiment performed at the large format instrument. Alternatively and / or additionally, the multi-sample fixture 100 may be selected based at least on the multi-sample fixture 100 having one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the large format instrument.

[0093] FIG. 2 depicts a planar view of an example of a fixture 200, in accordance with some example embodiments. In some example embodiments, the fixture 200 may include a substrate 210 to which a small format sample, such as the small format sample 111 forming a portion of the large format sample 110 in FIG. 1, is secured by one or more fasteners 215 (e.g., magnets, clips, adhesive, spring plungers, posts, and / or the like). In some cases, the fixture 200 may secure the small format sample 111 to interface with a small format instrument configured to operate in an area having at least one dimension satisfying one or more thresholds. In some cases, the fixture 200 may also be a part of the robotic sample management system along with the multi-sample fixture 100 shown in FIG. 1. For example, in some cases, the small format sample 111 may be transferred between the multi-sample fixture 100 and the fixture 200 by robotic operations in order for the small format sample 111 to undergo a robotically executed experimental workflow that incorporates large format instruments configured to interface with the multi-sample fixture 100 as well as small format instruments configured to interface with the fixture 200.

[0094] Referring again to FIG. 2, the substrate 210 of the fixture 200 may include one or more retention features 230, such as one or more grooves, for securing the fixture 200 to the small format instrument while the small format sample 111 secured thereto undergoes experimentation (e.g., synthesis, processing, testing, and / or the like) at the small format instrument. In some cases, the experimentation performed at the small format instrument may be a part of the robotically executed experimental workflow that further includes the small format sample 111 being loaded onto or unloaded from the multi-sample fixture 100 in order to undergo a different experimentation at the large format instrument. For example, in some cases, the small format sample 111 may undergo parallel synthesis and / or parallel thermal processing at the large format instrument while being secured to the multi-sample fixture 100 as a part of the large format sample 110. In some cases, after the experimentation at the large format instrument is complete, the robotic arm coupled with a suitable end effector may be operated to unload the multi-sample fixture 100 from the large format instrument and decouple the small format sample 111 from the multi-sample fixture 100 (e.g., either individually or as part of the large format sample 110). Moreover, in some cases, the robotic arm coupled with the same (or a different) end effector may be operated to secure the small format sample 111 to the fixture 200 before to engaging with a first grip point 220 and / or a second grip point 225 in order to load the fixture 200 onto the small format instrument where the small format sample 111 may undergo characterization and testing.

[0095] In some example embodiments, the fixture 200 may include one or more alignment features (e.g., pins, magnets, and / or the like) for aligning the fixture 200 with the small format instrument. In some cases, the one or more alignment features may engage with corresponding features (e g., dowels, bolts, and / or the like) on the small format instrument such that the robotic arm is able to align the fixture 200 with the small format instrument. In some cases, the one or more alignment features may enable the robotic arm to align the fixture 200 with the small format instrument with a high degree of accuracy and precision. In some cases, the alignment accuracy and precision may be quantified in terms of alignment resolution, which is a metric expressed as a maximum margin of alignment error relative to one or more dimensions of the fixture 200 (e.g., microns per centimeters). For instance, in some cases, the one or more alignment features may enable the robotic arm to achieve a precision and accuracy within 1 micron per centimeter. In some cases, the one or more alignment features may enable the robotic arm to achieve a precision and accuracy between 0.5 microns per centimeter to 1.5 microns per centimeter. It should be appreciated that the sample(s) on the fixture 200, such as the small format sample 111, may be microscopic in scale. Alternatively, in some cases, the small format instrument may be required to operate in areas on the sample(s), such as the small format sample 111, with microscopic-scale dimensions. Thus, a high degree of alignment accuracy and precision may be necessary to ensure that the small format instrument operate in precise areas.

[0096] As described in more details below, similar to the multi-sample fixture 100, the fixture 200 may be selected for use during a robotically executed experimental workflow based at least on the type of experiment performed at the small format instrument on the small format sample 111. For example, in some cases, the fixture 200 may be selected based at least on a material of the fixture 200 (e.g., that of the substrate 210, the fasteners 215, the first grip point 220,the second grip point 225, the retention features 230, and / or the like) being able to tolerate one or more environmental factors (e.g., temperature, chemistry, pressure (e.g., vapor pressure), electromagnetic field, and / or the like) present during the experiment performed at the small format instrument. Alternatively and / or additionally, the fixture 200 may be selected based at least on the fixture 200 having one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the small format instrument.

[0097] In some cases, the aforementioned robotically executed experimental workflow may be an electrochemical experimental workflow. For example, in some cases, the small format sample 111 may be a membrane electrode assembly (MEA) sample having a working electrode, an electrocatalyst, and an electrolyte (e.g., a polymer electrolyte, a solid electrolyte, an immobilized nonaqueous electrolyte, and / or the like) serving as an ion exchange membrane (e.g., cation exchange membrane (CEM), anion exchange membrane (AEM), proton exchange membrane (PEM), and / or the like). The small format instrument interfacing with the small format sample 111 secured to the fixture 200 may be a membrane electrode assembly (MEA) reactor configured to evaluate an activity and / or a durability of the electrocatalyst by at least coupling the small format sample 111 with a counter electrode and delivering a counter electrolyte to the counter electrode. Alternatively, the small format sample 111 may be an electrode sample while the small format instrument is an electrochemical reactor configured to evaluate an interface (e.g., a solid electrolyte interphase (SEI)) between the electrode sample and one or more liquid electrolytes by at least delivering the one or more liquid electrolytes to the electrode sample while coupling the electrode sample with a counter electrode.

[0098] In some cases, the performance of the small format sample 111 may be determined, for example, by measuring one or more of electrocatalyst activity, resistance of theion exchange membrane, resistance of the electrocatalyst, current density, voltage, and / or the like. Accordingly, in some cases, the small format instrument may perform one or more of chronoamperometry, chronopotentiometry, cyclic voltammetry, electrochemical impedance spectroscopy, and / or the like. It should be appreciated that the fixture 200 may be configured to support the experimentation performed at the small format instrument. This may include the fixture 200 having one or more of one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the small format instrument. Furthermore, in some cases, the small format instrument 200 may be constructed from a material capable of tolerating one or more environmental factors, such as temperature, chemistry, pressure (eg., vapor pressure), electromagnetic field, and / or the like, present during the experiment performed at the small format instrument.

[0099] Table 1 below provides some examples of the different types of experimentation that can be performed at the aforementioned small format instrument and / or the large format instrument.[000100] Table 1Experimental ExperimentalCategory CapabilitySynthesis Physical Vapor DepositionSynthesis Solid-State SynthesisSynthesis Chemical Vapor DepositionSynthesis Molecular Beam / Laser DepositionSynthesis Atomic Layer DepositionSynthesis Sol -Gel SynthesisSynthesis Solvo / Hydrothermal SynthesisSynthesis Polymer SynthesisSynthesis Mechanical AlloyingSynthesis Microwave-Assisted SynthesisSynthesis ElectrodepositionSynthesis Spray / Flame PyrolysisSynthesis Nanoparticle SynthesisSynthesis Spin / Spray CoatingSynthesis Laser ProcessingCharacterization X-Ray DiffractionCharacterization Transmission Electron Microscopy Characterization Scanning Electron MicroscopyCharacterization X-Ray FluorescenceCharacterization Atomic Force MicroscopyCharacterization Raman SpectroscopyCharacterization Thermogravimetry / CalorimetryCharacterization Nuclear Magnetic ResonanceCharacterization Photoelectron SpectroscopyCharacterization EllipsometryCharacterization X-Ray Absorption SpectroscopyCharacterization Secondary Ion Mass Spectrometry Characterization Surface AreaTesting Mechanical AnalysisTesting ElectrocatalysisTesting ThermocatalysisTesting Chemical SeparationsTesting Wear / Creep ResistanceTesting Anti -CorrosionTesting Electro / Thermo Device DurabilityTesting Thermal StabilityTesting Electrical TransportTesting Magnetic PropertiesTesting Optical SpectroscopyTesting Radiation Resistance[000101] In some example embodiments, the location of the small format sample 111 throughout the robotically executed experimental workflow including, for example, from the large format instrument to the small format instrument, may be tracked. For example, the tracking of the small format sample 111 may be performed based on one or more images of the small format sample 111, the multi-sample fixture 100 securing the small format sample 111 (e.g., as a part of the large format sample 110), the fixture 200 securing the small format sample 111, and / or the like. Alternatively and / or additionally, the tracking of the small format sample 111 may be performed based on a persistent identifier affixed to the small format sample 111, the multi-sample fixture 100 securing the small format sample 111 (e.g., as a part of the large format sample 110),the fixture 200 securing the small format sample 111, and / or the like. The persistent identifier may further enable the small format sample 111 to be identified and differentiated from the other small format samples (e.g., the small format sample 113) also secured to the multi-sample fixture 100 (e.g., as a part of the large format sample 110). Examples of the persistent identifier may include one or more of a radio frequency identification (RFID) tag, a barcode, a quick response (QR) code, and / or the like. It should be appreciated that the choice of persistent identifier (e.g., material) and the manner in which the persistent identifier is applied may depend on the different types of experiments that the small format sample 111 may undergo during the robotically executed experimental workflow. For instance, the persistent identifier may be configured to tolerate one or more environmental factors (e.g., temperature, chemistry, pressure (e g., vapor pressure), electromagnetic field, and / or the like) present during each experiment.[000102] FIG. 3 depicts a flowchart illustrating an example of a process 300 for robotic sample management, in accordance with some example embodiments. In some example embodiments, the process 300 may include operating a robotic system (e.g., a robotic arm coupled with a suitable end effector) to manipulate the large format sample 110 and one or more of the constituent small format samples, such as the small format samples 111 or 113, during an experimental workflow that incorporates both large format instruments configured to interface with large format samples (or multiple small format samples in parallel) and small format instruments configured to interface with small format samples. As described in more details below, the robotic system may be operated to transfer, for example, the small format sample 111 from the multi-sample fixture 100 securing the small format sample 111 (e.g., as a part of the large format sample 110) during experimentation at the large format instrument to the fixture 200 beforeloading the fixture onto the small format instrument such that the small format sample 111 can undergo experimentation at the small format instrument.[000103] At 302, a robotic system is operated to unload, from a large format instrument configured to interface with a plurality of samples, a multi-sample fixture securing the plurality of samples. In some example embodiments, the robotic system may include a robotic arm that is operated to unload, from the large format instrument, the multi-sample fixture securing the plurality of samples. As described in more details below, the robotic arm may be coupled with an end effector suitable for the task of manipulating the multi-sample fixture to unload the multisample fixture from the large format instrument. In some cases, the end effector may engage with the multi-sample fixture through one or more of mechanical interaction, magnetic interaction, pneumatic interaction, and / or the like. For example, in some cases, the unloading of the multisample fixture may include the robotic arm engaging (e.g., mechanically, magnetically, pneumatically, and / or the like) one or more grip points on the multi-sample fixture in order to disengage the multi-sample fixture from one or more retention features (e.g., magnets, grooves, threading, snaps, and / or the like) securing the coupling between the multi-sample fixture and the large format instrument.[000104J At 304, the robotic system is operated to decouple, from the multi-sample fixture, a subset of samples from the plurality of samples. In some example embodiments, the multi-sample fixture may secure a large format sample. In some cases, the large format sample may be an arrangement of multiple small format samples (e.g., a contiguous arrangement of 32 small format samples in the form of 2 x 2 centimeter pieces of substrate). Alternatively, the large format sample may be a monolithic piece of material. In the latter case, the robotic arm may be operated to partition the large format sample into individual small format sample. For example,the end effector coupled with the robotic arm may be configured to partition the large format sample or, alternatively, transfer the large format sample to an instrument capable of partitioning the large format sample. In some cases, a subset of samples that undergoes subsequent experimentation at a small format instrument may be identified, from amongst the plurality of samples forming or derived from the large format sample, using a persistent identifier. For instance, upon identifying one or more individual samples based on a corresponding persistent identifier, the robotic arm may be operated to decouple the one or more samples from the multisample fixture. In some cases, the decoupling of samples from the multi-sample fixture may include operating the robotic arm to disengage one or more fasteners (e.g., magnets, clips, adhesive, spring plungers, posts, and / or the like) securing the samples or the large format sample from which the individual sample is derived. The subset of samples may then be transferred to another fixture including, as described in more details below, a fixture configured to secure one or more individual samples for experimentation at a small format instrument.[000105] At 306, the robotic system is operated to dispose the subset of samples in a fixture configured to secure one or more individual samples. In some example embodiments, the robotic arm (e.g., coupled with a suitable end effector) may be operated to secure the subset of samples decoupled from the multi-sample fixture to the fixture. For example, in some cases, the fixture may include one or more fasteners (e.g., magnets, clips, adhesive, spring plungers, posts, and / or the like) and the robotic arm may be operated to secure the one or more individual samples in the subset of samples decoupled from the multi-sample fixture to the fixture by at least aligning each individual sample with the fixture before engaging the one or more fasteners to secure the individual samples to the fixture. In some cases, the robotic arm (e.g., coupled with the suitable end effector) may also engage with one or more grip points on the fixture in order to manipulatethe fixture while securing the individual samples thereto. Examples of such grip points include magnets, grooves, threading, snaps, and / or the like. The end effector coupled with the robotic arm may be configured to engage with these grip points in a variety of ways including, for example, through one or more of a mechanical interaction, magnetic interaction, pneumatic interaction, and / or the like.[000106] At 308, the robotic system is operated to load, onto a small format instrument configured to interface with one or more individual samples, the fixture including the subset of samples. In some example embodiments, the robotic arm (e.g., coupled with the suitable end effector) may be operated to transfer the fixture including the subset of samples to the small format instrument. As described in more details below, the location of samples during this transfer (and throughout the robotically executed experimental workflow) may be tracked, for example, based on one or more images of the samples and / or the fixture securing the samples. Alternatively and / or additionally, the location of samples during this transfer (and throughout the robotically executed experimental workflow) may be tracked based on a persistent identifier, which may be affixed to the samples and / or the fixture securing the samples. In some cases, the robotic arm (e.g., coupled with the suitable end effector) may be further operated to load the fixture onto the small format instrument. This loading may include, in some cases, engaging one or more retention mechanisms on the fixture and / or the small format instrument configured to secure the coupling therebetween. In some cases, the end effector on the robotic arm may be configured to engage (eg., by one or more of mechanical interaction, magnetic interaction, pneumatic interaction, and / or the like) the one or more grip points on the fixture in order to manipulate the fixture while loading the fixture onto the small format instrument.[000107] FIG. 4 depicts a flowchart illustrating another example of a process 400 for a robotically executed experimental workflow, in accordance with some example embodiments. In some example embodiments, a robotic system may be deployed to support a robotically executed experimental workflow that integrates large format instruments configured to interface with large format samples and small format instruments configured to interface with small format samples. In some cases, the robotic system may be configured to support the transition of samples between large format instruments and small format instruments. For example, as described in more details below, the type of fixture used to secure a sample may be determined based at least on the type of experiment to be performed on the sample. Moreover, in some cases, an end effector may be selected be selected based at least on the sample and / or the type of fixture securing the sample such that the end effector is able to manipulate the sample and / or the fixture securing the sample while transferring the sample between different instruments.[000108] At 402, a multi-sample fixture is identified, based at least on a type of experiment performed at a large format instrument, as a suitable type of fixture for securing a plurality of samples while the plurality of samples undergoes experimentation at the large format instrument. In some example embodiments, a robotic sample management system may include multiple fixtures, some of which configured to interface with large format instruments and others configured to interface with small format instruments. In some cases, a multi-sample fixture may be capable of securing a large format sample or an arrangement of multiple small format samples for undergoing experimentation at a large format instrument. Contrastingly, a fixture may be capable of securing a small format instrument for undergoing experimentation at a small format instrument. In some cases, the large format instrument may be configured to interface with a larger number of samples than the small format instrument. For example, the large format instrumentmay interface with multiple samples at once (e.g., for parallel synthesis, parallel thermal processing, and / or the like) while the small format instrument may interface with one or more individual samples (e.g., for characterization, testing, and / or the like).[000109] In some cases, different multi-sample fixtures may be configured to interface with different large format instruments. For example, the robotic sample management system may include a first multi-sample fixture and a second multi-sample fixture, each of which constructed from a different material capable of tolerating different environmental factors. Alternatively and / or additionally, the first multi-sample fixture and the second multi-sample fixture may provide different types of access (e.g., thermal access, electrical access, optical access, and / or the like). Accordingly, in some cases, the first multi-sample fixture may be selected instead of the second multi-sample fixture based at least on the type of experiment performed at the large format instrument. For instance, in some cases, the first multi-sample fixture may be selected based at least on the first multi-sample fixture being constructed from a material that is capable of tolerating the environmental factors (e.g., temperature, chemistry, pressure (e.g., vapor pressure), electromagnetic field, and / or the like) present during the experiment performed at the large format instrument. In some cases, the first multi-sample fixture may also be selected due to the first multisample fixture providing one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the large format instrument.[000110] At 404, a first end effector is identified based at least on a type of the multisample fixture. In some example embodiments, the robotic sample management system may include a variety of different end effectors, with different mechanisms for manipulating the fixtures and / or the samples secured thereon. For example, end effectors with different gripping mechanisms include astrictive grippers (e.g., vacuum grippers, magnetic grippers), intrusivegrippers, impactive grippers, electric grippers, hydraulic grippers, and / or the like. Tn some cases, a suitable end effector for coupling with the robotic arm may be selected based on the type of the multi-sample fixture, including the type of grip points present on the multi-sample fixture. For instance, in some cases, a first end effector may be selected instead of a second end effector based at least on a compatibility between the gripping mechanism employed by the first end effector and the grip point present on the multi-sample fixture.[000111] At 406, a robotic arm coupled with the first end effector is operated to manipulate the multi-sample fixture and / or the plurality of samples. In some example embodiments, the first end effector may be coupled with the robotic arm such that the robotic arm may be operated to manipulate the multi-sample fixture. For example, the robotic arm coupled with the first end effector may be operated to couple and decouple the multi-sample fixture from the large format instrument, transfer the multi-sample fixture to and from the large format instrument, and / or the like. It should be appreciated that the same end effector (or a different end effector) may be coupled with the robotic arm in order to manipulate the large format sample and / or the individual small format samples secured by the multi-sample fixture. Moreover, in some cases, multiple robotic arms, each coupled with an end effector, may be operated to manipulate the multi-sample fixture and / or the large format sample (or the individual small format samples).[000112] At 408, a fixture is identified, based at least on a type of experiment performed at a small format instrument, as a suitable type of fixture for securing a subset of samples from the plurality of samples while the subset of samples undergoes experimentation at the small format instrument. In some example embodiments, in addition to multiple multi-sample fixtures, the robotic sample management system may also include multiple fixtures, each of whichbeing configured to secure one or more individual samples while the individual samples undergo experimentation at a small format instrument. In some cases, different fixtures may be configured to interface with different small format instruments. In some cases, the choice of fixtures may be contingent upon the type of experiment performed at a small format instrument. For example, the robotic sample management system may include a first fixture and a second fixture, each of which being constructed from a different material capable of tolerating different environmental factors. Alternatively and / or additionally, the first fixture and the second fixture may provide different types of access (e.g., thermal access, electrical access, optical access, and / or the like). Accordingly, in some cases, the first fixture may be selected instead of the second fixture based at least on the type of experiment performed at the small format instrument. For instance, in some cases, the first fixture may be selected based at least on the first fixture being constructed from a material that is capable of tolerating the environmental factors (e.g., temperature, chemistry, pressure (e.g., vapor pressure), electromagnetic field, and / or the like) present during the experiment performed at the small format instrument. Alternatively and / or additionally, the first fixture may be selected due to the first fixture providing one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the small format instrument.[000113] At 410, a second end effector is identified based at least on a type of the fixture. As noted, the robotic sample management system may include a variety of different end effectors, with different mechanisms for manipulating the fixtures and / or the samples secured thereon. For example, end effectors with different gripping mechanisms include astrictive grippers (eg., vacuum grippers, magnetic grippers), intrusive grippers, impactive grippers, electric grippers, hydraulic grippers, and / or the like. As is the case with the multi-sample fixture, a suitableend effector for coupling with the robotic arm may be selected based on the type of the fixture, including the type of grip points present on the fixture. For instance, in some cases, the second end effector based at least on a compatibility between the gripping mechanism employed by the second end effector and the grip point present on the fixture. It should be appreciated that the same end effector selected for manipulating the multi-sample fixture may also be selected for manipulating the fixture, as the choice of end effectors may not necessarily be contingent on the size of the fixture or the format of the samples the fixture is configured to accommodate. Nevertheless, it is also possible for different end effectors to be selected for manipulating the multisample fixture configured to secure a large format sample (or multiple small format samples) and for manipulating the fixture configured to secure one or more individual samples.[000114] At 412, a robotic arm coupled with the second end effector is operated to manipulate the fixture and / or the subset of samples. In some example embodiments, the second end effector may be coupled with the robotic arm such that the robotic arm may be operated to manipulate the fixture. For example, the robotic arm coupled with the second end effector may be operated to couple and decouple the fixture from the small format instrument, transfer the fixture to and from the small format instrument, and / or the like. It should be appreciated that the same end effector (or a different end effector) may be coupled with the robotic arm in order to manipulate the individual small format samples secured by the fixture. Moreover, in some cases, multiple robotic arms, each coupled with an end effector, may be operated to manipulate the fixture and / or the small format sample.[000115] In the descriptions above and in the claims, phrases such as “at least one of’ or “one or more of’ may occur followed by a conjunctive list of elements or features. The term “and / or” may also occur in a list of two or more elements or features. Unless otherwise implicitlyor explicitly contradicted by the context in which it used, such a phrase is intended to mean any of the listed elements or features individually or any of the recited elements or features in combination with any of the other recited elements or features. For example, the phrases “at least one of A and B;” “one or more of A and B;” and “A and / or B” are each intended to mean “A alone, B alone, or A and B together.” A similar interpretation is also intended for lists including three or more items. For example, the phrases “at least one of A, B, and C;” “one or more of A, B, and C;” and “A, B, and / or C” are each intended to mean “A alone, B alone, C alone, A and B together, A and C together, B and C together, or A and B and C together.” Use of the term “based on,” above and in the claims is intended to mean, “based at least in part on,” such that an unrecited feature or element is also permissible.[000116] The subject matter described herein can be embodied in systems, apparatus, methods, and / or articles depending on the desired configuration. The implementations set forth in the foregoing description do not represent all implementations consistent with the subject matter described herein. Instead, they are merely some examples consistent with aspects related to the described subject matter. Although a few variations have been described in detail above, other modifications or additions are possible. In particular, further features and / or variations can be provided in addition to those set forth herein. For example, the implementations described above can be directed to various combinations and subcombinations of the disclosed features and / or combinations and subcombinations of several further features disclosed above. In addition, the logic flows depicted in the accompanying figures and / or described herein do not necessarily require the particular order shown, or sequential order, to achieve desirable results. Other implementations may be within the scope of the following claims.

Claims

CLAIMSWhat is claimed is:

1. A method of operating a robotic system for robotic manipulation of a test sample, the method comprising operating the robotic system to:unload, from a large format instrument, a multi-sample fixture securing a plurality of samples, the large format instrument configured to interface with the plurality of samples in parallel;decouple, from the multi-sample fixture, a subset of samples from the plurality of samples;dispose the subset of samples in a fixture configured to secure one or more individual samples; andload, onto a small format instrument configured to interface with the one or more individual samples, the fixture including the subset of samples.

2. The method of claim 1 , wherein the large format instrument is configured to perform, on the plurality of samples secured in the multi-sample fixture, at least one of synthesis, processing, or characterization.

3. The method of any of claims 1 to 2, wherein the small format instrument is configured to perform, on the subset of samples secured in the fixture, a different type of experiment than the large format instrument.

4. The method of any of claims 1 to 3, wherein the large format instrument and the small format instrument are configured to perform, on the subset of samples, different experiments comprising a single workflow.

5. The method of any of claims 1 to 4, further comprising operating the robotic system to:decouple, from the multi-sample fixture, a different subset of samples from the plurality of samples;dispose the different subset of samples in a different fixture; andload, onto a different small format instrument, the different fixture with the different subset of samples.

6. The method of any of claims 1 to 5, wherein the subset of samples include one or more individual samples from the plurality of samples secured by the large format instrument.

7. The method of any of claims 1 to 6, further comprising operating the robotic system to:unload the plurality of samples from a different large format instrument configured to process the plurality of samples in parallel; andtransfer the plurality of samples to the large format instrument prior to loading, onto the large format instrument, the plurality of samples secured in the multi-sample fixture.

8. The method of claim 7, further comprising operating the robotic system to: transfer, to the multi-sample fixture, the plurality of samples secured in another multisample fixture configured to interface with the different large format instrument.

9. The method of any of claims 7 to 8, wherein the large format instrument and the different large format instrument are configured to perform, on the plurality of samples, different experiments comprising a single workflow.

10. The method of any of claims 1 to 9, further comprising operating the robotic system to:identify, based at least on a type of the multi-sample fixture, an end effector for engaging the multi-sample fixture; andcouple, with a robotic arm comprising the robotic system, the end effector for unloading the multi-sample fixture from the large format instrument.

11. The method of any of claims 1 to 10, further comprising operating the robotic system to:identify the fixture as a suitable type of fixture for securing the subset of samples based at least on a type of experiment performed at the small format instrument.

12. The method of claim 11, wherein the fixture is identified based at least on a material of the fixture being compatible with the type of experiment performed at the small format instrument.

13. The method of any of claims 11 to 12, wherein the fixture is identified based at least on the fixture having one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the small format instrument.

14. The method of any of claims 1 to 13, further comprising operating the robotic system to:identify, based at least on a type of the fixture, an end effector for disposing the subset of sample in the fixture and / or loading the fixture onto the small format instrument; and couple the end effector with a robotic arm comprising the robotic system.

15. The method of any of claims 1 to 14, further comprising operating the robotic system to:identify the multi-sample fixture as a suitable type of fixture for securing the plurality of samples based at least on a type of experiment performed at the large format instrument.

16. The method of claim 15, wherein the multi-sample fixture is identified based at least on a material of the fixture being compatible with the type of experiment performed at the large format instrument.

17. The method of any of claims 15 to 16, wherein the multi-sample fixture is identified based at least on the multi-sample fixture having one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the large format instrument.

18. The method of any of claims 1 to 17, further comprising operating the robotic system to:align the subset of samples with the fixture prior to disposing the subset of samples in the fixture.

19. The method of claim 18, wherein the subset of samples is aligned with the fixture using one or more pins, magnetic couplings, or fiducial markers.

20. The method of any of claims 1 to 19, further comprising operating the robotic system to:track a location of the subset of samples from the large format instrument to the small format instrument.

21. The method of claim 20, wherein the tracking is performed based at least on one or more images of the subset of samples and / or the fixture securing the subset of samples.

22. The method of any of claims 20 to 21, wherein the tracking is performed based at least on a persistent identifier affixed to the subset of samples and / or the fixture securing the subset of samples.

23. The method of any of claims 1 to 22, further comprising operating the robotic system to:identify, amongst the plurality of samples secured in the multi-sample fixture, the subset of samples, the subset of samples being identified based at least on one or more persistent identifiers affixed to the subset of samples.

24. The method of claim 23, wherein the one or more persistent identifiers include one or more of a radio frequency identification (RFID) tag, a barcode, or a quick response (QR) code.

25. The method of any of claims 1 to 24, wherein each sample in the subset of samples comprises a membrane electrode assembly (MEA) sample that includes a working electrode, an electrocatalyst, and an electrolyte.

26. The method of claim 25, wherein the small format instrument comprises an MEA reactor configured to evaluate an activity and / or a durability of the electrocatalyst by at least coupling the MEA sample with a counter electrode and delivering a liquid electrolyte to the counter electrode.

27. The method of any of claims 1 to 26, wherein each sample in the subset of samples comprises an electrode sample.

28. The method of claim 27, wherein the small format instrument comprises an electrochemical reactor configured to evaluate an interface between the electrode sample and one or more liquid electrolytes by at least delivering the one or more liquid electrolytes to the electrode sampling while coupling the electrode sample with a counter electrode.

29. The method of any of claims 1 to 28, wherein the large format instrument is configured to perform parallel synthesis and / or parallel thermal processing of the plurality of samples while the small format instrument is configured to characterize the subset of samples.

30. The method of any of claims 1 to 29, further comprising operating the robotic system to:engage one or more grip points in the fixture when loading, onto the small format instrument, the fixture including the subset of samples.

31. A robotic sample management system, comprising:a multi-sample fixture configured to secure a plurality of samples while the plurality of samples undergo an experiment at a large format instrument;a fixture configured to secure a subset of samples from the plurality of samples while the subset of samples undergoes a different experiment at a small format instrument; anda robot operable to transfer the subset of samples from the multi-sample fixture to the fixture and loading the fixture including the subset of samples onto the small format instrument.

32. The robotic sample management system of claim 31, wherein the fixture includes one or more fasteners configured to secure the subset of samples.

33. The robotic sample management system of claim 32, wherein the one or more fasteners include one or more spring plungers.

34. The robotic sample management system of any of claims 32 to 33, wherein the robot is operable to transfer the subset of samples by at least disposing the subset of samples on the fixture and engaging the one or more fasteners to secure the subset of samples.

35. The robotic sample management system of any of claims 31 to 34, wherein the fixture includes one or more grip points configured to engage with an end effector of a robotic arm coupled with the robot.

36. The robotic sample management system of claim 35, wherein the robot is operable to engage the one or more grip points when loading, into the small format instrument, the fixture including the subset of samples.

37. The robotic sample management system of any of claims 31 to 36, wherein the fixture includes one or more alignment features, and wherein the robot is operable to transfer the subset of samples to the fixture by at least using the one or more alignment features to align the subset of samples with the fixture.

38. The robotic sample management system of claim 37, wherein the one or more alignment features enable the fixture to be aligned with the small format instrument with an alignment resolution between 0.5 microns per centimeter to 1.5 microns per centimeter.

39. The robotic sample management system of any of claims 31 to 38, wherein the robot is operable to transfer the subset of samples from the multi-sample fixture to the fixture by at least:unloading, from the large format instrument, the multi-sample fixture securing the plurality of samples;decoupling the subset of samples from the multi-sample fixture; anddisposing the subset of samples in the fixture.

40. The robotic sample management system of any of claims 31 to 39, wherein the multi-sample fixture is adapted for a type of experiment performed at the large format instrument.

41. The robotic sample management system of claim 40, wherein the multi-sample fixture is formed from a material suitable for the type of experiment performed at the large format instrument.

42. The robotic sample management system of any of claims 40 to 41, wherein the multi-sample fixture includes one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the large format instrument.

43. The robotic sample management system of any of claims 31 to 42, wherein the fixture is adapted for a type of experiment performed at the small format instrument.

44. The robotic sample management system of claim 43, wherein the fixture is formed from a material suitable for the type of experiment performed at the small format instrument.

45. The robotic sample management system of any of claims 43 to 44, wherein the fixture includes one or more of a thermal access, an electrical access, or an optical access required by the type of experiment performed at the small format instrument.

46. The robotic sample management system of any of claims 31 to 45, further comprising:one or more end effectors configured to couple with a robotic arm of the robot.

47. The robotic sample management system of claim 46, wherein the one or more end effectors are configured to engage with the fixture and / or the multi-sample fixture.

48. The robotic sample management system of any of claims 31 to 47, wherein the fixture includes a persistent identifier, and wherein the subset of samples is identified for processing at the small format instrument based at least on the persistent identifier.

49. The robotic sample management system of claim 48, wherein the persistent identifier is further adapted for tracking the subset of samples during a transfer from the large format instrument to the small format instrument.

50. The robotic sample management system of any of claims 48 to 49, wherein the persistent identifier includes one or more of a radio frequency identification (RFID) tag, a barcode, or a quick response (QR) code.

51. The robotic sample management system of any of claims 31 to 50, wherein the large format instrument is configured to perform, on the plurality of samples, at least one of synthesis, processing, or characterization.

52. The robotic sample management system of any of claims 31 to 51, wherein the large format instrument and the small format instrument are configured to perform different experiments comprising a single workflow.

53. The robotic sample management system of any of claims 31 to 52, wherein the large format instrument is configured to perform parallel synthesis and / or parallel thermal processing of the plurality of samples while the small format instrument is configured to characterize the subset of samples.

54. The robotic sample management system of any of claims 31 to 53, further comprising:a different multi-sample fixture configured to secure the plurality of samples while the plurality of samples undergo parallel processing at a different large format instrument.

55. The robotic sample management system of any of claims 31 to 54, further comprising:a different fixture configured to secure a same subset of samples or a different subset of samples for experimentation at a different small format instrument.

56. The robotic sample management system of any of claims 31 to 55, wherein the robot is further operable to transfer a different subset of samples from the plurality of samples while the different subset of samples undergoes experimentation at a same small format instrument or a different small format instrument.

57. The robotic sample management system of any of claims 31 to 56, wherein each sample in the subset of samples comprises a membrane electrode assembly (MEA) sample that includes a working electrode, an electrocatalyst, and an electrolyte.

58. The robotic sample management system of claim 57, wherein the small format instrument comprises an MEA reactor configured to evaluate an activity and / or a durability of the electrocatalyst by at least coupling the MEA sample with a counter electrode and delivering a liquid electrolyte to the counter electrode.

59. The robotic sample management system of any of claims 31 to 58, wherein each sample in the subset of samples comprises an electrode sample.

60. The robotic sample management system of claim 59, wherein the small format instrument comprises an electrochemical cell reactor configured to evaluate an interface between the electrode sample and one or more liquid electrolytes by at least delivering the one or more liquid electrolytes to the electrode sample while coupling the electrode sample to a counter electrode.

61. A fixture, comprising:a substrate includingone or more grip points configured to engage with an end effector of a robotic system,one or more fasteners for securing one or more samples disposed on the substrate, and one or more grooves for securing a coupling between the fixture and a small format instrument configured to perform at least one experiment on the one or more samples.

62. The fixture of claim 61, wherein the one or more fasteners include one or more retaining spring plungers.

63. The fixture of any of claims 61 to 62, wherein the substrate further includes a persistent identifier for identifying the fixture and / or the one or more samples disposed on the substrate.

64. The fixture of any of claims 61 to 63, wherein the substrate includes one or more alignment features for aligning the one or more samples with the fixture.

65. The fixture of claim 64, wherein the one or more alignment features enable the fixture to be aligned with the small format instrument with an alignment resolution between 0.5 microns per centimeter to 1.5 microns per centimeter.

66. A robotic sample management system, comprising:means for securing a plurality of samples while the plurality of samples undergo parallel processing at a large format instrument;means for securing a subset of sample from the plurality of samples while the subset of samples undergoes processing at a small format instrument; andmeans for robotically transferring the subset of samples from the multi-sample fixture to the fixture and loading the fixture including the subset of samples onto the small format instrument.

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