Addressing the limitations associated with first-generation robotics, the authors describe the emergence of second-generation machines based on an 'open architecture' with more built-in flexibilty.
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Martin, A., Petracca, J. Liquid handling in robotic workstations. Nature 343, 391–392 (1990). https://doi.org/10.1038/343391a0
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DOI: https://doi.org/10.1038/343391a0