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Development of a laboratory robotic system for automated bi..:

Hempenius, J. ; Wieling, J. ; Jonkman, J.H.G....
Journal of Pharmaceutical and Biomedical Analysis.  8 (1990)  4 - p. 313-320 , 1990
Link: https://doi.org/10.1016/0731-7085(90)80044-p