“…Fig.1Steps involved in automated solid dispensing using a dual-arm robot; (1) first, the robot opens the balance door; (2) and (3) the robot then manipulates the empty vial and places it on the analytical balance pan, before closing the balance door (not shown); (4) the robot manipulates the sample hopper that contains the material to be dispense, transferring it from a sample storage area (shown on right of image(11)), and placing it next to the balance; (5) the robot uses a small spatula to mix the contents of the hopper, breaking up any agglomerates; (6) the robot scoops solid from the sample hopper using a spatula that is matched in size to the amount to be dispensed;(7) photographs showing the tilting and shaking operations used to dispense the solids into a glass funnel that delivers the material to the sample vial; (8) any excess, undispensed solid is returned to the sample hopper; (9) tilting operation for smallest spatula;(10) here the robot removes the sample vial and returns all material to the sample hopper in the case of over-dispensing beyond a preset threshold (i.e., a 'reset' operation); and(11) photograph showing the overall layout of the workflow. Videos of the solid dispensing process are provided in the Data availability section.…”