Figure 1.

The spectrum of RPMs in our laboratory ranges from a small desktop RPM that remains in an incubator during operation (right) to a large RPM with an integrated incubator (left and center). The iRPM was designed and constructed by Jörg Seckler and Simon L. Wuest, Institute for Automation Engineering, University of Applied Sciences and Arts Northwestern Switzerland (FHNW), Brugg-Windisch, Aargau, Switzerland. The desktop RPM was purchased from Airbus Defense and Space (ADS), Leiden, The Netherlands.