sqlquery

SELECT
  GROUP_CONCAT(DISTINCT
    CONCAT(
      'MAX(IF(sp.name = ''',
      name,
      ''', sp.value, NULL)) AS ',
      name
    )
  ) INTO @sql
FROM SampleParameters;

SET @sql = CONCAT('SELECT s.id
                    , s.sampleName
                    ,  ', @sql, '
                   FROM Samples s
                   LEFT JOIN SampleParameters AS sp
                    ON s.id = sp.sampleID
                   GROUP BY s.id');

PREPARE stmt FROM @sql;
EXECUTE stmt;
DEALLOCATE PREPARE stmt;