Visionbased magnetic platform for actuator positioning and wireless control of microrobots This work presents a method to guide microrobots by positioning a magnetic actuator using hybrid vision system. The used actuator mounted at a robot endeffector creates local maxima of the magnetic field magnitude, which results in an attractive point for microrobots in its influence zone. The hybrid vision system serves to control the actuator position through the robotic platform to make the trapped microrobot undergo a planned trajectory. In first validation results, the particle driving is achieved in open loop with no adjustment with respect to the planned trajectory. Such scheme can be used in the case where the microrobot position can not be measured in real time. The second validation results deal with the case of microrobot positioning by visual servoing. This can be used in the case where recovering microrobot position is possible, for example in eye treatment.

Instantaneous Velocity Estimation of Magnetic Microrobots with Visual Tracking Motion controlling the magnetic microrobot automatically is a huge challenge. A closedcontrol of magnetic microrobots actuated by electromagnetic manipulation systems can realize the precise and automatic motion control. In order to control the microrobot automatically, tracking and calculating the instantaneous velocity of microrobots are necessary in closedloop state. A fast tracking via spatiotemporal context (STC) learning algorithm is applied for realtime microrobot tracking. In precision, success rate and computing times that is better than other tracking methods. The instantaneous velocity of magnetic microrobots for different rotational propulsion frequencies was estimated by STC method in real time. The experimental results show that proposed tracking algorithm can be used for visual servo of magnetic microrobots.