An Improvement of The Motion Controllability of Paramecium by The Media Exchange Type Long Electrode Distance Pool We herein propose a new type of motion control pool for Paramecium, in which an electrical field is applied. In order to prevent a pH change, the culture medium in the electrode area is exchangeable. The experimental area and the electrode area are separated by a membrane filter in order to maintain electrical conductivity and to prevent mixing of the media. Two types of pools were constructed: one in which eight electrodes were fixed (as in our previous studies) and one incorporating four rotatable electrodes in order to improve the angular resolution. The controllability of the Paramecium was much improved, and an average control deviation of 0.149 mm was achieved.

Visual Servoing of Magnetic Swimming Robot Based on Mean Shift and Fast Template Matching Algorithm The actuation and control of miniscale swimming robots have exhibit promising potential in limited and constrained environments, such as biomedical, microassembly and microfluidic applications. However, closedloop control is still a challenging for the precision and repeatability in those applications. In this paper, a new type of softmicro swimming robot based on magnetoelastic composite material is designed, and the swimmer can move freely on the water surface controlled by a rotating magnetic field with visual servoing. The visual feedback control strategy is proposed based on Mean Shift Algorithm and Fast Template Matching. The algorithm includes three parts: prediction, template matching, target positioning and template updating. To understand the characteristics of the swimmer, the relationship between swimming speed and magnetic field strength and frequency is verified by the algorithm in experiments. Furthermore, the proposed path following method with visual servoing applied in this control system. The experimental results show that the algorithm runs fast, has high accuracy and good realtime performance, and can provide great potential in miniscale robot applications.