Instantaneous Velocity Estimation of Magnetic Microrobots with Visual Tracking *

Motion controlling the magnetic microrobot automatically is a huge challenge. A closed-control 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 closed-loop state. A fast tracking via spatio-temporal context (STC) learning algorithm is applied for real-time 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.

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