J024024 An Automatic Object Transportation System by Daphnia magna

Abstract

In this study, we tried to make an object transportation system using Daphnia magna. We developed a target object for transportation experiment. We used 5mm diameter transparent acrylic rod and the lower part was bored. A black film and a small white ball were attached on the top surface of the object to improve the contrast to ease the position detection in the image processing. In the case if the Daphnia does not contact to the object, (1) Daphnia was first guided to the guide point where the distance is about 10mm opposite the aiming transportation direction. (2) Then, Daphnia is controlled to collide with the object. (3) If Daphnia did not collide to the object, then Daphnia is guided to the evasion point located at 5mm side of the object, then controlled to the guidance point again, and repeat the scheme. When Daphnia is contacting to the object, the lighted direction is compensated to the outside of the target course to transport the object on the guidance route. The compensation angle was calculated by the proportional control method. By using this control scheme, a Daphnia can transport an object through the 7 apex (about 1.5 laps) of the star-shaped target routes.