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A cilia inspired closed loop sensor actuator array

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Figure

Figure 1: Phase contrast micrograph of P. caudatum’sserved coating the organism. Scale bar 25 anterior apex
Figure 2: An example image from the overhead camera and Matlab software with the tiledPCBs in the field of view, together with the tracking details overlaid on the object where i)is a vibrating motor, ii) a pair of IR LEDs and IR phototransistors, iii) centre mass of thered object with appropriate coordinates, iv) the red card object being manipulated, v) theoutline of the red object, vi) one plug-and-play board, vii) an ATmega164P microprocessor
Figure 3: An example of the movement from the start to stop position tracking of theobject
Figure 4: Direction vector plot for both motor polarities, each with 12 repeats. Vectormagnitude represents distance moved and vector angle represents overall direction of move-ment

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