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Automatic insemination and incubation system by male and female miniature robots

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Micro and miniature robot technologies have a great potential benefit because they can easily provide very precise operation with a resolution of sub-micro- to nanometers. Recently, the demand for fine manipulation in the biocell has increased, sometimes automatically. This paper describes the piezo-based miniature robot system which can execute automatic insemination and incubation processes. These small robots with several range sensors can navigate precisely themselves with the simple control sequences although the computational facility and power source are still outside. The experimental results show that the male and the female robots succeeded in make accurate alignment for injection, insemination and incubation by using a fish egg.


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