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Synchronized motion and pattern formation of magnetic particle aggregates in variable magnetic field is of growing interest from the point of view of both fundamental science and its applications. In this article, the role of size differences in synchronized motion of magnetic particles under external rotating magnetic field at low Reynolds number flow regimes is considered. Several different motion regimes are observed in simulations as a function of particle size differences and field rotation rate. Simulation indicates phase-like transitions between different motion regimes when particle size differences become significant. It is also shown that particle size differences permit the possibility of locomotion for particle aggregates which cannot be observed for uniform particle sizes.

Accurate and controlled movement of small, untethered objects within soft tissues has many potential applications in medical robotics. While medium reaction forces due to slow movement of solid objects in viscoelastic fluids are well-known, such forces have received much less attention in soft media and tissues where the movement is accompanied by highly non-linear and history dependent phenomena. This paper develops a model of such forces for spherical solids. The reaction forces are investigated experimentally in the limit when the spherical solid moves at only a small fraction of its diameter per second. A mathematical model consistent with observations is proposed. The key element of the model is the history-dependent nature of the medium reaction force. A method of the model parameter identification is described, and its experimental implementation is demonstrated in gels that simulate soft tissues. In the experiments, known magnetic forces are employed as the external forces to drag a permanent magnet sphere inside Agarose gel phantom, and video tracking assisted by template matching calculations is used to accurately track the sphere translation. Numerical simulations of the model illustrate results that are consistent with observations.

Magnetically actuated swimming of microscopic objects has been attracting attention partly due to its promising applications in the bio-medical field and partly due to interesting physics of swimming in general. While colloidal particles that are free to move in fluid can be an attractive swimming system due it its simplicity and ability to assemble in situ, stability of their dynamics and the possibility of stable swimming behavior in periodically varying magnetic fields has not been considered. Dynamic behavior of two magnetically interacting colloidal particles subjected to rotating magnetic field of switching frequency is analyzed here and is shown to result in stable swimming without any stabilizing feedback. A new mechanism of swimming that relies only on rotations of the particles themselves and of the particle pair axis is found to dominate the swimming dynamics of the colloidal particle pair. Simulation results and analytical arguments demonstrate that this swimming strategy compares favorably to dragging the particles with an external magnetic force when colloidal particle sizes are reduced.

This paper presents an implementation of the Qt4 test bench based on ARM9. With Linux as the operating system, based on ARM9 system board, Qt4 test bench is implemented and completes the corresponding tests. The process of the implementation combining the build of compiler environments, the kernel transplant, the production of the root filesystem, drivers installation, and the process of Qt/Embedded transplant supporting touch screen, is detailed explained. At last, the console, based on Qt/Embedded for GUI support system, is presented to control four applications, each of which has tested individual objective functions related to USB camera and LCD display.