Microswimmers are sub-millimeter swimming robots that show potential as a platform for controllable locomotion in applications, including targeted cargo delivery and minimally invasive surgery. To be viable for these target applications, microswimmers will eventually need to be able to navigate environments with dynamic fluid flows and forces. Experimental studies with microswimmers towards this goal are currently rare because of the difficulty of isolating intentional microswimmer locomotion from environment-induced motion. In this work, we present a method for measuring microswimmer locomotion within a complex flow environment using fiducial microspheres. By tracking the particle motion of ferromagnetic and non-magnetic polystyrene fiducial microspheres, we capture the effect of fluid flow and magnetic field gradients on microswimmer trajectories. We then determine the field-driven translation of these microswimmers relative to fluid flow and demonstrate the effectiveness of this method by illustrating the motion of multiple microswimmers through different flows.

This work demonstrates a novel approach to steering a magnetic swimming robot in two dimensions with a single pair of Maxwell coils. By leveraging the curvature of the magnetic field gradient, we achieve motion along two axes. This method allows us to control medical magnetic robots using only existing MRI technology, without requiring additional hardware or posing any additional risk to the patient. We implement a switching time optimization algorithm which generates a schedule of control inputs that direct the swimming robot to a goal location in the workspace. By alternating the direction of the magnetic field gradient produced by the single pair of coils per this schedule, we are able to move the swimmer to desired points in two dimensions. Finally, we demonstrate the feasibility of our approach with an experimental implementation on the millimeter scale and discuss future opportunities to expand this work to the microscale, as well as other control problems and real-world applications.

This paper investigates whether voice assistants can play a useful role in the specialized work-life of the knowledge worker (in a biology lab). It is motivated both by promising advances in voice-input technology, and a long-standing vision in the community to augment scientific processes with voice-based agents. Through a reflection on our design process and a limited but fully functional prototype, Vitro, we find that scientists wanted a voice-enabled device that acted not a lab assistant, but lab equipment. Second, we discovered that such a device would need to be deeply embedded in the physical and social space in which it served scientists. Finally, we discovered that scientists preferred a device that supported their practice of "careful deviation" from protocols in their lab work. Through this research, we contribute implications for the design of voice-enabled systems in workplace settings.