In this study, we tried to create an object transportation system using Daphnia magna. We developed a target object for the transportation experiment using a 5-mm-diameter transparent acrylic rod with a hole in the lower part. Black film and a small white ball were attached to the top surface of the object in order to improve contrast and allow easier position detection during image processing.
The daphnia were first directed to the guide point, about 10 mm opposite the desired transportation direction. They were then guided to collide with the object. If a collision did not occur, they were guided to an evasion point 5 mm to the side of the object, then back to the guidance point and directed to collide with the object once again.
When the daphnia is making contact with the object, the guidance direction was compensated to the outside of the target course to transport along the target course. A compensation angle was calculated by the proportional control method.
By using this control scheme, daphnia could transport an object through the seven apices (about 1.5 laps) of the star-shaped target routes.