Marangoni Effect-Driven Motion of Miniature Robots and Generation of Electricity on Water

Wireless Magnetoelectrochemical Induction of Rotational Motion

Electromagnetically induced rotation is a key process of many technological systems that are used in daily life, especially for energy conversion. In this context, the Lorentz force-induced deviation of charges is a crucial physical phenomenon to generate rotation. Herein, they combine the latter with the concept of bipolar electrochemistry to design a wireless magnetoelectrochemical rotor. Such a device can be considered as a wet analog of a conventional electric motor. The main driving force that propels this actuator is the result of the synergy between the charge-compensating ion flux along a bipolar electrode and an external magnetic field applied orthogonally to the surface of the object. The trajectory of the wirelessly polarized rotor can be controlled by the orientation of the magnetic field relative to the direction of the global electric field, producing a predictable clockwise or anticlockwise motion. Fine-tuning of the applied electric field allows for addressing conducting objects having variable characteristic lengths.

Modulating photothermocapillary interactions for logic operations at the air-water interface

We demonstrate a system for performing logical operations (OR, AND, and NOT gates) at the air-water interface based on Marangoni optical trapping and repulsion between photothermal particles. We identify a critical separation distance at which the trapped particle assemblies become unstable, providing insight into the potential for scaling to larger arrays of logic elements.

Using Footpad Sculpturing to Enhance the Maneuverability and Speed of a Robotic Marangoni Surfer

From insects to arachnids to bacteria, the surfaces of lakes and ponds are teaming with life. Many modes of locomotion are employed by these organisms to navigate along the air-water interface, including the use of lipid-laden excretions that can locally change the surface tension of the water and induce a Marangoni flow. In this paper, we improved the speed and maneuverability of a miniature remote-controlled robot that mimics insect locomotion using an onboard tank of isopropyl alcohol and a series of servomotors to control both the rate and location of alcohol release to both propel and steer the robot across the water. Here, we studied the effect of a series of design changes to the foam rubber footpads, which float the robot and are integral in efficiently converting the alcohol-induced surface tension gradients into propulsive forces and effective maneuvering. Two designs were studied: a two-footpad design and a single-footpad design. In the case of two footpads, the gap between the two footpads was varied to investigate its impact on straight-line speed, propulsion efficiency, and maneuverability. An optimal design was found with a small but finite gap between the two pads of 7.5 mm. In the second design, a single footpad without a central gap was studied. This footpad had a rectangular cut-out in the rear to capture the alcohol. Footpads with wider and shallower cut-outs were found to optimize efficiency. This observation was reinforced by the predictions of a simple theoretical mechanical model. Overall, the optimized single-footpad robot outperformed the two-footpad robot, producing a 30% improvement in speed and a 400% improvement in maneuverability.

Self-Sustained Rotation of Lorentz Force-Driven Janus Systems

Rotation is an interesting type of motion that is currently involved in many technological applications. In this frame, different and sophisticated external stimuli to induce rotation have been developed. In this work, we have designed a simple and original self-propelled bimetallic Janus rotor powered by the synergy between a spontaneous electric and ionic current, produced by two coupled redox reactions, and a magnetic field, placed orthogonal to the surface of the device. Such a combination induces a magnetohydrodynamic vortex at each extremity of the rotor arm, which generates an overall driving force able to propel the rotor. Furthermore, the motion of the self-polarized object can be controlled by the direction of the spontaneous electric current or the orientation of the external magnetic field, resulting in a predictable clockwise or anticlockwise motion. In addition, these devices exhibit directional corkscrew-type displacement, when representing their displacement as a function of time, producing time-space specular behavior. The concept can be used to design alternative self-mixing systems for a variety of (micro)fluidic equipment.

Pen-drawn Marangoni swimmer

Pen-drawing is an intuitive, convenient, and creative fabrication method for delivering emergent and adaptive design to real devices. To demonstrate the application of pen-drawing to robot construction, we developed pen-drawn Marangoni swimmers that perform complex programmed tasks using a simple and accessible manufacturing process. By simply drawing on substrates using ink-based Marangoni fuel, the swimmers demonstrate advanced robotic motions such as polygon and star-shaped trajectories, and navigate through maze. The versatility of pen-drawing allows the integration of the swimmers with time-varying substrates, enabling multi-step motion tasks such as cargo delivery and return to the original place. We believe that our pen-based approach will significantly expand the potential applications of miniaturized swimming robots and provide new opportunities for simple robotic implementations.

High-performance Marangoni hydrogel rotors with asymmetric porosity and drag reduction profile

Miniaturized rotors based on Marangoni effect have attracted great attentions due to their promising applications in propulsion and power generation. Despite intensive studies, the development of Marangoni rotors with high rotation output and fuel economy remains challenging. To address this challenge, we introduce an asymmetric porosity strategy to fabricate Marangoni rotor composed of thermoresponsive hydrogel and low surface tension anesthetic metabolite. Combining enhanced Marangoni propulsion of asymmetric porosity with drag reduction of well-designed profile, our rotor precedes previous studies in rotation output (~15 times) and fuel economy (~34% higher). Utilizing thermoresponsive hydrogel, the rotor realizes rapid refueling within 33 s. Moreover, iron-powder dopant further imparts the rotors with individual-specific locomotion in group under magnetic stimuli. Significantly, diverse functionalities including kinetic energy transmission, mini-generator and environmental remediation are demonstrated, which open new perspectives for designing miniaturized rotating machineries and inspire researchers in robotics, energy, and environment.

Meniscus-Climbing System Inspired 3D Printed Fully Soft Robotics with Highly Flexible Three-Dimensional Locomotion at the Liquid-Air Interface

Soft robotics locomotion at the liquid-air interface has become more and more important for an intelligent society. However, existing locomotion of soft robotics is limited to two dimensions. It remains a formidable challenge to realize three-dimensional locomotion (X, Y, and Z axes) at the liquid-air two-phase interface due to the unbalanced mechanical environment. Inspired by meniscus-climbing beetle larva Pyrrhalta, the mechanism of a three-phase (liquid-solid-air) contact line is here proposed to address the aforementioned challenge. A corresponding 3D printed fully soft robotics (named larvobot) based on photoresponsive liquid crystal elastomer/carbon nanotubes composites endowed repeatable programmable deformation and high degree-of-freedom locomotion. Three-dimensional locomotion at the liquid-air interface including twisting and rolling-up has been developed. The equation of motion is established by analyzing the mechanics along the solid-water surface of the larvobot. Meanwhile, ANSYS is used to calculate the stress distribution, which coincides with the speculation. Moreover, soft robotics is remotely driven by light in a precise spatiotemporal control, which provides a great advantage for applications. As an example, we demonstrate the controllable locomotion of the soft robotics inside closed tubes, which could be used for drug delivery and intelligent transportation.

Functional Chemical Motor Coatings for Modular Powering of Self-Propelled Particles

Inspired by the locomotion of semiaquatic insects, a variety of surface swimming microrobots propelled by surface tension Marangoni forces have been developed over the years. However, most Marangoni micromotor systems present limitations in their applications due to poor performance, short lifetime, low efficiency, and toxicity. We have developed a functional chemical motor coating consisting of protein microfilms with entrapped fuel to functionalize inactive substrates or particles. This motor material system generates large Marangoni propulsive forces with extremely small amounts of fuel due to a self-regulated fuel release mechanism based on dynamic nanostructural changes in the protein matrix, enhancing the lifetime and efficiency performance over other material systems and motors. These motor functional coatings offer great versatility as they can be coated on a wide array of substrates and materials across length scales, with opportunities as modular power sources for microrobots and small-scale devices. The synergy between the protein motor matrix and the chemical fuel enables the wider design of self-powered surface microrobots without previous limitations in their fabrication and performance, including the new design of hybrid microrobots with protein functional coatings as a modular power source.

Polymeric Micro/Nanocarriers and Motors for Cargo Transport and Phototriggered Delivery

Smart polymer-based micro/nanoassemblies have emerged as a promising alternative for transporting and delivering a myriad of cargo. Cargo encapsulation into (or linked to) polymeric micro/nanocarrier (PC) strategies may help to conserve cargo activity and functionality when interacting with its surroundings in its journey to the target. PCs for cargo phototriggering allow for excellent spatiotemporal control via irradiation as an external stimulus, thus regulating the delivery kinetics of cargo and potentially increasing its therapeutic effect. Micromotors based on PCs offer an accelerated cargo-medium interaction for biomedical, environmental, and many other applications. This review collects the recent achievements in PC development based on nanomicelles, nanospheres, and nanopolymersomes, among others, with enhanced properties to increase cargo protection and cargo release efficiency triggered by ultraviolet (UV) and near-infrared (NIR) irradiation, including light-stimulated polymeric micromotors for propulsion, cargo transport, biosensing, and photo-thermal therapy. We emphasize the challenges of positioning PCs as drug delivery systems, as well as the outstanding opportunities of light-stimulated polymeric micromotors for practical applications.

Droplet-based nanogenerators for energy harvesting and self-powered sensing

The energy crisis is a continuing topic for all human beings, threatening the development of human society. Accordingly, harvesting energy from the surrounding environment, such as wind, water flow and solar power, has become a promising direction for the research community. Water contains tremendous energy in a variety of forms, such as rivers, ocean waves, tides, and raindrops. Among them, raindrop energy is the most abundant. Raindrop energy not only can complement other forms of energy, such as solar energy, but also have potential applications in wearable and universal energy collectors. Over the past few years, droplet-based electricity nanogenerators (DENG) have attracted significant attention due to their advantages of small size and high power. To date, a variety of fundamental materials and ingenious structural designs have been proposed to achieve efficient droplet-based energy harvesting. The research and application of DENG in various fields have received widespread attention. In this review, we focus on the fundamental mechanism and recent progress of droplet-based nanogenerators in the following three aspects: droplet properties, energy harvesting and self-powered sensing. Finally, some challenges and further outlook for droplet-based nanogenerators are discussed to boost the future development of this promising field.

A remotely controlled Marangoni surfer

Inspired by creatures that have naturally mastered locomotion on the air-water interface, we developed and built a self-powered, remotely controlled surfing robot capable of traversing this boundary by harnessing surface tension modification for both propulsion and steering through a controlled release of isopropyl alcohol. In this process, we devised and implemented novel release valve and steering mechanisms culminating in a surfer with distinct capabilities. Our robot measures about 110 mm in length and can travel as fast as 0.8 body length per second. Interestingly, we found that the linear speed of the robot follows a 1/3 power law with the release rate of the propellant. Additional maneuverability tests also revealed that the robot is able to withstand 20 mm s^-2in centripetal acceleration while turning. Here, we thoroughly discuss the design, development, performance, overall capabilities, and ultimate limitations of our robotic surfer.

Marangoni effect inspired robotic self-propulsion over a water surface using a flow-imbibition-powered microfluidic pump

Certain aquatic insects rapidly traverse water by secreting surfactants that exploit the Marangoni effect, inspiring the development of many self-propulsion systems. In this research, to demonstrate a new way of delivering liquid fuel to a water surface for Marangoni propulsion, a microfluidic pump driven by the flow-imbibition by a porous medium was integrated to create a novel self-propelling robot. After triggered by a small magnet, the liquid fuel stored in a microchannel is autonomously transported to an outlet in a mechanically tunable manner. We also comprehensively analyzed the effects of various design parameters on the robot's locomotory behavior. It was shown that the traveled distance, energy density of fuel, operation time, and motion directionality were tunable by adjusting porous media, nozzle diameter, keel-extrusion, and the distance between the nozzle and water surface. The utilization of a microfluidic device in bioinspired robot is expected to bring out new possibilities in future development of self-propulsion system.

Photopatterned microswimmers with programmable motion without external stimuli

We introduce highly programmable microscale swimmers driven by the Marangoni effect (Marangoni microswimmers) that can self-propel on the surface of water. Previous studies on Marangoni swimmers have shown the advantage of self-propulsion without external energy source or mechanical systems, by taking advantage of direct conversion from power source materials to mechanical energy. However, current developments on Marangoni microswimmers have limitations in their fabrication, thereby hindering their programmability and precise mass production. By introducing a photopatterning method, we generated Marangoni microswimmers with multiple functional parts with distinct material properties in high throughput. Furthermore, various motions such as time-dependent direction change and disassembly of swimmers without external stimuli are programmed into the Marangoni microswimmers.

Flexible, superhydrophobic and multifunctional carbon nanofiber hybrid membranes for high performance light driven actuators

Recently, a series of super-hydrophobic materials have been prepared and efforts have been made to further expand their applications, especially in electronics and smart actuators. However, it remains challenging to develop light weight, flexible and super-hydrophobic materials integrating multifunctionalities such as superior photothermal conversion, corrosion resistance, and controllable actuation. Herein, a superhydrophobic and multi-responsive carbon nanofiber (CNF) hybrid membrane with an outstanding photo-thermal effect is fabricated by electrospinning the mixture of polyacrylonitrile and nickel acetylacetonate, followed by two step heat treatment and subsequent fluorination. The superhydrophobic CNF hybrid membrane with outstanding anti-corrosion and self-cleaning performance can float on the water surface spontaneously, thus effectively reducing the motion resistance. The light driven actuation with controllable movement can be achieved by adjusting the laser irradiated location, in which the localized absorption of light is transformed into thermal energy, and hence an imbalanced surface tension is created. The multifunctional hybrid membrane also opens up an arena of applications such as freestanding flexible electronics, drug delivery, and environmental protection.

Superhydrophobic, mechanically durable coatings for controllable light and magnetism driven actuators

Although some groundbreaking work has proved the feasibility of non-contact Marangoni propulsion generated by combination of the superhydrophobicity and photothermal effect, there are still challenges including the strong interfacial adhesion, multifunctional structural design and superior durability. In this paper, a simple two-step spraying method is used to prepare superhydrophobic and multi-functional fluorinated acidified carbon nanotubes (F-ACNTs)/Fe₃O₄ nanoparticles/polydimethylsiloxane (PDMS) coatings. The introduction of Fe₃O₄ nanoparticles and F-ACNTs not merely improve the surface roughness but also endow the coating with the outstanding magnetic property and photothermal conversion performance. The PDMS can reduce the surface energy and also improve the interfacial adhesion between the nanofillers and the substrate (the filter paper). The superhydrophobicity can be maintained when the material experiences abrasion, near-infrared (NIR) light irradiation and acid treatment, exhibiting outstanding durability. The highly stable superhydrophobic coating introduces a thin layer of air to decrease the drag force between the filter paper and the water surface, and can be used for controlled self-propelled light-driven motion and magnetic-driven motion. The movement can be manipulated by adjusting the direction of the incident NIR light and magnetic field. In particular, the superhydrophobic and superoleophilic coating based actuators can be easily driven to the oil-contaminated area on the water surface by using a magnet for high efficiency oil removal. This work provides a simple and universal strategy for developing intelligent and multi-responsive actuators possessing promising applications in various fields such as environmental protection, micro-robots and biomedicine.

A microrobotic platform actuated by thermocapillary flows for manipulation at the air-water interface

Future developments in micromanufacturing will require advances in micromanipulation tools. Several robotic micromanipulation methods have been developed to position micro-objects mostly in air and in liquids. The air-water interface is a third medium where objects can be manipulated, offering a good compromise between the two previously mentioned ones. Objects at the interface are not subjected to stick-slip due to dry friction in air and profit from a reduced drag compared with those in water. Here, we present the ThermoBot, a microrobotic platform dedicated to the manipulation of objects placed at the air-water interface. For actuation, ThermoBot uses a laser-induced thermocapillary flow, which arises from the surface stress caused by the temperature gradient at the fluid interface. The actuated objects can reach velocities up to 10 times their body length per second without any on-board actuator. Moreover, the localized nature of the thermocapillary flow enables the simultaneous and independent control of multiple objects, thus paving the way for microassembly operations at the air-water interface. We demonstrate that our setup can be used to direct capillary-based self-assemblies at this interface. We illustrate the ThermoBot's capabilities through three examples: simultaneous control of up to four spheres, control of complex objects in both position and orientation, and directed self-assembly of multiple pieces.

Spiral Thermal Waves Generated by Self-Propelled Camphor Boats

Spiral thermal surface waves arising from self-propulsion of the camphor-driven objects are reported. Spiral thermal waves were registered for dissolution and evaporation-guided self-propulsion. Soluto-capillarity is accompanied by thermo-capillarity under self-propulsion of camphor boats. The jump in the surface tension due to the soluto-capillarity is much larger than that due to the thermo-capillarity. The spiral patterns inherent for the surface thermal waves are imposed by the self-rotational motion of camphor grains. The observed thermal effect is related to the adsorption of camphor molecules at the water/vapor interface. The observed spirals are shaped as Archimedean ones.

Self-propelled cellulose nanocrystal based catalytic nanomotors for targeted hyperthermia and pollutant remediation applications

Inspired from biological motors, cellulose nanocrystals (CNCs) are strategically modified to induce self-propulsion behavior with the capabilities to catalytically degrade pollutants along with magnetic hyperthermia to clean arterial plaques during its course of propulsion. CNCs derived from renewable biomass, are decorated with catalytically active, magneto-responsive nanomaterials (Fe2O3/Pd nanoparticles) through sustainable routes. CNC nanomotors show improved propulsion at lowered peroxide concentrations with remotely controlled trajectory through chemo-magnetic field gradients and ideal surface-wettability characteristics, overcoming the requirement of surfactants, as with traditional nanomotors. We observed that nanomotors undergo motion through heterogeneous bubble propulsion mechanism, with capability to in situ degrade pollutants and generate local heat through hyperthermia, enhancing the rate of degradation process in real time. As proof of concept, we demonstrate that the dynamics of nanomotors can be controlled in a microfluidic channel through site-directed magnetic field and induction of pH gradient, mimicking the chemotaxis in cell-like environment and as swarm of nano-surgeons removes plaques from clogged arteries. Our study shows that strategic modification of CNCs results in fabrication of nanomotors with efficient propulsion system infused with multi-functional characteristics of high catalytic activity and magnetic hyperthermia which opens up new avenues for utilization of bio-based nanomotors derived from lignocellulose for myriad applications.

2D Nanoarchitectonics: Soft Interfacial Media as Playgrounds for Microobjects, Molecular Machines, and Living Cells

Soft and flexible two-dimensional (2D) systems, such as liquid interfaces, would have much more potentials in dynamic regulation on nano-macro connected functions. In this Minireview article, we focus especially on dynamic motional functions at liquid dynamic interfaces as 2D material systems. Several recent examples are selected to be explained for overviewing features and importance of dynamic soft interfaces in a wide range of action systems. The exemplified research systems are mainly classified into three categories: (i) control of microobjects with motional regulations; (ii) control of molecular machines with functions of target discrimination and optical outputs; (iii) control of living cells including molecular machine functions at cell membranes and cell/biomolecular behaviors at liquid interface. Sciences on soft 2D media with motional freedom and their nanoarchitectonics constructions will have increased importance in future technology in addition to popular rigid solid 2D materials.

Bio-inspired untethered fully soft robots in liquid actuated by induced energy gradients

Soft robotics with new designs, fabrication technologies and control strategies inspired by nature have been totally changing our view on robotics. To fully exploit their potential in practical applications, untethered designs are preferred in implementation. However, hindered by the limited thermal/mechanical performance of soft materials, it has been always challenging for researchers to implement untethered solutions, which generally involve rigid forms of high energy-density power sources or high energy-density processes. A number of insects in nature, such as rove beetles, can gain a burst of kinetic energy from the induced surface-energy gradient on water to return to their familiar habitats, which is generally known as Marangoni propulsion. Inspired by such a behavior, we report the agile untethered mobility of a fully soft robot in liquid based on induced energy gradients and also develop corresponding fabrication and maneuvering strategies. The robot can reach a speed of 5.5 body lengths per second, which is 7-fold more than the best reported, 0.69 (body length per second), in the previous work on untethered soft robots in liquid by far. Further controlling the robots, we demonstrate a soft-robot swarm that can approach a target simultaneously to assure a hit with high accuracy. Without employing any high energy-density power sources or processes, our robot exhibits many attractive merits, such as quietness, no mechanical wear, no thermal fatigue, invisibility and ease of robot fabrication, which may potentially impact many fields in the future.

Mini-Generator of Electrical Power Exploiting the Marangoni Flow Inspired Self-Propulsion

The mini-generator of electrical energy exploiting Marangoni soluto-capillary flows is reported. The interfacial flows are created by molecules of camphor emitted by the "camphor engines" placed on floating polymer rotors bearing permanent magnets. Camphor molecules adsorbed by the water/vapor interface decrease its surface tension and create the stresses resulting in the rotation of the system. The alternative magnetic flux in turn creates the current in the stationary coil. The long-lasting nature of rotation (approximately 10-20 h) should be emphasized. The brake-specific fuel consumption of the reported generator is better than that reported for the best reported electrical generators. Various engineering implementations of the mini-generator are reported.

Surface-Tension-Driven Dynamic Contact Line in Microgravity

We study the effect of Marangoni flow on a dynamic contact line formed by a propagating reaction front and a liquid-air interface. The self-sustained iodate-arsenous acid reaction maintains the production of the weakly surface active iodine leading to an unbalanced surface force along the tip of the reaction front. The experiments, performed in microgravity to exclude the contribution of buoyancy, reveal that the fluid flow generated by the surface tension gradient is localized to the contact line. The penetration depth of the surface stress is measured as 1-2 mm; therefore, with greater fluid height the liquid advancement on the upper surface does not lead to enhanced mixing in the bulk. Because the propagation velocity of the reactive interface remains at that of reaction-diffusion, the leading edge consists of two straight lines; a tilted segment connects the contact line on the surface with the vertical segment on bottom. Modeling calculations of the reaction-diffusion-advection system in three dimensions reconstruct the experimental observations and along with the experiments validate a model based on geometric spreading. According to the calculated flow field, the direction of significant fluid flow follows the concentration gradients and hence coincides with the propagation of the reaction front, allowing only negligible transverse flow in the upper fluid layer.

Binding of Lignin Nanoparticles at Oil-Water Interfaces: An Ecofriendly Alternative to Oil Spill Recovery

Synthetic amphiphiles used for managing large-scale oil spills have a toxic impact on the environment and marine life. Developing new oil spill recovery technologies is critical to minimize the environmental and ecological impact of such disasters. Here, we show that a mixture of lignin nanoparticles and 1-pentanol forms a biocompatible alternative to nondegradable, synthetic amphiphiles used for oil spill recovery. The pentanol in the mixture generates initial Marangoni flow and confines the spilled oil into a thick slick on the surface of water. While the alcohol solubilizes, lignin nanoparticles irreversibly adsorb onto the oil-water interface. We find that the lignin nanoparticle adsorption to the oil-water interface is governed by a combination of electrostatic, van der Waals, and hydrophobic interactions between the particles and the interface. These interactions, combined with interparticle electrostatic repulsion between nanoparticles adsorbed at the oil-water interface, drive the formation of a submonolayer. The submonolayer transforms into a film of jammed nanoparticles due to compressive stress acting on the interface upon the solubilization of pentanol. This interfacial layer of lignin nanoparticles restricts oil from respreading and locks the oil in its confined state. The herded state of the oil with the interfacial layer of nanoparticles facilitates safe removal of the spilled oil using mechanical methods. The study presents a new principle of using a mixture of heavy alcohol and biocompatible nanoparticles for oil herding applications, thus providing an ecofriendly alternative to oil spill recovery.