Magnetically actuated artificial cilia: the effect of fluid inertia

Programmable metachronal motion of closely packed magnetic artificial cilia

Despite recent advances in artificial cilia technologies, the application of metachrony, which is the collective wavelike motion by cilia moving out-of-phase, has been severely hampered by difficulties in controlling closely packed artificial cilia at micrometer length scales. Moreover, there has been no direct experimental proof yet that a metachronal wave in combination with fully reciprocal ciliary motion can generate significant microfluidic flow on a micrometer scale as theoretically predicted. In this study, using an in-house developed precise micro-molding technique, we have fabricated closely packed magnetic artificial cilia that can generate well-controlled metachronal waves. We studied the effect of pure metachrony on fluid flow by excluding all symmetry-breaking ciliary features. Experimental and simulation results prove that net fluid transport can be generated by metachronal motion alone, and the effectiveness is strongly dependent on cilia spacing. This technique not only offers a biomimetic experimental platform to better understand the mechanisms underlying metachrony, it also opens new pathways towards advanced industrial applications.

Magnetic-field-induced propulsion of jellyfish-inspired soft robotic swimmers

The multifaceted appearance of soft robots in the form of swimmers, catheters, surgical devices, and drug-carrier vehicles in biomedical and microfluidic applications is ubiquitous today. Jellyfish-inspired soft robotic swimmers (jellyfishbots) have been fabricated and experimentally characterized by several researchers that reported their swimming kinematics and multimodal locomotion. However, the underlying physical mechanisms that govern magnetic-field-induced propulsion are not yet fully understood. Here, we use a robust and efficient computational framework to study the jellyfishbot swimming kinematics and the induced flow field dynamics through numerical simulation. We consider a two-dimensional model jellyfishbot that has flexible lappets, which are symmetric about the jellyfishbot center. These lappets exhibit flexural deformation when subjected to external magnetic fields to displace the surrounding fluid, thereby generating the thrust required for propulsion. We perform a parametric sweep to explore the jellyfishbot kinematic performance for different system parameters-structural, fluidic, and magnetic. In jellyfishbots, the soft magnetic composite elastomeric lappets exhibit temporal and spatial asymmetries when subjected to unsteady external magnetic fields. The average speed is observed to be dependent on both these asymmetries, quantified by the glide magnitude and the net area swept by the lappet tips per swimming cycle, respectively. We observe that a judicious choice of the applied magnetic field and remnant magnetization profile in the jellyfishbot lappets enhances both these asymmetries. Furthermore, the dependence of the jellyfishbot swimming speed upon the net area swept (spatial asymmetry) is twice as high as the dependence of speed on the glide ratio (temporal asymmetry). Finally, functional relationships between the swimming speed and different kinematic parameters and nondimensional numbers are developed. Our results provide guidelines for the design of improved jellyfish-inspired magnetic soft robotic swimmers.

Microscopic artificial cilia - a review

Cilia are microscopic hair-like external cell organelles that are ubiquitously present in nature, also within the human body. They fulfill crucial biological functions: motile cilia provide transportation of fluids and cells, and immotile cilia sense shear stress and concentrations of chemical species. Inspired by nature, scientists have developed artificial cilia mimicking the functions of biological cilia, aiming at application in microfluidic devices like lab-on-chip or organ-on-chip. By actuating the artificial cilia, for example by a magnetic field, an electric field, or pneumatics, microfluidic flow can be generated and particles can be transported. Other functions that have been explored are anti-biofouling and flow sensing. We provide a critical review of the progress in artificial cilia research and development as well as an evaluation of its future potential. We cover all aspects from fabrication approaches, actuation principles, artificial cilia functions - flow generation, particle transport and flow sensing - to applications. In addition to in-depth analyses of the current state of knowledge, we provide classifications of the different approaches and quantitative comparisons of the results obtained. We conclude that artificial cilia research is very much alive, with some concepts close to industrial implementation, and other developments just starting to open novel scientific opportunities.

Thermal analysis of airway mucus clearance by ciliary activity in the presence of inertial forces

In this study heat transfer effects on cilia induced mucus flow in human airways is presented. The elliptic wave pattern of cilia tips produces metachronal wave which enables the transportation of highly viscous mucus with nonzero inertial forces. Upper Convective Maxwell model is considered as mucus. The governing partial differential equations are transformed from the fixed frame to the wave frame by using Galilean transformation and viscous dissipation is also incorporated in the energy equation. The non-linear governing equations are evaluated by the perturbation technique by using software “MATHEMATICA” and pressure rise is computed by numerical integration. The impact of interested parameters on temperature profile, velocity, pressure rise and pressure gradient are plotted by the graphs. The comparison of velocities due to symplectic and antiplectic metachronal wave are also achieved graphically.

Shape- and Material-Dependent Self-Propulsion of Photocatalytic Active Colloids, Interfacial Effects, and Dynamic Interparticle Interactions

Active colloids powered by self-generated, local chemical concentration gradients exhibit dynamics that are a function of the particles' morphology and material properties. These characteristics also govern how the active colloids interact with surfaces, including other particles and nearby walls. Thus, by targeted design, the dynamic behavior, on average, can be engineered, despite a lack of "external" control such as an applied magnetic field. This allows for the development of new applications and the investigation of novel effects that arise when self-propelled active colloids have complex shapes and material composition. Here, we explore some of our recent work on this topic including the dynamics and interactions of photoactivated, self-propelled colloids with such multifaceted properties. We also delve into some special cases, such as a new variety of active particle-particle interaction that we recently developed, in which direct contact between the active colloids is forbidden, and the direction of propulsion for pairs of particles is correlated. The unifying theme of the work highlighted herein is the relationship between the physical, chemical, and material properties of active colloids and their motive behavior, the understanding of which opens up a wide range of new possibilities as we move toward the ultimate goal of realizing functional, man-made micro- and nanomachinery.

Microfluidic viscometry using magnetically actuated micropost arrays

Here we describe development of a microfluidic viscometer based on arrays of magnetically actuated micro-posts. Quantitative viscosities over a range of three orders of magnitude were determined for samples of less than 20 μL. This represents the first demonstration of quantitative viscometry using driven flexible micropost arrays. Critical to the success of our system is a comprehensive analytical model that includes the mechanical and magnetic properties of the actuating posts, the optical readout, and fluid-structure interactions. We found that alterations of the actuator beat shape as parameterized by the dimensionless “sperm number” must be taken into account to determine the fluid properties from the measured actuator dynamics. Beyond our particular system, the model described here can provide dynamics predictions for a broad class of flexible microactuator designs. We also show how the model can guide the design of new arrays that expand the accessible range of measurements.

Microfluidic pumping using artificial magnetic cilia

One of the vital functions of naturally occurring cilia is fluid transport. Biological cilia use spatially asymmetric strokes to generate a net fluid flow that can be utilized for feeding, swimming, and other functions. Biomimetic synthetic cilia with similar asymmetric beating can be useful for fluid manipulations in lab-on-chip devices. In this paper, we demonstrate the microfluidic pumping by magnetically actuated synthetic cilia arranged in multi-row arrays. We use a microchannel loop to visualize flow created by the ciliary array and to examine pumping for a range of cilia and microchannel parameters. We show that magnetic cilia can achieve flow rates of up to 11 μl/min with the pressure drop of ~1 Pa. Such magnetic ciliary array can be useful in microfluidic applications requiring rapid and controlled fluid transport.

Metachronal motion of artificial magnetic cilia

Organisms use hair-like cilia that beat in a metachronal fashion to actively transport fluid and suspended particles. Metachronal motion emerges due to a phase difference between beating cycles of neighboring cilia and appears as traveling waves propagating along ciliary carpet. In this work, we demonstrate biomimetic artificial cilia capable of metachronal motion. The cilia are micromachined magnetic thin filaments attached at one end to a substrate and actuated by a uniform rotating magnetic field. We show that the difference in magnetic cilium length controls the phase of the beating motion. We use this property to induce metachronal waves within a ciliary array and explore the effect of operation parameters on the wave motion. The metachronal motion in our artificial system is shown to depend on the magnetic and elastic properties of the filaments, unlike natural cilia, where metachronal motion arises due to fluid coupling. Our approach enables an easy integration of metachronal magnetic cilia in lab-on-a-chip devices for enhanced fluid and particle manipulations.

Asymmetric motion of magnetically actuated artificial cilia

Most microorganisms use hair-like cilia with asymmetric beating to perform vital bio-physical processes. In this paper, we demonstrate a novel fabrication method for creating magnetic artificial cilia capable of such a biologically inspired asymmetric beating pattern essential for inducing microfluidic transport at low Reynolds number. The cilia are fabricated using a lithographic process in conjunction with deposition of magnetic nickel-iron permalloy to create flexible filaments that can be manipulated by varying an external magnetic field. A rotating permanent magnet is used to actuate the cilia. We examine the kinematics of a cilium and demonstrate that the cilium motion is defined by an interplay among elastic, magnetic, and viscous forces. Specifically, the forward stroke is induced by the rotation of the magnet which bends the cilium, whereas the recovery stroke is defined by the straightening of the deformed cilium, releasing accumulated elastic potential energy. This difference in dominating forces acting during the forward stroke and the recovery stroke leads to an asymmetric beating pattern of the cilium. Such magnetic cilia can find applications in microfluidic pumping, mixing, and other fluid handling processes.

Pneumatically-actuated artificial cilia array for biomimetic fluid propulsion

Arrays of beating cilia emerged in nature as one of the most efficient propulsion mechanisms at a small scale, and are omnipresent in microorganisms. Previous attempts at mimicking these systems have foundered against the complexity of fabricating small-scale cilia exhibiting complex beating motions. In this paper, we propose for the first time arrays of pneumatically-actuated artificial cilia that are able to address some of these issues. These artificial cilia arrays consist of six highly flexible silicone rubber actuators with a diameter of 1 mm and a length of 8 mm that can be actuated independently from each other. In an experimental setup, the effects of the driving frequency, phase difference and duty cycle on the net flow in a closed-loop channel have been studied. Net fluid speeds of up to 19 mm s(-1) have been measured. Further, it is possible to invert the flow direction by simply changing the driving frequency or by changing the duty cycle of the driving block pulse pressure wave without changing the bending direction of the cilia. Using PIV measurements, we corroborate for the first time existing mathematical models of cilia arrays to measurements on prototypes.

A bio-inspired inner-motile photocatalyst film: a magnetically actuated artificial cilia photocatalyst

A new type of inner-motile photocatalyst film is explored to enhance photocatalytic performance using magnetically actuated artificial cilia. The inner-motile photocatalyst film is capable of generating flow and mixing on the microscale because it produces a motion similar to that of natural cilia when it is subjected to a rotational magnetic field. Compared with traditional photocatalyst films, the inner-motile photocatalyst film exhibits the unique ability of microfluidic manipulation. It uses an impactful and self-contained design to accelerate interior mass transfer and desorption of degradation species. Moreover, the special cilia-like structures increase the surface area and light absorption. Consequently, the photocatalytic activity of the inner-motile photocatalyst film is dramatically improved to approximately 3.0 times that of the traditional planar film. The inner-motile photocatalyst film also exhibits high photocatalytic durability and can be reused several times with ease. Furthermore, this feasible yet versatile platform can be extended to other photocatalyst systems, such as TiO2, P25, ZnO, and Co3O4 systems, to improve their photocatalytic performance.

Swimming dynamics of bidirectional artificial flagella

We study magnetic artificial flagella whose swimming speed and direction can be controlled using light and magnetic field as external triggers. The dependence of the swimming velocity on the system parameters (e.g., length, stiffness, fluid viscosity, and magnetic field) is explored using a computational framework in which the magnetostatic, fluid dynamic, and solid mechanics equations are solved simultaneously. A dimensionless analysis is carried out to obtain an optimal combination of system parameters for which the swimming velocity is maximal. The swimming direction reversal is addressed by incorporating photoresponsive materials, which in the photoactuated state can mimic natural mastigonemes.