1
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Zhao X, Hao N. Acoustophoresis-driven particle focusing and separation with standard/inverse Chladni patterns. LAB ON A CHIP 2024; 24:3149-3157. [PMID: 38787691 DOI: 10.1039/d4lc00277f] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/26/2024]
Abstract
Manipulating objects with acoustics has been developed for hundreds of years since Chladni patterns in gaseous environments were exhibited. In recent decades, acoustic manipulation in microfluidics, known as acoustofluidics, has rapidly thrived and many sophisticated technologies were born. However, the basic background motion of particles under acoustic excitation is usually neglected and the classical Chladni patterns haven't been reproduced in an aqueous environment. In this study, we investigated the basic mechanism and the motion of suspended particles and sinking particles in a plain microchamber under low-frequency excitation (3-5 kHz). The mechanisms were clearly distinguished by comparing the differences among colored fluids, suspended particles, and sinking particles. The suspended particles rotated around the antinode with a speed up to 55.1 μm s-1 at 100 Vpp by the acoustic streaming and they approached each other by the secondary acoustic radiation force. The sinking particles concentrated at the node with a speed up to 22.3 μm s-1 at 100 Vpp by bouncing on the vibrating surface and the primary acoustic radiation force. We have reproduced the classical standard/inverse Chladni patterns in an aqueous environment for the first time, and they were leveraged to separate SiO2 particles with different sizes. The big particles with an average diameter of 9.68 μm were concentrated at the node while the small particles with an average diameter of 2.72 μm were collected at the antinode within 2 min. These results not only provide insightful perspectives of basic mechanisms, but also open up new possibilities for advanced acoustic tweezers.
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Affiliation(s)
- Xiong Zhao
- School of Chemical Engineering and Technology, Xi'an JiaoTong University, 28 Xianning West Road, Xi'an, Shaanxi, 710049, P.R. China.
| | - Nanjing Hao
- School of Chemical Engineering and Technology, Xi'an JiaoTong University, 28 Xianning West Road, Xi'an, Shaanxi, 710049, P.R. China.
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2
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Zhang R, Zhao X, Li J, Zhou D, Guo H, Li ZY, Li F. Programmable photoacoustic patterning of microparticles in air. Nat Commun 2024; 15:3250. [PMID: 38627385 PMCID: PMC11021490 DOI: 10.1038/s41467-024-47631-8] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/26/2023] [Accepted: 04/08/2024] [Indexed: 04/19/2024] Open
Abstract
Optical and acoustic tweezers, despite operating on different physical principles, offer non-contact manipulation of microscopic and mesoscopic objects, making them essential in fields like cell biology, medicine, and nanotechnology. The advantages and limitations of optical and acoustic manipulation complement each other, particularly in terms of trapping size, force intensity, and flexibility. We use photoacoustic effects to generate localized Lamb wave fields capable of mapping arbitrary laser pattern shapes. By using localized Lamb waves to vibrate the surface of the multilayer membrane, we can pattern tens of thousands of microscopic particles into the desired pattern simultaneously. Moreover, by quickly and successively adjusting the laser shape, microparticles flow dynamically along the corresponding elastic wave fields, creating a frame-by-frame animation. Our approach merges the programmable adaptability of optical tweezers with the potent manipulation capabilities of acoustic waves, paving the way for wave-based manipulation techniques, such as microparticle assembly, biological synthesis, and microsystems.
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Affiliation(s)
- Ruoqin Zhang
- School of Physics and Optoelectronics, South China University of Technology, 510640, Guangzhou, China
- School of Physics, Beijing Institute of Technology, 100081, Beijing, China
| | - Xichuan Zhao
- College of Science, Minzu University of China, 100081, Beijing, China
| | - Jinzhi Li
- School of Physics, Beijing Institute of Technology, 100081, Beijing, China
| | - Di Zhou
- School of Physics, Beijing Institute of Technology, 100081, Beijing, China
| | - Honglian Guo
- College of Science, Minzu University of China, 100081, Beijing, China.
| | - Zhi-Yuan Li
- School of Physics and Optoelectronics, South China University of Technology, 510640, Guangzhou, China.
- State Key Laboratory of Luminescent Materials and Devices, South China University of Technology, 510640, Guangzhou, China.
| | - Feng Li
- School of Physics, Beijing Institute of Technology, 100081, Beijing, China.
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3
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Zhang Z, Cao Y, Caviglia S, Agrawal P, Neuhauss SCF, Ahmed D. A vibrating capillary for ultrasound rotation manipulation of zebrafish larvae. LAB ON A CHIP 2024; 24:764-775. [PMID: 38193588 PMCID: PMC10863645 DOI: 10.1039/d3lc00817g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/26/2023] [Accepted: 12/18/2023] [Indexed: 01/10/2024]
Abstract
Multifunctional micromanipulation systems have garnered significant attention due to the growing interest in biological and medical research involving model organisms like zebrafish (Danio rerio). Here, we report a novel acoustofluidic rotational micromanipulation system that offers rapid trapping, high-speed rotation, multi-angle imaging, and 3D model reconstruction of zebrafish larvae. An ultrasound-activated oscillatory glass capillary is used to trap and rotate a zebrafish larva. Simulation and experimental results demonstrate that both the vibrating mode and geometric placement of the capillary contribute to the developed polarized vortices along the long axis of the capillary. Given its capacities for easy-to-operate, stable rotation, avoiding overheating, and high-throughput manipulation, our system poses the potential to accelerate zebrafish-directed biomedical research.
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Affiliation(s)
- Zhiyuan Zhang
- Acoustic Robotics Systems Laboratory, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Säumerstrasse 4, CH-8803 Zurich, Switzerland.
| | - Yilin Cao
- Acoustic Robotics Systems Laboratory, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Säumerstrasse 4, CH-8803 Zurich, Switzerland.
| | - Sara Caviglia
- Neuhauss Laboratory, Department of Molecular Life Sciences, University of Zurich, Winterthurerstrasse 190, CH-8057 Zurich, Switzerland
| | - Prajwal Agrawal
- Acoustic Robotics Systems Laboratory, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Säumerstrasse 4, CH-8803 Zurich, Switzerland.
| | - Stephan C F Neuhauss
- Neuhauss Laboratory, Department of Molecular Life Sciences, University of Zurich, Winterthurerstrasse 190, CH-8057 Zurich, Switzerland
| | - Daniel Ahmed
- Acoustic Robotics Systems Laboratory, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Säumerstrasse 4, CH-8803 Zurich, Switzerland.
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4
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Zhao X, Ding Z, Chen H, Xiao Y, Hou J, Huang L, Wu J, Hao N. Acoustofluidics-Assisted Multifunctional Paper-Based Analytical Devices. Anal Chem 2024; 96:496-504. [PMID: 38153375 DOI: 10.1021/acs.analchem.3c04603] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/29/2023]
Abstract
Microfluidic paper-based analytical devices (μPADs) feature an economic and sensitive nature, while acoustofluidics displays contactless and versatile virtue, and both of them gained tremendous interest in the past decades. Integrating μPADs with acoustofluidic techniques provides great potential to overcome the inherent shortcomings and make appealing achievements. Here, we present acoustofluidics-assisted multifunctional paper-based analytical devices that leverage bulk acoustic waves to realize multiple applications on paper substrates, including uniform colorimetric detection, microparticle/cell enrichment, fluorescence amplification, homogeneous mixing, and nanomaterial synthesis. The glucose detection in the range of 5-15 mM was conducted to perform uniform colorimetric detection. Various types (brass powder, copper powder, diamond powder, and yeast cells) and sizes (5-200 μm) of solid particles and biological cells can be enriched on paper in a few seconds or minutes; thus, fluorescence amplification by 3 times was realized with the enrichment. The high-throughput and homogeneous mixing of two fluids can be achieved, and based on the mixing, nanomaterials (ZnO nanosheets) were synthesized on paper. We analyzed the underlying mechanisms of these applications in the devices, which are attributed to Faraday waves and Chladni patterns. With their simple fabrication and prominent effectiveness, the devices open up new possibilities for paper-based microfluidic devices.
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Affiliation(s)
- Xiong Zhao
- School of Chemical Engineering and Technology, Xi'an Jiaotong University, 28 Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
- State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, 865 Changning Road, Shanghai 200050, P.R. China
| | - Zihan Ding
- School of Chemical Engineering and Technology, Xi'an Jiaotong University, 28 Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
| | - Hongqiang Chen
- School of Chemical Engineering and Technology, Xi'an Jiaotong University, 28 Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
| | - Yaxuan Xiao
- School of Chemical Engineering and Technology, Xi'an Jiaotong University, 28 Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
- Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System, Xi'an Jiaotong University, 28 Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
| | - Junsheng Hou
- School of Chemical Engineering and Technology, Xi'an Jiaotong University, 28 Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
| | - Lei Huang
- School of Chemical Engineering and Technology, Xi'an Jiaotong University, 28 Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
| | - Junjie Wu
- School of Chemical Engineering and Technology, Xi'an Jiaotong University, 28 Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
| | - Nanjing Hao
- School of Chemical Engineering and Technology, Xi'an Jiaotong University, 28 Xianning West Road, Xi'an, Shaanxi 710049, P.R. China
- State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, 865 Changning Road, Shanghai 200050, P.R. China
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5
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Fang W, Xiong T, Pak OS, Zhu L. Data-Driven Intelligent Manipulation of Particles in Microfluidics. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2205382. [PMID: 36538743 PMCID: PMC9929134 DOI: 10.1002/advs.202205382] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/17/2022] [Revised: 11/17/2022] [Indexed: 05/30/2023]
Abstract
Automated manipulation of small particles using external (e.g., magnetic, electric and acoustic) fields has been an emerging technique widely used in different areas. The manipulation typically necessitates a reduced-order physical model characterizing the field-driven motion of particles in a complex environment. Such models are available only for highly idealized settings but are absent for a general scenario of particle manipulation typically involving complex nonlinear processes, which has limited its application. In this work, the authors present a data-driven architecture for controlling particles in microfluidics based on hydrodynamic manipulation. The architecture replaces the difficult-to-derive model by a generally trainable artificial neural network to describe the kinematics of particles, and subsequently identifies the optimal operations to manipulate particles. The authors successfully demonstrate a diverse set of particle manipulations in a numerically emulated microfluidic chamber, including targeted assembly of particles and subsequent navigation of the assembled cluster, simultaneous path planning for multiple particles, and steering one particle through obstacles. The approach achieves both spatial and temporal controllability of high precision for these settings. This achievement revolutionizes automated particle manipulation, showing the potential of data-driven approaches and machine learning in improving microfluidic technologies for enhanced flexibility and intelligence.
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Affiliation(s)
- Wen‐Zhen Fang
- Department of Mechanical EngineeringNational University of SingaporeSingapore117575Singapore
- Key Laboratory of Thermo‐Fluid Science and EngineeringMOE, Xi'an Jiaotong UniversityXi'an710049China
| | - Tongzhao Xiong
- Department of Mechanical EngineeringNational University of SingaporeSingapore117575Singapore
| | - On Shun Pak
- Department of Mechanical EngineeringSanta Clara UniversitySanta ClaraCA95053USA
| | - Lailai Zhu
- Department of Mechanical EngineeringNational University of SingaporeSingapore117575Singapore
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6
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Durrer J, Agrawal P, Ozgul A, Neuhauss SCF, Nama N, Ahmed D. A robot-assisted acoustofluidic end effector. Nat Commun 2022; 13:6370. [PMID: 36289227 PMCID: PMC9605990 DOI: 10.1038/s41467-022-34167-y] [Citation(s) in RCA: 21] [Impact Index Per Article: 10.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/14/2021] [Accepted: 10/17/2022] [Indexed: 12/25/2022] Open
Abstract
Liquid manipulation is the foundation of most laboratory processes. For macroscale liquid handling, both do-it-yourself and commercial robotic systems are available; however, for microscale, reagents are expensive and sample preparation is difficult. Over the last decade, lab-on-a-chip (LOC) systems have come to serve for microscale liquid manipulation; however, lacking automation and multi-functionality. Despite their potential synergies, each has grown separately and no suitable interface yet exists to link macro-level robotics with micro-level LOC or microfluidic devices. Here, we present a robot-assisted acoustofluidic end effector (RAEE) system, comprising a robotic arm and an acoustofluidic end effector, that combines robotics and microfluidic functionalities. We further carried out fluid pumping, particle and zebrafish embryo trapping, and mobile mixing of complex viscous liquids. Finally, we pre-programmed the RAEE to perform automated mixing of viscous liquids in well plates, illustrating its versatility for the automatic execution of chemical processes.
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Affiliation(s)
- Jan Durrer
- grid.5801.c0000 0001 2156 2780Acoustic Robotics Systems Lab, Institute or Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland
| | - Prajwal Agrawal
- grid.5801.c0000 0001 2156 2780Acoustic Robotics Systems Lab, Institute or Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland
| | - Ali Ozgul
- grid.5801.c0000 0001 2156 2780Acoustic Robotics Systems Lab, Institute or Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland
| | - Stephan C. F. Neuhauss
- grid.7400.30000 0004 1937 0650Department of Molecular Life Sciences, University of Zurich, Zurich, Switzerland
| | - Nitesh Nama
- grid.24434.350000 0004 1937 0060Department of Mechanical & Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE USA
| | - Daniel Ahmed
- grid.5801.c0000 0001 2156 2780Acoustic Robotics Systems Lab, Institute or Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland
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7
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Yiannacou K, Sharma V, Sariola V. Programmable Droplet Microfluidics Based on Machine Learning and Acoustic Manipulation. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2022; 38:11557-11564. [PMID: 36099548 PMCID: PMC9520974 DOI: 10.1021/acs.langmuir.2c01061] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 04/26/2022] [Revised: 09/01/2022] [Indexed: 06/15/2023]
Abstract
Typical microfluidic devices are application-specific and have to be carefully designed to implement the necessary functionalities for the targeted application. Programmable microfluidic chips try to overcome this by offering reconfigurable functionalities, allowing the same chip to be used in multiple different applications. In this work, we demonstrate a programmable microfluidic chip for the two-dimensional manipulation of droplets, based on ultrasonic bulk acoustic waves and a closed-loop machine-learning-based control algorithm. The algorithm has no prior knowledge of the acoustic fields but learns to control the droplets on the fly. The manipulation is based on switching the frequency of a single ultrasonic transducer. Using this method, we demonstrate 2D transportation and merging of water droplets in oil and oil droplets in water, and we performed the chemistry that underlies the basis of a colorimetric glucose assay. We show that we can manipulate drops with volumes ranging from ∼200 pL up to ∼30 nL with our setup. We also demonstrate that our method is robust, by changing the system parameters and showing that the machine learning algorithm can still complete the manipulation tasks. In short, our method uses ultrasonics to flexibly manipulate droplets, enabling programmable droplet microfluidic devices.
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8
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Exploring the Origin of Maximum Entropy States Relevant to Resonant Modes in Modern Chladni Plates. ENTROPY 2022; 24:e24020215. [PMID: 35205510 PMCID: PMC8870825 DOI: 10.3390/e24020215] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/11/2022] [Revised: 01/26/2022] [Accepted: 01/28/2022] [Indexed: 12/10/2022]
Abstract
Abstract: The resonant modes generated from the modern Chladni experiment are systematically confirmed to intimately correspond to the maximum entropy states obtained from the inhomogeneous Helmholtz equation for the square and equilateral triangle plates [...]
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9
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Manipulation of free-floating objects using Faraday flows and deep reinforcement learning. Sci Rep 2022; 12:335. [PMID: 35013455 PMCID: PMC8748864 DOI: 10.1038/s41598-021-04204-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/01/2021] [Accepted: 12/17/2021] [Indexed: 11/08/2022] Open
Abstract
The ability to remotely control a free-floating object through surface flows on a fluid medium can facilitate numerous applications. Current studies on this problem have been limited to uni-directional motion control due to the challenging nature of the control problem. Analytical modelling of the object dynamics is difficult due to the high-dimensionality and mixing of the surface flows while the control problem is hard due to the nonlinear slow dynamics of the fluid medium, underactuation, and chaotic regions. This study presents a methodology for manipulation of free-floating objects using large-scale physical experimentation and recent advances in deep reinforcement learning. We demonstrate our methodology through the open-loop control of a free-floating object in water using a robotic arm. Our learned control policy is relatively quick to obtain, highly data efficient, and easily scalable to a higher-dimensional parameter space and/or experimental scenarios. Our results show the potential of data-driven approaches for solving and analyzing highly complex nonlinear control problems.
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10
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Dillinger C, Nama N, Ahmed D. Ultrasound-activated ciliary bands for microrobotic systems inspired by starfish. Nat Commun 2021; 12:6455. [PMID: 34753910 PMCID: PMC8578555 DOI: 10.1038/s41467-021-26607-y] [Citation(s) in RCA: 45] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/30/2020] [Accepted: 10/01/2021] [Indexed: 01/03/2023] Open
Abstract
Cilia are short, hair-like appendages ubiquitous in various biological systems, which have evolved to manipulate and gather food in liquids at regimes where viscosity dominates inertia. Inspired by these natural systems, synthetic cilia have been developed and utilized in microfluidics and microrobotics to achieve functionalities such as propulsion, liquid pumping and mixing, and particle manipulation. Here, we demonstrate ultrasound-activated synthetic ciliary bands that mimic the natural arrangements of ciliary bands on the surface of starfish larva. Our system leverages nonlinear acoustics at microscales to drive bulk fluid motion via acoustically actuated small-amplitude oscillations of synthetic cilia. By arranging the planar ciliary bands angled towards (+) or away (-) from each other, we achieve bulk fluid motion akin to a flow source or sink. We further combine these flow characteristics with a physical principle to circumvent the scallop theorem and realize acoustic-based propulsion at microscales. Finally, inspired by the feeding mechanism of a starfish larva, we demonstrate an analogous microparticle trap by arranging + and - ciliary bands adjacent to each other.
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Affiliation(s)
- Cornel Dillinger
- grid.5801.c0000 0001 2156 2780Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland
| | - Nitesh Nama
- grid.24434.350000 0004 1937 0060Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE USA
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland.
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11
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Kopitca A, Latifi K, Zhou Q. Programmable assembly of particles on a Chladni plate. SCIENCE ADVANCES 2021; 7:eabi7716. [PMID: 34550737 PMCID: PMC8457668 DOI: 10.1126/sciadv.abi7716] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/30/2021] [Accepted: 08/03/2021] [Indexed: 06/01/2023]
Abstract
In nature, simple building units can be assembled into complex shapes through long-term time-varying external stimuli that are often spatially nonlinear. In contrast, most artificial methods of externally directed assembly rely on field- or template-based energy minimization. However, methods directing the assembly process by controlling time-varying external stimuli instead of attaining the lowest-energy state remain largely unexplored. In this study, we introduce a method that applies time-varying and spatially nonlinear vibration fields to assemble particles into a desired two-dimensional shape. Our assembly method predicts, controls, and monitors the vibration-induced particle motion to iteratively minimize the difference between the desired shape and the actual particle distribution. We applied our method to a centrally actuated vibrating plate, also known as a Chladni plate, and assembled up to a hundred submillimeter particles into complex recognizable shapes. The method allows programmable formation of shapes beyond the intrinsic limits of periodic patterning of the plate.
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Affiliation(s)
- Artur Kopitca
- Department of Electrical Engineering and Automation, Aalto University, 02150 Espoo, Finland
| | - Kourosh Latifi
- Department of Electrical Engineering and Automation, Aalto University, 02150 Espoo, Finland
- Murata Electronics Oy, 01621 Vantaa, Finland
| | - Quan Zhou
- Department of Electrical Engineering and Automation, Aalto University, 02150 Espoo, Finland
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12
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Nonprehensile Manipulation of Parts on a Horizontal Circularly Oscillating Platform with Dynamic Dry Friction Control. SENSORS 2021; 21:s21165581. [PMID: 34451021 PMCID: PMC8402286 DOI: 10.3390/s21165581] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/22/2021] [Revised: 08/03/2021] [Accepted: 08/17/2021] [Indexed: 12/11/2022]
Abstract
This paper presents a novel method for nonprehensile manipulation of parts on a circularly oscillating platform when the effective coefficient of dry friction between the part and the platform is being dynamically controlled. Theoretical and experimental analyses have been performed to validate the proposed method and to determine the control parameters that define the characteristics of the part’s motion. A mathematical model of the manipulation process with dynamic dry friction control was developed and solved. The modeling showed that by changing the phase shift between the function for dynamic dry friction control and the function defining the circular motion of the platform, the part can be moved in any direction as the angle of displacement can be controlled in a full range from 0 to 2π. The nature of the trajectory and the mean displacement velocity of the part mainly depend on the width of the rectangular function for dynamic dry friction control. To verify the theoretical findings, an experimental setup was developed, and experiments of manipulation were carried out. The experimental results qualitatively confirmed the theoretical findings. The presented analysis enriches the classical theories of nonprehensile manipulation on oscillating platforms, and the presented findings are relevant for mechatronics, robotics, mechanics, electronics, medical, and other industries.
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13
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Lu X, Twiefel J, Ma Z, Yu T, Wallaschek J, Fischer P. Dynamic Acoustic Levitator Based On Subwavelength Aperture Control. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2021; 8:e2100888. [PMID: 34105900 PMCID: PMC8336493 DOI: 10.1002/advs.202100888] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/04/2021] [Revised: 04/08/2021] [Indexed: 06/12/2023]
Abstract
Acoustic levitation provides a means to achieve contactless manipulation of fragile materials and biological samples. Most acoustic levitators rely on complex electronic hardware and software to shape the acoustic field and realize their dynamic operation. Here, the authors introduce a dynamic acoustic levitator that is based on mechanically controlling the opening and (partial) closing of subwavelength apertures. This simple approach relies on the use of a single ultrasonic transducer and is shown to permit the facile and reliable manipulation of a variety targets ranging from solid particles, to fluid and ferrofluidic drops. Experimental observations agree well with numerical simulations of the Gor'kov potential. Remarkably, this system even enables the generation of time-varying potentials and induces oscillatory and rotational motion in the levitated objects via a feedback mechanism between the trapped object and the trapping potential. This is shown to result in long distance translation, in-situ rotation and self-modulated oscillation of the trapped particles. In addition, dense ferrofluidic droplets are levitated and transformed inside the levitator. Controlling subwavelength apertures opens the possibility to realize simple powerful levitators that nevertheless allow for the versatile dynamic manipulation of levitated matter.
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Affiliation(s)
- Xiaolong Lu
- Max Planck Institute for Intelligent SystemsHeisenbergstr. 3Stuttgart70569Germany
- State Key Laboratory of Mechanics and Control of Mechanical StructuresNanjing University of Aeronautics and AstronauticsNanjingJiangsu210016China
| | - Jens Twiefel
- Institute of Dynamics and Vibration ResearchLeibniz Universität HannoverAn der Universität 1Garbsen30823Germany
| | - Zhichao Ma
- Max Planck Institute for Intelligent SystemsHeisenbergstr. 3Stuttgart70569Germany
| | - Tingting Yu
- Max Planck Institute for Intelligent SystemsHeisenbergstr. 3Stuttgart70569Germany
- Institute of Physical ChemistryUniversity of StuttgartPfaffenwaldring 55Stuttgart70569Germany
| | - Jörg Wallaschek
- Institute of Dynamics and Vibration ResearchLeibniz Universität HannoverAn der Universität 1Garbsen30823Germany
| | - Peer Fischer
- Max Planck Institute for Intelligent SystemsHeisenbergstr. 3Stuttgart70569Germany
- Institute of Physical ChemistryUniversity of StuttgartPfaffenwaldring 55Stuttgart70569Germany
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14
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Cai H, Ao Z, Wu Z, Song S, Mackie K, Guo F. Intelligent acoustofluidics enabled mini-bioreactors for human brain organoids. LAB ON A CHIP 2021; 21:2194-2205. [PMID: 33955446 PMCID: PMC8243411 DOI: 10.1039/d1lc00145k] [Citation(s) in RCA: 26] [Impact Index Per Article: 8.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/03/2023]
Abstract
Acoustofluidics, by combining acoustics and microfluidics, provides a unique means to manipulate cells and liquids for broad applications in biomedical sciences and translational medicine. However, it is challenging to standardize and maintain excellent performance of current acoustofluidic devices and systems due to a multiplicity of factors including device-to-device variation, manual operation, environmental factors, sample variability, etc. Herein, to address these challenges, we propose "intelligent acoustofluidics" - an automated system that involves acoustofluidic device design, sensor fusion, and intelligent controller integration. As a proof-of-concept, we developed intelligent acoustofluidics based mini-bioreactors for human brain organoid culture. Our mini-bioreactors consist of three components: (1) rotors for contact-free rotation via an acoustic spiral phase vortex approach, (2) a camera for real-time tracking of rotational actions, and (3) a reinforcement learning-based controller for closed-loop regulation of rotational manipulation. After training the reinforcement learning-based controller in simulation and experimental environments, our mini-bioreactors can achieve the automated rotation of rotors in well-plates. Importantly, our mini-bioreactors can enable excellent control over rotational mode, direction, and speed of rotors, regardless of fluctuations of rotor weight, liquid volume, and operating temperature. Moreover, we demonstrated our mini-bioreactors can stably maintain the rotational speed of organoids during long-term culture, and enhance neural differentiation and uniformity of organoids. Comparing with current acoustofluidics, our intelligent system has a superior performance in terms of automation, robustness, and accuracy, highlighting the potential of novel intelligent systems in microfluidic experimentation.
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Affiliation(s)
- Hongwei Cai
- Department of Intelligent Systems Engineering, Indiana University, Bloomington, IN 47405, USA.
| | - Zheng Ao
- Department of Intelligent Systems Engineering, Indiana University, Bloomington, IN 47405, USA.
| | - Zhuhao Wu
- Department of Intelligent Systems Engineering, Indiana University, Bloomington, IN 47405, USA.
| | - Sunghwa Song
- Department of Intelligent Systems Engineering, Indiana University, Bloomington, IN 47405, USA.
| | - Ken Mackie
- Gill Center for Biomolecular Science, and, Department of Psychological and Brain Sciences, Indiana University, Bloomington, IN 47405, USA
| | - Feng Guo
- Department of Intelligent Systems Engineering, Indiana University, Bloomington, IN 47405, USA.
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15
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Yiannacou K, Sariola V. Controlled Manipulation and Active Sorting of Particles Inside Microfluidic Chips Using Bulk Acoustic Waves and Machine Learning. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2021; 37:4192-4199. [PMID: 33797244 PMCID: PMC8154862 DOI: 10.1021/acs.langmuir.1c00063] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/08/2023]
Abstract
Manipulation of cells, droplets, and particles via ultrasound within microfluidic chips is a rapidly growing field, with applications in cell and particle sorting, blood fractionation, droplet transport, and enrichment of rare or cancerous cells, among others. However, current methods with a single ultrasonic transducer offer limited control of the position of single particles. In this paper, we demonstrate closed-loop two-dimensional manipulation of particles inside closed-channel microfluidic chips, by controlling the frequency of a single ultrasound transducer, based on machine-vision-measured positions of the particles. For the control task, we propose using algorithms derived from the family of multi-armed bandit algorithms. We show that these algorithms can achieve controlled manipulation with no prior information on the acoustic field shapes. The method learns as it goes: there is no need to restart the experiment at any point. Starting with no knowledge of the field shapes, the algorithms can (eventually) move a particle from one position inside the chamber to another. This makes the method very robust to changes in chip and particle properties. We demonstrate that the method can be used to manipulate a single particle, three particles simultaneously, and also a single particle in the presence of a bubble in the chip. Finally, we demonstrate the practical applications of this method in active sorting of particles, by guiding each particle to exit the chip through one of three different outlets at will. Because the method requires no model or calibration, the work paves the way toward the acoustic manipulation of microparticles inside unstructured environments.
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16
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Ta QM, Cheah CC. Robotic Handling of Micro-Objects Using Stochastic Optically-Actuated End-Effector. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3062249] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/04/2023]
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17
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Hammarström B, Skov NR, Olofsson K, Bruus H, Wiklund M. Acoustic trapping based on surface displacement of resonance modes. THE JOURNAL OF THE ACOUSTICAL SOCIETY OF AMERICA 2021; 149:1445. [PMID: 33765798 DOI: 10.1121/10.0003600] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/16/2020] [Accepted: 02/08/2021] [Indexed: 06/12/2023]
Abstract
Acoustic trapping is a promising technique for aligning particles in two-dimensional arrays, as well as for dynamic manipulation of particles individually or in groups. The actuating principles used in current systems rely on either cavity modes in enclosures or complex arrangements for phase control. Therefore, available systems either require high power inputs and costly peripheral equipment or sacrifice flexibility. This work presents a different concept for acoustic trapping of particles and cells that enables dynamically defined trapping patterns inside a simple and inexpensive setup. Here, dynamic operation and dexterous trapping are realized through the use of a modified piezoelectric transducer in direct contact with the liquid sample. Physical modeling shows how the transducer induces an acoustic force potential where the conventional trapping in the axial direction is supplemented by surface displacement dependent lateral trapping. The lateral field is a horizontal array of pronounced potential minima with frequency-dependent locations. The resulting system enables dynamic arraying of levitated trapping sites at low power and can be manufactured at ultra-low cost, operated using low-cost electronics, and assembled in less than 5 min. We demonstrate dynamic patterning of particles and biological cells and exemplify potential uses of the technique for cell-based sample preparation and cell culture.
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Affiliation(s)
- Björn Hammarström
- Department of Applied Physics, KTH Royal Institute of Technology, Roslagstullsbacken 21, SE-114 21 Stockholm, Sweden
| | - Nils R Skov
- Department of Physics, Technical University of Denmark, DTU Physics Building 309, DK-2800 Kongens Lyngby, Denmark
| | - Karl Olofsson
- Department of Applied Physics, KTH Royal Institute of Technology, Roslagstullsbacken 21, SE-114 21 Stockholm, Sweden
| | - Henrik Bruus
- Department of Physics, Technical University of Denmark, DTU Physics Building 309, DK-2800 Kongens Lyngby, Denmark
| | - Martin Wiklund
- Department of Applied Physics, KTH Royal Institute of Technology, Roslagstullsbacken 21, SE-114 21 Stockholm, Sweden
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18
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Zhou Z, Hou Z, Pei Y. Reconfigurable Particle Swarm Robotics Powered by Acoustic Vibration Tweezer. Soft Robot 2020; 8:735-743. [PMID: 33216709 DOI: 10.1089/soro.2020.0050] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/14/2023] Open
Abstract
Inspired by natural swarms such as bees and ants, various types of swarm robotic systems have been developed to work together to complete tasks that transcend individual capabilities. Autonomous robots controlled by collective algorithm and colloidal swarms energized by external field have been designed in an attempt to emulate collective behaviors in nature. However, either sophisticated hardware designs or active agents with special electromagnetic properties and microstructural designs are needed. Here, for the first time, we create a swarm robotic system that can make any granular materials an active swarm robot by acoustic vibration tweezer. It should be noted that the particles energized by only one vibration generator are ordinary sand without any microstructural design. Therefore, it is the simplest and lowest cost swarm robot. Particles can display a solid-like aggregate, which is capable of robustly carrying and transporting an object that is about 1 million times heavier than a single particle. Moreover, through the cooperation of two swarm robots, we can achieve cooperative transport of a stick with a length of 1000 times the diameter of a single particle. The particle robot can move in a fluid-like amorphous group, which can change its own shape to adapt to the surrounding environment, thus having a strong environmental adaptability. Besides, it can move quickly (about 600 times the particle diameter per second) in a discrete state. Within one certain particle system, the particle swarm robot can emulate diverse biomimetic collective behaviors through navigated locomotion, multimode transformation, and cooperative transport.
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Affiliation(s)
- Zhitao Zhou
- State Key Lab for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China
| | - Zewei Hou
- State Key Lab for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China
| | - Yongmao Pei
- State Key Lab for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China
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19
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Abstract
The majority of the industrial material handling mechanisms used in the manipulation or assembly of mesoscale objects are slow and require precision programming and tooling, mainly because they are based on sequential robotic pick-n-place operations. This paper presents problem formation, modeling, and analysis of a sensorless parallel manipulation technique for mimicking real-systems that transfer mesoscale objects based on the vibration of inline-feeder machines. Unlike common stick-slip models that utilize a “mass-on-moving-belt” and avoid totality of the motion, the research obtains differential equations in order to describe the combined physics of stick-slip dynamics of an object traveling along an oscillating platform under smooth and dry friction conditions. The nonlinear dynamics are solved numerically to explain the effect of system parameters on the stick-slip motion. The research provides empirical models based on frequency-analysis identification to describe the total linear speed of an object to an input force. The results are illustrated and tested by time–response, phase plots, and amplitude response diagrams, which compare very favorably with results obtained by numerical simulation of the equation of motion, and this suggests that the vibration of the platform is independent of stick-slip motion when the mass of the object being transported is small relative to the mass of the system.
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20
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Audible sound-controlled spatiotemporal patterns in out-of-equilibrium systems. Nat Chem 2020; 12:808-813. [PMID: 32778690 DOI: 10.1038/s41557-020-0516-2] [Citation(s) in RCA: 28] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/18/2020] [Accepted: 06/26/2020] [Indexed: 12/12/2022]
Abstract
Naturally occurring spatiotemporal patterns typically have a predictable pattern design and are reproducible over several cycles. However, the patterns obtained from artificially designed out-of-equilibrium chemical oscillating networks (such as the Belousov-Zhabotinsky reaction for example) are unpredictable and difficult to control spatiotemporally, albeit reproducible over subsequent cycles. Here, we show that it is possible to generate reproducible spatiotemporal patterns in out-of-equilibrium chemical reactions and self-assembling systems in water in the presence of sound waves, which act as a guiding physical stimulus. Audible sound-induced liquid vibrations control the dissolution of atmospheric gases (such as O2 and CO2) in water to generate spatiotemporal chemical patterns in the bulk of the fluid, segregating the solution into spatiotemporal domains having different redox properties or pH values. It further helps us in the organization of transiently formed supramolecular aggregates in a predictable spatiotemporal manner.
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21
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Chladni Figures in Modal Analysis of a Double-Panel Structure. SENSORS 2020; 20:s20154084. [PMID: 32707910 PMCID: PMC7435963 DOI: 10.3390/s20154084] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 05/29/2020] [Revised: 07/17/2020] [Accepted: 07/18/2020] [Indexed: 11/23/2022]
Abstract
Analysis of the structural vibration, under the sound excitation is an important part of the quality assurance during the design process of devices. One of the most commonly used method is Laser Doppler Vibrometry (LDV). However, under the rapid fluctuations of temperature, structural resonances are shifted into the other frequencies. In such situation LDV method may be inconvenient, due to the scanning time. In this paper the authors proposed Chladni figures to modal analysis of the double-panel structure, excited by the loudspeaker enclosed inside the casing with a rigid frame. Double-panel structure has been proven to be particularly useful for noise and vibration reduction applications. Vision images, obtained during the experiments are converted to binary patterns, using GLCM matrix, and compared with simulations performed in ANSYS.
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22
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Zhang P, Bachman H, Ozcelik A, Huang TJ. Acoustic Microfluidics. ANNUAL REVIEW OF ANALYTICAL CHEMISTRY (PALO ALTO, CALIF.) 2020; 13:17-43. [PMID: 32531185 PMCID: PMC7415005 DOI: 10.1146/annurev-anchem-090919-102205] [Citation(s) in RCA: 123] [Impact Index Per Article: 30.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/06/2023]
Abstract
Acoustic microfluidic devices are powerful tools that use sound waves to manipulate micro- or nanoscale objects or fluids in analytical chemistry and biomedicine. Their simple device designs, biocompatible and contactless operation, and label-free nature are all characteristics that make acoustic microfluidic devices ideal platforms for fundamental research, diagnostics, and therapeutics. Herein, we summarize the physical principles underlying acoustic microfluidics and review their applications, with particular emphasis on the manipulation of macromolecules, cells, particles, model organisms, and fluidic flows. We also present future goals of this technology in analytical chemistry and biomedical research, as well as challenges and opportunities.
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Affiliation(s)
- Peiran Zhang
- Department of Mechanical Engineering and Materials Science, Duke University, Durham, North Carolina 27708, USA;
| | - Hunter Bachman
- Department of Mechanical Engineering and Materials Science, Duke University, Durham, North Carolina 27708, USA;
| | - Adem Ozcelik
- Department of Mechanical Engineering, Aydın Adnan Menderes University, Aydın 09010, Turkey;
| | - Tony Jun Huang
- Department of Mechanical Engineering and Materials Science, Duke University, Durham, North Carolina 27708, USA;
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23
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Hou Z, Zhou Z, Liu P, Pei Y. Robotic Trajectories and Morphology Manipulation of Single Particle and Granular Materials by a Vibration Tweezer. Soft Robot 2020; 8:1-9. [PMID: 32286165 DOI: 10.1089/soro.2019.0173] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/23/2022] Open
Abstract
Robotic self-assembly of deformable materials holds potential for the automatic construction of complex robots. Current manipulation for deformable manipulation mainly focuses on a soft robot. It still remains a great challenge for morphology manipulation of a swarm of particles. Chladni patterns have raised great interest in the field of self-assembly for different materials. The formation of Chladni patterns is driven by the vibration process that involves the particles moving from disorder to order. Particles bounce randomly on the plate, and gradually accumulate along nodal lines, whereas the instantaneous random effect is inevitable, meaning that the trajectories of particles are uncertain. Here, the vibration tweezer is proposed by programmable two-frequency driving Chladni patterns. Different materials can be precisely and flexibly trapped to the vibration node. The vibration tweezer is further programmed for arbitrary positions by solving the vibration inverse problem. Then, different controllable trajectories "PKU" manipulation of particle can be achieved through switching the tweezer positions. Most importantly, the vibration tweezer exhibits the morphology of granular materials assemblages with collection, motion, and rotation. This work paves the way for the control of complex self-assembly, thereby enabling programmable manipulation of granular materials and micro robots.
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Affiliation(s)
- Zewei Hou
- State Key Lab for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China
| | - Zhitao Zhou
- State Key Lab for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China
| | - Peng Liu
- State Key Lab for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China
| | - Yongmao Pei
- State Key Lab for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China
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24
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Wu Z, Cai H, Ao Z, Nunez A, Liu H, Bondesson M, Guo S, Guo F. A Digital Acoustofluidic Pump Powered by Localized Fluid-Substrate Interactions. Anal Chem 2019; 91:7097-7103. [PMID: 31083981 DOI: 10.1021/acs.analchem.9b00069] [Citation(s) in RCA: 29] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/16/2022]
Abstract
The precise transportation of small-volume liquids in microfluidic and nanofluidic systems remains a challenge for many applications, such as clinical fluidical analysis. Here, we present a reliable digital pump that utilizes acoustic streaming induced by localized fluid-substrate interactions. By locally generating streaming via a C-shaped interdigital transducer (IDT) within a triangle-edged microchannel, our acoustofluidic pump can generate a stable unidirectional flow (∼nanoliter per second flow rate) with a precise digital regulation (∼second response time), and it is capable of handling aqueous solutions (e.g., PBS buffer) as well as high viscosity liquids (e.g., human blood) with a nanoliter-scale volume. Along with our acoustofluidic pump's low cost, programmability, and capacity to control small-volumes at high precision, it could be widely used for point-of-care diagnostics, precise drug delivery, and fundamental biomedical research.
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Affiliation(s)
- Zhuhao Wu
- Key Laboratory of Artificial Micro- and Nano-structures of Ministry of Education, School of Physics and Technology , Wuhan University , Wuhan 430072 , China.,Department of Intelligent Systems Engineering , Indiana University , Bloomington , Indiana 47405 , United States
| | - Hongwei Cai
- Department of Intelligent Systems Engineering , Indiana University , Bloomington , Indiana 47405 , United States
| | - Zheng Ao
- Department of Intelligent Systems Engineering , Indiana University , Bloomington , Indiana 47405 , United States
| | - Asael Nunez
- Department of Intelligent Systems Engineering , Indiana University , Bloomington , Indiana 47405 , United States
| | - Hongcheng Liu
- Department of Industrial and Systems Engineering , University of Florida , Gainesville , Florida 32611 , United States
| | - Maria Bondesson
- Department of Intelligent Systems Engineering , Indiana University , Bloomington , Indiana 47405 , United States
| | - Shishang Guo
- Key Laboratory of Artificial Micro- and Nano-structures of Ministry of Education, School of Physics and Technology , Wuhan University , Wuhan 430072 , China
| | - Feng Guo
- Department of Intelligent Systems Engineering , Indiana University , Bloomington , Indiana 47405 , United States
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25
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Latifi K, Wijaya H, Zhou Q. Motion of Heavy Particles on a Submerged Chladni Plate. PHYSICAL REVIEW LETTERS 2019; 122:184301. [PMID: 31144874 DOI: 10.1103/physrevlett.122.184301] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/28/2019] [Indexed: 05/24/2023]
Abstract
Heavy particles are traditionally believed to gather at the nodes of a resonating plate, forming standard Chladni patterns. Here, for the first time, we experimentally show that heavy particles, i.e., sub-mm particles, can move towards the antinodes of a resonating plate. By submerging the resonating plate inside a fluidic medium, the acoustic radiation force and the lateral effective weight become dominant at the sub-mm scale. Those forces, averaged over a vibration cycle, move the particles towards the antinodes and generate sophisticated patterns. We create a statistical model that relates the complex motion of particles to their locations and plate vibration frequencies in a wide spectrum of both resonant and nonresonant frequencies. Additionally, we employ our model to control the motion of single particles and a swarm of particles on the submerged plate. Our device can move particles with sufficient power at an exceptionally wide frequency range, potentially opening a path to new particle manipulation techniques at sub-mm scale in fluidic media.
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Affiliation(s)
- Kourosh Latifi
- Department of Electrical Engineering and Automation, Aalto University, Espoo 02150, Finland
| | - Harri Wijaya
- Department of Electrical Engineering and Automation, Aalto University, Espoo 02150, Finland
| | - Quan Zhou
- Department of Electrical Engineering and Automation, Aalto University, Espoo 02150, Finland
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26
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Terrazas R, De Maeijer A, Bolopion A, Gauthier M, Kinnaert M, Lambert P. Thermocapillary micromanipulation: force characterization and Cheerios interactions. JOURNAL OF MICRO-BIO ROBOTICS 2019. [DOI: 10.1007/s12213-019-00117-z] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/07/2023]
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27
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Two-Dimensional Manipulation in Mid-Air Using a Single Transducer Acoustic Levitator. MICROMACHINES 2019; 10:mi10040257. [PMID: 31003415 PMCID: PMC6523525 DOI: 10.3390/mi10040257] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/21/2019] [Revised: 04/12/2019] [Accepted: 04/17/2019] [Indexed: 01/04/2023]
Abstract
We report a single transducer acoustic levitator capable of manipulating objects in two-dimensions. The levitator consists of a centrally actuated vibrating plate and a flat reflector. We show that the levitation position of the object depends not only on the vibration frequency, but also on the tilting angle between the plate and the reflector. Additionally, new levitation positions can be created by actuating the plate with a composite signal of two frequencies using frequency switching. Based on recorded levitation positions, such single transducer acoustic levitator can manipulate a cluster of levitated microspheres in predefined trajectories, with mean position error of 155 ± 84 µm.
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28
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Shaglwf Z, Hammarström B, Shona Laila D, Hill M, Glynne-Jones P. Acoustofluidic particle steering. THE JOURNAL OF THE ACOUSTICAL SOCIETY OF AMERICA 2019; 145:945. [PMID: 30823821 DOI: 10.1121/1.5090499] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/06/2018] [Accepted: 01/28/2019] [Indexed: 05/24/2023]
Abstract
Steering micro-objects using acoustic radiation forces is challenging for several reasons: resonators tend to create fixed force distributions that depend primarily on device geometry, and even when using switching schemes, the forces are hard to predict a priori. In this paper an active approach is developed that measures forces from a range of acoustic resonances during manipulation using a computer controlled feedback loop based in matlab, with a microscope camera for particle imaging. The arrangement uses a planar resonator where the axial radiation force is used to hold particles within a levitation plane. Manipulation is achieved by summing the levitation frequency with an algorithmically chosen second resonance frequency, which creates lateral forces derived from gradients in the kinetic energy density of the acoustic field. Apart from identifying likely resonances, the system does not require a priori knowledge of the structure of the acoustic force field created by each resonance. Manipulation of 10 μm microbeads is demonstrated over 100 s μm. Manipulation times are of order 10 s for paths of 200 μm length. The microfluidic device used in this work is a rectangular glass capillary with a 6 mm wide and 300 μm high fluid chamber.
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Affiliation(s)
- Zaid Shaglwf
- School of Engineering, Faculty of Engineering and Physical Sciences, University of Southampton, Southampton SO17 1BJ, United Kingdom
| | - Bjorn Hammarström
- Department of Applied Physics, Royal Institute of Technology, AlbaNova University Center, Stockholm, Sweden
| | - Dina Shona Laila
- School of Mechanical, Aerospace and Automotive, Coventry University, Coventry CV1 5FB, United Kingdom
| | - Martyn Hill
- School of Engineering, Faculty of Engineering and Physical Sciences, University of Southampton, Southampton SO17 1BJ, United Kingdom
| | - Peter Glynne-Jones
- School of Engineering, Faculty of Engineering and Physical Sciences, University of Southampton, Southampton SO17 1BJ, United Kingdom
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29
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Point-driven modern Chladni figures with symmetry breaking. Sci Rep 2018; 8:10844. [PMID: 30022128 PMCID: PMC6052176 DOI: 10.1038/s41598-018-29244-6] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/03/2018] [Accepted: 07/05/2018] [Indexed: 01/13/2023] Open
Abstract
Point-driven modern Chladni figures subject to the symmetry breaking are systematically unveiled by developing a theoretical model and making experimental confirmation in the orthotropic brass. The plates with square shape are employed in the exploration based on the property that the orientation-dependent elastic anisotropy can be controlled by cutting the sides with a rotation angle with respect to the characteristic axes of the brass. Experimental results reveal that the orientation symmetry breaking not only causes the redistribution of resonant frequencies but also induces more resonant modes. More intriguingly, the driving position in some of new resonant modes can turn into the nodal point, whereas this position is always the anti-node in the isotropic case. The theoretical model is analytically developed by including a dimensionless parameter to consider the orientation symmetry-breaking effect in a generalized way. It is numerically verified that all experimental resonant frequencies and Chladni patterns can be well reconstructed with the developed model. The good agreement between theoretical calculations and experimental observations confirms the feasibility of using the developed model to analyze the modern Chladni experiment with orientation symmetry breaking. The developed model is believed to offer a powerful tool to build important database of plate resonant modes for the applications of controlling collective motions of micro objects.
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30
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Neutrophil-inspired propulsion in a combined acoustic and magnetic field. Nat Commun 2017; 8:770. [PMID: 28974671 PMCID: PMC5626690 DOI: 10.1038/s41467-017-00845-5] [Citation(s) in RCA: 117] [Impact Index Per Article: 16.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/01/2017] [Accepted: 07/28/2017] [Indexed: 12/24/2022] Open
Abstract
Systems capable of precise motion in the vasculature can offer exciting possibilities for applications in targeted therapeutics and non-invasive surgery. So far, the majority of the work analysed propulsion in a two-dimensional setting with limited controllability near boundaries. Here we show bio-inspired rolling motion by introducing superparamagnetic particles in magnetic and acoustic fields, inspired by a neutrophil rolling on a wall. The particles self-assemble due to dipole–dipole interaction in the presence of a rotating magnetic field. The aggregate migrates towards the wall of the channel due to the radiation force of an acoustic field. By combining both fields, we achieved a rolling-type motion along the boundaries. The use of both acoustic and magnetic fields has matured in clinical settings. The combination of both fields is capable of overcoming the limitations encountered by single actuation techniques. We believe our method will have far-reaching implications in targeted therapeutics. Devising effective swimming and propulsion strategies in microenvironments is attractive for drug delivery applications. Here Ahmed et al. demonstrate a micropropulsion strategy in which a combination of magnetic and acoustic fields is used to assemble and propel colloidal particles along channel walls.
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31
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Dkhil M, Bolopion A, Régnier S, Gauthier M. Analysis of the influence of inertia for non-contact micromanipulation. JOURNAL OF MICRO-BIO ROBOTICS 2017. [DOI: 10.1007/s12213-017-0099-1] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/19/2022]
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32
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Devendran C, Collins DJ, Ai Y, Neild A. Huygens-Fresnel Acoustic Interference and the Development of Robust Time-Averaged Patterns from Traveling Surface Acoustic Waves. PHYSICAL REVIEW LETTERS 2017; 118:154501. [PMID: 28452526 DOI: 10.1103/physrevlett.118.154501] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/10/2016] [Indexed: 05/08/2023]
Abstract
Periodic pattern generation using time-averaged acoustic forces conventionally requires the intersection of counterpropagating wave fields, where suspended micro-objects in a microfluidic system collect along force potential minimizing nodal or antinodal lines. Whereas this effect typically requires either multiple transducer elements or whole channel resonance, we report the generation of scalable periodic patterning positions without either of these conditions. A single propagating surface acoustic wave interacts with the proximal channel wall to produce a knife-edge effect according to the Huygens-Fresnel principle, where these cylindrically propagating waves interfere with classical wave fronts emanating from the substrate. We simulate these conditions and describe a model that accurately predicts the lateral spacing of these positions in a robust and novel approach to acoustic patterning.
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Affiliation(s)
- Citsabehsan Devendran
- Laboratory for Micro Systems, Department of Mechanical and Aerospace Engineering, Monash University, Melbourne 3800, Victoria, Australia
| | - David J Collins
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore
| | - Ye Ai
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore
| | - Adrian Neild
- Laboratory for Micro Systems, Department of Mechanical and Aerospace Engineering, Monash University, Melbourne 3800, Victoria, Australia
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33
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Lei J. Formation of inverse Chladni patterns in liquids at microscale: roles of acoustic radiation and streaming-induced drag forces. MICROFLUIDICS AND NANOFLUIDICS 2017; 21:50. [PMID: 32226357 PMCID: PMC7089712 DOI: 10.1007/s10404-017-1888-5] [Citation(s) in RCA: 13] [Impact Index Per Article: 1.9] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/08/2016] [Accepted: 02/22/2017] [Indexed: 05/23/2023]
Abstract
While Chladni patterns in air over vibrating plates at macroscale have been well studied, inverse Chladni patterns in water at microscale have recently been reported. The underlying physics for the focusing of microparticles on the vibrating interface, however, is still unclear. In this paper, we present a quantitative three-dimensional study on the acoustophoretic motion of microparticles on a clamped vibrating circular plate in contact with water with emphasis on the roles of acoustic radiation and streaming-induced drag forces. The numerical simulations show good comparisons with experimental observations and basic theory. While we provide clear demonstrations of three-dimensional particle size-dependent microparticle trajectories in vibrating plate systems, we show that acoustic radiation forces are crucial for the formation of inverse Chladni patterns in liquids on both out-of-plane and in-plane microparticle movements. For out-of-plane microparticle acoustophoresis, out-of-plane acoustic radiation forces are the main driving force in the near-field, which prevent out-of-plane acoustic streaming vortices from dragging particles away from the vibrating interface. For in-plane acoustophoresis on the vibrating interface, acoustic streaming is not the only mechanism that carries microparticles to the vibrating antinodes forming inverse Chladni patterns: In-plane acoustic radiation forces could have a greater contribution. To facilitate the design of lab-on-a-chip devices for a wide range of applications, the effects of many key parameters, including the plate radius R and thickness h and the fluid viscosity μ, on the microparticle acoustophoresis are discussed, which show that the threshold in-plane and out-of-plane particle sizes balanced from the acoustic radiation and streaming-induced drag forces scale linearly with R and μ , but inversely with h .
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Affiliation(s)
- Junjun Lei
- Faculty of Engineering and the Environment, University of Southampton, University Road, Southampton, SO17 1BJ UK
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