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Gao C, Zhang W, Gong D, Liang C, Su Y, Peng G, Deng X, Xu W, Cai J. Biotemplated Janus Magnetic Microrobots Based on Diatomite for Highly Efficient Detection of Salmonella. ACS APPLIED MATERIALS & INTERFACES 2024; 16:49030-49040. [PMID: 39226320 DOI: 10.1021/acsami.4c09408] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 09/05/2024]
Abstract
Foodborne illnesses caused by Salmonella bacteria pose a significant threat to public health. It is still challenging to detect them effectively. Herein, biotemplated Janus disk-shaped magnetic microrobots (BJDMs) based on diatomite are developed for the highly efficient detection of Salmonella in milk. The BJDMs were loaded with aptamer, which can be magnetically actuated in the swarm to capture Salmonella in a linear range of 5.8 × 102 to 5.8 × 105 CFU/mL in 30 min, with a detection limit as low as 58 CFU/mL. In addition, the silica surface of BJDMs exhibited a large specific surface area to adsorb DNA from captured Salmonella, and the specificity was also confirmed via tests of a mixture of diverse foodborne bacteria. These diatomite-based microrobots hold the advantages of mass production and low cost and could also be extended toward the detection of other types of bacterial toxins via loading different probes. Therefore, this work offers a reliable strategy to construct robust platforms for rapid biological detection in practical applications of food safety.
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Affiliation(s)
- Chao Gao
- College of Engineering, China Agricultural University, Beijing 100083, China
| | - Wenqiang Zhang
- College of Engineering, China Agricultural University, Beijing 100083, China
| | - De Gong
- School of Mechanical Engineering & Automation, Beihang University, Beijing 100191, China
| | - Chao Liang
- College of Engineering, China Agricultural University, Beijing 100083, China
| | - Yuan Su
- Food Laboratory of Zhongyuan, Key Laboratory of Precision Nutrition and Food Quality, Department of Nutrition and Health, China Agricultural University, Beijing 100193, China
| | - Guanya Peng
- School of Mechanical Engineering & Automation, Beihang University, Beijing 100191, China
| | - Xue Deng
- College of Engineering, China Agricultural University, Beijing 100083, China
| | - Wentao Xu
- Food Laboratory of Zhongyuan, Key Laboratory of Precision Nutrition and Food Quality, Department of Nutrition and Health, China Agricultural University, Beijing 100193, China
| | - Jun Cai
- School of Mechanical Engineering & Automation, Beihang University, Beijing 100191, China
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2
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Liu H, Teng X, Qiao Z, Yang W, Zou B. Magnetically Driven Quadruped Soft Robot with Multimodal Motion for Targeted Drug Delivery. Biomimetics (Basel) 2024; 9:559. [PMID: 39329581 PMCID: PMC11431042 DOI: 10.3390/biomimetics9090559] [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: 08/26/2024] [Revised: 09/14/2024] [Accepted: 09/14/2024] [Indexed: 09/28/2024] Open
Abstract
Untethered magnetic soft robots show great potential for biomedical and small-scale micromanipulation applications due to their high flexibility and ability to cause minimal damage. However, most current research on these robots focuses on marine and reptilian biomimicry, which limits their ability to move in unstructured environments. In this work, we design a quadruped soft robot with a magnetic top cover and a specific magnetization angle, drawing inspiration from the common locomotion patterns of quadrupeds in nature and integrating our unique actuation principle. It can crawl and tumble and, by adjusting the magnetic field parameters, it adapts its locomotion to environmental conditions, enabling it to cross obstacles and perform remote transportation and release of cargo.
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Affiliation(s)
- Huibin Liu
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (H.L.); (X.T.); (Z.Q.)
| | - Xiangyu Teng
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (H.L.); (X.T.); (Z.Q.)
| | - Zezheng Qiao
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (H.L.); (X.T.); (Z.Q.)
| | - Wenguang Yang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (H.L.); (X.T.); (Z.Q.)
| | - Bentao Zou
- Engineering Training Center, Yantai University, Yantai 264005, China
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3
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Eatson JL, Morgan SO, Horozov TS, A. Buzza DM. Programmable 2D materials through shape-controlled capillary forces. Proc Natl Acad Sci U S A 2024; 121:e2401134121. [PMID: 39163335 PMCID: PMC11363311 DOI: 10.1073/pnas.2401134121] [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: 01/17/2024] [Accepted: 07/14/2024] [Indexed: 08/22/2024] Open
Abstract
In recent years, self-assembly has emerged as a powerful tool for fabricating functional materials. Since self-assembly is fundamentally determined by the particle interactions in the system, if we can gain full control over these interactions, it would open the door for creating functional materials by design. In this paper, we exploit capillary interactions between colloidal particles at liquid interfaces to create two-dimensional (2D) materials where particle interactions and self-assembly can be fully programmed using particle shape alone. Specifically, we consider colloidal particles which are polygonal plates with homogeneous surface chemistry and undulating edges as this particle geometry gives us precise and independent control over both short-range hard-core repulsions and longer-range capillary interactions. To illustrate the immense potential provided by our system for programming self-assembly, we use minimum energy calculations and Monte Carlo simulations to show that polygonal plates with different in-plane shapes (hexagons, truncated triangles, triangles, squares) and edge undulations of different multipolar order (hexapolar, octopolar, dodecapolar) can be used to create a rich variety of 2D structures, including hexagonal close-packed, honeycomb, Kagome, and quasicrystal lattices. Since the required particle shapes can be readily fabricated experimentally, we can use our colloidal system to control the entire process chain for materials design, from initial design and fabrication of the building blocks, to final assembly of the emergent 2D material.
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Affiliation(s)
- Jack L. Eatson
- Department of Physics and Astrophysics, George William Gray Centre for Advanced Materials, University of Hull, HullHU6 7RX, United Kingdom
| | - Scott O. Morgan
- Department of Physics and Astrophysics, George William Gray Centre for Advanced Materials, University of Hull, HullHU6 7RX, United Kingdom
| | - Tommy S. Horozov
- Department of Chemistry and Biochemistry, George William Gray Centre for Advanced Materials, University of Hull, HullHU6 7RX, United Kingdom
| | - D. Martin A. Buzza
- Department of Physics and Astrophysics, George William Gray Centre for Advanced Materials, University of Hull, HullHU6 7RX, United Kingdom
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4
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Allahyarov E, Löwen H. Electric field-induced clustering in nanocomposite films of highly polarizable inclusions. J Colloid Interface Sci 2024; 668:587-598. [PMID: 38691967 DOI: 10.1016/j.jcis.2024.04.134] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/01/2024] [Revised: 04/04/2024] [Accepted: 04/19/2024] [Indexed: 05/03/2024]
Abstract
A nanocomposite film containing highly polarizable inclusions in a fluid background is explored when an external electric field is applied perpendicular to the planar film. For small electric fields, the induced dipole moments of the inclusions are all polarized in field direction, resulting in a mutual repulsion between the inclusions. Here we show that this becomes qualitatively different for high fields: the total system self-organizes into a state which contains both polarizations, parallel and antiparallel to the external field such that a fraction of the inclusions is counter-polarized to the electric field direction. We attribute this unexpected counter-polarization to the presence of neighboring dipoles which are highly polarized and locally revert the direction of the total electric field. Since dipoles with opposite moments are attractive, the system shows a wealth of novel equilibrium structures for varied inclusion density and electric field strength. These include fluids and solids with homogeneous polarizations as well as equilibrium clusters and demixed states with two different polarization signatures. Based on computer simulations of an linearized polarization model, our results can guide the control of nanocomposites for various applications, including sensing external fields, directing light within plasmonic materials, and controlling the functionality of biological membranes.
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Affiliation(s)
- Elshad Allahyarov
- Institut für Theoretische Physik II: Weiche Materie, Heinrich-Heine Universität Düsseldorf, Universitätstrasse 1, 40225 Düsseldorf, Germany; Theoretical Department, Joint Institute for High Temperatures, Russian Academy of Sciences (IVTAN), 13/19 Izhorskaya street, Moscow 125412, Russia; Department of Physics, Case Western Reserve University, Cleveland, OH 44106-7202, United States.
| | - Hartmut Löwen
- Institut für Theoretische Physik II: Weiche Materie, Heinrich-Heine Universität Düsseldorf, Universitätstrasse 1, 40225 Düsseldorf, Germany
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5
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Saavedra R, Gompper G, Ripoll M. Swirling Due to Misaligned Perception-Dependent Motility. PHYSICAL REVIEW LETTERS 2024; 132:268301. [PMID: 38996279 DOI: 10.1103/physrevlett.132.268301] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/05/2023] [Accepted: 05/21/2024] [Indexed: 07/14/2024]
Abstract
A system of particles with motility variable in terms of a vision-type of perception is investigated by a combination of Langevin dynamics simulations in two-dimensional systems and an analytical approach based on conservation law principles. Persistent swirling with predetermined direction is here induced by differentiating the self-propulsion direction and the perception cone axis. Clusters can have a fluidlike center with a rotating outer layer or display a solidlike rotation driven by the outer layer activity. Discontinuous motility with misaligned perception might therefore serve as a powerful self-organization strategy in microrobots.
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6
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Xiao Y, Lei X, Zheng Z, Xiang Y, Liu YY, Peng X. Perception of motion salience shapes the emergence of collective motions. Nat Commun 2024; 15:4779. [PMID: 38839782 PMCID: PMC11153630 DOI: 10.1038/s41467-024-49151-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/21/2023] [Accepted: 05/24/2024] [Indexed: 06/07/2024] Open
Abstract
Despite the profound implications of self-organization in animal groups for collective behaviors, understanding the fundamental principles and applying them to swarm robotics remains incomplete. Here we propose a heuristic measure of perception of motion salience (MS) to quantify relative motion changes of neighbors from first-person view. Leveraging three large bird-flocking datasets, we explore how this perception of MS relates to the structure of leader-follower (LF) relations, and further perform an individual-level correlation analysis between past perception of MS and future change rate of velocity consensus. We observe prevalence of the positive correlations in real flocks, which demonstrates that individuals will accelerate the convergence of velocity with neighbors who have higher MS. This empirical finding motivates us to introduce the concept of adaptive MS-based (AMS) interaction in swarm model. Finally, we implement AMS in a swarm of ~102 miniature robots. Swarm experiments show the significant advantage of AMS in enhancing self-organization of the swarm for smooth evacuations from confined environments.
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Affiliation(s)
- Yandong Xiao
- College of System Engineering, National University of Defense Technology, Changsha, Hunan, China.
| | - Xiaokang Lei
- College of Information and Control Engineering, Xi'an University of Architecture and Technology, Xi'an, Shaanxi, China
| | - Zhicheng Zheng
- School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, Shaanxi, China
| | - Yalun Xiang
- School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, Shaanxi, China
| | - Yang-Yu Liu
- Channing Division of Network Medicine, Department of Medicine, Brigham and Women's Hospital and Harvard Medical School, Boston, MA, USA
- Center for Artificial Intelligence and Modeling, The Carl R. Woese Institute for Genomic Biology, University of Illinois at Urbana-Champaign, Champaign, IL, USA
| | - Xingguang Peng
- School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, Shaanxi, China.
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7
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Sun M, Yang S, Jiang J, Wang Q, Zhang L. Multiple Magneto-Optical Microrobotic Collectives with Selective Control in Three Dimensions Under Water. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2310769. [PMID: 38263803 DOI: 10.1002/smll.202310769] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/24/2023] [Revised: 12/29/2023] [Indexed: 01/25/2024]
Abstract
Inspired by natural swarms, various methods are developed to create artificial magnetic microrobotic collectives. However, these magnetic collectives typically receive identical control inputs from a common external magnetic field, limiting their ability to operate independently. And they often rely on interfaces or boundaries for controlled movement, posing challenges for independent, three-dimensional(3D) navigation of multiple magnetic collectives. To address this challenge, self-assembled microrobotic collectives are proposed that can be selectively actuated in a combination of external magnetic and optical fields. By harnessing both actuation methods, the constraints of single actuation approaches are overcome. The magnetic field excites the self-assembly of colloids and maintains the self-assembled microrobotic collectives without disassembly, while the optical field drives selected microrobotic collectives to perform different tasks. The proposed magnetic-photo microrobotic collectives can achieve independent position and path control in the two-dimensional (2D) plane and 3D space. With this selective control strategy, the microrobotic collectives can cooperate in convection and mixing the dye in a confined space. The results present a systematic approach for realizing selective control of multiple microrobotic collectives, which can address multitasking requirements in complex environments.
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Affiliation(s)
- Mengmeng Sun
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, 70569, Stuttgart, Germany
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Jialin Jiang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Qianqian Wang
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
- School of Mechanical Engineering, Southeast University, Nanjing, 211189, China
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8
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Wang Y, Chen H, Xie L, Liu J, Zhang L, Yu J. Swarm Autonomy: From Agent Functionalization to Machine Intelligence. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2312956. [PMID: 38653192 DOI: 10.1002/adma.202312956] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/30/2023] [Revised: 04/17/2024] [Indexed: 04/25/2024]
Abstract
Swarm behaviors are common in nature, where individual organisms collaborate via perception, communication, and adaptation. Emulating these dynamics, large groups of active agents can self-organize through localized interactions, giving rise to complex swarm behaviors, which exhibit potential for applications across various domains. This review presents a comprehensive summary and perspective of synthetic swarms, to bridge the gap between the microscale individual agents and potential applications of synthetic swarms. It is begun by examining active agents, the fundamental units of synthetic swarms, to understand the origins of their motility and functionality in the presence of external stimuli. Then inter-agent communications and agent-environment communications that contribute to the swarm generation are summarized. Furthermore, the swarm behaviors reported to date and the emergence of machine intelligence within these behaviors are reviewed. Eventually, the applications enabled by distinct synthetic swarms are summarized. By discussing the emergent machine intelligence in swarm behaviors, insights are offered into the design and deployment of autonomous synthetic swarms for real-world applications.
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Affiliation(s)
- Yibin Wang
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Hui Chen
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Leiming Xie
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Jinbo Liu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
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9
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Yadav A, J K, Chandrasekar VK, Zou W, Kurths J, Senthilkumar DV. Exotic swarming dynamics of high-dimensional swarmalators. Phys Rev E 2024; 109:044212. [PMID: 38755849 DOI: 10.1103/physreve.109.044212] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/08/2024] [Accepted: 03/28/2024] [Indexed: 05/18/2024]
Abstract
Swarmalators are oscillators that can swarm as well as sync via a dynamic balance between their spatial proximity and phase similarity. Swarmalator models employed so far in the literature comprise only one-dimensional phase variables to represent the intrinsic dynamics of the natural collectives. Nevertheless, the latter can indeed be represented more realistically by high-dimensional phase variables. For instance, the alignment of velocity vectors in a school of fish or a flock of birds can be more realistically set up in three-dimensional space, while the alignment of opinion formation in population dynamics could be multidimensional, in general. We present a generalized D-dimensional swarmalator model, which more accurately captures self-organizing behaviors of a plethora of real-world collectives by self-adaptation of high-dimensional spatial and phase variables. For a more sensible visualization and interpretation of the results, we restrict our simulations to three-dimensional spatial and phase variables. Our model provides a framework for modeling complicated processes such as flocking, schooling of fish, cell sorting during embryonic development, residential segregation, and opinion dynamics in social groups. We demonstrate its versatility by capturing the maneuvers of a school of fish, qualitatively and quantitatively, by a suitable extension of the original model to incorporate appropriate features besides a gallery of its intrinsic self-organizations for various interactions. We expect the proposed high-dimensional swarmalator model to be potentially useful in describing swarming systems and programmable and reconfigurable collectives in a wide range of disciplines, including the physics of active matter, developmental biology, sociology, and engineering.
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Affiliation(s)
- Akash Yadav
- School of Physics, Indian Institute of Science Education and Research Thiruvananthapuram, Kerala 695551, India
| | - Krishnanand J
- School of Physics, Indian Institute of Science Education and Research Thiruvananthapuram, Kerala 695551, India
| | - V K Chandrasekar
- Center for Nonlinear Science and Engineering, SASTRA Deemed University, Thanjavur, Tamil Nadu 613401, India
| | - Wei Zou
- School of Mathematical Sciences, South China Normal University, Guangzhou 510631, China
| | - Jürgen Kurths
- Potsdam Institute for Climate Impact Research, Telegraphenberg, D-14415 Potsdam, Germany
- Institute of Physics, Humboldt University Berlin, D-12489 Berlin, Germany
- Research Institute of Intelligent Complex Systems, Fudan University, Shanghai 200433, China
| | - D V Senthilkumar
- School of Physics, Indian Institute of Science Education and Research Thiruvananthapuram, Kerala 695551, India
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10
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Mayorga-Martinez CC, Zhang L, Pumera M. Chemical multiscale robotics for bacterial biofilm treatment. Chem Soc Rev 2024; 53:2284-2299. [PMID: 38324331 DOI: 10.1039/d3cs00564j] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/08/2024]
Abstract
A biofilm constitutes a bacterial community encased in a sticky matrix of extracellular polymeric substances. These intricate microbial communities adhere to various host surfaces such as hard and soft tissues as well as indwelling medical devices. These microbial aggregates form a robust matrix of extracellular polymeric substances (EPSs), leading to the majority of human infections. Such infections tend to exhibit high resistance to treatment, often progressing into chronic states. The matrix of EPS protects bacteria from a hostile environment and prevents the penetration of antibacterial agents. Modern robots at nano, micro, and millimeter scales are highly attractive candidates for biomedical applications due to their diverse functionalities, such as navigating in confined spaces and targeted multitasking. In this tutorial review, we describe key milestones in the strategies developed for the removal and eradication of biofilms using robots of different sizes and shapes. It can be seen that robots at different scales are useful and effective tools for treating bacterial biofilms, thus preventing persistent infections, the loss of costly implanted medical devices, and additional costs associated with hospitalization and therapies.
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Affiliation(s)
- Carmen C Mayorga-Martinez
- Advanced Nanorobots & Multicale Robotics, Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava 70800, Czech Republic.
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong 999077, China
| | - Martin Pumera
- Advanced Nanorobots & Multicale Robotics, Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava 70800, Czech Republic.
- Department of Medical Research, China Medical University Hospital, China Medical University, No. 91 Hsueh-Shih Road, Taichung, 40402, Taiwan
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 656/123, Brno, CZ-616 00, Czech Republic
- Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Korea
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11
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Ali A, Kim H, Torati SR, Kang Y, Reddy V, Kim K, Yoon J, Lim B, Kim C. Magnetic Lateral Ladder for Unidirectional Transport of Microrobots: Design Principles and Potential Applications of Cells-on-Chip. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2305528. [PMID: 37845030 DOI: 10.1002/smll.202305528] [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: 07/03/2023] [Revised: 08/23/2023] [Indexed: 10/18/2023]
Abstract
Functionalized microrobots, which are directionally manipulated in a controlled and precise manner for specific tasks, face challenges. However, magnetic field-based controls constrain all microrobots to move in a coordinated manner, limiting their functions and independent behaviors. This article presents a design principle for achieving unidirectional microrobot transport using an asymmetric magnetic texture in the shape of a lateral ladder, which the authors call the "railway track." An asymmetric magnetic energy distribution along the axis allows for the continuous movement of microrobots in a fixed direction regardless of the direction of the magnetic field rotation. The authors demonstrated precise control and simple utilization of this method. Specifically, by placing magnetic textures with different directionalities, an integrated cell/particle collector can collect microrobots distributed in a large area and move them along a complex trajectory to a predetermined location. The authors can leverage the versatile capabilities offered by this texture concept, including hierarchical isolation, switchable collection, programmable pairing, selective drug-response test, and local fluid mixing for target objects. The results demonstrate the importance of microrobot directionality in achieving complex individual control. This novel concept represents significant advancement over conventional magnetic field-based control technology and paves the way for further research in biofunctionalized microrobotics.
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Affiliation(s)
- Abbas Ali
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Hyeonseol Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Sri Ramulu Torati
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
- Center for Bioelectronics, Old Dominion University, Norfolk, VA, 23508, USA
| | - Yumin Kang
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Venu Reddy
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
- Nanotechnology Research Center, SRKR Engineering College, Bhimavaram, Andhra Pradesh, 534204, India
| | - Keonmok Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Jonghwan Yoon
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Byeonghwa Lim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - CheolGi Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
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12
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Chan CW, Wu D, Qiao K, Fong KL, Yang Z, Han Y, Zhang R. Chiral active particles are sensitive reporters to environmental geometry. Nat Commun 2024; 15:1406. [PMID: 38365770 PMCID: PMC10873462 DOI: 10.1038/s41467-024-45531-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/24/2023] [Accepted: 01/24/2024] [Indexed: 02/18/2024] Open
Abstract
Chiral active particles (CAPs) are self-propelling particles that break time-reversal symmetry by orbiting or spinning, leading to intriguing behaviors. Here, we examined the dynamics of CAPs moving in 2D lattices of disk obstacles through active Brownian dynamics simulations and granular experiments with grass seeds. We find that the effective diffusivity of the CAPs is sensitive to the structure of the obstacle lattice, a feature absent in achiral active particles. We further studied the transport of CAPs in obstacle arrays under an external field and found a reentrant directional locking effect, which can be used to sort CAPs with different activities. Finally, we demonstrated that parallelogram lattices of obstacles without mirror symmetry can separate clockwise and counter-clockwise CAPs. The mechanisms of the above three novel phenomena are qualitatively explained. As such, our work provides a basis for designing chirality-based tools for single-cell diagnosis and separation, and active particle-based environmental sensors.
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Affiliation(s)
- Chung Wing Chan
- Department of Physics, The Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong SAR
| | - Daihui Wu
- Department of Physics, The Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong SAR
| | - Kaiyao Qiao
- Department of Physics, The Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong SAR
| | - Kin Long Fong
- Department of Physics, The Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong SAR
- Physik-Department, Technische Universität München, James-Franck-Straße 1, 85748, Garching, Germany
| | - Zhiyu Yang
- Department of Physics, The Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong SAR
| | - Yilong Han
- Department of Physics, The Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong SAR
| | - Rui Zhang
- Department of Physics, The Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong SAR.
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13
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Ren Z, Sitti M. Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion. Nat Protoc 2024; 19:441-486. [PMID: 38097687 DOI: 10.1038/s41596-023-00916-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/28/2023] [Accepted: 09/21/2023] [Indexed: 02/12/2024]
Abstract
Small-scale magnetic soft-bodied robots can be designed to operate based on different locomotion modes to navigate and function inside unstructured, confined and varying environments. These soft millirobots may be useful for medical applications where the robots are tasked with moving inside the human body. Here we cover the entire process of developing small-scale magnetic soft-bodied millirobots with multimodal locomotion capability, including robot design, material preparation, robot fabrication, locomotion control and locomotion optimization. We describe in detail the design, fabrication and control of a sheet-shaped soft millirobot with 12 different locomotion modes for traversing different terrains, an ephyra jellyfish-inspired soft millirobot that can manipulate objects in liquids through various swimming modes, a larval zebrafish-inspired soft millirobot that can adjust its body stiffness for efficient propulsion in different swimming speeds and a dual stimuli-responsive sheet-shaped soft millirobot that can switch its locomotion modes automatically by responding to changes in the environmental temperature. The procedure is aimed at users with basic expertise in soft robot development. The procedure requires from a few days to several weeks to complete, depending on the degree of characterization required.
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Affiliation(s)
- Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany.
- Institute for Biomedical Engineering, ETH Zurich, Zurich, Switzerland.
- School of Medicine and College of Engineering, Koç University, Istanbul, Turkey.
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14
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Heo E, Hwang W, Koo HB, Park S, Kim DN, Kim HY, Kim Y, Chang JB. Precise and selective macroscopic assembly of a dual lock-and-key structured hydrogel. MATERIALS HORIZONS 2024; 11:428-441. [PMID: 37955605 DOI: 10.1039/d3mh00995e] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/14/2023]
Abstract
Macroscopic assembly offers immense potential for constructing complex systems due to the high design flexibility of the building blocks. In such assembly systems, hydrogels are promising candidates for building blocks due to their versatile chemical compositions and ease of property tuning. However, two major challenges must be addressed to facilitate application in a broader context: the precision of assembly and the quantity of orthogonally matching pairs must both be increased. Although previous studies have attempted to address these challenges, none have successfully dealt with both simultaneously. Here, we propose topology-based design criteria for the selective assembly of hydrogel building blocks. By introducing the dual lock-and-key structures, we demonstrate highly precise assembly exclusively between the matching pairs. We establish principles for selecting multiple orthogonally matching pairs and achieve selective assembly involving simple one-to-one matching and complex assemblies with multiple orthogonal matching points. Moreover, by harnessing hydrogel tunability and the abundance of matching pairs, we synthesize complementary single-stranded structures for programmable assembly and successfully assemble them in the correct order. Finally, we demonstrate a hydrogel-based self-assembled logic gate system, including a YES gate, an OR gate, and an AND gate. The output is generated only when the corresponding inputs are provided according to each logic.
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Affiliation(s)
- Eunseok Heo
- Department of Materials Science and Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea.
| | - Wooseop Hwang
- Department of Materials Science and Engineering, Kookmin University, Seoul 02707, Republic of Korea
| | - Hye Been Koo
- Department of Materials Science and Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea.
| | - Steve Park
- Department of Materials Science and Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea.
| | - Do-Nyun Kim
- Department of Mechanical Engineering, Seoul National University, Seoul 08826, Republic of Korea
| | - Ho-Young Kim
- Department of Mechanical Engineering, Seoul National University, Seoul 08826, Republic of Korea
| | - YongJoo Kim
- Department of Materials Science and Engineering, Kookmin University, Seoul 02707, Republic of Korea
| | - Jae-Byum Chang
- Department of Materials Science and Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea.
- Department of Biological Sciences, Korea Advanced Institute of Science and Technology (KAIST), Daejeon 34141, Republic of Korea
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15
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Blum N, Li A, O'Keeffe K, Kogan O. Swarmalators with delayed interactions. Phys Rev E 2024; 109:014205. [PMID: 38366397 DOI: 10.1103/physreve.109.014205] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/01/2022] [Accepted: 09/15/2023] [Indexed: 02/18/2024]
Abstract
We investigate the effects of delayed interactions in a population of "swarmalators," generalizations of phase oscillators that both synchronize in time and swarm through space. We discover two steady collective states: a state in which swarmalators are essentially motionless in a disk arranged in a pseudocrystalline order, and a boiling state in which the swarmalators again form a disk, but now the swarmalators near the boundary perform boiling-like convective motions. These states are reminiscent of the beating clusters seen in photoactivated colloids and the living crystals of starfish embryos.
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Affiliation(s)
- Nicholas Blum
- California Polytechnic State University, San Luis Obispo, California 93407, USA
| | - Andre Li
- Department of Physics, California State University, East Bay, California 94542, USA
| | - Kevin O'Keeffe
- Senseable City Lab, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, USA
| | - Oleg Kogan
- California Polytechnic State University, San Luis Obispo, California 93407, USA
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16
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McCaskill JS, Karnaushenko D, Zhu M, Schmidt OG. Microelectronic Morphogenesis: Smart Materials with Electronics Assembling into Artificial Organisms. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2306344. [PMID: 37814374 DOI: 10.1002/adma.202306344] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 08/27/2023] [Indexed: 10/11/2023]
Abstract
Microelectronic morphogenesis is the creation and maintenance of complex functional structures by microelectronic information within shape-changing materials. Only recently has in-built information technology begun to be used to reshape materials and their functions in three dimensions to form smart microdevices and microrobots. Electronic information that controls morphology is inheritable like its biological counterpart, genetic information, and is set to open new vistas of technology leading to artificial organisms when coupled with modular design and self-assembly that can make reversible microscopic electrical connections. Three core capabilities of cells in organisms, self-maintenance (homeostatic metabolism utilizing free energy), self-containment (distinguishing self from nonself), and self-reproduction (cell division with inherited properties), once well out of reach for technology, are now within the grasp of information-directed materials. Construction-aware electronics can be used to proof-read and initiate game-changing error correction in microelectronic self-assembly. Furthermore, noncontact communication and electronically supported learning enable one to implement guided self-assembly and enhance functionality. Here, the fundamental breakthroughs that have opened the pathway to this prospective path are reviewed, the extent and way in which the core properties of life can be addressed are analyzed, and the potential and indeed necessity of such technology for sustainable high technology in society is discussed.
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Affiliation(s)
- John S McCaskill
- Research Center for Materials, Architectures and Integration of Nanomembranes (MAIN), Chemnitz University of Technology, 09126, Chemnitz, Germany
- Material Systems for Nanoelectronics, Chemnitz University of Technology, 09126, Chemnitz, Germany
- European Centre for Living Technology (ECLT), Ca' Bottacin, Dorsoduro 3911, Venice, 30123, Italy
| | - Daniil Karnaushenko
- Research Center for Materials, Architectures and Integration of Nanomembranes (MAIN), Chemnitz University of Technology, 09126, Chemnitz, Germany
- Material Systems for Nanoelectronics, Chemnitz University of Technology, 09126, Chemnitz, Germany
| | - Minshen Zhu
- Research Center for Materials, Architectures and Integration of Nanomembranes (MAIN), Chemnitz University of Technology, 09126, Chemnitz, Germany
- Material Systems for Nanoelectronics, Chemnitz University of Technology, 09126, Chemnitz, Germany
| | - Oliver G Schmidt
- Research Center for Materials, Architectures and Integration of Nanomembranes (MAIN), Chemnitz University of Technology, 09126, Chemnitz, Germany
- Material Systems for Nanoelectronics, Chemnitz University of Technology, 09126, Chemnitz, Germany
- European Centre for Living Technology (ECLT), Ca' Bottacin, Dorsoduro 3911, Venice, 30123, Italy
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17
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Zimmermann CJ, Petruska AJ, Neeves KB, Marr DWM. Coupling magnetic torque and force for colloidal microbot assembly and manipulation. ADVANCED INTELLIGENT SYSTEMS (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 5:2300332. [PMID: 38737989 PMCID: PMC11086969 DOI: 10.1002/aisy.202300332] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/15/2023] [Indexed: 05/14/2024]
Abstract
For targeted transport in the body, biomedical microbots (μbots) must move effectively in three-dimensional (3D) microenvironments. Swimming μbots translate via asymmetric or screw-like motions while rolling ones use friction with available surfaces to generate propulsive forces. We have previously shown that planar rotating magnetic fields assemble μm-scale superparamagnetic beads into circular μbots that roll along surfaces. In this, gravity is required to pull μbots near the surface; however, this is not necessarily practical in complex geometries. Here we show that rotating magnetic fields, in tandem with directional magnetic gradient forces, can be used to roll μbots on surfaces regardless of orientation. Simplifying implementation, we use a spinning permanent magnet to generate differing ratios of rotating and gradient fields, optimizing control for different environments. This use of a single magnetic actuator sidesteps the need for complex electromagnet or tandem field setups, removes requisite gravitational load forces, and enables μbot targeting in complex 3D biomimetic microenvironments.
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Affiliation(s)
- Coy J Zimmermann
- Department of Chemical and Biological Engineering, Colorado School of Mines, Golden, CO, USA
| | - Andrew J Petruska
- Department of Mechanical Engineering, Colorado School of Mines, Golden, CO, USA
| | - Keith B Neeves
- Departments of Bioengineering and Pediatrics, University of Colorado Denver | Anschutz Medical Campus, Aurora, CO
| | - David W M Marr
- Department of Chemical and Biological Engineering, Colorado School of Mines, Golden, CO, USA
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18
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Sun M, Yang S, Jiang J, Jiang S, Sitti M, Zhang L. Bioinspired self-assembled colloidal collectives drifting in three dimensions underwater. SCIENCE ADVANCES 2023; 9:eadj4201. [PMID: 37948530 PMCID: PMC10637755 DOI: 10.1126/sciadv.adj4201] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/26/2023] [Accepted: 10/10/2023] [Indexed: 11/12/2023]
Abstract
Active matter systems feature a series of unique behaviors, including the emergence of collective self-assembly structures and collective migration. However, realizing collective entities formed by synthetic active matter in spaces without wall-bounded support makes it challenging to perform three-dimensional (3D) locomotion without dispersion. Inspired by the migration mechanism of plankton, we propose a bimodal actuation strategy in the artificial colloidal systems, i.e., combining magnetic and optical fields. The magnetic field triggers the self-assembly of magnetic colloidal particles to form a colloidal collective, maintaining numerous colloids as a dynamically stable entity. The optical field allows the colloidal collectives to generate convective flow through the photothermal effect, enabling them to use fluidic currents for 3D drifting. The collectives can perform 3D locomotion underwater, transit between the water-air interface, and have a controlled motion on the water surface. Our study provides insights into designing smart devices and materials, offering strategies for developing synthetic active matter capable of controllable collective movement in 3D space.
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Affiliation(s)
- Mengmeng Sun
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Physical Intelligence Department, Max Planck Institute for Instelligent Systems, Heisenbergstr. 3, Stuttgart 70569, Germany
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Jialin Jiang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Shuai Jiang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Instelligent Systems, Heisenbergstr. 3, Stuttgart 70569, Germany
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR, China
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19
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Liu X, Wu H, Wu S, Qin H, Zhang T, Lin Y, Zheng X, Li B. Optically Programmable Living Microrouter in Vivo. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2304103. [PMID: 37749869 PMCID: PMC10646234 DOI: 10.1002/advs.202304103] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/21/2023] [Revised: 08/13/2023] [Indexed: 09/27/2023]
Abstract
With high reconfigurability and swarming intelligence, programmable medical micromachines (PMMs) represent a revolution in microrobots for executing complex coordinated tasks, especially for dynamic routing of various targets along their respective routes. However, it is difficult to achieve a biocompatible implantation into the body due to their exogenous building blocks. Herein, a living microrouter based on an organic integration of endogenous red blood cells (RBCs), programmable scanning optical tweezers and flexible optofluidic strategy is reported. By harvesting energy from a designed optical force landscape, five RBCs are optically rotated in a controlled velocity and direction, under which, a specific actuation flow is achieved to exert the well-defined hydrodynamic forces on various biological targets, thus enabling a selective routing by integrating three successive functions, i.e., dynamic input, inner processing, and controlled output. Benefited from the optofluidic manipulation, various blood cells, such as the platelets and white blood cells, are transported toward the damaged vessel and cell debris for the dynamic hemostasis and targeted clearance, respectively. Moreover, the microrouter enables a precise transport of nanodrugs for active and targeted delivery in a large quantity. The proposed RBC microrouter might provide a biocompatible medical platform for cell separation, drug delivery, and immunotherapy.
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Affiliation(s)
- Xiaoshuai Liu
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of NanophotonicsJinan UniversityGuangzhou511443China
| | - Huaying Wu
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of NanophotonicsJinan UniversityGuangzhou511443China
| | - Shuai Wu
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of NanophotonicsJinan UniversityGuangzhou511443China
| | - Haifeng Qin
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of NanophotonicsJinan UniversityGuangzhou511443China
| | - Tiange Zhang
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of NanophotonicsJinan UniversityGuangzhou511443China
| | - Yufeng Lin
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of NanophotonicsJinan UniversityGuangzhou511443China
| | - Xianchuang Zheng
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of NanophotonicsJinan UniversityGuangzhou511443China
| | - Baojun Li
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of NanophotonicsJinan UniversityGuangzhou511443China
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20
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Liu J, Huang Z, Yue H, Zhuang R, Li L, Chang X, Zhou D. A magnetic field-driven multi-functional "medical ship" for intestinal tissue collection in vivo. NANOSCALE 2023; 15:15831-15839. [PMID: 37743755 DOI: 10.1039/d3nr03770c] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 09/26/2023]
Abstract
The incidence of intestinal cancer has risen significantly. Because of the many challenges posed by the complex environment of the intestine, it is difficult to diagnose accurately and painlessly using conventional methods, which requires the development of new body-friendly diagnostic methods. Micro- and nanomotors show great potential for biomedical applications in restricted environments. However, the difficulty of recycling has been a constraint in the collection of biological tissues for diagnostic purposes. Here, we propose a multi-functional "medical ship" (MFMS) that can be rapidly driven by a magnetic field and can reversibly "open" and "close" its internal storage space under NIR laser irradiation. It provides a transportation and recovery platform for micro- and nanomotors and cargoes. In addition, fast selection of the MFMS and magnetic nanoparticles (MNPs) can be realized through adjusting the strength and frequency of the external magnetic field. Rapid encapsulation of intestinal tissues by MNPs was achieved using a low-frequency rotating magnetic field. In addition, we demonstrated the controlled release of MNPs using the MFMS and the collection of intestinal tissues. The proposed MFMS is an intelligent and controllable transportation platform with a simple structure, which is expected to be a new tool for performing medical tasks within the digestive system.
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Affiliation(s)
- Junmin Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China.
| | - Zhiyuan Huang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China.
| | - Honger Yue
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China.
| | - Rencheng Zhuang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China.
| | - Longqiu Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China.
| | - Xiaocong Chang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China.
- Chongqing Research Institute of Harbin Institute of Technology, Chongqing, 400722, China
| | - Dekai Zhou
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China.
- Chongqing Research Institute of Harbin Institute of Technology, Chongqing, 400722, China
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21
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Zhu S, Cheng Y, Wang J, Liu G, Luo T, Li X, Yang S, Yang R. Biohybrid magnetic microrobots: An intriguing and promising platform in biomedicine. Acta Biomater 2023; 169:88-106. [PMID: 37572981 DOI: 10.1016/j.actbio.2023.08.005] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/30/2023] [Revised: 07/19/2023] [Accepted: 08/03/2023] [Indexed: 08/14/2023]
Abstract
Biohybrid magnetic microrobots (BMMs) have emerged as an exciting class of microrobots and have been considered as a promising platform in biomedicine. Many microorganisms and body's own cells show intriguing properties, such as morphological characteristics, biosafety, and taxis abilities (e.g., chemotaxis, aerotaxis), which have made them attractive for the fabrication of microrobots. For remote controllability and sustainable actuation, magnetic components are usually incorporated onto these biological entities, and other functionalized non-biological components (e.g., therapeutic agents) are also included for specific applications. This review highlights the latest developments in BMMs with a focus on their biomedical applications. It starts by introducing the fundamental understanding of the propulsion system at the microscale in a magnetically driven manner, followed by a summary of diverse BMMs based on different microorganisms and body's own cells along with their relevant applications. Finally, the review discusses how BMMs contribute to the advancements of microrobots, the current challenges of using BMMs in practical clinical settings, and the future perspectives of this exciting field. STATEMENT OF SIGNIFICANCE: Biohybrid magnetic microrobots (BMMs), composed of biological entities and functional parts, hold great potential and serve as a novel and promising platform for biomedical applications such as targeted drug delivery. This review comprehensively summarizes the recent advancements in BMMs for biomedical applications, mainly focused on the representative propulsion modalities in a magnetically propelled manner and diverse designs of BMMs based on different biological entities, including microorganisms and body's own cells. We hope this review can provide ideas for the future design, development, and innovation of micro/nanorobots in the field of biomedicine.
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Affiliation(s)
- Shilu Zhu
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Yifan Cheng
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Jian Wang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Guangli Liu
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Tingting Luo
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China.
| | - Xiaojian Li
- Department of Management, Hefei University of Technology, Hefei 230009, China.
| | - Shanlin Yang
- Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei 230009, China.
| | - Runhuai Yang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China.
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22
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Giusti A, Maffettone GC, Fiore D, Coraggio M, di Bernardo M. Distributed control for geometric pattern formation of large-scale multirobot systems. Front Robot AI 2023; 10:1219931. [PMID: 37840852 PMCID: PMC10568129 DOI: 10.3389/frobt.2023.1219931] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/09/2023] [Accepted: 09/05/2023] [Indexed: 10/17/2023] Open
Abstract
Introduction: Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarms of drones or robots, and smart transportation systems. Currently, most control strategies proposed to achieve pattern formation in network systems either show good performance but require expensive sensors and communication devices, or have lesser sensor requirements but behave more poorly. Methods and result: In this paper, we provide a distributed displacement-based control law that allows large groups of agents to achieve triangular and square lattices, with low sensor requirements and without needing communication between the agents. Also, a simple, yet powerful, adaptation law is proposed to automatically tune the control gains in order to reduce the design effort, while improving robustness and flexibility. Results: We show the validity and robustness of our approach via numerical simulations and experiments, comparing it, where possible, with other approaches from the existing literature.
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Affiliation(s)
- Andrea Giusti
- Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy
| | | | - Davide Fiore
- Department of Mathematics and Applications “R. Caccioppoli”, University of Naples Federico II, Naples, Italy
| | | | - Mario di Bernardo
- Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy
- Scuola Superiore Meridionale, Naples, Italy
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23
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Tao Y, Lin L, Ren X, Wang X, Cao X, Gu H, Ye Y, Ren Y, Zhang Z. Four-Dimensional Micro/Nanorobots via Laser Photochemical Synthesis towards the Molecular Scale. MICROMACHINES 2023; 14:1656. [PMID: 37763819 PMCID: PMC10537291 DOI: 10.3390/mi14091656] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 08/11/2023] [Accepted: 08/19/2023] [Indexed: 09/29/2023]
Abstract
Miniaturized four-dimensional (4D) micro/nanorobots denote a forerunning technique associated with interdisciplinary applications, such as in embeddable labs-on-chip, metamaterials, tissue engineering, cell manipulation, and tiny robotics. With emerging smart interactive materials, static micro/nanoscale architectures have upgraded to the fourth dimension, evincing time-dependent shape/property mutation. Molecular-level 4D robotics promises complex sensing, self-adaption, transformation, and responsiveness to stimuli for highly valued functionalities. To precisely control 4D behaviors, current-laser-induced photochemical additive manufacturing, such as digital light projection, stereolithography, and two-photon polymerization, is pursuing high-freeform shape-reconfigurable capacities and high-resolution spatiotemporal programming strategies, which challenge multi-field sciences while offering new opportunities. Herein, this review summarizes the recent development of micro/nano 4D laser photochemical manufacturing, incorporating active materials and shape-programming strategies to provide an envisioning of these miniaturized 4D micro/nanorobots. A comparison with other chemical/physical fabricated micro/nanorobots further explains the advantages and potential usage of laser-synthesized micro/nanorobots.
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Affiliation(s)
- Yufeng Tao
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
- Postdoctoral Workstation, Zhejiang Chuangge Technology Co., Ltd., Zhuji 311899, China
| | - Liansheng Lin
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
| | - Xudong Ren
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
| | - Xuejiao Wang
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
| | - Xia Cao
- School of Pharmacy, Jiangsu University, Zhenjiang 212013, China
| | - Heng Gu
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
| | - Yunxia Ye
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
| | - Yunpeng Ren
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
| | - Zhiming Zhang
- Postdoctoral Workstation, Zhejiang Chuangge Technology Co., Ltd., Zhuji 311899, China
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24
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Gardi G, Sitti M. On-Demand Breaking of Action-Reaction Reciprocity between Magnetic Microdisks Using Global Stimuli. PHYSICAL REVIEW LETTERS 2023; 131:058301. [PMID: 37595233 PMCID: PMC7615123 DOI: 10.1103/physrevlett.131.058301] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/23/2022] [Revised: 02/18/2023] [Accepted: 06/21/2023] [Indexed: 08/20/2023]
Abstract
Coupled physical interactions induce emergent collective behaviors of many interacting objects. Nonreciprocity in the interactions generates unexpected behaviors. There is a lack of experimental model system that switches between the reciprocal and nonreciprocal regime on demand. Here, we study a system of magnetic microdisks that breaks action-reaction reciprocity via fluid-mediated hydrodynamic interactions, on demand. Via experiments and simulations, we demonstrate that nonreciprocal interactions generate self-propulsion-like behaviors of a pair of disks; group separation in collective of magnetically nonidentical disks; and decouples a part of the group from the rest. Our results could help in developing controllable microrobot collectives. Our approach highlights the effect of global stimuli in generating nonreciprocal interactions.
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Affiliation(s)
- Gaurav Gardi
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Department of Physics, University of Stuttgart, 70569 Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
- Institute for Biomedical Engineering, ETH Zurich, 8092 Zurich, Switzerland
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25
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Liu Y, Zou Z, Pak OS, Tsang ACH. Learning to cooperate for low-Reynolds-number swimming: a model problem for gait coordination. Sci Rep 2023; 13:9397. [PMID: 37296306 PMCID: PMC10256736 DOI: 10.1038/s41598-023-36305-y] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/02/2023] [Accepted: 05/31/2023] [Indexed: 06/12/2023] Open
Abstract
Biological microswimmers can coordinate their motions to exploit their fluid environment-and each other-to achieve global advantages in their locomotory performance. These cooperative locomotion require delicate adjustments of both individual swimming gaits and spatial arrangements of the swimmers. Here we probe the emergence of such cooperative behaviors among artificial microswimmers endowed with artificial intelligence. We present the first use of a deep reinforcement learning approach to empower the cooperative locomotion of a pair of reconfigurable microswimmers. The AI-advised cooperative policy comprises two stages: an approach stage where the swimmers get in close proximity to fully exploit hydrodynamic interactions, followed a synchronization stage where the swimmers synchronize their locomotory gaits to maximize their overall net propulsion. The synchronized motions allow the swimmer pair to move together coherently with an enhanced locomotion performance unattainable by a single swimmer alone. Our work constitutes a first step toward uncovering intriguing cooperative behaviors of smart artificial microswimmers, demonstrating the vast potential of reinforcement learning towards intelligent autonomous manipulations of multiple microswimmers for their future biomedical and environmental applications.
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Affiliation(s)
- Yangzhe Liu
- Department of Mechanical Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong, China
| | - Zonghao Zou
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, 14850, USA
| | - On Shun Pak
- Department of Mechanical Engineering, Santa Clara University, Santa Clara, CA, 95053, USA.
| | - Alan C H Tsang
- Department of Mechanical Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong, China.
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26
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Sun M, Yang S, Jiang J, Zhang L. Horizontal and Vertical Coalescent Microrobotic Collectives Using Ferrofluid Droplets. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2300521. [PMID: 37001881 DOI: 10.1002/adma.202300521] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/17/2023] [Revised: 03/27/2023] [Indexed: 06/09/2023]
Abstract
Many artificial miniature robotic collectives have been developed to overcome the inherent limitations of inadequate individual capabilities. However, the basic building blocks of the reported collectives are mainly in the solid state, where the morphological boundaries of internal individuals are clear and cannot genuinely merge. Miniature robotic collectives based on liquid units still need to be explored; such on-demand mergeable swarm systems are advantageous for adapting to the changing external environment. Here, a strategy to achieve a coalescent collective system we presented that exploits the ferrofluid droplets' splitting and coalescence properties to trigger the formation of horizontal multimodal and vertical gravity-resistant collectives and unveil pattern-enabled robotic functionalities. When subjected to a time-varying magnetic field, the droplet swarm exhibits a variety of morphologies ranging from horizontal collectives, including vortex-like, chain-like, and crystal-like patterns to vertical layer-upon-layer patterns. Using experiments and simulations, the formation and transformation of different morphological collectives are shown and their robust environmental adaptability are demonstrated. Potential applications of the multimodal droplet collectives are presented, including exploring an unknown environment, targeted object delivery, and fluid flow filtration in a lab-on-a-chip. This work may facilitate the design of microrobotic swarm systems and expand the range of materials for miniature robots.
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Affiliation(s)
- Mengmeng Sun
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Jialin Jiang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, 999077, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, 999077, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, 999077, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, 999077, China
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27
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Ussia M, Urso M, Kratochvilova M, Navratil J, Balvan J, Mayorga-Martinez CC, Vyskocil J, Masarik M, Pumera M. Magnetically Driven Self-Degrading Zinc-Containing Cystine Microrobots for Treatment of Prostate Cancer. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2208259. [PMID: 36703532 DOI: 10.1002/smll.202208259] [Citation(s) in RCA: 11] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/30/2022] [Revised: 01/02/2023] [Indexed: 06/18/2023]
Abstract
Prostate cancer is the most commonly diagnosed tumor disease in men, and its treatment is still a big challenge in standard oncology therapy. Magnetically actuated microrobots represent the most promising technology in modern nanomedicine, offering the advantage of wireless guidance, effective cell penetration, and non-invasive actuation. Here, new biodegradable magnetically actuated zinc/cystine-based microrobots for in situ treatment of prostate cancer cells are reported. The microrobots are fabricated via metal-ion-mediated self-assembly of the amino acid cystine encapsulating superparamagnetic Fe3 O4 nanoparticles (NPs) during the synthesis, which allows their precise manipulation by a rotating magnetic field. Inside the cells, the typical enzymatic reducing environment favors the disassembly of the aminoacidic chemical structure due to the cleavage of cystine disulfide bonds and disruption of non-covalent interactions with the metal ions, as demonstrated by in vitro experiments with reduced nicotinamide adenine dinucleotide (NADH). In this way, the cystine microrobots served for site-specific delivery of Zn2+ ions responsible for tumor cell killing via a "Trojan horse effect". This work presents a new concept of cell internalization exploiting robotic systems' self-degradation, proposing a step forward in non-invasive cancer therapy.
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Affiliation(s)
- Martina Ussia
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno, 61200, Czech Republic
| | - Mario Urso
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno, 61200, Czech Republic
| | - Monika Kratochvilova
- Department of Pathological Physiology, Faculty of Medicine, Masaryk University/Kamenice 5, Brno, CZ-625 00, Czech Republic
- Department of Physiology, Faculty of Medicine, Masaryk University/Kamenice 5, Brno, CZ-625 00, Czech Republic
| | - Jiri Navratil
- Department of Pathological Physiology, Faculty of Medicine, Masaryk University/Kamenice 5, Brno, CZ-625 00, Czech Republic
- Department of Physiology, Faculty of Medicine, Masaryk University/Kamenice 5, Brno, CZ-625 00, Czech Republic
| | - Jan Balvan
- Department of Pathological Physiology, Faculty of Medicine, Masaryk University/Kamenice 5, Brno, CZ-625 00, Czech Republic
- Department of Physiology, Faculty of Medicine, Masaryk University/Kamenice 5, Brno, CZ-625 00, Czech Republic
| | - Carmen C Mayorga-Martinez
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, Faculty of Chemical Technology, University of Chemistry and Technology Prague, Technická 5, Prague, 16628, Czech Republic
| | - Jan Vyskocil
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, Faculty of Chemical Technology, University of Chemistry and Technology Prague, Technická 5, Prague, 16628, Czech Republic
| | - Michal Masarik
- Department of Pathological Physiology, Faculty of Medicine, Masaryk University/Kamenice 5, Brno, CZ-625 00, Czech Republic
- Department of Physiology, Faculty of Medicine, Masaryk University/Kamenice 5, Brno, CZ-625 00, Czech Republic
- BIOCEV, First Faculty of Medicine, Charles University, Průmyslová 595, 25250, Vestec, Czech Republic
| | - Martin Pumera
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno, 61200, Czech Republic
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, Faculty of Chemical Technology, University of Chemistry and Technology Prague, Technická 5, Prague, 16628, Czech Republic
- Department of Medical Research, China Medical University Hospital, China Medical University, No. 91 Hsueh-Shih Road, Taichung, 40402, Taiwan
- Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava, 70800, Czech Republic
- Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul, 03722, Republic of Korea
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28
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Zhu S, Cheng Y, Chen J, Liu G, Luo T, Yang R. Dynamically reversible cooperation and interaction of multiple rotating micromotors. LAB ON A CHIP 2023; 23:1905-1917. [PMID: 36880376 DOI: 10.1039/d3lc00108c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
Micromotors have been shown to have great potential in various fields (e.g., targeted therapeutics, self-organizing systems), and research on the cooperative and interactive behaviours of multiple micromotors could potentially revolutionize many fields in terms of performing multiple or complex tasks to compensate for the limitations of individual micromotors; however, dynamically reversible transitions among diverse behaviours remain much less explored, and such dynamic transformations are advantageous for achieving complex tasks. Here, we present a microsystem consisting of multiple disk-like micromotors capable of performing reversible transformations between cooperative and interactive behaviours at the liquid surface. The micromotors with aligned magnetic particles in our system have great magnet properties, which provides a strong magnetic interaction with each other and is vital for the whole microsystem. We offer and analyse the physical models among multiple micromotors concerning the cooperative and interactive modes in the lower and higher frequency ranges, respectively, between which the state transformation can reversibly occur. Furthermore, based on the proposed reversible microsystem, the feasibility of the application of self-organization is verified by demonstrating three different dynamic self-organizing behaviours. Our proposed dynamically reversible system has great potential to serve as a paradigm for studying cooperative and interactive behaviours among multiple micromotors in the future.
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Affiliation(s)
- Shilu Zhu
- School of Biomedical Engineering, Biomedical Robotics Laboratory, Anhui Medical University, Hefei 230032, China.
| | - Yifan Cheng
- School of Biomedical Engineering, Biomedical Robotics Laboratory, Anhui Medical University, Hefei 230032, China.
| | - Jialong Chen
- College & Hospital of Stomatology, Anhui Medical University, Key Lab. of Oral Diseases Research of Anhui Province, Hefei, 230032, China
| | - Guangli Liu
- School of Biomedical Engineering, Biomedical Robotics Laboratory, Anhui Medical University, Hefei 230032, China.
| | - Tingting Luo
- School of Biomedical Engineering, Biomedical Robotics Laboratory, Anhui Medical University, Hefei 230032, China.
| | - Runhuai Yang
- School of Biomedical Engineering, Biomedical Robotics Laboratory, Anhui Medical University, Hefei 230032, China.
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29
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Dhatt-Gauthier K, Livitz D, Wu Y, Bishop KJM. Accelerating the Design of Self-Guided Microrobots in Time-Varying Magnetic Fields. JACS AU 2023; 3:611-627. [PMID: 37006772 PMCID: PMC10052236 DOI: 10.1021/jacsau.2c00499] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/12/2022] [Revised: 02/23/2023] [Accepted: 02/24/2023] [Indexed: 06/19/2023]
Abstract
Mobile robots combine sensory information with mechanical actuation to move autonomously through structured environments and perform specific tasks. The miniaturization of such robots to the size of living cells is actively pursued for applications in biomedicine, materials science, and environmental sustainability. Existing microrobots based on field-driven particles rely on knowledge of the particle position and the target destination to control particle motion through fluid environments. Often, however, these external control strategies are challenged by limited information and global actuation where a common field directs multiple robots with unknown positions. In this Perspective, we discuss how time-varying magnetic fields can be used to encode the self-guided behaviors of magnetic particles conditioned on local environmental cues. Programming these behaviors is framed as a design problem: we seek to identify the design variables (e.g., particle shape, magnetization, elasticity, stimuli-response) that achieve the desired performance in a given environment. We discuss strategies for accelerating the design process using automated experiments, computational models, statistical inference, and machine learning approaches. Based on the current understanding of field-driven particle dynamics and existing capabilities for particle fabrication and actuation, we argue that self-guided microrobots with potentially transformative capabilities are close at hand.
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Affiliation(s)
- Kiran Dhatt-Gauthier
- Department of Chemical Engineering, Columbia University, New York, New York 10027, United States
| | - Dimitri Livitz
- Department of Chemical Engineering, Columbia University, New York, New York 10027, United States
| | - Yiyang Wu
- Department of Chemical Engineering, Columbia University, New York, New York 10027, United States
| | - Kyle J. M. Bishop
- Department of Chemical Engineering, Columbia University, New York, New York 10027, United States
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30
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Ceron S, O’Keeffe K, Petersen K. Diverse behaviors in non-uniform chiral and non-chiral swarmalators. Nat Commun 2023; 14:940. [PMID: 36806287 PMCID: PMC9941214 DOI: 10.1038/s41467-023-36563-4] [Citation(s) in RCA: 12] [Impact Index Per Article: 12.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/09/2022] [Accepted: 02/06/2023] [Indexed: 02/22/2023] Open
Abstract
We study the emergent behaviors of a population of swarming coupled oscillators, dubbed swarmalators. Previous work considered the simplest, idealized case: identical swarmalators with global coupling. Here we expand this work by adding more realistic features: local coupling, non-identical natural frequencies, and chirality. This more realistic model generates a variety of new behaviors including lattices of vortices, beating clusters, and interacting phase waves. Similar behaviors are found across natural and artificial micro-scale collective systems, including social slime mold, spermatozoa vortex arrays, and Quincke rollers. Our results indicate a wide range of future use cases, both to aid characterization and understanding of natural swarms, and to design complex interactions in collective systems from soft and active matter to micro-robotics.
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Affiliation(s)
- Steven Ceron
- grid.5386.8000000041936877XSibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853 USA ,grid.116068.80000 0001 2341 2786Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, Cambridge, MA 02139 USA
| | - Kevin O’Keeffe
- grid.116068.80000 0001 2341 2786Senseable City Lab, Massachusetts Institute of Technology, Cambridge, MA 02139 USA
| | - Kirstin Petersen
- Electrical and Computer Engineering, Cornell University, 136 Hoy Road, Ithaca, NY, 14853, USA.
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31
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Smart micro- and nanorobots for water purification. NATURE REVIEWS BIOENGINEERING 2023; 1:236-251. [PMID: 37064655 PMCID: PMC9901418 DOI: 10.1038/s44222-023-00025-9] [Citation(s) in RCA: 25] [Impact Index Per Article: 25.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Accepted: 01/09/2023] [Indexed: 02/08/2023]
Abstract
Less than 1% of Earth's freshwater reserves is accessible. Industrialization, population growth and climate change are further exacerbating clean water shortage. Current water-remediation treatments fail to remove most pollutants completely or release toxic by-products into the environment. The use of self-propelled programmable micro- and nanoscale synthetic robots is a promising alternative way to improve water monitoring and remediation by overcoming diffusion-limited reactions and promoting interactions with target pollutants, including nano- and microplastics, persistent organic pollutants, heavy metals, oils and pathogenic microorganisms. This Review introduces the evolution of passive micro- and nanomaterials through active micro- and nanomotors and into advanced intelligent micro- and nanorobots in terms of motion ability, multifunctionality, adaptive response, swarming and mutual communication. After describing removal and degradation strategies, we present the most relevant improvements in water treatment, highlighting the design aspects necessary to improve remediation efficiency for specific contaminants. Finally, open challenges and future directions are discussed for the real-world application of smart micro- and nanorobots.
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32
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Sar GK, Ghosh D, O'Keeffe K. Pinning in a system of swarmalators. Phys Rev E 2023; 107:024215. [PMID: 36932525 DOI: 10.1103/physreve.107.024215] [Citation(s) in RCA: 14] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/04/2022] [Accepted: 02/01/2023] [Indexed: 03/19/2023]
Abstract
We study a population of swarmalators (swarming/mobile oscillators) which run on a ring and are subject to random pinning. The pinning represents the tendency of particles to stick to defects in the underlying medium which competes with the tendency to sync and swarm. The result is rich collective behavior. A highlight is low dimensional chaos which in systems of ordinary, Kuramoto-type oscillators is uncommon. Some of the states (the phase wave and split phase wave) resemble those seen in systems of Janus matchsticks or Japanese tree frogs. The others (such as the sync and unsteady states) may be observable in systems of vinegar eels, electrorotated Quincke rollers, or other swarmalators moving in disordered environments.
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Affiliation(s)
- Gourab Kumar Sar
- Physics and Applied Mathematics Unit, Indian Statistical Institute, 203 B. T. Road, Kolkata 700108, India
| | - Dibakar Ghosh
- Physics and Applied Mathematics Unit, Indian Statistical Institute, 203 B. T. Road, Kolkata 700108, India
| | - Kevin O'Keeffe
- Senseable City Lab, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, USA
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33
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Volpe G, Bechinger C, Cichos F, Golestanian R, Löwen H, Sperl M, Volpe G. Active matter in space. NPJ Microgravity 2022; 8:54. [PMID: 36434006 PMCID: PMC9700843 DOI: 10.1038/s41526-022-00230-7] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/26/2022] [Accepted: 10/03/2022] [Indexed: 11/27/2022] Open
Abstract
In the last 20 years, active matter has been a highly dynamic field of research, bridging fundamental aspects of non-equilibrium thermodynamics with applications to biology, robotics, and nano-medicine. Active matter systems are composed of units that can harvest and harness energy and information from their environment to generate complex collective behaviours and forms of self-organisation. On Earth, gravity-driven phenomena (such as sedimentation and convection) often dominate or conceal the emergence of these dynamics, especially for soft active matter systems where typical interactions are of the order of the thermal energy. In this review, we explore the ongoing and future efforts to study active matter in space, where low-gravity and microgravity conditions can lift some of these limitations. We envision that these studies will help unify our understanding of active matter systems and, more generally, of far-from-equilibrium physics both on Earth and in space. Furthermore, they will also provide guidance on how to use, process and manufacture active materials for space exploration and colonisation.
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Affiliation(s)
- Giorgio Volpe
- Department of Chemistry, University College London, 20 Gordon Street, WC1H 0AJ, London, United Kingdom.
| | - Clemens Bechinger
- Physics Department, University of Konstanz, 78457, Konstanz, Germany
| | - Frank Cichos
- Peter Debye Institute for Soft Matter Physics, Faculty of Physics and Earth Sciences, Leipzig University, 04103, Leipzig, Germany
| | - Ramin Golestanian
- Max Planck Institute for Dynamics and Self-Organization (MPI-DS), 37077, Göttingen, Germany
- Rudolf Peierls Centre for Theoretical Physics, University of Oxford, Oxford, OX1 3PU, United Kingdom
| | - Hartmut Löwen
- Institut für Theoretische Physik II: Weiche Materie, Heinrich-Heine-Universität Düsseldorf, Universitätsstrasse 1, 40225, Düsseldorf, Germany
| | - Matthias Sperl
- Institut für Materialphysik im Weltraum, Deutsches Zentrum für Luft- und Raumfahrt (DLR), 51170, Köln, Germany
| | - Giovanni Volpe
- Physics Department, University of Gothenburg, 41296, Gothenburg, Sweden
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34
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Yang S, Wang Q, Jin D, Du X, Zhang L. Probing Fast Transformation of Magnetic Colloidal Microswarms in Complex Fluids. ACS NANO 2022; 16:19025-19037. [PMID: 36367748 DOI: 10.1021/acsnano.2c07948] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
The rapidly transformed morphology of natural swarms enables fast response to environmental changes. Artificial microswarms can reconfigure their swarm patterns like natural swarms, which have drawn extensive attention due to their active adaptability in complex environments. However, as a prerequisite for biomedical applications of microswarms in confined environments, achieving on-demand control of pattern transformation rates remains a challenge. In this work, we report a strategy for optimizing pattern transformation rates of colloidal microswarms by coordinating the inner interactions. The influences of magnetic field parameters on pattern transformation rates are theoretically and experimentally studied, which elucidates the mechanism for optimal transformation rate control. The feasibility of the strategy is then validated in viscous Newtonian fluids and non-Newtonian biofluids. Moreover, the strategy is further validated in dynamic flow environments, exhibiting a promising future for practical applications in targeted delivery tasks with an optimal pattern transformation manner.
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Affiliation(s)
- Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
| | - Qianqian Wang
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing211100, People's Republic of China
| | - Dongdong Jin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
| | - Xingzhou Du
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
- T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong999077, People's Republic of China
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35
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Konara M, Mudugamuwa A, Dodampegama S, Roshan U, Amarasinghe R, Dao DV. Formation Techniques Used in Shape-Forming Microrobotic Systems with Multiple Microrobots: A Review. MICROMACHINES 2022; 13:1987. [PMID: 36422416 PMCID: PMC9699214 DOI: 10.3390/mi13111987] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/18/2022] [Revised: 09/21/2022] [Accepted: 09/22/2022] [Indexed: 05/19/2023]
Abstract
Multiple robots are used in robotic applications to achieve tasks that are impossible to perform as individual robotic modules. At the microscale/nanoscale, controlling multiple robots is difficult due to the limitations of fabrication technologies and the availability of on-board controllers. This highlights the requirement of different approaches compared to macro systems for a group of microrobotic systems. Current microrobotic systems have the capability to form different configurations, either as a collectively actuated swarm or a selectively actuated group of agents. Magnetic, acoustic, electric, optical, and hybrid methods are reviewed under collective formation methods, and surface anchoring, heterogeneous design, and non-uniform control input are significant in the selective formation of microrobotic systems. In addition, actuation principles play an important role in designing microrobotic systems with multiple microrobots, and the various control systems are also reviewed because they affect the development of such systems at the microscale. Reconfigurability, self-adaptable motion, and enhanced imaging due to the aggregation of modules have shown potential applications specifically in the biomedical sector. This review presents the current state of shape formation using microrobots with regard to forming techniques, actuation principles, and control systems. Finally, the future developments of these systems are presented.
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Affiliation(s)
- Menaka Konara
- Centre for Advanced Mechatronics Systems, University of Moratuwa, Katubedda 10400, Sri Lanka
| | - Amith Mudugamuwa
- Centre for Advanced Mechatronics Systems, University of Moratuwa, Katubedda 10400, Sri Lanka
| | - Shanuka Dodampegama
- Centre for Advanced Mechatronics Systems, University of Moratuwa, Katubedda 10400, Sri Lanka
| | - Uditha Roshan
- Department of Mechanical Engineering, University of Moratuwa, Katubedda 10400, Sri Lanka
| | - Ranjith Amarasinghe
- Centre for Advanced Mechatronics Systems, University of Moratuwa, Katubedda 10400, Sri Lanka
- Department of Mechanical Engineering, University of Moratuwa, Katubedda 10400, Sri Lanka
| | - Dzung Viet Dao
- Queensland Micro- and Nanotechnology Centre (QMNC), Griffith University, Brisbane, QLD 4111, Australia
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36
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Xia N, Zhu G, Wang X, Dong Y, Zhang L. Multicomponent and multifunctional integrated miniature soft robots. SOFT MATTER 2022; 18:7464-7485. [PMID: 36189642 DOI: 10.1039/d2sm00891b] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Miniature soft robots with elaborate structures and programmable physical properties could conduct micromanipulation with high precision as well as access confined and tortuous spaces, which promise benefits in medical tasks and environmental monitoring. To improve the functionalities and adaptability of miniature soft robots, a variety of integrated design and fabrication strategies have been proposed for the development of miniaturized soft robotic systems integrated with multicomponents and multifunctionalities. Combining the latest advancement in fabrication technologies, intelligent materials and active control methods enable these integrated robotic systems to adapt to increasingly complex application scenarios including precision medicine, intelligent electronics, and environmental and proprioceptive sensing. Herein, this review delivers an overview of various integration strategies applicable for miniature soft robotic systems, including semiconductor and microelectronic techniques, modular assembly based on self-healing and welding, modular assembly based on bonding agents, laser machining techniques, template assisted methods with modular material design, and 3D printing techniques. Emerging applications of the integrated miniature soft robots and perspectives for the future design of small-scale intelligent robots are discussed.
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Affiliation(s)
- Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Guangda Zhu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Yue Dong
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China
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37
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Fan X, Jiang Y, Li M, Zhang Y, Tian C, Mao L, Xie H, Sun L, Yang Z, Sitti M. Scale-reconfigurable miniature ferrofluidic robots for negotiating sharply variable spaces. SCIENCE ADVANCES 2022; 8:eabq1677. [PMID: 36112686 PMCID: PMC9481141 DOI: 10.1126/sciadv.abq1677] [Citation(s) in RCA: 23] [Impact Index Per Article: 11.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/10/2022] [Accepted: 08/01/2022] [Indexed: 06/15/2023]
Abstract
Magnetic miniature soft robots have shown great potential for facilitating biomedical applications by minimizing invasiveness and possible physical damage. However, researchers have mainly focused on fixed-size robots, with their active locomotion accessible only when the cross-sectional dimension of these confined spaces is comparable to that of the robot. Here, we realize the scale-reconfigurable miniature ferrofluidic robots (SMFRs) based on ferrofluid droplets and propose a series of control strategies for reconfiguring SMFR's scale and deformation to achieve trans-scale motion control by designing a multiscale magnetic miniature robot actuation (M3RA) system. The results showed that SMFRs, varying from centimeters to a few micrometers, leveraged diverse capabilities, such as locomotion in structured environments, deformation to squeeze through gaps, and even reversible scale reconfiguration for navigating sharply variable spaces. A miniature robot system with these capabilities combined is promising to be applied in future wireless medical robots inside confined regions of the human body.
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Affiliation(s)
- Xinjian Fan
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China
| | - Yihui Jiang
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China
| | - Mingtong Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, Stuttgart 70569, Germany
| | - Yunfei Zhang
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China
| | - Chenyao Tian
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Yikuang, Harbin 150080, China
| | - Liyang Mao
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Yikuang, Harbin 150080, China
| | - Hui Xie
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Yikuang, Harbin 150080, China
| | - Lining Sun
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China
| | - Zhan Yang
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, Stuttgart 70569, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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38
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Active Colloids on Fluid Interfaces. Curr Opin Colloid Interface Sci 2022. [DOI: 10.1016/j.cocis.2022.101629] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/20/2022]
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39
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Abstract
Studies of active matter-systems consisting of individuals or ensembles of internally driven and damped locomotors-are of interest to physicists studying nonequilibrium dynamics, biologists interested in individuals and swarm locomotion, and engineers designing robot controllers. While principles governing active systems on hard ground or within fluids are well studied, another class of systems exists at deformable interfaces. Such environments can display mixes of fluid-like and elastic features, leading to locomotor dynamics that are strongly influenced by the geometry of the surface, which, in itself, can be a dynamical entity. To gain insight into principles by which locomotors are influenced via a deformation field alone (and can influence other locomotors), we study robot locomotion on an elastic membrane, which we propose as a model of active systems on highly deformable interfaces. As our active agent, we use a differential driven wheeled robotic vehicle which drives straight on flat homogeneous surfaces, but reorients in response to environmental curvature. We monitor the curvature field-mediated dynamics of a single vehicle interacting with a fixed deformation as well as multiple vehicles interacting with each other via local deformations. Single vehicles display precessing orbits in centrally deformed environments, while multiple vehicles influence each other by local deformation fields. The active nature of the system facilitates a differential geometry-inspired mathematical mapping from the vehicle dynamics to those of test particles in a fictitious "spacetime," allowing further understanding of the dynamics and how to control agent interactions to facilitate or avoid multivehicle membrane-induced cohesion.
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