Experimental investigation of the flow induced by artificial cilia

Programmable metachronal motion of closely packed magnetic artificial cilia

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

On-demand microfluidic mixing by actuating integrated magnetic microwalls

Various types of passive and active micromixers have been successfully developed to address the problem of mixing in microfluidic devices. However, many applications do not need fluids to be mixed at all times, or indeed require mixing to be turned on and off at will. Achieving such on-demand mixing is not feasible for passive mixers, particularly when the flow rate cannot be used as a control parameter. On the other hand, active mixers are usually not designed to be able to turn mixing off completely, and they often have complicated fabrication processes and special operation requirements, limiting the range of applications. In this work, we demonstrate an on-demand micromixer based on the actuation of magnetic microwalls. These are made by replica micromoulding and can be easily integrated within commercial microfluidic devices, such as the ibidi® 3-in-1 μ-Slide. Using a simple magnet, the microwalls can be actuated between a fully upright 'on' state, which turns on mixing by creating a meandering path in the main channel, and a fully collapsed 'off' state, which completely turns off mixing by opening up the channel leaving it unobstructed. Besides the increase in path length when the microwalls are activated, inertia effects also play a significant role for mixing due to the tight bends in the meandering flow path. We quantify the mixing effect using coloured fluids of different viscosities and at different flow rates, and we show that the microwalls can effectively enhance mixing across a wide range of operational conditions.

Out-of-Plane Soft Lithography for Soft Pneumatic Microactuator Arrays

Elastic pneumatic actuators are fueling new devices and applications in soft robotics. Actuator miniaturization is critical to enable soft microsystems for applications in microfluidics and micromanipulation. This work proposes a fabrication technique to make out-of-plane bending microactuators entirely by soft lithography. The only bonding step required is to seal the embedded fluidic channels, assuring the structural integrity of the microactuators. The process consists of fabricating two SU8 mold halves using different lithographic layers. Polydimethilsiloxane is poured on the bottom mold, which is subsequently aligned and assembled with the top mold. The process allows for out-of-plane actuators with a diameter of 300 μm and for fabricating arrays of up to 36 actuators that are row addressable. These active micropillars have an aspect ratio of 1:1.5 and, when pressurized at 1 bar, show a bending angle of ∼30°.

Microscopic artificial cilia - a review

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

Metachronal patterns in artificial cilia for low Reynolds number fluid propulsion

Cilia are hair-like organelles, present in arrays that collectively beat to generate flow. Given their small size and consequent low Reynolds numbers, asymmetric motions are necessary to create a net flow. Here, we developed an array of six soft robotic cilia, which are individually addressable, to both mimic nature's symmetry-breaking mechanisms and control asymmetries to study their influence on fluid propulsion. Our experimental tests are corroborated with fluid dynamics simulations, where we find a good agreement between both and show how the kymographs of the flow are related to the phase shift of the metachronal waves. Compared to synchronous beating, we report a 50% increase of net flow speed when cilia move in an antiplectic wave with phase shift of -π/3 and a decrease for symplectic waves. Furthermore, we observe the formation of traveling vortices in the direction of the wave when metachrony is applied.

Label-free sorting of soft microparticles using a bioinspired synthetic cilia array

Isolating cells of interest from a heterogeneous population has been of critical importance in biological studies and clinical applications. In this study, a novel approach is proposed for utilizing an active ciliary system in microfluidic devices to separate particles based on their physical properties. In this approach, the bottom of the microchannel is covered with an equally spaced cilia array of various patterns which is actuated by an external stimuli. 3D simulations are carried out to study cilia-particle interaction and isolation dynamic in a microfluidic channel. It is observed that these elastic hair-like filaments can influence particle's trajectories differently depending on their biophysical properties. This modeling study utilizes immersed boundary method coupled with the lattice Boltzmann method. Soft particles and cilia are implemented through the spring connected network model and point-particle scheme, respectively. It is shown that cilia array with proper stimulation is able to continuously and non-destructively separate cells into subpopulations based on their size, shape, and stiffness. At the end, a design map for fabrication of a programmable microfluidic device capable of isolating various subpopulations of cells is developed. This biocompatible, label-free design can separate cells/soft microparticles with high throughput which can greatly complement existing separation technologies.

Microfluidic pumping using artificial magnetic cilia

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

An Integrated Artificial Cilia Based Microfluidic Device for Micropumping and Micromixing Applications

A multi-purpose microfluidic device that can be used for both micromixing and micropropulsion operations has always been in demand, as it would simplify the various process flows associated with the current micro-total analysis systems. In this aspect, we propose a biomimetic artificial cilia-based microfluidic device that can efficiently facilitate both mixing and propulsion sequentially at the micro-scale. A rectangular microfluidic device consists of four straight microchannels that were fabricated using the microfabrication technique. An array of artificial cilia was embedded within one of the channel’s confinement through the aforementioned technique. A series of image processing and micro-particle image velocimetry technologies were employed to elucidate the micromixing and micropropulsion phenomena. Experiment results demonstrate that, with this proposed microfluidic device, a maximum micromixing efficiency and flow rate of 0.84 and 0.089 µL/min, respectively, can be achieved. In addition to its primary application as a targeted drug delivery system, where a drug needs to be homogeneously mixed with its carrier prior to its administration into the target body, this microfluidic device can be used as a micro-total analysis system for the handling of other biological specimens.

Nanocomposites of Highly Monodisperse Encapsulated Superparamagnetic Iron Oxide Nanocrystals Homogeneously Dispersed in a Poly(ethylene Oxide) Melt

Nanocomposite materials based on highly stable encapsulated superparamagnetic iron oxide nanocrystals (SPIONs) were synthesized and characterized by scattering methods and transmission electron microscopy (TEM). The combination of advanced synthesis and encapsulation techniques using different diblock copolymers and the thiol-ene click reaction for cross-linking the polymeric shell results in uniform hybrid SPIONs homogeneously dispersed in a poly(ethylene oxide) matrix. Small-angle X-ray scattering and TEM investigations demonstrate the presence of mostly single particles and a negligible amount of dyads. Consequently, an efficient control over the encapsulation and synthetic conditions is of paramount importance to minimize the fraction of agglomerates and to obtain uniform hybrid nanomaterials.

Vorticella: A Protozoan for Bio-Inspired Engineering

In this review, we introduce Vorticella as a model biological micromachine for microscale engineering systems. Vorticella has two motile organelles: the oral cilia of the zooid and the contractile spasmoneme in the stalk. The oral cilia beat periodically, generating a water flow that translates food particles toward the animal at speeds in the order of 0.1–1 mm/s. The ciliary flow of Vorticella has been characterized by experimental measurement and theoretical modeling, and tested for flow control and mixing in microfluidic systems. The spasmoneme contracts in a few milliseconds, coiling the stalk and moving the zooid at 15–90 mm/s. Because the spasmoneme generates tension in the order of 10–100 nN, powered by calcium ion binding, it serves as a model system for biomimetic actuators in microscale engineering systems. The spasmonemal contraction of Vorticella has been characterized by experimental measurement of its dynamics and energetics, and both live and extracted Vorticellae have been tested for moving microscale objects. We describe past work to elucidate the contraction mechanism of the spasmoneme, recognizing that past and continuing efforts will increase the possibilities of using the spasmoneme as a microscale actuator as well as leading towards bioinspired actuators mimicking the spasmoneme.

Study of heat transfer on physiological driven movement with CNT nanofluids and variable viscosity

BACKGROUND AND OBJECTIVES

With ongoing interest in CNT nanofluids and materials in biotechnology, energy and environment, microelectronics, composite materials etc., the current investigation is carried out to analyze the effects of variable viscosity and thermal conductivity of CNT nanofluids flow driven by cilia induced movement through a circular cylindrical tube. Metachronal wave is generated by the beating of cilia and mathematically modeled as elliptical wave propagation by Blake (1971).

METHODS, RESULTS AND CONCLUSIONS

The problem is formulated in the form of nonlinear partial differential equations, which are simplified by using the dimensional analysis to avoid the complicacy of dimensional homogeneity. Lubrication theory is employed to linearize the governing equations and it is also physically appropriate for cilia movement. Analytical solutions for velocity, temperature and pressure gradient and stream function are obtained. The analytical results are numerically simulated by using the Mathematica Software and plotted the graphs for velocity profile, temperature profile, pressure gradient and stream lines for better discussion and visualization. This model is applicable in physiological transport phenomena to explore the nanotechnology in engineering the artificial cilia and ciliated tube/pipe.

A continuous roll-pulling approach for the fabrication of magnetic artificial cilia with microfluidic pumping capability

Magnetic artificial cilia are micro-hairs covering a surface that can be actuated using a time-dependent magnetic field to pump or mix fluids in microfluidic devices. This paper presents a novel fabrication method to realize magnetic artificial cilia using a roll-pulling process, in which a cylinder decorated with micro-pillars rolls over a liquid precursor film that contains magnetic particles at a speed up to 1 m s(-1), while a magnetic field is applied. Due to the interaction between the pillars and the liquid film, micro-hairs are pulled out of the film. In this way, surfaces with slender cone-shaped magnetic artificial cilia were produced. When integrated in a closed-loop channel, the artificial cilia were shown to be capable of generating substantial microfluidic pumping using external magnetic actuation. The spatial arrangement of the cilia can be varied by altering the layout of the micro-pillars on the roll surface. In addition, the final geometry of the individual cilia depends on the rheological properties of the precursor material in combination with the processing parameters of the roll-pulling process. A rheological study and fabrication tests were carried out for a range of precursor material compositions to obtain insight into the relation between precursor rheology and processing conditions on the one hand, and cilia geometry on the other hand. The development of this cleanroom-free, high speed and potentially large area method of production of artificial cilia is another step towards their implementation in real-life applications.

Mixing control by frequency variable magnetic micropillar

We demonstrate an active mixing enhancement method based on actuation of a single magnetic micropillar with variable beating frequency.

Pneumatically-actuated artificial cilia array for biomimetic fluid propulsion

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

A review of selected pumping systems in nature and engineering--potential biomimetic concepts for improving displacement pumps and pulsation damping

The active transport of fluids by pumps plays an essential role in engineering and biology. Due to increasing energy costs and environmental issues, topics like noise reduction, increase of efficiency and enhanced robustness are of high importance in the development of pumps in engineering. The study compares pumps in biology and engineering and assesses biomimetic potentials for improving man-made pumping systems. To this aim, examples of common challenges, applications and current biomimetic research for state-of-the art pumps are presented. The biomimetic research is helped by the similar configuration of many positive displacement pumping systems in biology and engineering. In contrast, the configuration and underlying pumping principles for fluid dynamic pumps (FDPs) differ to a greater extent in biology and engineering. However, progress has been made for positive displacement as well as for FDPs by developing biomimetic devices with artificial muscles and cilia that improve energetic efficiency and fail-safe operation or reduce noise. The circulatory system of vertebrates holds a high biomimetic potential for the damping of pressure pulsations, a common challenge in engineering. Damping of blood pressure pulsation results from a nonlinear viscoelastic behavior of the artery walls which represent a complex composite material. The transfer of the underlying functional principle could lead to an improvement of existing technical solutions and be used to develop novel biomimetic damping solutions. To enhance efficiency or thrust of man-made fluid transportation systems, research on jet propulsion in biology has shown that a pulsed jet can be tuned to either maximize thrust or efficiency. The underlying principle has already been transferred into biomimetic applications in open channel water systems. Overall there is a high potential to learn from nature in order to improve pumping systems for challenges like the reduction of pressure pulsations, increase of jet propulsion efficiency or the reduction of wear.

Highly responsive core-shell microactuator arrays for use in viscous and viscoelastic fluids

We present a new fabrication method to produce arrays of highly responsive polymer-metal core-shell magnetic microactuators. The core-shell fabrication method decouples the elastic and magnetic structural components such that the actuator response can be optimized by adjusting the core-shell geometry. Our microstructures are 10 μm long, 550 nm in diameter, and electrochemically fabricated in particle track-etched membranes, comprising a poly(dimethylsiloxane) core with a 100 nm Ni shell surrounding the upper 3-8 μm. The structures can achieve deflections of nearly 90° with moderate magnetic fields and are capable of driving fluid flow in a fluid 550 times more viscous than water.

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

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

Numerical modelling of chirality-induced bi-directional swimming of artificial flagella

Biomimetic micro-swimmers can be used for various medical applications, such as targeted drug delivery and micro-object (e.g. biological cells) manipulation, in lab-on-a-chip devices. Bacteria swim using a bundle of flagella (flexible hair-like structures) that form a rotating cork-screw of chiral shape. To mimic bacterial swimming, we employ a computational approach to design a bacterial (chirality-induced) swimmer whose chiral shape and rotational velocity can be controlled by an external magnetic field. In our model, we numerically solve the coupled governing equations that describe the system dynamics (i.e. solid mechanics, fluid dynamics and magnetostatics). We explore the swimming response as a function of the characteristic dimensionless parameters and put special emphasis on controlling the swimming direction. Our results provide fundamental physical insight on the chirality-induced propulsion, and it provides guidelines for the design of magnetic bi-directional micro-swimmers.

Self-propulsion in a low-Reynolds-number fluid confined by two walls of a microchannel

The problem of hydrodynamic interactions with confining walls is examined for a model of a microswimmer composed of three connected beads. Two parallel walls of a narrow microfluidic channel confine the fluid flow. We show that different trajectories for this linear swimmer emerge because of long-range hydrodynamic interactions with the walls of the channel. The possibility of space-spanning trajectories for this swimmer can potentially introduce it as a candidate for constructing a mixing device for working at the laminar flow conditions in microfluidic channels.

Out of the cleanroom, self-assembled magnetic artificial cilia

Micro-sized hair-like structures, such as cilia, are abundant in nature and have various functionalities. Many efforts have been made to mimic the fluid pumping function of cilia, but most of the fabrication processes for these "artificial cilia" are tedious and expensive, hindering their practical application. In this paper a cost-effective in situ fabrication technique for artificial cilia is demonstrated. The cilia are constructed by self-assembly of micron sized magnetic beads and encapsulated with soft polymer coatings. Actuation of the cilia induces an effective fluid flow, and the cilia lengths and distribution can be adjusted by varying the magnetic bead concentration and fabrication parameters.

Bio-inspired magnetic swimming microrobots for biomedical applications

Microrobots have been proposed for future biomedical applications in which they are able to navigate in viscous fluidic environments. Nature has inspired numerous microrobotic locomotion designs, which are suitable for propulsion generation at low Reynolds numbers. This article reviews the various swimming methods with particular focus on helical propulsion inspired by E. coli bacteria. There are various magnetic actuation methods for biomimetic and non-biomimetic microrobots, such as rotating fields, oscillating fields, or field gradients. They can be categorized into force-driven or torque-driven actuation methods. Both approaches are reviewed and a previous publication has shown that torque-driven actuation scales better to the micro- and nano-scale than force-driven actuation. Finally, the implementation of swarm or multi-agent control is discussed. The use of multiple microrobots may be beneficial for in vivo as well as in vitro applications. Thus, the frequency-dependent behavior of helical microrobots is discussed and preliminary experimental results are presented showing the decoupling of an individual agent within a group of three microrobots.

Generic flow profiles induced by a beating cilium

We describe a multipole expansion for the low-Reynolds-number fluid flows generated by a localized source embedded in a plane with a no-slip boundary condition. It contains 3 independent terms that fall quadratically with the distance and 6 terms that fall with the third power. Within this framework we discuss the flows induced by a beating cilium described in different ways: a small particle circling on an elliptical trajectory, a thin rod and a general ciliary beating pattern. We identify the flow modes present based on the symmetry properties of the ciliary beat.

Magnetically actuated artificial cilia: the effect of fluid inertia

Natural cilia are hairlike microtubule-based structures that are able to move fluid on the micrometer scale using asymmetric motion. In this article, we follow a biomimetic approach to design artificial cilia lining the inner surfaces of microfluidic channels with the goal of propelling fluid. The artificial cilia consist of polymer films filled with superparamagnetic nanoparticles, which can mimic the motion of natural cilia when subjected to a rotating magnetic field. To obtain the magnetic field and associated magnetization local to the cilia, we solve the Maxwell equations, from which the magnetic body moments and forces can be deduced. To obtain the ciliary motion, we solve the dynamic equations of motion, which are then fully coupled to the Navier-Stokes equations that describe the fluid flow around the cilia, thus taking full account of fluid inertial forces. The dimensionless parameters that govern the deformation behavior of the cilia and the associated fluid flow are arrived at using the principle of virtual work. The physical response of the cilia and the fluid flow for different combinations of elastic, fluid viscous, and inertia forces are identified.

Unperturbing a non-helically perturbed bacterial flagellar filament: Salmonella typhimurium SJW23

Salmonella typhimurium SJW23 has a right-handed, non-helically perturbed filament of serotype gt with a unique surface pattern. Non-helical perturbations involve symmetry reduction along the five-start helical lines resulting in layer lines of fractional Bessel orders and a consequent seam. The flagellin gene, fliC(23), which we sequenced, differs from the sequence of the canonic, plain SJW1655 flagellin, fliC(1655). We modified discrete components of fliC(23) in order to localize, in the expressed filament, the submolecular site responsible for the non-helical perturbation. These modifications include (i) deleting the outermost domain D3(23), (ii) replacing D3(23) with D3(1655), (iii) substituting a hydrophilic α-helix at the interface between the neighboring domains D1 and D2 with a hydrophobic one from fliC(1655), and (iv) substituting a serine/glycine pair in the loop connecting the modified α-helix to its neighbor; these modifications were made in the presence and absence of D3(23). We used S. typhimurium SJW1655 both as a reference and as a source for 'spare parts'. The symmetry of the constructs was assessed from the power spectra through changes in the layer lines at a height of 1/105 and 1/35 Å(-1), unique to the non-helical perturbation. Deleting D3(23), either alone or in combination with various substitutions, or replacing it with D3(1655) transforms the non-helically perturbed filament into a plain one as judged by the disappearance of the typical layer lines from the power spectra. We conclude that the non-helical perturbation is a product of unique interactions in the D3(23) density shell. Whereas other minor structural changes may occur at the filaments interior, they are all helically symmetric.

Analysis of fluid flow around a beating artificial cilium

Biological cilia are found on surfaces of some microorganisms and on surfaces of many eukaryotic cells where they interact with the surrounding fluid. The periodic beating of the cilia is asymmetric, resulting in directed swimming of unicellular organisms or in generation of a fluid flow above a ciliated surface in multicellular ones. Following the biological example, externally driven artificial cilia have recently been successfully implemented as micropumps and mixers. However, biomimetic systems are useful not only in microfluidic applications, but can also serve as model systems for the study of fundamental hydrodynamic phenomena in biological samples. To gain insight into the basic principles governing propulsion and fluid pumping on a micron level, we investigated hydrodynamics around one beating artificial cilium. The cilium was composed of superparamagnetic particles and driven along a tilted cone by a varying external magnetic field. Nonmagnetic tracer particles were used for monitoring the fluid flow generated by the cilium. The average flow velocity in the pumping direction was obtained as a function of different parameters, such as the rotation frequency, the asymmetry of the beat pattern, and the cilium length. We also calculated the velocity field around the beating cilium by using the analytical far-field expansion. The measured average flow velocity and the theoretical prediction show an excellent agreement.

Measurement of fluid flow generated by artificial cilia

We observed and measured the fluid flow that was generated by an artificial cilium. The cilium was composed of superparamagnetic microspheres, in which magnetic dipole moments were induced by an external magnetic field. The interaction between the dipole moments resulted in formation of long chains-cilia, and the same external magnetic field was also used to drive the cilia in a periodic manner. Asymmetric periodic motion of the cilium resulted in generation of fluid flow and net pumping of the surrounding fluid. The flow and pumping performance were closely monitored by introducing small fluorescent tracer particles into the system. By detecting their motion, the fluid flow around an individual cilium was mapped and the flow velocities measured. We confirm that symmetric periodic beating of one cilium results in vortical motion only, whereas asymmetry is required for additional translational motion. We determine the effect of asymmetry on the pumping performance of a cilium, verify the theoretically predicted optimal pumping conditions, and determine the fluid behaviour around a linear array of three neighbouring cilia. In this case, the contributions of neighbouring cilia enhance the maximal flow velocity compared with a single cilium and contribute to a more uniform translational flow above the surface.