Autonomous reciprocating migration of an active material

Chemical waves in reaction-diffusion networks of small organic molecules

Chemical waves represent one of the fundamental behaviors that emerge in nonlinear, out-of-equilibrium chemical systems. They also play a central role in regulating behaviors and development of biological organisms. Nevertheless, understanding their properties and achieving their rational synthesis remains challenging. In this work, we obtained traveling chemical waves using synthetic organic molecules. To accomplish this, we ran a thiol-based reaction network in an unstirred flow reactor. Our observations revealed single or multiple waves moving in either the same or opposite directions, a behavior controlled by the geometry of our reactor. A numerical model can fully reproduce this behavior using the proposed reaction network. To better understand the formation of waves, we varied the diffusion coefficient of the fast inhibitor component of the reaction network by attaching polyethylene glycol tails with different lengths to maleimide and studied how these changes affect the properties of the waves and conditions for their sustained production. These studies point towards the importance of the molecular titration network motif in controlling the production of chemical waves in this system. Furthermore, we used machine learning (ML) tools to identify phase boundaries for classes of dynamic behaviors of this system, thus demonstrating the applicability of ML tools for the study of experimental nonlinear reaction-diffusion systems.

Temperature-Adaptative Self-Oscillating Gels: Toward Autonomous Biomimetic Soft Actuators with Broad Operating Temperature Region

Self-oscillating gel systems exhibiting an expanded operating temperature and accompanying functional adaptability are showcased. The developed system contains nonthermoresponsive main-monomers, such as N,N-dimethylacrylamide (DMAAm) or 2-acrylamido-2-methylpropane sulfonic acid (AMPS) or acrylamide (AAm) or 3-(methacryloylamino)propyl trimethylammonium chloride (MAPTAC). The gels volumetrically self-oscillate within the range of the conventional (20.0 °C) and extended (27.0 and 36.5 °C) temperatures. Moreover, the gels successfully adapt to the environmental changes; they beat faster and smaller as the temperature increases. The period and amplitude are also controlled by tuning the amount of main-monomers and N-(3-aminopropyl) acrylamide. Furthermore, the record amplitude in the bulk gel system consisting of polymer strand and cross-linker at 36.5 °C is achieved (≈10.8%). The study shows new self-oscillation systems composed of unprecedented combinations of materials, giving the community a robust material-based insight for developing more life-like autonomous biomimetic soft robots with various operating temperatures and beyond.

Selenium catalysis enables negative feedback organic oscillators

The construction of materials regulated by chemical reaction networks requires regulatory motifs that can be stacked together into systems with desired properties. Multiple autocatalytic reactions producing thiols are known. However, negative feedback loop motifs are unavailable for thiol chemistry. Here, we develop a negative feedback loop based on the selenocarbonates. In this system, thiols induce the release of aromatic selenols that catalyze the oxidation of thiols by organic peroxides. This negative feedback loop has two important features. First, catalytic oxidation of thiols follows Michaelis-Menten-like kinetics, thus increasing nonlinearity for the negative feedback. Second, the strength of the negative feedback can be tuned by varying substituents in selenocarbonates. When combined with the autocatalytic production of thiols in a flow reactor, this negative feedback loop induces sustained oscillations. The availability of this negative feedback motif enables the future construction of oscillatory, homeostatic, adaptive, and other regulatory circuits in life-inspired systems and materials.

Simple model for synchronization of two Belousov-Zhabotinsky gels interacting mechanically

A Belousov-Zhabotinsky (BZ) gel is a unique biomimetic system that undergoes autonomous volume oscillations induced by the redox oscillation of the BZ reaction. In a previous study, researchers reported that the oscillations of two BZ gels coupled by compression were synchronized by a mechanical interaction. They mathematically explained the synchronization behavior using a phase oscillator model. As a different approach to the previous study, a physicochemical investigation of the phenomenon will lead to a better understanding of the functional biological rhythms essential for life. In this study, we construct a simple phenomenological model to understand the synchronization of BZ gels. The model consists of two parts. One is the dynamics of the chemical reactions in the BZ gels. We use a phenomenological model based on the Oregonator for the BZ reaction. The other is the dynamics of the mechanical deformation of the BZ gel. Using approximations, we extract the parameters essential for the synchronization of a mechanical interaction. Thus, we can derive a novel equation for the deformation dynamics of mechanically coupled BZ gels. By combining these two parts, we perform numerical calculations. This allows us to find that the synchronization of the two BZ gels is less likely to occur under stronger compression. We explain this trend through one physicochemical parameter in our model: the volume fraction of the BZ gel in the reduced state.

Effects of square spatial periodic forcing on oscillatory hexagon patterns in coupled reaction-diffusion systems

One of the central issues in pattern formation is understanding the response of pattern-forming systems to an external stimulus. While significant progress has been made in systems with only one instability, much less is known about the response of complex patterns arising from the interaction of two or more instabilities. In this paper, we consider the effects of square spatial periodic forcing on oscillatory hexagon patterns in a two-layer coupled reaction diffusion system which undergoes both Turing and Hopf instabilities. Two different types of additive forcings, namely direct and indirect forcing, have been applied. It is shown that the coupled system exhibits different responses towards the spatial forcing under different forcing types. In the indirect case, the oscillatory hexagon pattern transitions into other oscillatory Turing patterns or resonant Turing patterns, depending on the forcing wavenumber and strength. In the direct forcing case, only non-resonant Turing patterns can be obtained. Our results may provide new insight into the modification and control of spatio-temporal patterns in multilayered systems, especially in biological and ecological systems.

Pressure and Light Multi-Physics Fields Comodulate the Multi-Length Scales of Chemical Wave Propagation in Diffusion-Fed Gels

During plant growth, the combined effects of multi-physics fields such as light, temperature, and material concentration create a complex multi-length scales phenomenon. However, the mechanism of multi-physical field interactions on biological multi-length scales has not been thoroughly investigated. In this paper, an open diffusion-fed system is constructed by coupling gels with a Belousov-Zhabotinsky (BZ) chemical reaction system. The multi-length scales propagation of chemical waves in the gel system under the combined effect of multi-physical fields such as light (I) and pressure (ΔP) is investigated. It is found that when 85 Pa ≤ ΔP ≤ 100 Pa or 200 μW·cm^-2 ≤ I ≤ 300 μW·cm^-2, the complexity of the multi-length scales periodic structure of chemical waves shows a nonlinear change with increasing light intensity or pressure. Beyond this range, the complexity of the chemical wave multi-length scales periodic structure decreases linearly on enhancing the light intensity or increasing the pressure.

Capsule self-oscillating gels showing cell-like nonthermal membrane/shape fluctuations

A primary interest in cell membrane and shape fluctuations is establishing experimental models reflecting only nonthermal active contributions. Here we report a millimeter-scaled capsule self-oscillating gel model mirroring the active contribution effect on cell fluctuations. In the capsule self-oscillating gels, the propagating chemical signals during a Belousov-Zhabotinsky (BZ) reaction induce simultaneous local deformations in the various regions, showing cell-like shape fluctuations. The capsule self-oscillating gels do not fluctuate without the BZ reaction, implying that only the active chemical parameter induces the gel fluctuations. The period and amplitude depend on the gel layer thickness and the concentration of the chemical substrate for the BZ reaction. Our results allow for a solid experimental platform showing actively driven cell-like fluctuations, which can potentially contribute to investigating the active parameter effect on cell fluctuations.

Fabrication of submillimeter-sized spherical self-oscillating gels and control of their isotropic volumetric oscillatory behaviors

In this study, we established a fabrication method and analyzed the volumetric self-oscillatory behaviors of submillimeter-sized spherical self-oscillating gels. We validated that the manufactured submillimeter-sized spherical self-oscillating gels exhibited isotropic volumetric oscillations during the Belousov-Zhabotinsky (BZ) reaction. In addition, we experimentally elucidated that the volumetric self-oscillatory behaviors (i.e., period and amplitude) and the oscillatory profiles depended on the following parameters: (1) the molar composition of N-(3-aminopropyl)methacrylamide hydrochloride (NAPMAm) in the gels and (2) the concentration of Ru(bpy)₃-NHS solution containing an active ester group on conjugation. These clarified relationships imply that controlling the amount of Ru(bpy)₃ in the gel network could influence the gel volumetric oscillation during the BZ reaction. These results of submillimeter-sized and spherical self-oscillating gels bridge knowledge gaps in the current field because the gels with corresponding sizes and shapes have not been systematically explored yet. Therefore, our study could be a cornerstone for diverse applications of (self-powered) gels in various scales and shapes, including soft actuators exhibiting life-like functions.

Programmable, Spatiotemporal Control of Colloidal Motion Waves via Structured Light

Traveling waves in a reaction-diffusion system are essential for long-range communication in living organisms and inspire biomimetic materials of similar capabilities. One recent example is the traveling motion waves among photochemically oscillating, silver (Ag)-containing colloids. Being able to manipulate these colloidal waves holds the key for potential applications. Here, we have discovered that these motion waves can be confined by light patterns and that the chemical clocks of silver particles are moved forward by reducing local light intensity. Using these discoveries as design principles, we have applied structured light technology for the precise and programmable control of colloidal motion waves, including their origins, propagation directions, paths, shapes, annihilation, frequency, and speeds. We have also used the controlled propagation of colloidal waves to guide chemical messages along a predefined path to activate a population of micromotors located far from the signal. Our demonstrated capabilities in manipulating colloidal waves in space and time offer physical insights on their operation and expand their usefulness in the fundamental study of reaction-diffusion processes. Moreover, our findings inspire biomimetic strategies for the directional transport of mass, energy, and information at micro- or even nanoscales.

Spontaneous population oscillation of confined active granular particles

Spontaneous collective oscillation may emerge from seemingly irregular active matter systems. Here, we experimentally demonstrate a spontaneous population oscillation of active granular particles confined in two chambers connected by a narrow channel, and verify the intriguing behavior predicted in simulation [M. Paoluzzi, R. Di Leonardo and L. Angelani, Self-sustained density oscillations of swimming bacteria confined in microchambers, Phys. Rev. Lett., 2015, 115(18), 188303]. During the oscillation, the two chambers are alternately (nearly) filled up and emptied by the self-propelled particles in a periodic manner. We show that the stable unidirectional flow induced due to the confined channel and its periodic reversal triggered by the particle concentration difference between two chambers jointly give rise to the oscillatory collective behavior. Furthermore, we propose a minimal theoretical model that properly reproduces the experimental results without free parameters. This self-sustained collective oscillation could serve as a robust active granular clock, capable of providing rhythmic signals.

Rotational Locomotion of an Active Gel Driven by Internal Chemical Signals

Chemical waves arising from coupled reaction and transport can serve as biomimetic "nerve signals" to study the underlying origin and regulation of active locomotion. During wave propagation in more than one spatial dimension, the propagation direction of spiral and pulse waves in a nanogel-based PAAm self-oscillating gel, i.e., the orientation of the driving force, may deviate from the normal direction to the wave fronts. Alternating forward and backward retrograde wave locomotion along the normal and tangential kinematic vectors with a phase difference leads to a curved path, i.e., rotational locomotion. This work indicates that appendages in an organism are not required for this type of locomotion. This locomotion mechanism reveals a general principle underlying the dynamical origin of biological helical locomotion and also suggests design approaches for complex locomotion of soft robots and smart materials.

Photochemical motion control of surface active Belousov-Zhabotinsky droplets

Photochemical control of the motion of surface active Belousov-Zhabotinsky (BZ) droplets in an oil-surfactant medium is carried out with illumination intensity gradients. Droplet motion is analyzed under conditions of constant uniform illumination and a constant illumination gradient. Control of droplet motion is developed by testing different illumination gradients. Complex hypotrochoid target trajectories are tracked by BZ droplets illuminated with two-dimensional V-shaped gradients.

Chemomechanical origin of directed locomotion driven by internal chemical signals

Asymmetry in the interaction between an individual and its environment is generally considered essential for the directional properties of active matter, but can directional locomotions and their transitions be generated only from intrinsic chemical dynamics and its modulation? Here, we examine this question by simulating the locomotion of a bioinspired active gel in a homogeneous environment. We find that autonomous directional locomotion emerges in the absence of asymmetric interaction with the environment and that a transition between modes of gel locomotion can be induced by adjusting the spatially uniform intensity of illumination or certain kinetic and mechanical system parameters. The internal wave dynamics and its structural modulation act as the impetus for signal-driven active locomotion in a manner similar to the way in which an animal's locomotion is generated via driving by nerve pulses. Our results may have implications for the development of soft robots and biomimetic materials.

Gait-optimized locomotion of wave-driven soft sheets

Inspired by the robust locomotion of limbless animals in a range of environments, the development of soft robots capable of moving by localized swelling, bending, and other forms of differential growth has become a target for soft matter research over the last decade. Engineered soft robots exhibit a wide range of morphologies, but theoretical investigations of soft robot locomotion have largely been limited to slender bodied or one-dimensional examples. Here, we demonstrate design principles regarding the locomotion of two-dimensional soft materials driven by morphoelastic waves along a dry substrate. Focusing on the essential common aspects of many natural and man-made soft actuators, a continuum model is developed which links the deformation of a thin elastic sheet to surface-bound excitation waves. Through a combination of analytic and numerical methods, we investigate the relationship between induced active stress and self-propulsion performance of self-propelling sheets driven by FitzHugh-Nagumo type chemical waves. Examining the role of both sheet geometry and terrain geography on locomotion, our results can provide guidance for the design of more efficient soft crawling devices.

Programmed Locomotion of an Active Gel Driven by Spiral Waves

Active media that host spiral waves can display complex modes of locomotion driven by the dynamics of those waves. We use a model of a photosensitive stimulus-responsive gel that supports the propagation of spiral chemical waves to study locomotive transition and programmed locomotion. The mode transition between circular and toroidal locomotion results from the onset of spiral tip meandering that arises via a secondary Hopf bifurcation as the level of illumination is increased. This dynamic instability of the system introduces a second circular locomotion with a small diameter caused by tip meandering. The original circular locomotion with large diameter is driven by the push-pull asymmetry of the wavefront and waveback of the simple spiral waves initiated at one corner of gel. By harnessing this mode transition of the gel locomotion via coded illumination, we design programmable pathways of nature-inspired angular locomotion of the gel.

Designing multifunctional gels with electrical conductivity, mechanical toughness and self-oscillating performance

Self-oscillating polymer gels driven by the Belousov–Zhabotinsky (BZ) oscillating chemical reaction are a new class of functional gels that have potential applications in autonomously functioning membranes and as artificial muscle actuators.

Effect of Reaction Parameters on the Wavelength of Pulse Waves in the Belousov-Zhabotinsky Reaction-Diffusion System

The wavelength of Belousov-Zhabotinsky (BZ) traveling waves is the key factor that limits the scale of BZ self-oscillating gel motors. To achieve control of the wavelength, it is necessary to evaluate the wavelength dependence on species concentrations and temperature. In this work, the effect of reaction parameters on the wavelength of BZ pulse waves was studied. The most effective way to reduce the wavelength of pulse waves is to increase the concentration of organic species and/or the temperature. Decreasing the concentration of bromate, hydrogen ion, or metal catalyst also reduces the wavelength of pulse waves. This work provides a convenient and direct method to produce sub-millimeter BZ waves, which could be applied to designing BZ wave-driven small-scale gel motors as well as providing insight into other emergent behaviors of self-oscillating gels.

Active poroelastic two-phase model for the motion of physarum microplasmodia

The onset of self-organized motion is studied in a poroelastic two-phase model with free boundaries for Physarum microplasmodia (MP). In the model, an active gel phase is assumed to be interpenetrated by a passive fluid phase on small length scales. A feedback loop between calcium kinetics, mechanical deformations, and induced fluid flow gives rise to pattern formation and the establishment of an axis of polarity. Altogether, we find that the calcium kinetics that breaks the conservation of the total calcium concentration in the model and a nonlinear friction between MP and substrate are both necessary ingredients to obtain an oscillatory movement with net motion of the MP. By numerical simulations in one spatial dimension, we find two different types of oscillations with net motion as well as modes with time-periodic or irregular switching of the axis of polarity. The more frequent type of net motion is characterized by mechano-chemical waves traveling from the front towards the rear. The second type is characterized by mechano-chemical waves that appear alternating from the front and the back. While both types exhibit oscillatory forward and backward movement with net motion in each cycle, the trajectory and gel flow pattern of the second type are also similar to recent experimental measurements of peristaltic MP motion. We found moving MPs in extended regions of experimentally accessible parameters, such as length, period and substrate friction strength. Simulations of the model show that the net speed increases with the length, provided that MPs are longer than a critical length of ≈ 120 μm. Both predictions are in line with recent experimental observations.