Ultraino: An Open Phased-Array System for Narrowband Airborne Ultrasound Transmission

Contactless ultrasound droplet manipulation system for mixing chemical reagents

Green chemistry has been a rising topic in environmental sustainability, with a focus on the waste and consumption reduction of chemical and biomedical industries. Traditional chemical handling processes require tools that contact chemical reagents to produce vast amounts of residues and disposals. This study presents a contactless chemical mixing system that integrates acoustic droplet ejection and levitation techniques. First, the acoustic droplet ejection system creates a droplet in mid-air from a designated liquid reservoir by focusing acoustic energy at the liquid-air junction. The droplet levitation system captures and transports the droplet along a predetermined path by shifting the focal points of the acoustic standing waves. This facilitates contactless mixing of chemicals in a defined ratio. Notably, this study employs piezoelectric discs in an acoustic droplet ejection system to eject droplets from liquids. The relationship between the duration of the driving bursts and height and size of ejected droplets was also investigated. The proposed acoustic standing wave levitation system captures droplets with weights between 2.8 and 5.2 mg. To assess the reliability of the proposed system, 25 droplets were sequentially generated and transported to the mixing well without failure. The root mean square error between the collected and expected liquid weights was only 0.098 mg. The proposed system offers a promising solution for reducing waste and promoting environmentally friendly practices in chemical and biomedical laboratories.

The resonant behavior of airborne standing-wave acoustic levitators based on arrays of ultrasonic transducers

Recently airborne standing-wave acoustic levitation has seen great advances, and its applicability has been broadened due to the development of cavities constructed with arrays of compact ultrasonic sources. Yet, the numerical methods employed to study and predict the pressure distributions inside these cavities do not consider the effect of multiple reflections on the boundaries, hiding their resonant effects. This work presents an analytical, numerical, and experimental study of the effect of multiple reflections inside ultrasonic cavities based on arrays of transducers exhibiting their influence on the pressure amplitudes of focused standing waves. Our numerical results come from a modified version of the Matrix Method to numerically compute the multiple wave reflections of cavities constructed by two opposite arrays of multiple compact sources as boundaries. The correlation between numerical and experimental results reveals that intra-cavity reflections are relevant in focused axisymmetric cavities based on two arrays of multiple ultrasonic sources having a considerable impact on the amplitude of the standing waves and consequently, on the acoustic levitation performance. Thus, intra-cavity reflections must be considered for optimal cavity designs.

RecHap: An Interactive Recommender System for Navigating a Large Number of Mid-Air Haptic Designs

Designing haptics is a difficult task especially when the user attempts to design a sensation from scratch. In the fields of visual and audio design, designers often use a large library of examples for inspiration, supported by intelligent systems like recommender systems. In this work, we contribute a corpus of 10 000 mid-air haptic designs (500 hand-designed sensations augmented 20x to create 10 000), and we use it to investigate a novel method for both novice and experienced hapticians to use these examples in mid-air haptic design. The RecHap design tool uses a neural-network based recommendation system that suggests pre-existing examples by sampling various regions of an encoded latent space. The tool also provides a graphical user interface for designers to visualize the sensation in 3D view, select previous designs, and bookmark favourites, all while feeling designs in real-time. We conducted a user study with 12 participants suggesting that the tool enables people to quickly explore design ideas and experience them immediately. The design suggestions encouraged collaboration, expression, exploration, and enjoyment, which improved creativity support.

Macrophage-Based Microrobots for Anticancer Therapy: Recent Progress and Future Perspectives

Macrophages, which are part of the mononuclear phagocytic system, possess sensory receptors that enable them to target cancer cells. In addition, they are able to engulf large amounts of particles through phagocytosis, suggesting a potential "Trojan horse" drug delivery approach to tumors by facilitating the engulfment of drug-hidden particles by macrophages. Recent research has focused on the development of macrophage-based microrobots for anticancer therapy, showing promising results and potential for clinical applications. In this review, we summarize the recent development of macrophage-based microrobot research for anticancer therapy. First, we discuss the types of macrophage cells used in the development of these microrobots, the common payloads they carry, and various targeting strategies utilized to guide the microrobots to cancer sites, such as biological, chemical, acoustic, and magnetic actuations. Subsequently, we analyze the applications of these microrobots in different cancer treatment modalities, including photothermal therapy, chemotherapy, immunotherapy, and various synergistic combination therapies. Finally, we present future outlooks for the development of macrophage-based microrobots.

open-UST: An Open-Source Ultrasound Tomography Transducer Array System

Fast imaging methods are needed to promote clinical adoption of ultrasound tomography (UST), and more widely available UST hardware could support the experimental validation of new measurement configurations. In this work, an open-source 256-element transducer ring array was developed (morganjroberts.github. io/open-UST) and manufactured using rapid prototyping, for only £2k. Novel manufacturing techniques were used, resulting in a 1.17° mean beam axis skew angle, a [Formula: see text] mean element position error, and a [Formula: see text] deviation in matching layer thickness. The nominal acoustic performance was measured using hydrophone scans and watershot data, and the 61.2 dB signal-to-noise ratio (SNR), 55.4° opening angle, 10.2 mm beamwidth, and 54% transmit-receive bandwidth (-12 dB) were found to be similar to existing systems and compatible with state-of-the-art full-waveform-inversion image reconstruction methods. The interelement variation in acoustic performance was typically < 10% without using normalization, meaning that the elements can be modeled identically during image reconstruction, removing the need for individual source definitions based on hydrophone measurements. Finally, data from a phantom experiment were successfully reconstructed. These results demonstrate that the open-UST system is accessible for users and is suitable for UST imaging research.

Holographic generation of arbitrary ultrasonic fields by simultaneous modulation of amplitude and phase

Acoustic holograms have been used widely to generate desired acoustic fields. Following the rapid development of 3D printing technology, the use of holographic lenses has become an efficient method to produce acoustic fields with high resolution and low cost. In this paper, we demonstrate a technique to modulate the amplitude and phase of ultrasonic waves simultaneously using a holographic method with high transmission efficiency and high accuracy. On this basis, we generate an Airy beam with high propagation invariance. We then discuss the advantages and disadvantages of the proposed method when compared with the conventional acoustic holographic method. Finally, we design a sinusoidal curve with a phase gradient and a constant pressure amplitude and realize transport of a particle on a water surface along a curve.

Ultrasonic tweezer for multifunctional droplet manipulation

Spatiotemporally controllable droplet manipulation is essential in diverse applications, ranging from thermal management to microfluidics and water harvesting. Despite considerable advances, droplet manipulation without surface or droplet pretreatment is still challenging in terms of response and functional adaptability. Here, a droplet ultrasonic tweezer (DUT) based on phased array is proposed for versatile droplet manipulation. The DUT can generate a twin trap ultrasonic field at the focal point for trapping and maneuvering the droplet by changing the position of the focal point, which enables a highly flexible and precise programmable control. By leveraging the acoustic radiation force resulting from the twin trap, the droplet can pass through a confined slit 2.5 times smaller than its own size, cross a slope with an inclination up to 80°, and even reciprocate in the vertical direction. These findings provide a satisfactory paradigm for robust contactless droplet manipulation in various practical settings including droplet ballistic ejection, droplet dispensing, and surface cleaning.

On the application of sound radiation force for focusing of powder stream in directed energy deposition

One of the challenges in directed energy deposition via powder feeding (DED-PF) is the powder stream divergence that results in low catchment efficiency (i.e., the fraction of particles added to the melt pool). This article introduces a new ultrasound-based powder focusing method referred to as ultrasound particle lensing (UPL), tailored for powder used in DED-PF. The method uses an ultrasound phased array to produce a small volume of high-intensity ultrasound with the required period averaged sound intensity profile. UPL was used to acoustically focus streams of Ti64 and SS 316L particles with an average size of 89μm and a particle speed of 0.6 m/s, exiting from a DED-PF nozzle analog. The e^-1 powder stream widths downstream of the resulting force fields for both materials were reduced by 30%. The experimental results closely match Lagrangian and Eulerian simulations of the process. This novel setup offers the possibility of fast control of the powder stream divergence angle and effective diameter in the process zone during the DED-PF process. This will in turn improve the feature resolution and catchment efficiency of the process.

Fabrication, Acoustic Characterization and Phase Reference-Based Calibration Method for a Single-Sided Multi-Channel Ultrasonic Actuator

The ultrasonic actuator can be used in medical applications because it is label-free, biocompatible, and has a demonstrated history of safe operation. Therefore, there is an increasing interest in using an ultrasonic actuator in the non-contact manipulation of micromachines in various materials and sizes for therapeutic applications. This research aims to design, fabricate, and characterize a single-sided transducer array with 56 channels operating at 500 kHz, which provide benefits in the penetration of tissue. The fabricated transducer is calibrated using a phase reference calibration method to reduce position misalignment and phase discrepancies caused by acoustic interaction. The acoustic fields generated by the transducer array are measured in a 300 mm × 300 mm × 300 mm container filled with de-ionized water. A hydrophone is used to measure the far field in each transducer array element, and the 3D holographic pattern is analyzed based on the scanned acoustic pressure fields. Next, the phase reference calibration is applied to each transducer in the ultrasonic actuator. As a result, the homogeneity of the acoustic pressure fields surrounding the foci area is improved, and the maximum pressure is also increased in the twin trap. Finally, we demonstrate the capability to trap and manipulate micromachines with acoustic power by generating a twin trap using both optical camera and ultrasound imaging systems in a water medium. This work not only provides a comprehensive study on acoustic actuators but also inspires the next generation to use acoustics in medical applications.

UltraButton: A Minimalist Touchless Multimodal Haptic Button

We present UltraButton a minimalist touchless button including haptic, audio and visual feedback costing only $200. While current mid-air haptic devices can be too bulky and expensive (around $2 k) to be integrated into simple mid-air interfaces such as point and select, we show how a clever arrangement of 83 ultrasound transducers and a new modulation algorithm can produce compelling mid-air haptic feedback and parametric audio at a minimal cost. To validate our prototype, we compared its haptic output to a commercially-available mid-air haptic device through force balance measurements and user perceived strength ratings and found no significant differences. With the addition of 20 RGB LEDs, a proximity sensor and other off-the-shelf electronics, we then propose a complete solution for a simple multimodal touchless button interface. We tested this interface in a second experiment that investigated user gestures and their dependence on system parameters such as the haptic and visual activation times and heights above the device. Finally, we discuss new interactions and applications scenarios for UltraButtons.

Multi-Frequency Acoustic Levitation and Trapping of Particles in All Degrees of Freedom

Stabilization of the position and orientation of non-spherical, sub-wavelength particles in mid-air is required for using acoustic levitation forces in applications such as automation of micro manufacturing processes, 3-D scanning, and inspection. Acoustic locking has previously been demonstrated by time-multiplexing of different acoustic traps at the same frequency. In this case, the magnitude of the acoustic levitation forces and the stabilizing torque are coupled by the ratio of the durations during which the different traps are applied and cannot be adjusted independently assuming operation at maximum power. This work presents a compact device that uses a method for independently adjusting the vertical trapping forces and the stabilizing torque using two different ultrasonic frequencies. A 40-kHz vertical standing wave is used to generate levitation forces that counteract the gravitational force. Additionally, a 25-kHz horizontal standing wave is used to generate a tunable stabilizing torque. Using this method, objects made from high-density materials across a wide range of geometries can be locked acoustically with increased stability compared with state-of-the-art methods. This is demonstrated by locking tin cuboids with a density of 7.3 g/cm³ and plastic cuboids with average side lengths between 0.9 and 3.5 mm. The experimental results demonstrate torsional spring constants of up to 50 nN · m/rad and an orientation stability of <7.5°.

SonoTweezer: An Acoustically Powered End-Effector for Underwater Micromanipulation

Recent advances in contactless micromanipulation strategies have revolutionized prospects of robotic manipulators as next-generation tools for minimally invasive surgeries. In particular, acoustically powered phased arrays offer dexterous means of manipulation both in air and water. Inspired by these phased arrays, we present SonoTweezer: a compact, low-power, and lightweight array of immersible ultrasonic transducers capable of trapping and manipulation of sub-mm sized agents underwater. Based on a parametric investigation with numerical pressure field simulations, we design and create a six-transducer configuration, which is small compared to other reported multi-transducer arrays (16-256 elements). Despite the small size of array, SonoTweezer can reach pressure magnitudes of 300 kPa at a low supply voltage of 25 V to the transducers, which is in the same order of absolute pressure as multi-transducer arrays. Subsequently, we exploit the compactness of our array as an end-effector tool for a robotic manipulator to demonstrate long-range actuation of sub-millimeter agents over a hundred times the agent's body length. Furthermore, a phase-modulation over its individual transducers allows our array to locally maneuver its target agents at sub-mm steps. The ability to manipulate agents underwater makes SonoTweezer suitable for clinical applications considering water's similarity to biological media, e.g., vitreous humor and blood plasma. Finally, we show trapping and manipulation of micro-agents under medical ultrasound (US) imaging modality. This application of our actuation strategy combines the usage of US waves for both imaging and micromanipulation.

Acousto-Pi: An Opto-Acoustofluidic System Using Surface Acoustic Waves Controlled With Open-Source Electronics for Integrated In-Field Diagnostics

Surface acoustic wave (SAW) devices are increasingly applied in life sciences, biology, and point-of-care applications due to their combined acoustofluidic sensing and actuating properties. Despite the advances in this field, there remain significant gaps in interfacing hardware and control strategies to facilitate system integration with high performance and low cost. In this work, we present a versatile and digitally controlled acoustofluidic platform by demonstrating key functions for biological assays such as droplet transportation and mixing using a closed-loop feedback control with image recognition. Moreover, we integrate optical detection by demonstrating in situ fluorescence sensing capabilities with a standard camera and digital filters, bypassing the need for expensive and complex optical setups. The Acousto-Pi setup is based on open-source Raspberry Pi hardware and 3-D printed housing, and the SAW devices are fabricated with piezoelectric thin films on a metallic substrate. The platform enables the control of droplet position and speed for sample processing (mixing and dilution of samples), as well as the control of temperature based on acousto-heating, offering embedded processing capability. It can be operated remotely while recording the measurements in cloud databases toward integrated in-field diagnostic applications such as disease outbreak control, mass healthcare screening, and food safety.

Study of Contact Electrification at Liquid-Gas Interface

It is known that the suspended liquid droplets in clouds can generate electrostatic charges, which finally results in the lightning. However, the detailed mechanism related to the contact-electrification process on the liquid-gas (L-G) interfaces is still poorly understood. Here, by introducing an acoustic levitation method for levitating a liquid droplet, we have studied the electrification mechanism at the L-G interface. The tribo-motion between water droplets and air induced by the ultrasound wave leads to the generation of positive charges on the surface of the droplets, and the charge amount of water droplets (20 μL) gradually reaches saturation within 30 s. The mixed solid particles in droplets can increase the amount of transferred charge, whereas the increase of ion concentration in the droplet can suppress the charge generation. This charge transfer phenomenon at L-G interfaces and the related analysis can be a guidance for the study in many fields, including anti-static, harvesting rainy energy, micro/nano fluidics, triboelectric power generator, surface engineering, and so on. Moreover, the surface charge generation due to L-G electrification is an inevitable effect during ultrasonic levitation, and thus, this study can also work for the applications of the ultrasonic technique.

Quantifying Contact-Electrification Induced Charge Transfer on a Liquid Droplet after Contacting with a Liquid or Solid

Contact electrification (CE) is a common physical phenomenon, and its mechanisms for solid-solid and liquid-solid cases have been widely discussed. However, the studies about liquid-liquid CE are hindered by the lack of proper techniques. Here, a contactless method is proposed for quantifying the charges on a liquid droplet based on the combination of electric field and acoustic field. The liquid droplet is suspended in an acoustic field, and an electric field force is created on the droplet to balance the acoustic trap force. The amount of charges on the droplet is thus calculated based on the equilibrium of forces. Further, the liquid-solid and liquid-liquid CE are both studied by using the method, and the latter is focused. The behavior of negatively precharged liquid droplet in the liquid-liquid CE is found to be different from that of the positively precharged one. The results show that the silicone oil droplet prefers to receive negative charges from a negatively charged aqueous droplet rather than positive charges from a positively charged aqueous droplet, which provides a strong evidence about the dominant role played by electron transfer in the liquid-liquid CE.

AUTD3: Scalable Airborne Ultrasound Tactile Display

Through nonlinear effects, airborne ultrasound phased arrays enable mid-air tactile presentations, as well as auditory presentation and acoustic levitation. To create workplaces flexibly, we have developed a scalable phased array system in which multiple modules can be connected via Ethernet cables and controlled from a PC or other host device. Each module has 249 transducers and the software used can individually specify the phase and amplitude of each of the connected transducers. Using EtherCAT for communication, the system achieves high accuracy synchronization among the connected modules. In this article, we describe the details of the hardware and software architecture of the developed system and evaluate it. We experimentally confirmed the synchronization of 20 modules within an accuracy of 0.1 μs and the phase and amplitude can be specified at 8 bits resolution. In addition, using nine modules, we confirmed that we could make a focal point of the size consistent with the theory at 500 mm above the array surface.

Design of ultrasonic standing wave levitation support for three-dimensional printed filaments

Fused deposition modeling (FDM) three-dimensional (3D) printing is the process of forming a part by depositing molten thermoplastic materials layer by layer. Support structures need to be added below the overhangs or bridges in 3D printing. This paper proposes an idea for support-free FDM printing by studying the method of filament levitation. In this paper, an ultrasonic phased array device is designed, and different slender objects with length much longer than the sound wavelength are levitated in the air by multiple standing wave points. Experiments show that slender objects can be stably held at the sound pressure nodes in the standing wave field. After adding the ultrasonic field in FDM printing, the maximum deformation of single filament due to gravity on the bridge structure decreases from 5 to 2 mm. This proves that it is feasible for an ultrasonic phased array system to play an important role in the field of support-free FDM printing.

Contactless Picking of Objects Using an Acoustic Gripper

Acoustic levitation forces can be used to manipulate small objects and liquids without mechanical contact or contamination. This work presents analytical models based on which concepts for the controlled insertion of objects into the acoustic field are developed. This is essential for the use of acoustic levitators as contactless robotic grippers. Three prototypes of such grippers are implemented and used to experimentally verify the lifting of objects into an acoustic pressure field. Lifting of high-density objects (ρ > 7 g/cm3) from acoustically transparent surfaces is demonstrated using a double-sided acoustic gripper that generates standing acoustic waves with dynamically adjustable acoustic power. A combination of multiple acoustic traps is used to lift lower density objects (ρ≤0.25g/cm3) from acoustically reflective surfaces using a single-sided arrangement. Furthermore, a method that uses standing acoustic waves and thin reflectors to lift medium-density objects (ρ≤1g/cm3) from acoustically reflective surfaces is presented. The provided results open up new possibilities for using acoustic levitation in robotic grippers, which has the potential to be applied in a variety of industrial use cases.

Generating Airborne Ultrasonic Amplitude Patterns Using an Open Hardware Phased Array

Holographic methods from optics can be adapted to acoustics for enabling novel applications in particle manipulation or patterning by generating dynamic custom-tailored acoustic fields. Here, we present three contributions towards making the field of acoustic holography more widespread. Firstly, we introduce an iterative algorithm that accurately calculates the amplitudes and phases of an array of ultrasound emitters in order to create a target amplitude field in mid-air. Secondly, we use the algorithm to analyse the impact of spatial, amplitude and phase emission resolution on the resulting acoustic field, thus providing engineering insights towards array design. For example, we show an onset of diminishing returns for smaller than a quarter-wavelength sized emitters and a phase and amplitude resolution of eight and four divisions per period, respectively. Lastly, we present a hardware platform for the generation of acoustic holograms. The array is integrated in a single board composed of 256 emitters operating at 40 kHz. We hope that the results and procedures described within this paper enable researchers to build their own ultrasonic arrays and explore novel applications of ultrasonic holograms.

Real-Time 3-D Imaging Using an Air-Coupled Ultrasonic Phased-Array

We present an air-coupled ultrasonic imaging system based on a 40-kHz 8×8 phased-array for 3-D real-time localization of multiple objects in the far-field. By attaching a waveguide to the array, the effective interelement spacing is reduced to half wavelength. This enables grating lobe-free transmit and receive beamforming with a uniform rectangular array of efficient low-cost transducers. The system further includes custom transceiver electronics, an field programmable gate array (FPGA) system-on-chip and a PC for GPU accelerated frequency domain signal processing, consisting of matched filtering, conventional beamforming, and envelope extraction using Nvidia Compute Unified Device Architecture (CUDA) and OpenGL for visualization. The uniform rectangular layout allows utilizing multiple transmit and receive methods, known from medical imaging applications. Thus, the system is dynamically adaptable to maximize the frame rate or detection range. One implemented method demonstrates the real-time capability by transmitting a hemispherical pulse (HP) with a single transducer to irradiate the surroundings simultaneously, whereas all transducers are used for echo reception. The imaging properties, such as axial and lateral resolution, field of view and range of view, are characterized in an anechoic chamber. The object localization is validated for a horizontal and vertical field of view of ±80° and a range of view of 0.5-3 m with 29 frames/s. Using the same system, a comparison between the HP method and the dynamic transmit beamforming method, which transmits multiple sequential beamformed pulses for long-range localization, is provided.

Micromotor Manipulation Using Ultrasonic Active Traveling Waves

The ability to manipulate therapeutic agents in fluids is of interest to improve the efficiency of targeted drug delivery. Ultrasonic manipulation has great potential in the field of therapeutic applications as it can trap and manipulate micro-scale objects. Recently, several methods of ultrasonic manipulation have been studied through standing wave, traveling wave, and acoustic streaming. Among them, the traveling wave based ultrasonic manipulation is showing more advantage for in vivo environments. In this paper, we present a novel ultrasonic transducer (UT) array with a hemispherical arrangement that generates active traveling waves with phase modulation to manipulate a micromotor in water. The feasibility of the method could be demonstrated by in vitro and ex vivo experiments conducted using a UT array with 16 transducers operating at 1 MHz. The phase of each transducer was controlled independently for generating a twin trap and manipulation of a micromotor in 3D space. This study shows that the ultrasonic manipulation device using active traveling waves is a versatile tool that can be used for precise manipulation of a micromotor inserted in a human body and targeted for drug delivery.

Adjusting single-axis acoustic levitators in real time using rainbow schlieren deflectometry

Acoustic levitation uses focused high-intensity airborne ultrasound to hold particles in mid-air. It is becoming an important tool for experiments in spectrometry, lab-on-a-droplet, and display technologies. Nowadays, arrays of multiple small transducers can be used to build acoustic levitators; however, their performance depends on the optimal alignment. This work describes a simple method capable of visualizing a 2D projection of the acoustic field in real time using rainbow schlieren deflectometry. Good agreement was found between the images obtained with this technique and simulations of the acoustic pressure. It was also found that the maximum amplitudes of the field were obtained with the levitator aligned so that the power consumption was minimum, showing another simple and affordable way to adjust the levitators. As a result of the alignment optimization, it was possible for the first time to levitate steel and mercury in a levitator constructed with off-the-shelf components. The schlieren technique was applied to the TinyLev acoustic levitation system, but it can be applied to visualize the acoustic potential produced by different types of levitation systems.

Modeling of wave fields generated by ultrasonic transducers using a quasi-Monte Carlo method

The sound fields generated by ultrasonic transducers are modeled using the quasi-Monte Carlo (QMC) method, which is found to overcome the conflict between accuracy and efficiency that occurs in existing wave field calculation methods. The RI equation, which is frequently used as a model equation in ultrasonic field calculation, is used here as an exact method and for comparison purposes. In the QMC method, the judgment sampling method and Halton sequence are used for pseudo-random sampling from the sound source, and then the sound field distributions are found by solving the integral solution using the sample mean. Numerical examples and results are presented when modeling unfocused, focused, and steered and focused beam fields. The accuracy and efficiency of the QMC method are discussed by comparing the results obtained using different modeling methods. The results show that the proposed method has a high level of efficiency due to the nature of the QMC algorithm and a high level of accuracy because no approximation is required. In addition, wave fields can be modeled with the QMC method as long as sound sources can be effectively pseudo-randomly sampled, allowing the proposed method to be applied to various types of transducers.

A Survey of Mid-Air Ultrasound Haptics and Its Applications

Ultrasound haptics is a contactless haptic technology that enables novel mid-air interactions with rich multisensory feedback. This article surveys recent advances in ultrasound haptic technology. We discuss the fundamentals of this haptic technology, how a variety of perceptible sensations are rendered, and how it is currently being used to enable novel interaction techniques. We summarize its strengths, weaknesses, and potential applications across various domains. We conclude with our perspective on key directions for this promising haptic technology.

Quasi Class-DE Driving of HIFU Transducer Arrays

Recently, a method was proposed to determine the parameters for each Class DE driver in high-intensity focused ultrasound arrays for efficient operation and to compensate for variations in the impedance of each array element. This work extends that method to consider the effect of switch resistance and to provide limited control on the power delivered to the transducers with a constant supply voltage while keeping a good efficiency. The method is experimentally validated using an integrated driver developed by the authors. This paper also shows that the frequency range for efficient electrical operation is close to the frequency where the transducer array presents a peak in the conversion efficiency.

Holographic acoustic tweezers

Acoustic tweezers use sound radiation forces to manipulate matter without contact. They provide unique characteristics compared with the more established optical tweezers, such as higher trapping forces per unit input power and the ability to manipulate objects from the micrometer to the centimeter scale. They also enable the trapping of a wide range of sample materials in various media. A dramatic advancement in optical tweezers was the development of holographic optical tweezers (HOT) which enabled the independent manipulation of multiple particles leading to applications such as the assembly of 3D microstructures and the probing of soft matter. Now, 20 years after the development of HOT, we present the realization of holographic acoustic tweezers (HAT). We experimentally demonstrate a 40-kHz airborne HAT system implemented using two 256-emitter phased arrays and manipulate individually up to 25 millimetric particles simultaneously. We show that the maximum trapping forces are achieved once the emitting array satisfies Nyquist sampling and an emission phase discretization below π/8 radians. When considered on the scale of a wavelength, HAT provides similar manipulation capabilities as HOT while retaining its unique characteristics. The examples shown here suggest the future use of HAT for novel forms of displays in which the objects are made of physical levitating voxels, assembly processes in the micrometer and millimetric scale, as well as positioning and orientation of multiple objects which could lead to biomedical applications.

Automatic contactless injection, transportation, merging, and ejection of droplets with a multifocal point acoustic levitator

We present an acoustic levitation system that automatically injects, transports, merges and ejects liquid droplets in mid-air. The system consists of a phased array operating at 40 kHz on top of a plane reflector. The phase array generates multiple focal points at independent positions that form standing waves between the array and the reflector. In the reflector there is an inlet for a piezoelectric droplet injector which automatically inserts liquid droplets at the lower pressure nodes of the standing waves, and a hole that serves as an outlet for ejecting the processed droplets out of the system. Simulations of the acoustic radiation potential acting on the levitating droplets are in good agreement with the experiments. High-speed footage captured the functioning of the system in four fluidic operations: injection, transport, merging and ejection of liquid droplets. Having these operations integrated reliably into a single automatic system paves the way for the adoption of mid-air acoustophoretic processing in biological, chemical and pharmaceutical applications.