Review of Bubble Applications in Microrobotics: Propulsion, Manipulation, and Assembly

Three-Dimensional Manipulation of Micromodules Using Twin Optothermally Actuated Bubble Robots

A 3D manipulation technique based on two optothermally generated and actuated surface-bubble robots is proposed. A single laser beam can be divided into two parallel beams and used for the generation and motion control of twin bubbles. The movement and spacing control of the lasers and bubbles can be varied directly and rapidly. Both 2D and 3D operations of micromodules were carried out successfully using twin bubble robots. The cooperative manipulation of twin bubble robots is superior to that of a single robot in terms of stability, speed, and efficiency. The operational technique proposed in this study is expected to play an important role in tissue engineering, drug screening, and other fields.

High efficiency sperm enrichment from forensic mock samples in bubble-based acoustic filtration devices for short tandem repeat (STR) analysis

A bubble-based acoustofluidic filtration (BAF) microfluidic device, which employs cross-flow filtration (CFF) and acoustic streaming, separates cells with high efficiency for forensic analysis. Forensic samples are typically complex and contain a substantial number of squamous epithelial cells from the female vagina, which tend to have fouling problems during filtration due to their morphological and cell adhesion differences. To overcome this issue, the BAF device utilizes bubble oscillation by bulk acoustic wave (BAW) to generate acoustic streaming, which offers additional hydrodynamic forces for side flushing cleaning and achieves effective removal within a mere 0.5 seconds. Our device is tested with imbalanced cell mixtures of sperm and epithelial cells with large disparity ratios. By concurrently employing CFF and acoustic streaming, the samples with our sperm-enrichment can achieve 91.72-97.78% for the recovery rate and 74.58-89.26% for the purity in the sperm enrichment. They are further subjected to short tandem repeat (STR) profiling, enabling the identification of perpetrators. Notably, even samples with minimal sperm cells demonstrated a significant increase in the male donor DNA ratio, while the peak heights of female alleles became virtually undetectable. The exceptional cell separation capability demonstrated by our BAF device highlights its potential applications in forensic sciences and other areas of cell biology.

Acoustic Actuators for the Manipulation of Micro/Nanorobots: State-of-the-Art and Future Outlooks

Compared to other actuating methods, acoustic actuators offer the distinctive capability of the contactless manipulation of small objects, such as microscale and nanoscale robots. Furthermore, they have the ability to penetrate the skin, allowing for the trapping and manipulation of micro/nanorobots that carry therapeutic agents in diverse media. In this review, we summarize the current progress in using acoustic actuators for the manipulation of micro/nanorobots used in various biomedical applications. First, we introduce the actuating method of using acoustic waves to manipulate objects, including the principle of operation and different types of acoustic actuators that are usually employed. Then, applications involving manipulating different types of devices are reviewed, including bubble-based microrobots, bubble-free robots, biohybrid microrobots, and nanorobots. Finally, we discuss the challenges and future perspectives for the development of the field.

Solutocapillary transport of oxygen bubbles in a diffusion-bubbling membrane core

Bubbles are extensively explored as gas and energy carriers. However, despite notable progress, the bubble transport mechanisms are still poorly understood. At the present time there is not sufficient understanding of whether the body or surface forces play a major role in bubble transport in liquid interfacial systems. This understanding is important to be able to drive oxygen bubble transport. Here, we show the crucial role of solutocapillary forces in oxygen bubble transport in the core of a diffusion-bubbling membrane with a high density of solid/liquid and gas/liquid interfaces that operates under the oxygen chemical potential gradient. In order to describe the transport of oxygen bubbles in the membrane core, we developed a mathematical model. Both the velocity of bubbles and oxygen flux through this membrane predicted by this model agree with experiments. An in-depth understanding of the bubble transport mechanism presented in this study could eventually lead the way to more efficient bubble membrane gas separation, bubble energy generation, and bubble-assisted therapy in the future.

Ultrahigh Efficient Collection of Underwater Bubbles by High Adsorption and Transport, Coalescence, and Collection Integrating a Conical Arrayed Surface

The capture and utilization of underwater fuel bubbles such as methane can alleviate the greenhouse effect, solve the global energy crisis, and possibly improve the endurance of underwater equipment. However, previous research routinely failed to achieve the integrated process of continuous adsorption, transportation, and collection of bubbles limited by the trade-off between the bubble adhesion and transport efficiency dependent on interfacial pinning, tremendously hindering the direct capture and utilization of underwater fuel bubbles. To break through this bottleneck, a magnetic-guided conical arrayed surface (CAS) associated with a laser etching technique is fabricated conveniently to realize superhydrophobicity. The bubbles on laser-etched CAS have higher adhesiveness and low-pinning transport compared with those on the nonlaser-etched surface. Intriguingly, the gas film adsorbed within the CAS seems to be a gas channel, which accelerates the bubble coalescence and fast spreading to eventually realize the integration of transport, coalescence, and collection. The dynamic behaviors of bubble adsorption, transportation, and coalescence on CAS are probed to reveal the mechanism of the gas film-generating process within conical arrays. Furthermore, a novel underwater bubble-collecting device with multiangled CAS is proposed to achieve multidirectional capture, highly efficient transportation, and collection of rising bubbles. The results advance our understanding of dynamic behaviors of bubbles at solid-liquid interfaces and facilitate design and manufacturing of an apparatus for bubble collection.

Laser Controlled Manipulation of Microbubbles on a Surface with Silica-Coated Gold Nanoparticle Array

Microbubble generation and manipulation play critical roles in diverse applications such as microfluidic mixing, pumping, and microrobot propulsion. However, existing methods are typically limited to lateral movements on customized substrates or rely on specific liquids with particular properties or designed concentration gradients, thereby hindering their practical applications. To address this challenge, this paper presents a method that enables robust vertical manipulation of microbubbles. By focusing a resonant laser on hydrophilic silica-coated gold nanoparticle arrays immersed in water, plasmonic microbubbles are generated and detach from the substrates immediately upon cessation of laser irradiation. Using simple laser pulse control, it can achieve an adjustable size and frequency of bubble bouncing, which is governed by the movement of the three-phase contact line during surface wetting. Furthermore, it demonstrates that rising bubbles can be pulled back by laser irradiation induced thermal Marangoni flow, which is verified by particle image velocimetry measurements and numerical simulations. This study provides novel insights into flexible bubble manipulation and integration in microfluidics, with significant implications for various applications including mixing, drug delivery, and the development of soft actuators.

Meniscus-Induced Directional Self-Transport of Submerged Bubbles on a Slippery Oil-Infused Pillar Array with Height-Gradient

Directional manipulation of submerged bubbles is fundamental for both theoretical research and industrial production. However, most current strategies are limited to the upward motion direction, complex surface topography, and additional apparatuses. Here, we report a meniscus-induced self-transport platform, namely, a slippery oil-infused pillar array with height-gradient (SOPAH) by combining femtosecond laser drilling and replica mold technology. Owing to the unbalanced capillary force and Laplace pressure difference, bubbles on SOPAH tend to spontaneously transport along the meniscus gradient toward a higher elevation. The self-transport performances of bubbles near the pillars depend on the complex meniscus shape. Significantly, to understand the underlying transport mechanism, the 3D meniscus profile is simulated by solving the Young-Laplace equation. It is found that the concave valleys formed between the adjacent pillars can change the gradient direction of the meniscus and lead to the varied transport performances. Finally, by taking advantage of a water electrolysis system, the assembled SOPAH serving as a bubble-collecting device is successfully deployed. This work should not only bring new insights into the meniscus-induced self-transport dynamics but also benefit potential applications in the field of intelligent bubble manipulation.

Kinetic Model and Experiment for Self-Ignition of Triethylaluminum and Triethylborane Droplets in Air

Triethylaluminum Al(C₂H₅)₃, TEA, and triethylborane, B(C₂H₅)₃, TEB, are transparent, colorless, pyrophoric liquids with boiling points of approximately 190 °C and 95 °C, respectively. Upon contact with ambient air, TEA, TEB, as well as their mixtures and solutions, in hydrocarbon solvents, ignite. They can also violently react with water. TEA and TEB can be used as hypergolic rocket propellants and incendiary compositions. In this manuscript, a novel scheme of the heterogeneous interaction of gaseous oxygen with liquid TEA/TEB microdroplets accompanied by the release of light hydrocarbon radicals into the gas phase is used for calculating the self-ignition of a spatially homogeneous mixture of fuel microdroplets in ambient air at normal pressure and temperature (NPT) conditions. In the primary initiation step, TEA and TEB react with oxygen, producing an ethyl radical, which can initiate an autoxidation chain. The ignition delay is shown to decrease with the decrease in the droplet size. Preliminary experiments on the self-ignition of pulsed and continuous TEA-TEB sprays in ambient air at NPT conditions are used for estimating the Arrhenius parameters of the rate-limiting reaction. Experiments confirm that the self-ignition delay of TEA-TEB sprays decreases with the injection pressure and provide the data for estimating the activation energy of the rate-limiting reaction, which appears to be close to 2 kcal/mol.

Imaging-Guided Micromachines: Towards Intelligent Systems

Micromachines with controllable motion, deformation, and collective behaviors provide advanced methods for performing tasks that traditional machines have difficulty completing thanks to the development of small-scale robotics, nanotechnology, biocompatible materials, and imaging techniques [...].

Interaction of Shock Waves with Water Saturated by Nonreacting or Reacting Gas Bubbles

A compressible medium represented by pure water saturated by small nonreactive or reactive gas bubbles can be used for generating a propulsive force in large-, medium-, and small-scale thrusters referred to as a pulsed detonation hydroramjet (PDH), which is a novel device for underwater propulsion. The PDH thrust is produced due to the acceleration of bubbly water (BW) in a water guide by periodic shock waves (SWs) and product gas jets generated by pulsed detonations of a fuel-oxidizer mixture. Theoretically, the PDH thrust is proportional to the operation frequency, which depends on both the SW velocity in BW and pulsed detonation frequency. The studies reported in this manuscript were aimed at exploring two possible directions of the improvement of thruster performances, namely, (1) the replacement of chemically nonreacting gas bubbles by chemically reactive ones, and (2) the increase in the pulsed detonation frequency from tens of hertz to some kilohertz. To better understand the SW-to-BW momentum transfer, the interaction of a single SW and a high-frequency (≈7 kHz) sequence of three SWs with chemically inert or active BW containing bubbles of air or stoichiometric acetylene-oxygen mixture was studied experimentally. Single SWs and SW packages were generated by burning or detonating a gaseous stoichiometric acetylene-oxygen or propane-oxygen mixture and transmitting the arising SWs to BW. The initial volume fraction of gas in BW was varied from 2% to 16% with gas bubbles 1.5-4 mm in diameter. The propagation velocity of SWs in BW ranged from 40 to 580 m/s. In experiments with single SWs in chemically active BW, a detonation-like mode of reaction front propagation ("bubbly quasidetonation") was realized. This mode consisted of a SW followed by the front of bubble explosions and was characterized by a considerably higher propagation velocity as compared to the chemically inert BW. The latter could allow increasing the PDH operation frequency and thrust. Experiments with high-frequency SW packages showed that on the one hand, the individual SWs quickly merged, feeding each other and increasing the BW velocity, but on the other hand, the initial gas content for each successive SW decreased and, accordingly, the SW-to-BW momentum transfer worsened. Estimates showed that for a small-scale water guide 0.5 m long, the optimal pulsed detonation frequency was about 50-60 Hz.