Assembly and Transport of Microscopic Cargos via Reconfigurable Photoactivated Magnetic Microdockers

Inverted Sedimentation of Active Particles in Unbiased ac Fields

Gaining control over the motion of active particles is crucial for applications ranging from targeted cargo delivery to nanomedicine. While much progress has been made recently to control active motion based on external forces, flows, or gradients in concentration or light intensity, which all have a well-defined direction or bias, little is known about how to steer active particles in situations where no permanent bias can be realized. Here, we show that ac fields with a vanishing time average provide an alternative route to steering active particles. We exemplify this route for inertial active particles in a gravitational field, observing that a substantial fraction of them persistently travels in the upward direction upon switching on the ac field, resulting in an inverted sedimentation profile at the top wall of a confining container. Our results offer a generic control principle that could be used in the future to steer active motion, direct collective behaviors, and purify mixtures.

Breaking action-reaction with active apolar colloids: emergent transport and velocity inversion

Artificial active particles are autonomous agents able to convert energy from the environment into net propulsion, breaking detailed balance and the action-reaction law, clear signatures of their out-of-equilibrium nature. Here we investigate the emergence of directed motion in clusters composed of passive and catalytically active apolar colloids. We use a light-induced chemophoretic flow to rapidly assemble hybrid self-propelling clusters composed of hematite particles and passive silica spheres. By increasing the size of the passive cargo, we observe a reversal in the transport direction of the pair. We explain this complex yet rich phenomenon using a theoretical model which accounts for the generated chemical field and its coupling with the surrounding medium. We exploit further our technique to build up more complex, chemically driven, architectures capable of carrying several passive or active species, that quickly assemble and disassemble under light control.

Reconfigurable assembly of colloidal motors towards interactive soft materials and systems

Due to the highly flexible reconfiguration of swarms, collective behaviors have provided various natural organisms with a powerful adaptivity to the complex environment. To mimic these natural systems and construct artificial intelligent soft materials, self-propelled colloidal motors that can convert diverse forms of energy into swimming-like movement in fluids afford an ideal model system at the micro-/nanoscales. Through the coupling of local gradient fields, colloidal motors driven by chemical reactions or externally physical fields can assembly into swarms with adaptivity. Here, we summarize the progress on reconfigurable assembly of colloidal motors which is driven and modulated by chemical reactions and external fields (e.g., light, ultrasonic, electric, and magnetic fields). The adaptive reconfiguration behaviors and the corresponding mechanisms are discussed in detail. The future directions and challenges are also addressed for developing colloidal motor-based interactive soft matter materials and systems with adaptation and interactive functions comparable to that of natural systems.

A broad perspective to particle-laden fluid interfaces systems: from chemically homogeneous particles to active colloids

Particles adsorbed to fluid interfaces are ubiquitous in industry, nature or life. The wide range of properties arising from the assembly of particles at fluid interface has stimulated an intense research activity on shed light to the most fundamental physico-chemical aspects of these systems. These include the mechanisms driving the equilibration of the interfacial layers, trapping energy, specific inter-particle interactions and the response of the particle-laden interface to mechanical perturbations and flows. The understanding of the physico-chemistry of particle-laden interfaces becomes essential for taking advantage of the particle capacity to stabilize interfaces for the preparation of different dispersed systems (emulsions, foams or colloidosomes) and the fabrication of new reconfigurable interface-dominated devices. This review presents a detailed overview of the physico-chemical aspects that determine the behavior of particles trapped at fluid interfaces. This has been combined with some examples of real and potential applications of these systems in technological and industrial fields. It is expected that this information can provide a general perspective of the topic that can be exploited for researchers and technologist non-specialized in the study of particle-laden interfaces, or for experienced researcher seeking new questions to solve.

Field-Induced Assembly and Propulsion of Colloids

Electric and magnetic fields have enabled both technological applications and fundamental discoveries in the areas of bottom-up material synthesis, dynamic phase transitions, and biophysics of living matter. Electric and magnetic fields are versatile external sources of energy that power the assembly and self-propulsion of colloidal particles. In this Invited Feature Article, we classify the mechanisms by which external fields impact the structure and dynamics in colloidal dispersions and augment their nonequilibrium behavior. The paper is purposely intended to highlight the similarities between electrically and magnetically actuated phenomena, providing a brief treatment of the origin of the two fields to understand the intrinsic analogies and differences. We survey the progress made in the static and dynamic assembly of colloids and the self-propulsion of active particles. Recent reports of assembly-driven propulsion and propulsion-driven assembly have blurred the conceptual boundaries and suggest an evolution in the research of nonequilibrium colloidal materials. We highlight the emergence of colloids powered by external fields as model systems to understand living matter and provide a perspective on future challenges in the area of field-induced colloidal phenomena.

Bubbles in microfluidics: an all-purpose tool for micromanipulation

In recent decades, the integration of microfluidic devices and multiple actuation technologies at the microscale has greatly contributed to the progress of related fields. In particular, microbubbles are playing an increasingly important role in microfluidics because of their unique characteristics that lead to specific responses to different energy sources and gas-liquid interactions. Many effective and functional bubble-based micromanipulation strategies have been developed and improved, enabling various non-invasive, selective, and precise operations at the microscale. This review begins with a brief introduction of the morphological characteristics and formation of microbubbles. The theoretical foundations and working mechanisms of typical micromanipulations based on acoustic, thermodynamic, and chemical microbubbles in fluids are described. We critically review the extensive applications and the frontline advances of bubbles in microfluidics, including microflow patterns, position and orientation control, biomedical applications, and development of bubble-based microrobots. We lastly present an outlook to provide directions for the design and application of microbubble-based micromanipulation tools and attract the attention of relevant researchers to the enormous potential of microbubbles in microfluidics.

Magnetic propulsion of colloidal microrollers controlled by electrically modulated friction

Precise control over the motion of magnetically responsive particles in fluidic chambers is important for probing and manipulating tasks in prospective microrobotic and bio-analytical platforms. We have previously exploited such colloids as shuttles for the microscale manipulation of objects. Here, we study the rolling motion of magnetically driven Janus colloids on solid substrates under the influence of an orthogonal external electric field. Electrically induced attractive interactions were used to tune the load on the Janus colloid and thereby the friction with the underlying substrate, leading to control over the forward velocity of the particle. Our experimental data suggest that the frictional coupling required to achieve translation, transitions from a hydrodynamic regime to one of mixed contact coupling with increasing load force. Based on this insight, we show that our colloidal microrobots can probe the local friction coefficient of various solid surfaces, which makes them potentially useful as tribological microsensors. Lastly, we precisely manipulate porous cargos using our colloidal rollers, a feat that holds promise for bio-analytical applications.

Active Assembly of Spheroidal Photocatalytic BiVO4 Microswimmers

We create single-component photocatalytic bismuth vanadate (BiVO₄) microswimmers with a spheroidal shape that move individually upon irradiation without any asymmetrization step. These particles form active assemblies which we investigate combining an experimental approach with numerical simulations and analytical calculations. We systematically explore the speed and assembly of the swimmers into clusters of up to four particles and find excellent agreement between experiment and theory, which helps us to understand motion patterns and speed trends. Moreover, different batches of particles can be functionalized separately, making them ideal candidates to fulfill a multitude of tasks, such as sensing or environmental remediation. To exemplify this, we coat our swimmers with silica (SiO₂) and selectively couple some of their modules to fluorophores in a way which does not inhibit self-propulsion. The present work establishes spheroidal BiVO₄ microswimmers as a versatile platform to design multifunctional microswimmers.

Static and dynamic behavior of magnetic particles at fluid interfaces

This perspective work reviews the current status of research on magnetic particles at fluid interfaces. The article gives both a unified overview of recent experimental advances and theoretical studies centered on very different phenomena that share a common characteristic: they involve adsorbed magnetic particles that range in size from a few nanometers to several millimeters. Because of their capability of being remotely piloted through controllable external fields, magnetic particles have proven essential as building blocks in the design of new techniques, smart materials and micromachines, with new tunable properties and prospective applications in engineering and biotechnology. Once adsorbed at a fluid-fluid interfase, in a process that can be facilitated via the application of magnetic field gradients, these particles often result sorely confined to two dimensions (2D). In this configuration, inter-particle forces directed along the perpendicular to the interface are typically very small compared to the surface forces. Hence, the confinement and symmetry breaking introduced by the presence of the surface play an important role on the response of the system to the application of an external field. In monolayers of particles where the magnetic is predominant interaction, the states reached are strongly determined by the mode and orientation of the applied field, which promote different patterns and processes. Furthermore, they can reproduce some of the dynamic assemblies displayed in bulk or form new ones, that take advantage of the interfacial phenomena or of the symmetry breaking introduce by the confining boundary. Magnetic colloids are also widely used for unraveling the guiding principles of 2D dynamic self-assembly, in designs devised for producing interface transport, as tiny probes for assessing interfacial rheological properties, neglecting the bulk and inertia contributions, as well as actuated stabilizing agents in foams and emulsions.

Coevolution of the Asymmetric Morphology and the Behaviour of Simple Predator Agents in Predator-Prey Pursuit Problem

Humanity has long strived to create microscopic machines for various purposes. Most prominent of them employ nanorobots for medical purposes and procedures, otherwise deemed hard or impossible to perform. However, the main advantage of this kind of machines is also their main drawback—their small size. The miniature scale, they work in, brings many problems, such as not having enough space for the computational power needed for their operation or the specifics of the laws of physics that govern their behaviour. In our study, we focus on the former challenge, by introducing a new standpoint to the well-studied predator-prey pursuit problem using an implementation of very simple predator agents. Intended to model the small-scale (micro and nano) robots, these agents are morphologically simple—they feature a single line-of-sight sensor. The behaviour of the predator agents is simple as well—the (few) perceived environmental variables are mapped directly into corresponding pairs of rotational velocities of the wheels' motors. We implemented genetic algorithm to evolve such a mapping that results in a successful capturing of the prey by the team of predator agents. However, as the preliminary results indicated, the predators that use a straightforward sensor could not resolve more than just few of the tested initial situations. Thus, to improve the generality of the evolved behaviour, we proposed an asymmetric sensory morphology of predators—an angular offset to the sensor relative to the longitudinal axis—and coevolved the amount of such an offset together with the behaviour of predators. The behaviours, coevolved with a sensor offset between 12° and 38°, resulted in both an efficient and consistent capture of the prey in all tested initial situations. Moreover, some of the behaviours, coevolved with sensor offset between 18° and 24°, demonstrated a good generality to the increased speed of the prey and a good robustness to perception noise. The obtained results could be seen as a step towards the engineering of asymmetric small-scale for delivery of medicine, locating and destroying cancer cells, microscopic imaging, etc.

Evolution, Robustness and Generality of a Team of Simple Agents with Asymmetric Morphology in Predator-Prey Pursuit Problem

One of the most desired features of autonomous robotic systems is their ability to accomplish complex tasks with a minimum amount of sensory information. Often, however, the limited amount of information (simplicity of sensors) should be compensated by more precise and complex control. An optimal tradeoff between the simplicity of sensors and control would result in robots featuring better robustness, higher throughput of production and lower production costs, reduced energy consumption, and the potential to be implemented at very small scales. In our work we focus on a society of very simple robots (modeled as agents in a multi-agent system) that feature an “extreme simplicity” of both sensors and control. The agents have a single line-of-sight sensor, two wheels in a differential drive configuration as effectors, and a controller that does not involve any computing, but rather—a direct mapping of the currently perceived environmental state into a pair of velocities of the two wheels. Also, we applied genetic algorithms to evolve a mapping that results in effective behavior of the team of predator agents, towards the goal of capturing the prey in the predator-prey pursuit problem (PPPP), and demonstrated that the simple agents featuring the canonical (straightforward) sensory morphology could hardly solve the PPPP. To enhance the performance of the evolved system of predator agents, we propose an asymmetric morphology featuring an angular offset of the sensor, relative to the longitudinal axis. The experimental results show that this change brings a considerable improvement of both the efficiency of evolution and the effectiveness of the evolved capturing behavior of agents. Finally, we verified that some of the best-evolved behaviors of predators with sensor offset of 20° are both (i) general in that they successfully resolve most of the additionally introduced, unforeseen initial situations, and (ii) robust to perception noise in that they show a limited degradation of the number of successfully solved initial situations.

Disintegrating polymer multilayers to jump-start colloidal micromotors

Colloidal systems with autonomous mobility are attractive alternatives to static particles for diverse applications. We present a complementary approach using pH-triggered disintegrating polymer multilayers for self-propulsion of swimmers. It is illustrated both experimentally and theoretically that homogenously coated swimmers exhibit higher velocity in comparison to their Janus-shaped counterparts. These swimmers show directional and random motion in microfluidic channels with a steep and shallow pH gradient, respectively. Further, a higher number of deposited polymer multilayers, steeper pH gradients and lower mass of the swimmers result in higher self-propulsion velocities. This new self-propulsion mechanism opens up unique opportunities to design, for instance, fast and yet biocompatible swimmers using the diverse tools of polymer chemistry to custom-synthesise the polymeric building blocks to assemble multilayers.

Micromotors for drug delivery in vivo: The road ahead

Autonomously propelled/externally guided micromotors overcome current drug delivery challenges by providing (a) higher drug loading capacity, (b) localized delivery (less toxicity), (c) enhanced tissue penetration and (d) active maneuvering in vivo. These microscale drug delivery systems can exploit biological fluids, as well as exogenous stimuli, like light-NIR, ultrasound and magnetic fields (or a combination of these), towards propulsion/drug release. Ability of these wireless drug carriers towards localized targeting and controlled drug release, makes them a lucrative candidate for drug administration in complex microenvironments (like solid tumors or gastrointestinal tract). In this report, we discuss these microscale drug delivery systems for their therapeutic benefits under in vivo setting and provide a design-application rationale towards greater clinical significance. Also, a proof-of-concept depicting 'microbots-in-a-capsule' towards oral drug delivery has been discussed.

Active apolar doping determines routes to colloidal clusters and gels

Collections of polar active particles have been unable to form stable and long-living structures due to the presence of self-propulsion. We solve this timely issue by introducing the concept of “active doping” and show that a few light-activated apolar, i.e., non–self-propelling, units can be used to rapidly trigger the formation of solid clusters and gels composed of passive colloidal particles. Our active doping can be used to assemble disparate microscopic objects, including synthetic or biological ones, paving the way toward the extension of fundamental concepts of gel and glass formation to active out-of-equilibrium systems.

Collections of interacting active particles, self-propelling or not, have shown remarkable phenomena including the emergence of dynamic patterns across different length scales, from animal groups to vibrated grains, microtubules, bacteria, and chemical- or field-driven colloids. Burgeoning experimental and simulation activities are now exploring the possibility of realizing solid and stable structures from passive elements that are assembled by a few active dopants. Here we show that such an elusive task may be accomplished by using a small amount of apolar dopants, namely synthetic active but not self-propelling units. We use blue light to rapidly assemble 2D colloidal clusters and gels via nonequilibrium diffusiophoresis, where microscopic hematite dockers form long-living interstitial bonds that strongly glue passive silica microspheres. By varying the relative fraction of doping, we uncover a rich phase diagram including ordered and disordered clusters, space-filling gels, and bicontinuous structures formed by filamentary dockers percolating through a solid network of silica spheres. We characterize the slow relaxation and dynamic arrest of the different phases via correlation and scattering functions. Our findings provide a pathway toward the rapid engineering of mesoscopic gels and clusters via active colloidal doping.

Modular approach to microswimming

The field of active matter in general and microswimming in particular has experienced a rapid and ongoing expansion over the last decade. A particular interesting aspect is provided by artificial autonomous microswimmers constructed from individual active and inactive functional components into self-propelling complexes. Such modular microswimmers may exhibit directed motion not seen for each individual component. In this review, we focus on the establishment and recent developments in the modular approach to microswimming. We introduce the bound and dynamic prototypes, show mechanisms and types of modular swimming and discuss approaches to control the direction and speed of modular microswimmers. We conclude by highlighting some challenges faced by researchers as well as promising directions for future research in the realm of modular swimming.

Catalytic Janus Colloids: Controlling Trajectories of Chemical Microswimmers

Catalytic Janus colloids produce rapid motion in fluids by decomposing dissolved fuel. There is great potential to exploit these "autonomous chemical swimmers" in applications currently performed by diffusion limited passive colloids. Key application areas for colloids include transporting active ingredients for drug delivery, gathering analytes for medical diagnostics, and self-assembling into regular structures used for photonic materials and lithographic templating. For drug delivery and medical diagnostics, controlling colloidal motion is key in order to target therapies, and transport analytes through lab-on-a-chip devices. Here, the autonomous motion of catalytic Janus colloids can remove the current requirements to induce and control colloid motion using external fields, thereby reducing the technological complexity required for medical therapies and diagnostics. For materials applications exploiting colloidal self-assembly, the additional interactions introduced by catalytic activity and rapid motion are predicted to allow access to new reconfigurable and responsive structures. In order to realize these goals, it is vital to develop methods to control both individual colloidal paths and collective behavior in motile catalytic colloidal systems. However, catalytic Janus colloids' trajectories are randomized by Brownian effects, and so require new strategies in order to be harnessed for transport. This is achievable using a variety of different approaches. For example, self-assembly and control of catalyst geometry can introduce controlled amounts of rotary motion, or "spin" into chemical swimmer trajectories. Furthermore, rotary motion combined with gravity, produces well-defined orientated helical trajectories. In addition, when catalytic colloids interact with topographical features, such as edges and trenches, they are steered. This gives rise to a new approach for autonomous colloidal microfluidic transport that could be deployed in future lab-on-a-chip devices. Chemical gradients can also influence the motion of catalytic Janus colloids, for example, to cause collective accumulations at specific locations. However, at present, the predicted theoretical degree of control over this phenomenon has not been fully verified in experimental systems. Collective behavior control for chemical swimmers is also possible by exploiting the potential for the complex interactions in these systems to allow access to self-assembled, dynamic and reconfigurable ordered structures. Again, current experiments have not yet accessed the breadth of possible behavior. Consequently, continued efforts are required to understand and control these interaction mechanisms in real world systems. Ultimately, this will help realize the use of catalytic Janus colloids for tasks that require well-controlled motion and structural organization, enabling functions such as analyte capture and concentration, or targeted drug delivery.

Magnetic Biohybrid Vesicles Transported by an Internal Propulsion Mechanism

Some biological microorganisms can crawl or swim due to coordinated motions of their cytoskeleton or the flagella located inside their bodies, which push the cells forward through intracellular forces. To date, there is no demonstration of synthetic systems propelling at low Reynolds number via the precise actuation of the material confined within an enclosing lipid membrane. Here, we report lipid vesicles and other more complex self-assembled biohybrid structures able to propel due to the advection flows generated by the actuated rotation of the superparamagnetic particles they contain. The proposed swimming and release strategies, based on cooperative hydrodynamic mechanisms and near-infrared laser pulse-triggered destabilization of the phospholipid membranes, open new possibilities for the on-command transport of minute quantities of drugs, fluid or nano-objects. The lipid membranes protect the confined substances from the outside environment during transportation, thus enabling them to work in physiological conditions.

Physico-chemical foundations of particle-laden fluid interfaces

Particle-laden interfaces are ubiquitous nowadays. The understanding of their properties and structure is essential for solving different problems of technological and industrial relevance; e.g. stabilization of foams, emulsions and thin films. These rely on the response of the interface to mechanical perturbations. The complex mechanical response appearing in particle-laden interfaces requires deepening on the understanding of physico-chemical mechanisms underlying the assembly of particles at interface which plays a central role in the distribution of particles at the interface, and in the complex interfacial dynamics appearing in these systems. Therefore, the study of particle-laden interfaces deserves attention to provide a comprehensive explanation on the complex relaxation mechanisms involved in the stabilization of fluid interfaces.

Light-Activated, Multi-Semiconductor Hybrid Microswimmers

Using a dynamic fabrication process, hybrid, photoactivated microswimmers made from two different semiconductors, titanium dioxide (TiO₂ ) and cuprous oxide (Cu₂ O) are developed, where each material occupies a distinct portion of the multiconstituent particles. Structured light-activated microswimmers made from only TiO₂ or Cu₂ O are observed to be driven in hydrogen peroxide and water most vigorously under UV or blue light, respectively, whereas hybrid structures made from both of these materials exhibit wavelength-dependent modes of motion due to the disparate responses of each photocatalyst. It is also found that the hybrid particles are activated in water alone, a behavior which is not observed in those made from a single semiconductor, and thus, the system may open up a new class of fuel-free photoactive colloids that take advantage of semiconductor heterojunctions. The TiO₂ /Cu₂ O hybrid microswimmer presented here is but an example of a broader method for inducing different modes of motion in a single light-activated particle, which is not limited to the specific geometries and materials presented in this study.

Active cargo transport with Janus colloidal shuttles using electric and magnetic fields

Active colloids show non-equilibrium behavior that departs from classical Brownian motion, thus providing a platform for novel fundamental phenomena and for enticing possible applications ranging from water treatment to medicine and microrobotics. Although the physics, motion mechanisms and guidance have been extensively investigated, active colloids are rarely exploited to simultaneously guide and transport micron-sized objects in a controllable and reversible manner. Here, we use autonomous active Janus particles as colloidal shuttles to controllably transport cargo at the microscale using external electric and magnetic fields. The active motion arises from the metallodielectric characteristics of the Janus particles, which allows them to also trap, transport and release cargo particles through dielectrophoretic interactions induced by an AC electric field. The ferromagnetic nature of the nickel layer that forms the metallic hemisphere of the Janus colloids provides an additional mechanism to direct the motion of the shuttle using an external magnetic field. With this highly programmable colloidal system, we are able to harness active colloid motion and use it to transport cargo particles to specific destinations through a pre-defined route. A simple analytical model is derived to successfully describe the motion of the shuttle-cargo assembly in response to the applied electrical field. The high level of control on cargo pick-up, transport and release leads to a powerful delivery tool, which could eventually be used in microactuators, microfluidics or for controlled delivery within organ-on-a-chip devices.

Advances in colloidal manipulation and transport via hydrodynamic interactions

In this review article, we highlight many recent advances in the field of micromanipulation of colloidal particles using hydrodynamic interactions (HIs), namely solvent mediated long-range interactions. At the micrsocale, the hydrodynamic laws are time reversible and the flow becomes laminar, features that allow precise manipulation and control of colloidal matter. We focus on different strategies where externally operated microstructures generate local flow fields that induce the advection and motion of the surrounding components. In addition, we review cases where the induced flow gives rise to hydrodynamic bound states that may synchronize during the process, a phenomenon essential in different systems such as those that exhibit self-assembly and swarming.

Geometry Design, Principles and Assembly of Micromotors

Discovery of bio-inspired, self-propelled and externally-powered nano-/micro-motors, rotors and engines (micromachines) is considered a potentially revolutionary paradigm in nanoscience. Nature knows how to combine different elements together in a fluidic state for intelligent design of nano-/micro-machines, which operate by pumping, stirring, and diffusion of their internal components. Taking inspirations from nature, scientists endeavor to develop the best materials, geometries, and conditions for self-propelled motion, and to better understand their mechanisms of motion and interactions. Today, microfluidic technology offers considerable advantages for the next generation of biomimetic particles, droplets and capsules. This review summarizes recent achievements in the field of nano-/micromotors, and methods of their external control and collective behaviors, which may stimulate new ideas for a broad range of applications.

Dynamic self-assembly and self-organized transport of magnetic micro-swimmers

We demonstrate experimentally and in computer simulations that magnetic microfloaters can self-organize into various functional structures while energized by an external alternating (ac) magnetic field. The structures exhibit self-propelled motion and an ability to carry a cargo along a pre-defined path. The morphology of the self-assembled swimmers is controlled by the frequency and amplitude of the magnetic field.

Orientational dynamics of fluctuating dipolar particles assembled in a mesoscopic colloidal ribbon

We combine experiments and theory to investigate the dynamics and orientational fluctuations of ferromagnetic microellipsoids that form a ribbonlike structure due to attractive dipolar forces. When assembled in the ribbon, the ellipsoids display orientational thermal fluctuations with an amplitude that can be controlled via application of an in-plane magnetic field. We use video microscopy to investigate the orientational dynamics in real time and space. Theoretical arguments are used to derive an analytical expression that describes how the distribution of the different angular configurations depends on the strength of the applied field. The experimental data are in good agreement with the developed model for all the range of field parameters explored. Understanding the role of fluctuations in chains composed of dipolar particles is important not only from a fundamental point of view, but it may also help understanding the stability of such structures against thermal noise, which is relevant in microfluidics and laboratory-on-a-chip applications.