Self-propelled Motion Research Articles

Dispersionless Flat Mode and Vibrational Anomaly in Active Brownian Vibrators Induced by Stringlike Dynamical Defects.

In recent years, active Brownian particles have emerged as a prominent model system for comprehending the behaviors of active matter, wherein particles demonstrate self-propelled motion by harnessing energy from the surrounding environment. A fundamental objective of studying active matter is to elucidate the physical mechanisms underlying its collective behaviors. Drawing inspiration from advancements in molecular glasses, our study unveils a low-energy "flat mode" within the transverse spectrum of active Brownian vibrators-a nearly two-dimensional, bidisperse granular assembly. We demonstrate that this collective excitation induces an anomalous excess in the vibrational density of states (VDOS) beyond the phononic Debye contribution. We characterize the properties of this flat mode by exploring the parameter space of our experimental system and tuning the packing fraction, the vibrational frequency, the particle size ratio, and the mixture ratio. Additionally, we establish through empirical evidence that stringlike dynamical defects, discerned via the spatial distribution of each particle's contribution to the reduced transverse VDOS, serve as the microscopic origin of the flat mode and its associated anomalies.

When sounds come alive: animacy in the auditory sense.

Despite the interest in animacy perception, few studies have considered sensory modalities other than vision. However, even everyday experience suggests that the auditory sense can also contribute to the recognition of animate beings, for example through the identification of voice-like sounds or through the perception of sounds that are the by-products of locomotion. Here we review the studies that have investigated the responses of humans and other animals to different acoustic features that may indicate the presence of a living entity, with particular attention to the neurophysiological mechanisms underlying such perception. Specifically, we have identified three different auditory animacy cues in the existing literature, namely voicelikeness, consonance, and acoustic motion. While the first two characteristics are clearly exclusive to the auditory sense and indicate the presence of an animate being capable of producing vocalizations or harmonic sounds-with the adaptive value of consonance also being exploited in musical compositions in which the musician wants to convey certain meanings-acoustic movement is, on the other hand, closely linked to the perception of animacy in the visual sense, in particular to self-propelled and biological motion stimuli. The results presented here support the existence of a multifaceted auditory sense of animacy that is shared by different distantly related species and probably represents an innate predisposition, and also suggest that the mechanisms underlying the perception of living things may all be part of an integrated network involving different sensory modalities.

Reduction-Induced Self-Propelled Oscillatory Motion of Perylenediimides on Water.

The emergence of macroscopic self-propelled oscillatory motion based on molecular design has attracted continual attention in relation to autonomous systems in living organisms. Herein, a series of perylenediimides (PDIs) with various imide side chains was prepared to explore the impact of molecular design and alignment on the self-propelled motion at the air-water interface. When placed on an aqueous solution containing a reductant, a solid disk of neutral PDI was reduced to form the water-soluble, surface-active PDI dianion species, which induces a surface tension gradient in the vicinity of the disk for self-propelled motion. We found that centimeter-scale oscillatory motion could be elicited by controlling the supply rate of PDI dianion species through the reductant concentration and the structure of the imide side chains. Furthermore, we found that the onset and speed of the self-propelled motion could be changed by the crystallinity of PDI at the water surface. This design principle using π-conjugated molecules and their self-assemblies could advance self-propelled, non-equilibrium systems powered by chemical energy.

Effect of repulsive interaction and initial velocity on collective motion process.

Self-propelled collective motion is a highly complex phenomenon, necessitating advanced practical and theoretical tools for comprehension. The significance of studying collective motion becomes apparent in its diverse applications. For instance, addressing evacuation challenges in scenarios with multiple agents can be achieved through an examination of collective motion. Research indicates that the transition of individuals (such as birds, fish, etc.) from a state of rest to equilibrium constitutes a phase transition. Our interest of the issue is to delve into the nature of this transitional phase and elucidate the parameters that shape it. Hence, the primary aim of this paper is to grasp the kinetic phase transition by examining how initial velocity and repulsive interactions impact the dynamics of the system. To gain insight into the complex behavior of multi-agent systems, we apply an extended version of the classical Vicsek model. This extension includes an additional interaction zone, the repulsive zone, where particles repel each other at close range to avoid collisions. Our study uses numerical simulations to explore the system's behavior under various conditions. The focus of this study is the impact of initial velocity on the collective movement of particles. The importance of this research lies in comprehending how velocity affects the overall movement. The conclusion we can draw from these results is that the initial velocity affects both the noise and the density. The novelty of the work is the transition phase, yet it lacks universal characteristics because the critical noise depends on the initial velocity system and the repulsion radius zone. Notably, the repulsion radius and particle density play pivotal roles in achieving a phase transition from one equilibrium state to another aligned equilibrium state.

Molecular modelling of active oil droplet propulsion: Insights from dissipative particle dynamics simulation

This study employed dissipative particle dynamics (DPD) simulations to investigate the self-propelled motion of oil droplets in water–oil–surfactant systems. It is the first attempt to replicate self-propulsion models of oil droplets at the molecular level, contrasting previous simulations focused on Brownian motion and hydrodynamic behavior of colloidal particles. The DPD model reproduced droplet propulsion and visualized internal Marangoni flow, showing that larger droplet radii and greater interfacial tension differences increase propulsion speeds. Additionally, surfactants with stronger oil–oil repulsion enhanced propulsion speed, suggesting that surfactant-induced local structures are crucial for the self-propulsion mechanism.

A Miniaturized, Fuel-Free, Self-Propelled, Bio-Inspired Soft Actuator for Copper Ion Removal.

We present a novel miniaturized, gear-shaped, fuel-free actuator capable of autonomously propelling itself in an aquatic environment to absorb heavy metals, such as copper ions. While hydrogel-based absorbents are promising solutions for cationic pollutant remediation, their stationary nature limits their effectiveness in areas where contaminants are unevenly distributed. To address this, we developed a bio-inspired soft actuator that mimics natural propulsion mechanisms. The Marangoni effect, driven by its inherent chemical properties, demonstrated a self-propelled motion without requiring external fuel. The proof-of-concept actuator generated a plane motion lasting up to 2 h and swept over an area approximately 400 times bigger than its size. By harnessing the chemical and optical properties of the hydrogel, we efficiently removed and quantitatively analyzed copper ions through a colorimetric method. This innovative integration of self-propelled movement and efficient copper ion absorption underscores its potential for advancing miniaturized devices in environmental remediation, paving the way for more active and efficient pollutant removal systems in challenging aquatic environments.

Enhancing the Self-Propelled Motion of Hydrogen Peroxide Fueled Active Particles with Formic Acid and Other Oxygen Scavengers.

We report enhanced active particle motion in hydrogen peroxide-fueled self-diffusiophoretic active particle systems of up to 400% via addition of low concentrations of oxygen scavenging agents such as formic acid (as well as other organic acids, hydrazine, and citric acid), whereas active motion was inhibited at higher concentrations. Control experiments showed that enhanced motion was decoupled from catalytic hydrogen peroxide decomposition rate and insensitive to particle surface chemistry. Experimental results point to bulk oxygen scavenging as the cause for the enhanced active motion, representing a realization of recently predicted promotional effects of product sinks on self-diffusiophoretic motion. Diminished active motion at high oxygen scavenger concentrations was attributed to catalytic site blocking by adsorbed solute.

Nanobubbles in Ultrapure Water Can Self-Propel.

Nanobubbles are sub- micron-sized gas entities that find applications in a wide range of scientific fields. Typically, they are thought to diffuse according to Brownian motion. We report the existence of self-propelled motion of oxygen bulk nanobubbles in ultrapure water at body temperature. Their motion, to a large extent, is self-affine; there are different scaling exponents along the x- and y-axes as well as for the lateral displacement. We use fractal analysis, and we calculate the structure function, the normalised velocity autocorrelation function, the skewness, and the kurtosis. All descriptors attest the existence of a quasi-Gaussian stochastic process, which is classified as fractional Brownian motion. More than 50 \% of the trajectories along the x-axis follow superdiffusion, while this amount drops to 30 \% for motion along the y-axis as a result of the asymmetry of the field of view.

Remote sensing of high energy charged particle current (HEC) for megavoltage therapeutic electron beams

Objective. We demonstrate detection of high energy particle current (HEC) for MeV therapeutic electron beams. Detection of HEC comprises of remote sensing or acquiring information about HEC inside radiation transport medium from a distance outside of the medium. Approach. HEC is self-propelled motion of charged particles through a radiation transport medium. Remote sensing of HEC is embodied in an experimental setup, which includes homogeneous and heterogeneous phantoms irradiated with 4–15 MeV electron beams and two large area parallel-plane electrodes extraneous to the phantoms providing two-parameter detection. We also introduce a new type of scanning method (depth-scan) for probing object properties along the beamline axis. Main Results. Deterministic radiation transport simulations and measurements agree, considering differences in simulation vs experimental geometry and experimental uncertainties. Significance. This method may be suitable for range detection of charged particle beams, or for probing of radiation opaque objects in non-destructive testing.

The collective transportation of many self-propelled liquid metal droplets in Tesla valve

Gallium-based liquid metal droplet is active particle that maintains a liquid phase at room temperature and perform Self-propelled motion in electrolyte solutions. Unlike passive rigid particles, the collective transportation of swarming liquid metal droplets is strongly influenced by the surface tension, the shape deformation, the collision dynamics and the coalescence process of liquid metal droplets. We drive the swarming micron-sized Galinstan droplets to pass a Tesla microfluidic valve by applying external electric field, the diodicity of liquid metal droplet flow in Tesla valve is verified experimentally, which increases with respect to an increasing voltage. Theoretical simulations of flow field within the Tesla microfluidic valve suggested different turbulent flow field with opposite input flows. The coalescence of liquid metal droplets was enhanced when the Tesla valve blocks the flow. The collective transportation of swarming self-propelled liquid metal droplets has promising applications in biomedics, flexible electronics and swarm microrobotic technology.

Direct measurement of self-diffusiophoretic force generated by active colloids of different patch coverage using optical tweezers

Hypothesis: Synthetic micro/nanomotors are gaining extensive attention for various biomedical applications (especially in drug delivery) due to their ability to mimic the motion of biological micro/nanoscale swimmers. The feasibility of these applications relies on tight control of propulsion speed, direction, and type of motion (translation, circular, etc.) along with the exerted self-propulsive force. We propose to exploit the variation of both self-propulsion speed and force of active colloids with different patch coverages (with and without supporting layer) for engineering diffusiophoretic micro/nanomotors.Experiments: The microswimmers were designed at various patch coverages (10°, 30°, and 90°) with (Ti/Pt) and without (Pt) an adhesion layer for the catalytic patch through glancing angle metal deposition (GLAD) technique. Mean-square displacement (MSD) analysis was performed to obtain the self-propulsion parameters like speed and angular speed. Using optical tweezers (OT), the self-propulsive force was measured from the force power spectral density.Findings: The findings of our experiments suggest the non-requirement of any adhesion layer preceding the catalyst deposition since the Pt 10° colloidal batch had the maximal self-propulsion speed (4.61±0.3μm/s) and force (345±57fN) for 5% w/v H2O2 fuel concentration. Moreover, the self-propulsion speed and force decreased with increasing patch size, contrary to theoretical estimates. Also, the self-propulsive force obtained from MSD is 2 to 4 times lower in magnitude than the OT based force values. We believe that the self-propelling motion of the micromotors is possibly hindered due to interactions with the surface of the quartz cuvette during the optical microscopic analysis. Further, the MSD is limited to the self-propulsive motion in two dimensions. On the other hand, OT based force measurement involve trapping the particles in the bulk of the solution entirely avoiding the particle–substrate interactions. Hence, OT based force measurements are better than the propulsion velocity based stokes drag force estimates. We believe that this study can lay the foundation in designing efficient micro/nanomotors for translational biomedical applications.

Kinetic monitoring of molecular interactions during surfactant-driven self-propelled droplet motion by high spatial resolution waveguide sensing

Hypothesis: Self-driven actions, like motion, are fundamental characteristics of life. Today, intense research focuses on the kinetics of droplet motion. Quantifying macroscopic motion and exploring the underlying mechanisms are crucial in self-structuring and self-healing materials, advancements in soft robotics, innovations in self-cleaning environmental processes, and progress within the pharmaceutical industry. Usually, the driving forces inducing macroscopic motion act at the molecular scale, making their real-time and high-resolution investigation challenging. Label-free surface sensitive measurements with high lateral resolution could in situ measure both molecular-scale interactions and microscopic motion.Experiments: We employ surface-sensitive label-free sensors to investigate the kinetic changes in a self-assembled monolayer of the trimethyl(octadecyl)azanium chloride surfactant on a substrate surface during the self-propelled motion of nitrobenzene droplets. The adsorption–desorption of the surfactant at various concentrations, its removal due to the moving organic droplet, and rebuilding mechanisms at droplet-visited areas are all investigated with excellent time, spatial, and surface mass density resolution.Findings: We discovered concentration dependent velocity fluctuations, estimated the adsorbed amount of surfactant molecules, and revealed multilayer coverage at high concentrations. The desorption rate of surfactant (18.4 s−1) during the microscopic motion of oil droplets was determined by in situ differentiating between droplet visited and non-visited areas.

Self-consistent sharp interface theory of active condensate dynamics

Biomolecular condensates help organize the cell cytoplasm and nucleoplasm into spatial compartments with different chemical compositions. A key feature of such compositional patterning is the local enrichment of enzymatically active biomolecules which, after transient binding via molecular interactions, catalyze reactions among their substrates. Thereby, biomolecular condensates provide a spatial template for nonuniform concentration profiles of substrates. In turn, the concentration profiles of substrates, and their molecular interactions with enzymes, drive enzyme fluxes which can enable novel nonequilibrium dynamics. To analyze this generic class of systems, with a current focus on self-propelled droplet motion, we here develop a self-consistent sharp interface theory. In our theory, we diverge from the usual bottom-up approach, which involves calculating the dynamics of concentration profiles based on a given chemical potential gradient. Instead, reminiscent of control theory, we take the reverse approach by deriving the chemical potential profile and enzyme fluxes required to maintain a desired condensate form and dynamics. The chemical potential profile and currents of enzymes come with a corresponding power dissipation rate, which allows us to derive a thermodynamic consistency criterion for the passive part of the system (here, reciprocal enzyme-enzyme interactions). As a first-use case of our theory, we study the role of reciprocal interactions, where the transport of substrates due to reactions and diffusion is, in part, compensated by redistribution due to molecular interactions. More generally, our theory applies to mass-conserved active matter systems with moving phase boundaries. Published by the American Physical Society 2024

Design and evaluation of a pneumatic actuation unit for a wasp-inspired self-propelled needle.

Transperineal laser ablation is a minimally invasive thermo-ablative treatment for prostate cancer that requires the insertion of a needle for accurate optical fiber positioning. Needle insertion in soft tissues may cause tissue motion and deformation, resulting in tissue damage and needle positioning errors. In this study, we present a wasp-inspired self-propelled needle that uses pneumatic actuation to move forward with zero external push force, thus avoiding large tissue motion and deformation. The needle consists of six parallel 0.25-mm diameter Nitinol rods driven by a pneumatic actuation system. The pneumatic actuation system consists of Magnetic Resonance (MR) safe 3D-printed parts and off-the-shelf plastic screws. A self-propelled motion is achieved by advancing the needle segments one by one, followed by retracting them simultaneously. The advancing needle segment has to overcome a cutting and friction force, while the stationary needle segments experience a friction force in the opposite direction. The needle self-propels through the tissue when the friction force of the five stationary needle segments overcomes the sum of the friction and cutting forces of the advancing needle segment. We evaluated the prototype's performance in 10-wt% gelatin phantoms and ex vivo porcine liver tissue inside a preclinical Magnetic Resonance Imaging (MRI) scanner in terms of the slip ratio of the needle with respect to the phantom or liver tissue. Our results demonstrated that the needle was able to self-propel through the phantom and liver tissue with slip ratios of 0.912-0.955 and 0.88, respectively. The prototype is a promising step toward the development of self-propelled needles for MRI-guided transperineal laser ablation as a method to treat prostate cancer.

Existence and stability of a quasi-periodic two-dimensional motion of a self-propelled particle

The mechanism of self-propelled particle motion has attracted much interest in mathematical and physical understanding of the locomotion of living organisms. In a top-down approach, simple time-evolution equations are suitable for qualitatively analyzing the transition between the different types of solutions and the influence of the intrinsic symmetry of systems despite failing to quantitatively reproduce the phenomena. We aim to rigorously show the existence of the rotational, oscillatory, and quasi-periodic solutions and determine their stabilities regarding a canonical equation proposed by Koyano et al. (J Chem Phys 143(1):014117, 2015) for a self-propelled particle confined by a parabolic potential. In the proof, the original equation is reduced to a lower dimensional dynamical system by applying Fenichel’s theorem on the persistence of normally hyperbolic invariant manifolds and the averaging method. Furthermore, the averaged system is identified with essentially a one-dimensional equation because the original equation is O(2)-symmetric.

Polymer colloidal motors with photodynamic-regulated propulsion

Artificial colloidal motors capable of converting various external energy into mechanical motion, have emerged as attractive photosensitizer (PS) nanocarriers with good deliverability for photodynamic therapy. However, photoactivated 3O2-to-1O2 transformation as the most crucial energy transfer of the photodynamic process itself is still challenging to convert into autonomous transport. Herein, we report on PS-loaded thiophane-containing semiconducting conjugated polymer (SCP)-based polymer colloidal motors with asymmetric geometry for photodynamic-regulated propulsion in the liquid. The asymmetrical presence of the SCP phases within the colloidal motors would lead to significant differences in the 3O2-to-1O2 transformation and 1O2 release manners between asymmetrical polymer phases, spontaneously creating asymmetrical osmotic pressure gradients across the nanoparticles for powering the self-propelled motion under photodynamic regulation. This photoactivated energy-converting behavior can be also combined with the photothermal conversion of the SCP phases to create two energy gradients exerting diffusiophoretic/thermophoretic force on the colloidal motors for achieving multimode synergistic propulsion. This unique motile feature endows the light-driven PS nanocarriers with good permeability against various physiological barriers in the tumor microenvironment for enhancing antitumor efficacy, showing great potential in phototherapy.

Dust removal by water spray, condensation and defrosting based on superhydrophobic fin surface

Dust deposition on the fin surface of the outdoor heat exchanger seriously affects the operating efficiency of the air source heat pump (ASHP). Considering the operation characteristics of ASHP in summer for cooling and in winter for heating, a dust removal strategy is proposed based on superhydrophobic fin surface (SFS). In summer, the SFS is sprayed to remove dust by collecting the condensate water of air conditioning. In winter, by coupling the dust deposition with the condensation or frosting/defrosting phenomenon on SFS, the self-propelled motions of condensate droplets or the peeling off of the frost layer in defrosting is used to realize the dust removal. The experiment results show that the water spray on SFS has excellent dust removal performance, and the deposited dust is completely removed after 2 sprays. The dust is carried away by the jumping or gliding of the water droplets. The condensation has poor dust removal performance and takes long removal time. After several hours of condensation, the dust removal rate is 89.6 % and 40.0 % on SFS under different dust deposition levels. Due to the peeling off of the frost layer from the SFS at beginning of defrosting, the melting water at the bottom of the frost layer carries the dust away from the fin surface effortlessly. After 2 defrosting cycles, the dust removal rate reaches 99.6 %, while it is 50.1 % on the bare surface. Therefore, the strategy of dust removal by water spray in summer and defrosting in winter is suitable for ASHP.

Synthesis and Assembly of Photoresponsive Colloidal Tubes.

Inspired by the sophisticated multicomponent and multistage assembly of proteins and their mixtures in living cells, this study rationally designs and fabricates photoresponsive colloidal tubes that can self-assemble and hybrid-assemble when mixed with colloidal spheres and rods. Time-resolved observation and computer simulation reveal that the assembly is driven by phoretic attraction originating from osmotic pressures. These pressures are induced by the chemical concentration gradients generated by the photochemical reaction caused by colloidal tubes in a H2O2 solution under ultraviolet (UV) irradiation. The assembled structure is dictated by the size and shape of the constituent colloids as well as the intensity of the UV irradiation. Additionally, the resulting assembly can undergo self-propelled motion originating from the broken symmetry of the surrounding concentration gradients. This motion can be steered by a magnetic field and used for microscale cargo delivery. The study demonstrates a facile synthesis method for colloidal tubes and highlights their unique potential for controlled, hierarchical self-assembly and hybrid-assembly.

Numerical prediction for vertical dynamic anti-sinking performance of underwater vehicle

Computational fluid dynamics (CFD) simulations of an underwater vehicle (UV) during self-propulsion and dynamic anti-sinking maneuvers are presented. A generic submarine, Joubert BB2, was selected as the test model, which was modified by the Maritime Research Institute, Netherlands (MARIN). Different recovery maneuvers for improving the anti-sinking ability were performed when the UV bow cabin was broken. The overset mesh method was used to simulate the deflection of the rudder and stern planes, and a body-force propeller represented by an actuator disk incorporating predetermined propulsion properties provided the thrust and torque for self-propulsion. Extra vector forces of inflow water forces and recovery buoyancy forces were proposed to simulate the flooding of a bow cabin and recover buoyancy by emptying the ballast. Numerical simulations were performed for 20 different combinations of vertical anti-sinking maneuvers, including stern control surfaces, increasing ship speed, and emptying the ballast water. The pitch angle and depth characteristics of UV self-propelled motion were analyzed based on the pre-set anti-sinking criterions. The results indicated stern control surfaces combined with accelerating could effectively maintain the UV's depth and pitch angle, and discharge ballast water could always make it surface quickly. We hope that this study will provide ideas for further research on anti-sinking abilities.

Mesoporous Organosilica-Platinum Janus nanomotor coordinated by charge reversal for deep tumor penetration and promoted chemotherapy

Enhancing the diffusion capability of nanoparticles through rational engineering is an effective strategy for promoting the penetration of nanotherapeutic systems into tumors. However, the efficiency of diffusion remains inadequate due to the unchanged passive diffusion mode. Nanomotors hold promise for achieving deep tumor permeability due to their self-propelled motility. Developing smart-responsive nanomotor therapeutic systems for long circulation, deep tumor penetration, and well-timed drug release presents significant challenges. Herein, we design and synthesize a kind of nanomotor with charge reversal capability that shifts from negative to positive charge in response to weakly acidic tumor microenvironment on the base of the Janus nanostructure, which consists of the mesoporous organosilica degraded in response to glutathione and asymmetric Pt provided driving force by catalyzing endogenous H2O2 to decompose into O2. The cap-like Janus structure is prepared by a facile adsorption − reduction method. Such a nanomotor can achieve deep tumor penetration by the synergism of charge reversal and self-propelled motion. The drug-loaded nanomotor displays a superior tumor killing effect, which provides a promising strategy for the nano-chemotherapy system with deep penetration ability to break through the limitation of current tumor treatment.