Swarming Microdroplets to a Dexterous Micromanipulator

Many astonishing biological collective behaviors exist in nature, and artificial microrobotic swarms have been developed by emulating these scenarios. However, these microswarms typically have single structures and lack the adaptability that many biological swarms exhibit to thrive in complex environments. Inspired by viscoelastic fire ant aggregations and using a combination of experiment and simulation, a strategy to trigger ferrofluid droplets into forming microswarms exhibiting both liquid-like and solid-like behaviors is reported. By spatiotemporally programming an applied magnetic field, microswarms can be liquefied to implement reversible elongation with a high aspect ratio and solidified into entireties to perform overturning and bending behaviors. It is demonstrated that reconfigurability enables the microswarm to be a mobile dexterous micromanipulator, acting not only as a soft “octopus arm” to explore a confined environment and grasp a targeted object but also adaptively navigate multiple terrains, such as uneven surfaces, curved grooves, complex mazes, high steps, narrow channels, and even wide gaps. This microrobotic swarm can reconfigure both shapes and tasks based on the demands of the environment, presenting novel solutions for a variety of applications.     

A Liquid Gripper Based on Phase Transitional Metallic Ferrofluid

Magnetic fields enable dexterous, precise, and real-time control of ferromagnetic materials. However, most materials, including glasses, organics, and metals, are nonmagnetic and often do not respond to a magnetic field. Here, a transitional ferrofluid (TF) made by embedding magnetic iron particles into pure gallium through the treatment of highly concentrated HCl solutions, as well as its switchable interlocking force to objects during the phase change, is introduced to achieve magnetic manipulation of non-magnetic objects. A gripper made by liquid TF enables intimate contact with arbitrarily shaped objects and then generates a strong interlocking force of as high as 1168 N (using only 10 g TF) upon solidification at room temperature, which can be reversibly eliminated (F < 0.01 N) through melting. Owing to electrical conductivity and magnetism, a solid TF can be melted through electromagnetic induction heating. By coupling the switchable physical force during the phase transition and magnetism of TF, embedded non-magnetic objects can be manipulated using an applied magnetic field and become impervious to magnetic stimuli again after heating and releasing the TF. This study is expected to inspire numerous potential applications in the reversible magnetic actuation of soft robotics, remote operation systems, drug delivery, and liquid grippers.     

Smart Ferrofluid with Quick Gel Transformation in Tumors for MRI‐Guided Local Magnetic Thermochemotherapy

Improved techniques for local administration of anticancer drugs are needed to reduce the side effects of chemotherapy owing to leakage of anticancer drugs from tumors and to enhance therapeutic efficacy. This study presents the development of smart ferrofluid that transforms immediately into a gel in tumors and generates heat in response to an alternating magnetic field (AMF), simultaneously releasing the anticancer drug. The smart ferrofluid, which is synthesized using less toxic magnetic materials (Fe₃O₄ nanoparticles), natural polysaccharides (alginate), and amino acids (cysteine), can also act as a contrast agent for magnetic resonance imaging (MRI). The ferrofluid also incorporates an anticancer drug (i.e., doxorubicin, DOX) via hydrogen bonds. AMF causes heating of gels prepared from the DOX‐containing ferrofluid, resulting in gel shrinkage and DOX release. In vivo experiments demonstrated that the ferrofluid transforms into a gel in the tumor, with the gel remaining in the tumor. Furthermore, magnetic thermochemotherapy using this ferrofluid inhibited tumor growth, while magnetic hyperthermia alone had only a marginal effect. Thus, the combination of magnetic hyperthermia and chemotherapy may be important for suppressing tumor growth. In summary, the ferrofluid presented here has the potential to facilitate MRI‐guided magnetic thermochemotherapy through a combination of endoscopic technologies in the future.     

Dumbbell Fluidic Tweezers for Dynamical Trapping and Selective Transport of Microobjects

Mobile microvortices generated by rotating nickel (Ni) nanowires (NW) have been reported as capable of inducing fluidic trapping that can be precisely focused and translated to manipulate microobjects. Here, a new design for significantly enhanced fluidic trapping is reported, which is a dumbbell (DB)‐shaped magnetic actuator, assembled by a Ni NW and two polystyrene microbeads. In contrast to the single mode of tumbling trapping possessed by Ni NW, the magnetic dumbbell is able to perform dynamical trapping and implement on‐demand transport of microobjects in three modes, i.e., tumbling, wobbling, and rolling. Experiments are conducted to demonstrate the robustness and efficacy of the fluidic trap by the DB actuator. And simulations using a finite element model compare the fluidic traps induced by NW and DB, followed by further discussion on the actuation and transport efficiency of NW and DB fluidic tweezers (FT). At last, some practical issues regarding the application of DB FT are addressed.     

Inertial Microfluidics with Integrated Vortex Generators Using Liquid Metal Droplets as Fugitive Ink

This work demonstrates a simple method for fabricating nearly spherical dome structures on top of lithographically defined microfluidic channels using gallium‐based liquid metal droplets as fugitive ink. The droplets remain stable during the pouring and curing of polydimethylsiloxane and can be easily removed by applying a basic solution. This facilitates the formation of domes with diameters of a few hundred micrometers patterned on the desired locations of the channel. The expansion of the channel at the interface of the dome leads to formation of a large vortex inside the dome. Experiments using high‐speed imaging along with numerical simulations show the utility of the vortex‐induced flow rotation for orbiting of human monocytes and polystyrene microbeads inside the dome. The lateral displacement of liquids caused by the vortex is further utilized for creating controllable multiband flow/color profiles within a T‐mixer. The method enables the fabrication of customized, complex, and 3D microfluidic systems utilizing planar microfabricated structures.     

Liquid Metal Droplets Wrapped with Polysaccharide Microgel as Biocompatible Aqueous Ink for Flexible Conductive Devices

Nanometerization of liquid metal in organic systems can facilitate deposition of liquid metals onto substrates and then recover its conductivity through sintering. Although having broader potential applications, producing stable aqueous inks of liquid metals keeps challenging because of rapid oxidation of liquid metal when exposing to water and oxygen. Here, a biocompatible aqueous ink is produced by encapsulating alloy nanodroplets of gallium and indium (EGaIn) into microgels of marine polysaccharides. During sonicating bulk EGaIn in aqueous alginate solution, alginate not only facilitates the downsizing process via coordination of their carboxyl groups with Ga ions but also forms microgel shells around EGaIn droplets. Due to the deceasing oxygen‐permeability of microgel shells, aqueous ink of EGaIn nanodroplets can maintain colloidal and chemical stability for a period of >7 d. Crosslinked alginate‐gel with tunable thickness can retard the generation and release of toxic cations, thereby affording high biocompatibility. The soft alginate shells also enable to recover electric conductivity of EGaIn layers by “mechanical sintering” for applications in microcircuits, electric‐thermal actuators, and wearable sensors, offering huge potential for electronic tattoos, artificial limbs, electric skins, etc.     

基于低速采样的多正弦波信号频率估计

高频段信号由于受到A/D转换器和后续信号处理器件运算速度和成本的限制,其处理往往难以实现,为解决此问题,提出了一种新的基于低速采样的高频段多正弦波信号频率估计方法。首先将含有多个频率互异的多正弦波信号经过功分器分成两路信号,然后分别用不同的采样率对这两路信号进行低速采样,用傅立叶变换及基于改进的Rife算法与Quinn算法来估计两路信号低速采样后的频率,接下来利用中国余数定理对多个信号的频谱快速配对解模糊准确的估计出各个信号的频率。该方法在工程上易于实现,可同时实现低的采样速率与高精度估计,而且在较低信噪比的情况下仍可获得较高的估计精度。给出了该方法的具体步骤,通过计算机仿真试验验证了该方法的有效性。      

Intrinsically Low Thermal Conductivity in BiSbSe3: A Promising Thermoelectric Material with Multiple Conduction Bands

Bi₂Se₃, as a Te‐free alternative of room‐temperature state‐of‐the‐art thermoelectric (TE) Bi₂Te₃, has attracted little attention due to its poor electrical transport properties and high thermal conductivity. Interestingly, BiSbSe₃, a product of alloying 50% Sb on Bi sites, shows outstanding electron and phonon transports. BiSbSe₃ possesses orthorhombic structure and exhibits multiple conduction bands, which can be activated when the carrier density is increased as high as ≈3.7 × 10²⁰ cm^?3 through heavily Br doping, resulting in simultaneously enhancing the electrical conductivities and Seebeck coefficients. Meanwhile, an extremely low thermal conductivity (≈0.6–0.4 W m^?1 K^?1 at 300–800 K) is found in BiSbSe₃. Both first‐principles calculations and elastic properties measurements show the strong anharmonicity and support the ultra‐low thermal conductivity of BiSbSe₃. Finally, a maximum dimensionless figure of merit ZT ～ 1.4 at 800 K is achieved in BiSb(Se_0.94Br_0.06)₃, which is comparable to the most n‐type Te‐free TE materials. The present results indicate that BiSbSe₃ is a new and a robust candidate for TE power generation in medium‐temperature range.     

一种中大功率多路低噪声开关电源的设计

高精密电子系统对开关电源的低噪声要求日趋普遍,需求功率也日益增大。针对开关电源的噪声来源与特点,综合利用多重噪声抑制措施方有可能实现低输出噪声。着重介绍了一种多路输出开关电源的低噪声设计思路,从基础变换电路的低噪声设计和外围电路的低噪声处理方面进行了分析,对开关管、整流管、变压器辐射、布局布线与引出线处理、共模噪声抑制等采取对应噪声抑制方法。最后运用该方案试制了一款实际电路,通过实测表明设计满足预期要求。