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Untethered Micro/Nanorobots for Remote Sensing:Toward Intelligent Platform

Nano-Micro Letters 2024年第2期16卷 450-483页

作者： Qianqian Wang Shihao Yang Li Zhang Jiangsu Key Laboratory for Design and Manufacture of Micro‑Nano Biomedical Instruments School of Mechanical EngineeringSoutheast UniversityNanjing 211189People’s Republic of China Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China T Stone Robotics Institute The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China Department of Surgery The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China

Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse functionalities.Researchers are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems,enabling in situ detection of substances that traditional sensing methods struggle to achieve.Over the past decade of development,significant research progress has been made in designing sensing strategies based on micro/nanorobots,employing various coordinated control and sensing approaches.This review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots,robot behavior,microrobotic manipulation,and robot-environment interactions.Providing recent studies and relevant applications in remote sensing,we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments,translating lab research achievements into widespread real applications.

关键词： Micro/nanorobot Remote sensing Wireless control self-propulsion Actuation at small scales

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Coupling of RANS and BEM Solvers for Simulation of Propeller Behind the Hull in Full Appended Model

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China Ocean Engineering 2024年第3期38卷 424-438页

作者： Saeed NAJAFI Mehdi POURMOSTAFA LIU Peng-fei Iranian National Institute for Oceanography and Atmospheric Science(INIOAS) Tehran 14155-4781Iran Department of Maritime Engineering Amir Kabir University of TechnologyTehran 15875-4413Iran Marine Offshore and Subsea TechnologySchool of EngineeringNewcastle UniversityNewcastle upon TyneNE17RUUK

To design a propeller for ship power plant,the interaction between ship hull and propeller must be taken into account.The main concern is to apply the wake effect of ship stern on the propeller performance.In this paper,a coupled BEM(Boundary Element Method)/RANS(Renolds-Averaged Navier−Stokes)solver is used to simulate propeller behind the hull in the self-propulsion test.The motivation of this work is to develop a practical tool to design marine propulsion system without suffering long computational time.An unsteady boundary element method which is also known as panel method is chosen to estimate the propeller forces.Propeller wakes are treated using a time marching wake alignment method.Also,a RANS code coupled with VoF equation is developed to consider the ship motions and wake field effects in the problem.A coupling algorithm is developed to interchange ship wake field to the potential flow solver and propeller thrust to the RANS code.Based on the difference between hull resistance and the propeller thrust,a PI controller is developed to compute the propeller RPM in every time step.Verification of the solver is carried out using the towing tank test report of a 50 m oceanography research vessel.Wake factor and trust deduction coefficient are estimated numerically.Also,the wake rollup pattern of the propeller in open water is compared with the propeller in real wake field.

关键词： RANS BEM coupled method ship propeller self-propulsion wake sheet pattern

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Structural and Operational Optimization of A Flapping Fin Used as A self-Propulsor for AUV propulsion

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China Ocean Engineering 2022年第1期36卷 86-99页

作者： FAN Shuang-shuang CI Xiao-han Neil BOSE CHENG Xiao School of Marine Sciences Sun Yat-sen UniversityZhuhai 519082China Southern Laboratory of Ocean Science and Engineering Zhuhai 519000China Department of Ocean and Naval Architectural Engineering Memorial University of NewfoundlandSt.John’sNL A1C 5S7Canada School of Geospatial Engineering and Science Sun Yat-sen UniversityZhuhai 519082China

Marine mammals could directly harvest energy from waves and obtain propulsive force through oscillating flapping fins or horizontal tail flukes,which in many cases have been observed and proved to be substantial.The propulsion generated by the flapping fin has been analyzed by many researchers from both the theoretical and experimental prospects;however,the structural and operational optimization of a flapping fin for the optimal propulsion performance has been less studied,such as the investigation of the effects of the phase difference between heave and pitch motion,maximum oscillation angle,fin shape,oscillation centre of the fin and the operating sea state on the generated propulsion.In this paper,the flapping fin is used as a self-propulsor to propel an autonomous underwater vehicle(AUV)for propulsion assistance.For the optimization design of the flapping fin,its propulsion effect is numerically investigated with different structural parameters and under various operation conditions using computational fluid dynamics(CFD)approaches.Verification and validation study have been implemented to quantify the numerical uncertainties and evaluate the accuracy of the proposed CFD method.Then,a series of case studies are thoroughly conducted to investigate the effects of different structural parameters and operational conditions on the generated propulsion of a flapping fin by CFD simulations.The simulation results demonstrate that different structural parameters and operation conditions would significantly impact the magnitude and distribution state of the fluid pressure around the flapping fin surface,thus,affect the propulsion performance of the fin.The findings in this study will provide guidelines for the structural and operational optimization design of a flapping fin for self-propulsion of mobile platforms.

关键词： autonomous underwater vehicle(AUV) flapping fin self-propulsion computational fluid dynamics(CFD) optimization design

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self-propulsion of flapping bodies in viscous fluids: Recent advances and perspectives

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Acta Mechanica Sinica 2016年第6期32卷 980-990页

作者： Shizhao Wang Guowei He Xing Zhang The State Key Laboratory of Nonlinear Mechanics (LNM) Institute of Mechanics Chinese Academy of Sciences

Flapping-powered propulsion is used by many animals to locomote through air or water. Here we review recent experimental and numerical studies on self-propelled mechanical systems powered by a flapping motion. These studies improve our understanding of the mutual interaction between actively flapping bodies and surrounding fluids. The results obtained in these works provide not only new insights into biolocomotion but also useful information for the biomimetic design of artificial flyers and swimmers.

关键词： Flapping motion self-propulsion Symmetry breaking Passive flexibility Flow-mediated interaction

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The effects of caudal fin deformation on the hydrodynamics of thunniform swimming under self-propulsion

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Journal of Hydrodynamics 2020年第6期32卷 1122-1137页

作者： Yi-kun Feng Yu-min Su Huan-xing Liu Yuan-yuan Su College of Shipbuilding Engineering Harbin Engineering UniversityHarbin150001China Beijing Institute of Specialized Machinery Beijing100081China Science College Harbin Engineering UniversityHarbin150001China

To investigate the effects of the caudal fin deformation on the hydrodynamic performance of the self-propelled thunniform swimming,we perform fluid-body interaction simulations for a tuna-like swimmer with thunniform kinematics.The 3-D vortices are visualized to reveal the role of the leading-edge vortex(LEV)in the thrust generation.By comparing the swimming velocity of the swimmer with different caudal fin flexure amplitudes fa,it is shown that the acceleration in the starting stage of the swimmer increases with the increase of fa,but its cruising velocity decreases.The results indicate that the caudal fin deformation is beneficial to the fast start but not to the fast cruising of the swimmer.During the entire swimming process,the undulation amplitudes of the lateral velocity and the yawing angular velocity decrease as fa increases.It is found that the formation of an attached LEV on the caudal fin is responsible for generating the low-pressure region on the surface of the caudal fin,which contributes to the thrust.Furthermore,the caudal fin deformation can delay the LEV shedding from the caudal fin,extending the duration of the low pressure on the caudal fin,which will cause the caudal fin to generate a drag-type force over a time period in one swimming cycle and reduce the cruising speed of the swimmer.

关键词： Computational fluid dynamics(CFD)numerical simulation self-propulsion caudal fin deformation

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Proliferation-mediated asymmetric nanoencapsulation of singlecell and motility differentiation

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Science China(Technological Sciences) 2023年第7期66卷 2134-2146页

作者： WANG ShengLiang XU ZhiJun CHEN HaiXu WANG XiaoLiang LIN Song WANG Lei LIU XiaoMan HUANG Xin MIIT Key Laboratory of Critical Materials Technology for New Energy Conversion and Storage School of Chemistry and Chemical EngineeringHarbin Institute of TechnologyHarbin 150001China

The biointerface engineering of living cells by creating an abiotic shell has important implications for endowing cells with exogenous properties with improved cellular behavior,which then boosts the development of the emerging field of living cell hybrid materials.Herein,we develop a way to perform active nanoencapsulation of single cell,which then endows the encapsulated cells with motion ability that they do not inherently possess.The emerging motion characteristics of the encapsulated cells could be self-regulated in terms of both the motion velocity and orbits by different proliferation modes.Accordingly,by taking advantage of the emergence of differentiated moving abilities,we achieve the self-sorting between mother cells and daughter cells in a proliferated Saccharomyces cerevisiae cell community.Therefore,it is anticipated that our highlighted study could not only serve as a new technique in the field of single-cell biology analysis and sorting such as in studying the aging process in Saccharomyces cerevisiae,but also open up opportunities to manipulate cell functionality by creating biohybrid materials to fill the gap between biological systems and engineering abiotic materials.

关键词： biointerface engineering micromotors self-propulsion self-sorting urease

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ZnO-based micromotors fueled by CO2: the first example of self-reorientation-induced biomimetic chemotaxis

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National Science Review 2021年第11期8卷 102-109页

作者： Fangzhi Mou Qi Xie Jianfeng Liu Shengping Che Lamya Bahmane Ming You Jianguo Guan State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and EngineeringWuhan University of Technology

Synthetic chemotactic micro/nanomotors are envisioned to actively ’seek out’ targets by following specific chemicals,but they are mainly powered by bioincompatible fuels and only show pseudochemotaxis(or advanced chemokinesis) due to their weak self-reorientation capabilities.Here we demonstrate that synthetic ZnO-based Janus micromotors can be powered by the alternative biocompatible fuel of CO2,and further provide the first example of self-reorientation-induced biomimetic chemotaxis using them.The ZnO-based micromotors are highly sensitive to dissolved CO2in water,which enables the corrosion of ZnO to continuously occur by providing H~+ through hydration.Thus,they can autonomously move even in water exposed to air based on self-diffusiophoresis.Furthermore,they can sense the local CO2gradient and perform positive chemotaxis by self-reorientations under the phoretic torque.Our discovery opens a gate to developing intelligent micro/nanomotors powered by,and sensitive to,biocompatible atmospheric or endogenous gaseous chemicals for biomedical and environmental applications.

关键词： micro/nanomotors zinc oxide carbon dioxide self-propulsion chemotaxis

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Mesoporous silica as micro/nano-carrier： From passive to active cargo delivery, a mini review

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Journal of Materials Science & Technology 2017年第10期33卷 1067-1074页

作者： Xing Ma Huanhuan Feng Chunyan Liang Xiaojia Liu Fanyu Zeng Yong Wang Sate Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China Key Laboratory of Micro-systems and Micro-structures Manufacturing of Ministry of Education Harbin Institute of Technology Harbin 150001 China

Mesoporous silica has been widely explored for biomedical applications due to its unique structure and good biocompatibility. In particular it exhibits superior properties as micro/nano-carriers in the biomedical field. We explore their potentials in controlled drug/gene co-delivery and photodynamic therapy for cancer treatment both in vitro and in vivo. By incorporating mesoporous silica nanoparticles（MSNP） with two-dimensional nanomaterial, graphene oxide nano-sheet, we utilize MSNP in cellular bio-imaging with squaraine dye. Meanwhile, through delicate combination between mesoporous silica micro/nano carriers with catalytic/bio-catalytic reactions, we manage to achieve self-propelled micro/nano-motors based on mesoporous silica that are capable of transporting cargos in an active manner. Especially, enzyme powered mesoporous silica motors can be powered by physiologically available fuels such as glucose and urea,which are advantageous for future biomedical use. Motion control on both velocity and movement direction provides a powerful tool for targeted drug delivery. Therefore, such mesoporous silica based active carriers pave way to the solution of targeted drug delivery for cancer treatment in future nano-medicine field.

关键词： Mesoporous silica Micro/nano-carrier Drug delivery self-propulsion Active carrier

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Effect of flexibility on unsteady aerodynamics forces of a purely plunging airfoil

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Chinese Journal of Aeronautics 2020年第1期33卷 88-101页

作者： Chao ZHOU Yanlai ZHANG Jianghao WU School of Transportation Science and Engineering Beihang UniversityBeijing 100083China

Introducing flexibility into the design of a vertically flapping wing is an effective way to enhance its aerodynamic performance.As less previous studies on the aerodynamics of vertically flapping flexible wings focused on the lift generated in a wide range of angle of attack·a 2D numerical simulation of a purely plunging flexible airfoil is employed using a loose fluid–structure interaction method.The aerodynamics of a fully flexible airfoil are firstly studied with the flexibility and angle of attack.To verify whether an airfoil could get aerodynamic benefit from the change in structure,partially flexible airfoil with rigid leading edge and flexible trailing edge were further considered.Results show that flexibility could always reduce airfoil drag while lift and lift efficiency both peak at moderate flexibility.When freestream velocity is constant,lift is maximized at a high angle of attack about 40°while this optimal angle of attack reduces to 15°in drag-balanced status.The airfoil drag reduction,lift augmentation as well as efficiency enhancement mainly attribute to the passive pitching other than the camber deformation.Partially deformed airfoil with the longest length of moderate flexible trailing edge can achieve the highest lift.This study may provide some guidance in the wing design of Micro Air Vehicle(MAV).

关键词： Aerodynamic forces Flexibility Fluid structure interaction Low Reynolds number Plunging airfoil self-propulsion

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Magnetic swarming microrobots: from fundamentals to applications

Magnetic swarming microrobots: from fundamentals to applicat...

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中国化学会第十七届全国胶体与界面化学学术会议

作者：张立 Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong Kong CUHK T Stone Robotics Institute The Chinese University of Hong Kong

People have envisioned tiny machines and robots that can explore the human body, find and treat diseases since Richard Feynman’s famous speech, "There’s plenty of room at the bottom," in which the idea of a "swallowable surgeon" was proposed in the 1950 s. Even though we are at a state of infancy to achieve this vision, recent intense progress on nanotechnology, MEMS/NEMS technology and micro-/nanorobotics has accelerated the pace toward the goal. A number of research efforts have been recently published regarding the development of tiny swimming machines/robots from the basic principles and fabrication methods to practical applications. I will present the recent research progress in my lab on using a large number of microrobots [1-6], from the design, magnetic actuation, to perspective of using these small agents for varied potential applications.

关键词： Colloidal motors self-propulsion Swarm dynamic self-assembly non-equilibrium

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