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The feeding performance of zooplankton influences their evolution and can explain their behaviour. A commonly used metric for feeding performance is the volume of fluid that flows through a filtering surface and is scanned for food. Here, we show that such a metric may give incorrect results for organisms that produce recirculatory flows, so that fluid flowing through the filter may have been already filtered of food. In a numerical model, we construct a feeding metric that correctly accounts for recirculation in a sessile model organism inspired by our experimental observations ofVorticellaand its flow field. Our metric tracks the history of current-borne particles to determine if they have already been filtered by the filtering surface. Examining the pathlines of food particles reveals that the capture of fresh particles preferentially involves the tips of cilia, which we corroborate in observations of feedingVorticella. We compare the amount of fresh nutrient particles carried to the organism with other metrics of feeding, and show that metrics that do not take into account the history of particles cannot correctly compute the volume of freshly scanned fluid. 

Abstract This paper seeks to design, develop, and explore the locomotive dynamics and morphological adaptability of a bacteria-inspired rod-like soft robot propelled in highly viscous Newtonian fluids. The soft robots were fabricated as tapered, hollow rod-like soft scaffolds by applying a robust and economic molding technique to a polyacrylamide-based hydrogel polymer. Cylindrical micro-magnets were embedded in both ends of the soft scaffolds, which allowed bending (deformation) and actuation under a uniform rotating magnetic field. We demonstrated that the tapered rod-like soft robot in viscous Newtonian fluids could perform two types of propulsion; boundary rolling was displayed when the soft robot was located near a boundary, and swimming was displayed far away from the boundary. In addition, we performed numerical simulations to understand the swimming propulsion along the rotating axis and the way in which this propulsion is affected by the soft robot’s design, rotation frequency, and fluid viscosity. Our results suggest that a simple geometrical asymmetry enables the rod-like soft robot to perform propulsion in the low Reynolds number ( Re ≪ 1) regime; these promising results provide essential insights into the improvements that must be made to integrate the soft robots into minimally invasive in vivo applications. 

Abstract Microscale propulsion impacts a diverse array of fields ranging from biology and ecology to health applications, such as infection, fertility, drug delivery, and microsurgery. However, propulsion in such viscous drag-dominated fluid environments is highly constrained, with time-reversal and geometric symmetries ruling out entire classes of propulsion. Here, we report the spontaneous symmetry-breaking propulsion of rotating spherical microparticles within non-Newtonian fluids. While symmetry analysis suggests that propulsion is not possible along the fore-aft directions, we demonstrate the existence of two equal and opposite propulsion states along the sphere’s rotation axis. We propose and experimentally corroborate a propulsion mechanism for these spherical microparticles, the simplest microswimmers to date, arising from nonlinear viscoelastic effects in rotating flows similar to the rod-climbing effect. Similar possibilities of spontaneous symmetry-breaking could be used to circumvent other restrictions on propulsion, revising notions of microrobotic design and control, drug delivery, microscale pumping, and locomotion of microorganisms. 

Future medical microrobots, which are likely to be simple microstructures with no actual computational intelligence on board, can be functionalized to perform targeted therapy in the body. In this paper, we describe how the properties of rotating magnetic dipole fields have the potential to enable in vivo swarm control for the popular class of magnetic microrobots that convert rotation into forward propulsion. The methods we describe can be used with swarms of batch-fabricated homogeneous microrobots, and do not require any localization information beyond what is realistically obtainable from medical images. 

Nano/microrobotic swimmers have many possible biomedical applications such as drug delivery and micro-manipulation. This paper examines one of the most promising classes of these: rigid magnetic microrobots that are propelled through bulk fluid by rotation induced by a rotating magnetic field. Propulsion corresponds to steadily rotating and translating solutions of the dynamics of such microrobots that co-rotate with the magnetic field. To be observed in experiments and be amenable to steering control, such solutions must also be stable to perturbations. In this paper, we analytically derive a criterion for the stability of such steadily rotating solutions for a microrobot made of soft magnetic materials, which have a magnetization that depends on the applied field. This result generalizes previous stability criteria we obtained for microrobots with a permanent magnetization.