Magnetic-field-induced propulsion of jellyfish-inspired soft robotic swimmers

The multifaceted appearance of soft robots in the form of swimmers, catheters, surgical devices, and drug-carrier vehicles in biomedical and microfluidic applications is ubiquitous today. Jellyfish-inspired soft robotic swimmers (jellyfishbots) have been fabricated and experimentally characterized by several researchers that reported their swimming kinematics and multimodal locomotion. However, the underlying physical mechanisms that govern magnetic-field-induced propulsion are not yet fully understood. Here, we use a robust and efficient computational framework to study the jellyfishbot swimming kinematics and the induced flow field dynamics through numerical simulation. We consider a two-dimensional model jellyfishbot that has flexible lappets, which are symmetric about the jellyfishbot center. These lappets exhibit flexural deformation when subjected to external magnetic fields to displace the surrounding fluid, thereby generating the thrust required for propulsion. We perform a parametric sweep to explore the jellyfishbot kinematic performance for different system parameters—structural, fluidic, and magnetic. In jellyfishbots, the soft magnetic composite elastomeric lappets exhibit temporal and spatial asymmetries when subjected to unsteady external magnetic fields. The average speed is observed to be dependent on both these asymmetries, quantified by the glide magnitude and the net area swept by the lappet tips per swimming cycle, respectively. We observe that a judicious choice of the applied magnetic field and remnant magnetization profile in the jellyfishbot lappets enhances both these asymmetries. Furthermore, the dependence of the jellyfishbot swimming speed upon the net area swept (spatial asymmetry) is twice as high as the dependence of speed on the glide ratio (temporal asymmetry). Finally, functional relationships between the swimming speed and different kinematic parameters and nondimensional numbers are developed. Our results provide guidelines for the design of improved jellyfish-inspired magnetic soft robotic swimmers

The origin of stiffening in cross-linked semiflexible networks

Strain stiffening of protein networks is explored by means of a finite strain analysis of a two-dimensional network model of cross-linked semiflexible filaments. The results show that stiffening is caused by non-affine network rearrangements that govern a transition from a bending dominated response at small strains to a stretching dominated response at large strains. Thermally-induced filament undulations only have a minor effect; they merely postpone the transition.Comment: 5 pages, 5 figure

Three-dimensional cross-linked F-actin networks:Relation between network architecture and mechanical behavior

Numerical simulations are reported for the response of three-dimensional cross-linked F-actin networks when subjected to large deformations. In addition to the physiological parameters such as actin and cross-linker concentration, the model explicitly accounts for filament properties and network architecture. Complementary to two-dimensional studies, we find that the strain-stiffening characteristics depend on network architecture through the local topology around cross-links

Self-organization of linear nanochannel networks

A theoretical study has been conducted to explore the mechanics of self-organizing channel networks with dimensions in the submicron range and nanorange. The channels form by the partial release and bond back of prestressed thin films. In the release phase, the film spontaneously buckles into wrinkles of a certain wavelength, followed by a bond-back phase in which the final channel geometry is established through cohesive interface attractions. Results are presented in terms of the channel spacing, height, and width as a function of the film stiffness, thickness, eigenstrain, etch width, and interface energy. We have identified two dimensionless parameters that fully quantify the network assembly, showing excellent agreement with experiments. Our results provide valuable insight for the design of submicron and nanoscale channel networks with specific geometries

Fluid flow due to collective non-reciprocal motion of symmetrically-beating artificial cilia

Using a magneto-mechanical solid-fluid numerical model for permanently magnetic artificial cilia, we show that the metachronal motion of symmetrically beating cilia establishes a net pressure gradient in the direction of the metachronal wave, which creates a unidirectional flow. The flow generated is characterised as a function of the cilia spacing, the length of the metachronal wave, and a dimensionless parameter that characterises the relative importance of the viscous forces over the elastic forces in the cilia

Numerical study on load-bearing capabilities of beam-like lattice structures with three different unit cells

The design and analysis of lattice structures manufactured using Additive Manufacturing (AM) technique is a new approach to create lightweight high-strength components. However, it is difficult for engineers to choose the proper unit cell for a certain function structure and loading case. In this paper, three beam-like lattice structures with triangular prism, square prism and hexagonal prism were designed, manufactured by SLM process using AlSi10Mg and tested. The mechanical performances of lattice structures with equal relative density, equal base area and height, and equal length for all unit cells were conducted by Finite Element Analysis (FEA). It was found that effective Young’s modulus is proportional to relative density, but with different affecting levels. When the lattice structures are designed with the same relative density or the same side lengths, the effective Young’s modulus of lattice structure with triangular prism exhibits the maximum value for both cases. When the lattice structures are designed with the same base areas for all unit cells, the effective Young’s modulus of lattice structures with square prism presents the maximum. FEA results also show that the maximum stress of lattice structures with triangular prisms in each comparison is at the lowest level and the stiffness-to-mass ratio remains at the maximum value, showing the overwhelming advantages in terms of mechanical strength. The excellent agreements between numerical results and experimental tests reveal the validity of FEA methods applied. The results in this work provide an explicit guideline to fabricate beam-like lattice structures with the best tensile and bending capabilities