Artificial Cilia 1 0 0 P F 8- 9 0 7 3 7 9 4 8 1 8 7 9 9/ 3 0 1 0. 1 oi: d g | or c. s s.r b u p p:// htt n o aded y 2013 oa nlM w1 o3 Dn o d e h s bli u P View Online RSC Nanoscience & Nanotechnology Series Editors: Professor Paul O’Brien, ,U(cid:255) K Professor Sir Harry Kroto FRS, University of Sussex, UK Professor Ralph Nuzzo, University of Illinois at Urbana-Champaign, USA 1 0 0 FP Titles in the Series: 98- 1: Nanotubes and Nanowires 0 37 2: Fullerenes: Principles and Applications 7 9 3: Nanocharacterisation 4 18 4: Atom Resolved Surface Reactions: Nanocatalysis 8 7 5: Biomimetic Nanoceramics inClinical Use: From Materials to Applications 9 9/ 6: Nanofluidics: Nanoscience and Nanotechnology 3 0 1 7: Bionanodesign: Following Nature’s Touch 0. 1 8: Nano-Society: Pushing the Boundaries of Technology doi: 9: Polymer-based Nanostructures: Medical Applications g | 10: Metallic and Molecular Interactions in Nanometer Layers, Pores and c.or Particles: New Findings at the Yoctolitre Level s s.r 11: Nanocasting: A Versatile Strategy for Creating Nanostructured Porous ub Materials p p:// 12: Titanate and Titania Nanotubes: Synthesis, Properties and Applications htt 13: Raman Spectroscopy,Fullerenes and Nanotechnology on 14: Nanotechnologies in Food aded y 2013 1156:: UPonlryamveerlliNnganSoincgolmepCoeslilteGsebnyomEmicsu:lsMioincraonadnSduNspaennositoonols oa 17: Phage Nanobiotechnology nlM w1 18: Nanotubes and Nanowires: 2ndEdition o3 Dn 19: Nanostructured Catalysts: Transition Metal Oxides o d 20: Fullerenes: Principles and Applications, 2nd Edition e sh 21: Biological Interactions with Surface ChargeBiomaterials ubli 22: Nanoporous Gold: From an Ancient Technology to a High-Tech Material P 23: Nanoparticles inAnti-Microbial Materials: Use and Characterisation 24: ManipulationofNanoscaleMaterials:AnIntroductiontoNanoarchitectonics 25:TowardsEfficientDesigningofSafeNanomaterials:InnovativeMergeof ComputationalApproachesandExperimentalTechniques 26:Polymer–GrapheneNanocomposites 27:CarbonNanotube-PolymerComposites 28:NanosciencefortheConservationofWorksofArt 29:PolymerNanofibers:BuildingBlocksforNanotechnology 30:ArtificialCilia How to obtain future titles on publication: A standing order plan is available for this series. A standing order will bring delivery of each new volume immediately on publication. For further information please contact: Book Sales Department, Royal Society of Chemistry, Thomas Graham House, Science Park, Milton Road, Cambridge, CB4 0WF, UK Telephone:+44(0)1223420066,Fax:+44(0)1223420247 Email:[email protected] Visitourwebsiteatwww.rsc.org/books View Online Artificial Cilia 1 0 0 P F 8- 09 Edited by 7 3 7 9 84 Jaap M J den Toonder 1 8 7 Philips Research, High Tech Campus 7, Eindhoven, The Netherlands 9 39/ Email: [email protected] 0 1 0. 1 doi: Patrick R Onck org | University of Groningen, Zernike Institute for Advanced Materials, sc. The Netherlands bs.r Email: [email protected] u p p:// htt n o aded y 2013 oa nlM w1 o3 Dn o d e h s bli u P View Online 1 0 0 P F 8- 9 0 7 3 7 9 4 8 1 8 7 9 9/ 3 0 1 0. 1 oi: d g | or c. s s.r b u p p:// RSCNanoscience&NanotechnologyNo.30 n htt ISBN: 978-1-84973-597-1 aded y 2013 o IASScNat:al1o7g5u7e-7re1c3o6rdforthisbookisavailablefromtheBritishLibrary oa nlM w1 rTheRoyalSocietyofChemistry2013 o3 Dn o d Allrightsreserved e h s bli Apartfromfairdealingforthepurposesofresearchfornon-commercialpurposesorfor u P privatestudy,criticismorreview,aspermittedundertheCopyright,DesignsandPatents Act1988andtheCopyrightandRelatedRightsRegulations2003,thispublicationmaynot bereproduced,storedortransmitted,inanyformorbyanymeans,withouttheprior permissioninwritingofTheRoyalSocietyofChemistryorthecopyrightowner,orinthe caseofreproductioninaccordancewiththetermsoflicencesissuedbytheCopyright LicensingAgencyintheUK,orinaccordancewiththetermsofthelicencesissuedbythe appropriateReproductionRightsOrganizationoutsidetheUK.Enquiriesconcerning reproductionoutsidethetermsstatedhereshouldbesenttoTheRoyalSocietyof Chemistryattheaddressprintedonthispage. TheRSCisnotresponsibleforindividualopinionsexpressedinthiswork. PublishedbyTheRoyalSocietyofChemistry, ThomasGrahamHouse,SciencePark,MiltonRoad, CambridgeCB40WF,UK RegisteredCharityNumber207890 Forfurtherinformationseeourwebsiteatwww.rsc.org PrintedintheUnitedKingdombyHenryLingLimited,Dorchester,DT11HD,UK 5 0 0 P F Preface 8- 9 0 7 3 7 9 4 8 1 8 7 9 9/ 3 10 The idea for this book was born in December 2010 during the 2nd European 0. oi:1 ConferenceonMicrofluidics(mFlu’10).Duringthatconferenceweorganizeda g | d special session on cilia-driven flow, with beautiful contributions by many or groups showing a variety of approaches to flow generation inspired by c. s biologicalcilia.Itbecamecleartousthatthisexcitingfieldwoulddeservetobe s.r ub broughttotheattentionofawideraudiencebecauseofitsdirectrelevancefor p p:// practicalapplicationsinmicro-fluidicsandlab-on-a-chipdevices,becauseofits htt inherent multi-disciplinary nature (combining fields such as fluid mechanics, n o materials science, biology, numerical modelling and experimental fluid char- aded y 2013 aincstperirizeastcioienn)t,ifibcutanadlsotecshimnoplloygbiceacladuesveetlhoipsmfieenldts.exemplifies how biology can oa wnl1 M Most ofthepresentersinthat specialsessionhavecontributedtothis book, o3 Dn andwebelieveitgivesagoodoverviewofthestatusofthefieldofartificialcilia, o d ranging from design and actuation approaches, fabrication methods, char- e h s acterization and modelling, to micro-fluidics applications. bli u We thank the European Committee for funding the project ‘Artic’, which P madeitpossibleforustoplayaroleintheinitialstagesofthisemergingfield. We thank the mFlu’10 committee for the opportunity to organize the session dealingwithcilia-drivenflow.WethanktheRoyalSocietyofChemistryforthe possibilitytopublishthebookandforallthepracticalsupport.And,wethank all the authors for their excellent contributions! We hope that readers will be inspired by this book, just as we have been inspired by these intriguing little hairs called cilia! Jaap den Toonder and Patrick Onck RSCNanoscience&NanotechnologyNo.30 ArtificialCilia EditedbyJaapMJdenToonderandPatrickROnck rTheRoyalSocietyofChemistry2013 PublishedbytheRoyalSocietyofChemistry,www.rsc.org v View Online 5 0 0 P F 8- 9 0 7 3 7 9 4 8 1 8 7 9 9/ 3 0 1 0. 1 oi: d g | or c. s s.r b u p p:// htt n o aded y 2013 oa nlM w1 o3 Dn o d e h s bli u P 7 0 0 P F Contents 8- 9 0 7 3 7 9 4 8 1 8 7 9 9/ Chapter 1 Introduction 1 3 0 Jaap den Toonder and Patrick Onck 1 0. 1 doi: 1.1 Natural Cilia 1 g | 1.2 Low Reynolds Number Flows 7 or c. 1.3 Artificial Cilia: Micro-fluidics Applications 8 s bs.r 1.4 This Book: An Overview of Artificial Cilia Research u p://p and Technologies 9 htt 1.5 Perspectives: Looking at the Future 11 on References 12 aded y 2013 oa nlM Section 1 Theoretical and Numerical Descriptions of Artificial Cilia w1 o3 Dn Chapter 2 Numerical Model for Artificial Cilia 17 o ed Holger Stark h s bli u P 2.1 Introduction 17 2.2 Bead-spring Model for Artificial Cilia 19 2.2.1 Method of Mobilities 19 2.2.2 Rotne-Prager Approximation 21 2.2.3 Stretching and Bending Forces 22 2.2.4 The Sperm Number 23 2.3 A Superparamagnetic Filament for Fluid Transport 24 2.3.1 Actuation of the Filament 25 2.3.2 Pumping Performance 25 2.3.3 Two-dimensional Stroke 26 RSCNanoscience&NanotechnologyNo.30 ArtificialCilia EditedbyJaapMJdenToonderandPatrickROnck rTheRoyalSocietyofChemistry2013 PublishedbytheRoyalSocietyofChemistry,www.rsc.org vii View Online viii Contents 2.3.4 Metachronal Waves 30 2.3.5 Three-dimensional Stroke 33 2.4 Summary 34 References 35 7 0 0 FP Chapter 3 Computational Design of Magnetic Artificial Cilia 39 98- S. N. Khaderi, J. M. J. Den Toonder and P. R. Onck 0 7 3 7 49 3.1 Introduction 39 8 81 3.2 Equations of Motion 40 7 9/9 3.2.1 Governing Equations 40 3 0 3.2.2 Dimensionless Parameters 43 1 10. 3.3 Asymmetric Configurations 43 doi: 3.3.1 Curled Permanently Magnetic Cilia 44 g | 3.3.2 Super-paramagnetic Cilia 45 or c. 3.4 Fluid Transport 45 s bs.r 3.4.1 Basic Mechanism 47 u http://p 3.5 E3.ff4e.2ct oEfffCehctanonfeFllDuiidmIennesriotinas 4573 n 3.5.1 Closed-loop Channel 54 o aded y 2013 3.6 O3.u5t.2-of-Ophpaesne-lMoooptiConhaonfnCelilia 5575 oa nlM 3.7 Design Guidelines 59 ow31 References 59 Dn o d e h s ubli Chapter 4 ModelingtheInteractionof Active Cilia with P Speciesin Solution: From ChemicalReagents to Microscopic Particles 63 Pratyush Dayal, Olga Kuksenok, Amitabh Bhattacharya, Gavin A. Buxton, O. Berk Usta and Anna C. Balazs 4.1 Introduction 63 4.2 Modeling the Interaction of Belousov–Zhabotinsky Cilia and Reagents in Solution 65 4.2.1 Methodology 65 4.2.2 Results and Discussion 67 4.3 Modeling the Interaction of Adhesive Cilia with Microscopic Particles 76 4.3.1 Methodology 77 4.3.2 Results and Discussion 80 4.4 Conclusions 85 Acknowledgement 86 References 86 View Online Contents ix Section 2 Experimental Approaches to Create Artificial Cilia Chapter 5 Electrostatic Artificial Cilia 91 Jaap M. J. den Toonder 5.1 Introduction 91 7 0 0 5.2 Flow Generation and Micro-mixing by Electrostatic P F 8- Artificial Cilia 92 9 0 5.2.1 Electrostatic Artificial Cilia 92 7 3 7 5.2.2 Particle Tracking Experiments 94 9 4 8 5.2.3 Mixing Experiments 95 1 8 7 5.2.4 Optical Coherence Tomography Experiments 99 9 39/ 5.3 Uncovering the Mechanism of Fluid Manipulation 0 1 0. Using Electrostatic Artificial Cilia 100 1 oi: 5.3.1 The Numerical Model 101 d g | 5.3.2 Results 104 or 5.4 Fabrication and Experimental and Numerical c. s s.r Methods 107 b pu 5.4.1 Manufacturing of the Artificial Cilia 107 p:// 5.4.2 Manufacturing of the Mixing Channel 108 n htt 5.4.3 Driving the Artificial Cilia 108 o aded y 2013 55..44..45 HPaigrthic-slepeTerdacCkainmgerMaeMaseuarseumreemntesnts 111100 oa 5.4.6 Mixing Visualization Experiments 111 nlM w1 5.4.7 Optical Coherence Tomography o3 Don Measurements 111 d e 5.4.8 Numerical Implementation 112 h s bli 5.5 Conclusions 113 u P Acknowledgement 113 References 113 Chapter 6 Ferromagnetic Cilia 116 Francis Fahrni and Leo J. van Ijzendoorn 6.1 Introduction 116 6.2 (Ferro-)magnetic Actuation and Scaling Behaviours 118 6.2.1 Torque 118 6.2.2 Gradient Force 119 6.2.3 Scaling 121 6.2.4 Ferromagnetic Versus Super-paramagnetic 123 6.3 Fabrication and Experimental Methods 125 6.3.1 Ferromagnetic Polydimethylsiloxane Composite 125 6.3.2 Fabrication of High Aspect Ratio Lying Artificial Cilia 126 View Online x Contents 6.3.3 Quadrupole Set-up for a Rotating Magnetic Field 128 6.3.4 Closed Micro-fluidic Channel Assembly and Particle Tracking Experiments 129 6.4 Results and Discussion 130 07 6.4.1 Magnetization of the Ferromagnetic PDMS 0 P Composite 130 F 98- 6.4.2 ActuationofArtificialCiliainaHomogeneous 0 37 Rotating Magnetic Field 131 7 49 6.4.3 Fluid Manipulations by Ferromagnetic Cilia 136 8 81 6.5 Conclusion 138 7 9/9 Acknowledgements 138 3 0 References 138 1 0. 1 oi: d g | Chapter 7 Light-actuated Artificial Cilia Based on Liquid Crystal or Networks 142 c. s.rs Casper L. van Oosten, Cees W. M. Bastiaansen and b u Dirk J. Broer p p:// n htt 7.1 Introduction 142 o aded y 2013 7.2 AExnpisaontsrioopny in Mechanical Properties and Thermal 144 oa 7.3 Molecular Alignment Configurations 146 nlM w1 7.4 Light-induced Deformation 148 o3 Don 7.5 Inkjet Printing Actuators: Towards Polymer Cilia 151 d e 7.6 Conclusion 159 h s bli Acknowledgement 159 u P References 159 Chapter8 Hydrogel-ActuatedIntegratedResponsiveSystems(HAIRS): Creating Cilia-like ‘Hairy’ Surfaces 162 Alison Grinthal and Joanna Aizenberg 8.1 Introduction 162 8.2 Creating the Lexicon of Nanohair Motions 164 8.2.1 Nanohair Gymnastic Abilities 164 8.2.2 Programming the Elements of Motion 167 8.2.3 Cooperation with the Solvent 169 8.3 HydrogelastheDrivingForce:NanohairsMeetTheir Match 171 8.3.1 Tailoring Hydrogels as Chemo-mechanical Transducers 171 8.3.2 Putting Hairs and Gels Together 173 8.3.3 Sculpting the Gel 174