Water strider-inspired design of a water walking robot using superhydrophobic Al surface

Abstract

Aquatic microrobots, which can walk freely on water mimicking water striders, have attracted considerable interest among scientists in biomimetic area. Most of previous water strider robots adopted gear pairs as their driving mechanism, which called for high assembly precision and thereby increased the processing difficulty. Here, a novel and simple method using servos as the driving module to prepare water walking robot was proposed. We fabricated this robot by using supporting and actuating legs with excellent superhydrophobicity. Our robot weighted 27.9?g, but could float and run quickly driven by mini-type servos under remote Bluetooth control in mobile terminal. The legs were obtained on Al substrates by chemical etching, boiling-water immersion and low surface energy modification. Then, surface morphology and chemical compositions were subsequently investigated by SEM, EDS and XRD. In order to better illustrate the floating and rowing mechanism of this robot on the water surface, mechanics analysis models were proposed to analyze the lifting force and resistance force, respectively. Due to its excellent floating capacity and rowing ability, the biomimetic robot has promising application potential in water quality monitoring, aquatic exploration, and other surveillance missions.     

Hysteresis controlled water droplet splitting on superhydrophobic paper

Fabrication of surfaces with heterogeneous contact angle hysteresis enables extraction of droplet samples from bulk liquid volumes. These surfaces are created by printing high hysteresis wax islands onto low hysteresis superhydrophobic paper. The volume of the sampled droplets depends on the hysteresis of the printed islands, which can be controlled through both physical and chemical means. Physically, hysteresis is modified through the addition of surface roughness. Chemical hysteresis is tuned by changing the active chemical groups present on the wax surface. The observed control of the volume of sampled droplets, which is necessary for quantitative biochemical or chemical assays, extends to scenarios in which multiple droplet samples are extracted simultaneously from a single bulk droplet. Demonstration of the capacity of this technique to perform colorimetric glucose immunoassays is described. The ability to obtain well-defined microliter sample volumes and to extract several samples simultaneously from the same source enables the development of two-dimensional paper-based microfluidic devices for biomedical testing.     

Dynamic effects of bouncing water droplets on superhydrophobic surfaces

Superhydrophobic surfaces have considerable technological potential for various applications due to their extreme water repellent properties. Superhydrophobic surfaces may be generated by the use of hydrophobic coating, roughness, and air pockets between solid and liquid. Dynamic effects, such as the bouncing of a droplet, can destroy the composite solid-air-liquid interface. The relationship between the impact velocity of a droplet and the geometric parameters affects the transition from the solid-air-liquid interface to the solid-liquid interface. Therefore, it is necessary to study the dynamic effect of droplets under various impact velocities. We studied the dynamic impact behavior of water droplets on micropatterned silicon surfaces with pillars of two different diameters and heights and with varying pitch values. A criterion for the transition from the Cassie and Baxter regime to the Wenzel regime based on the relationship between the impact velocity and the parameter of patterned surfaces is proposed. The trends are explained based on the experimental data and the proposed transition criterion. For comparison, the dynamic impact behavior of water droplets on nanopatterned surfaces was investigated. The wetting behavior under various impact velocities on multiwalled nanotube arrays also was investigated. The physics of wetting phenomena for bouncing water droplet studies here is of fundamental importance in the geometrical design of superhydrophobic surfaces.     

Impact of droplets onto inclined surfaces

Drop impacts onto dry walls and liquid films at low impact angles and low normal Weber numbers are experimentally investigated. Measurements were performed using a high spatial resolution CCD camera and short exposure times, yielding both qualitative and quantitative information about the impact. Whereas a droplet generally deposits on the surface for high impact angles, a rebound can occur at lower angles and for smooth or wetted surfaces. No rebound is observed for rough surfaces. A low viscous liquid (water) will either rebound or deposit on smooth or wetted surfaces. A high viscous liquid (glycerin) may also disjoin into two droplets, depending on the impact angle. A correlation is presented for the size of the secondary droplet. A further correlation quantifies the critical impact angle at which rebounding first occurs in terms of the normal Weber number.     

Benzocyclobutene: The Impact of Fusing a Strained Ring onto Benzene

The gas-phase acidities of the two aromatic sites in benzocyclobutene were measured in a Fourier transform mass spectrometer using a kinetic technique (i.e., the DePuy method). Fusion of a cyclobutane ring onto benzene is found to have a slight acidifying effect at the alpha-position (3.2 +/- 1.7 kcal mol(-)(1)) and little, if any, influence on the beta-site (0.8 +/- 1.9 kcal mol(-)(1)). Energetic data (DeltaH degrees (acid) = 386.2 +/- 3.0 kcal mol(-)(1), EA = 0.84 +/- 0.11 eV, and C-H BDE = 92 +/- 4 kcal mol(-)(1)) for the benzylic position were obtained via the bracketing technique and application of a thermodynamic cycle. Differences in the reactivities of the three conjugate bases also were explored. Ab initio and density functional theory calculations were carried out to provide geometries, energies, and insights into the carbanions' electronic structures.     

Microdroplet growth mechanism during water condensation on superhydrophobic surfaces

By promoting dropwise condensation of water, nanostructured superhydrophobic coatings have the potential to dramatically increase the heat transfer rate during this phase change process. As a consequence, these coatings may be a facile method of enhancing the efficiency of power generation and water desalination systems. However, the microdroplet growth mechanism on surfaces which evince superhydrophobic characteristics during condensation is not well understood. In this work, the sub-10 μm dynamics of droplet formation on nanostructured superhydrophobic surfaces are studied experimentally and theoretically. A quantitative model for droplet growth in the constant base (CB) area mode is developed. The model is validated using optimized environmental scanning electron microscopy (ESEM) imaging of microdroplet growth on a superhydrophobic surface consisting of immobilized alumina nanoparticles modified with a hydrophobic promoter. The optimized ESEM imaging procedure increases the image acquisition rate by a factor of 10-50 as compared to previous research. With the improved imaging temporal resolution, it is demonstrated that nucleating nanodroplets coalesce to create a wetted flat spot with a diameter of a few micrometers from which the microdroplet emerges in purely CB mode. After the droplet reaches a contact angle of 130-150°, its base diameter increases in a discrete steplike fashion. The droplet height does not change appreciably during this steplike base diameter increase, leading to a small decrease of the contact angle. Subsequently, the drop grows in CB mode until it again reaches the maximum contact angle and increases its base diameter in a steplike fashion. This microscopic stick-and-slip motion can occur up to four times prior to the droplet coalescence with neighboring drops. Lastly, the constant contact angle (CCA) and the CB growth models are used to show that modeling formation of a droplet with a 150° contact angle in the CCA mode rather than in the CB mode severely underpredicts both the drop formation time and the average heat transfer rate through the drop.     

Investigating the interface of superhydrophobic surfaces in contact with water

Neutron reflectivity (NR) is used to probe the solid, liquid, vapor interface of a porous superhydrophobic (SH) surface submerged in water. A low-temperature, low-pressure technique was used to prepare a rough, highly porous organosilica aerogel-like film. UV/ozone treatments were used to control the surface coverage of hydrophobic organic ligands on the silica framework, allowing the contact angle with water to be continuously varied over the range of 160 degrees (superhydrophobic) to <10 degrees (hydrophilic). NR shows that the superhydrophobic nature of the surface prevents infiltration of water into the porous film. Atomic force microscopy and density functional theory simulations are used in combination to interpret the NR results and help establish the location, width, and nature of the SH film-water interface.     

Impact of picoliter droplets on superhydrophobic surfaces with ultralow spreading ratios

The impact of picoliter-sized water droplets on superhydrophobic CF(4) plasma fluorinated polybutadiene surfaces is investigated with high-speed imaging. Variation of the surface topography by plasmachemical modification enables the dynamics of wetting to be precisely controlled. Final spreading ratios as low as 0.63 can be achieved. A comparison of the maximum spreading ratio and droplet oscillation frequencies to models described in the literature shows that both are found to be much lower than theoretically predicted.     

Accumulation of monomolecular polystyrene particles from a water surface onto a substrate

Monomolecular particles of polystyrene (M_w/M_n = 1.04, M_w = 3.84 ? 10⁶) formed by spreading of a dilute solution in benzene over a water surface were successfully accumulated onto a hydrophobic substrate by the horizontal lifting method. The accumulation was quantitative (up to 66 layers) to give a multilayer film. The substrates used were silicon single crystals, quartz coated with an iron(III) stearate monolayer, and poly(methylmethacrylate) plates. The film contained voids amounting to 20-30 vol%. The surface structure observed by transmission electron microscopy clearly showed a multilayer, particle structure. These facts indicate that the molecules exist as monomolecular particles in the film. The film should be a suitable material to study properties of polymeric monomolecules in a very unusual state as compared with the ordinary solid.     

Preparation of a superhydrophobic rough surface

The relationship between the contact angles, surface tension, and surface roughness is reviewed. Numerical formulas related to the superhydrophobic rough surfaces of polymers are predicted with two approaches, the Wenzel and Cassie–Baxter models. With these models as a guide, an artificial superhydrophobic surface is created. Rough nylon surfaces mimicking the lotus leaf are created by the coating of a polyester surface with nylon‐6,6 short fibers via the flocking process. Poly(acrylic acid) chains aregrafted onto nylon‐6,6 surfaces, and this is followed by the grafting of 1H,1H‐perfluorooctylamine onto the poly(acrylic acid) chains. Water contact angles as high as 178° are achieved. © 2006 Wiley Periodicals, Inc. J Polym Sci Part B: Polym Phys 45: 253–261, 2007.     

Nanostructures increase water droplet adhesion on hierarchically rough superhydrophobic surfaces

Hierarchical roughness is known to effectively reduce the liquid-solid contact area and water droplet adhesion on superhydrophobic surfaces, which can be seen for example in the combination of submicrometer and micrometer scale structures on the lotus leaf. The submicrometer scale fine structures, which are often referred to as nanostructures in the literature, have an important role in the phenomenon of superhydrophobicity and low water droplet adhesion. Although the fine structures are generally termed as nanostructures, their actual dimensions are often at the submicrometer scale of hundreds of nanometers. Here we demonstrate that small nanometric structures can have very different effect on surface wetting compared to the large submicrometer scale structures. Hierarchically rough superhydrophobic TiO(2) nanoparticle surfaces generated by the liquid flame spray (LFS) on board and paper substrates revealed that the nanoscale surface structures have the opposite effect on the droplet adhesion compared to the larger submicrometer and micrometer scale structures. Variation in the hierarchical structure of the nanoparticle surfaces contributed to varying droplet adhesion between the high- and low-adhesive superhydrophobic states. Nanoscale structures did not contribute to superhydrophobicity, and there was no evidence of the formation of the liquid-solid-air composite interface around the nanostructures. Therefore, larger submicrometer and micrometer scale structures were needed to decrease the liquid-solid contact area and to cause the superhydrophobicity. Our study suggests that a drastic wetting transition occurs on superhydrophobic surfaces at the nanometre scale; i.e., the transition between the Cassie-Baxter and Wenzel wetting states will occur as the liquid-solid-air composite interface collapses around nanoscale structures. Consequently, water adheres tightly to the surface by penetrating into the nanostructure. The droplet adhesion mechanism presented in this paper gives valuable insight into a phenomenon of simultaneous superhydrophobicity and high water droplet adhesion and contributes to a more detailed comprehension of superhydrophobicity overall.     

Nature's design of hierarchical superhydrophobic surfaces of a water strider for low adhesion and low-energy dissipation

The mechanics of wet adhesion between a water strider's legs and a water surface was studied. First, we showed that the nanoscale to microscale hierarchical surface structure on striders' legs is crucial to the stable water-repellent properties of the legs. The smallest structure is made for the sake of a stable Cassie state even under harsh environment conditions, which sets an upper limit for the dimension of the smallest structure. The maximum stress and the maximum deformation of the surface structures at the contact line are size-dependent because of the asymmetric surface tension, which sets a lower limit for the dimension of the smallest structure. The surface hierarchy can largely reduce the adhesion between the water and the legs by stabilizing the Cassie state, increasing the apparent contact angle, and reducing the contact area and the length of the contact line. Second, the processes of the legs pressing on and detaching from the water surface were analyzed with a 2D model. We found that the superhydrophobicity of the legs' surface is critically important to reducing the detaching force and detaching energy. Finally, the dynamic process of the legs striking the water surface, mimicking the maneuvering of water striders, was analyzed. We found that the large length of the legs not only reduces the energy dissipation in the quasi-static pressing and pulling processes but also enhances the efficiency of energy transfer from bioenergy to kinetic energy in the dynamic process during the maneuvering of the water striders. The mechanical principles found in this study may provide useful guidelines for the design of superior water-repellent surfaces and novel aquatic robots.     

Designing magnetic and superhydrophobic cellulose nanofibers based-aerogel for efficient oil water separation

In this work, we used cellulose nanofibers (CNF) as the skeleton, Fe₃O₄@ZnO composite particles as magnetic synergist particles, 3-(2-aminoethylamino) propyltrimethoxysilane (AS) and trimethoxy(octyl)silane (OTMS) as water-based hydrophobic modifiers to prepare magnetic and superhydrophobic cellulose nanofibers based-aerogel with low density and intricate three-dimensional structure. Fe₃O₄@ZnO confers magnetic properties (3.82 emu/g) and exceptional thermal stability (water contact angle of 150.1° at 200 °C) to the system, while the combination with OTMS/AS endows the system superhydrophobic (157.5°) and excellent mechanical properties (stress of 96.95 kPa at 80% strain). It is worth noting that in the process of modifying the system with OTMS/AS, no organic solvents and acidic substances are used in the solution. Benefiting from their synergies, the system demonstrates a notable oil absorption capacity (12.31–41.91 g/g) and outstanding oil selectivity (exceeding 90%), driven by gravity alone. Interestingly, this system, marked by its cost-effectiveness, simplicity, eco-friendliness, and heightened efficiency, holds promising prospects for diverse applications in different oil–water separation behavior and purifying industrial oil wastewater, as well as oil flooding incidents.     

Synthesis of perpendicular nanorod arrays with hierarchical architecture and water slipping superhydrophobic properties

The utilization of vertically aligned smooth gold nanorod arrays with and without nanoporous tip architectures as superhydrophobic surfaces is described. Nanoporous architecture was produced on the tips of nanorods by selectively dissolving less noble components from the alloy nanorods. The resulting nanoscopic dual-size roughness features enhanced the surface dewettability after surface modification with low-surface-energy materials such as long-chain normal alkanethiols and fluorinated organic compounds. The surface cleaning properties were also tested with a rolling water droplet.     

Microtextured superhydrophobic surfaces: a thermodynamic analysis

Superhydrophobic surfaces with a contact angle (CA) larger than 150 degrees have recently attracted great interest in both academic research and practical applications due to their water-repellent or self-cleaning properties. However, thermodynamic mechanisms responsible for the effects of various factors such as surface geometry and chemistry, liquids, and environmental sources have not been well understood. In this study, a pillar microtexture, which has been intensively investigated in experiments, is chosen as a typical example and thermodynamically analyzed in detail. To gain a comprehensive insight into superhydrophobic behavior, the roles of pillar height, width and spacing (or roughness and solid fraction), intrinsic CA, drop size, and vibrational energy are systematically investigated. Free energy (FE) and free energy barrier (FEB) are calculated using a simple and robust model. Based on the calculations of FE and FEB, various CAs, including apparent, equilibrium (stable), advancing and receding CAs, and contact angle hysteresis (CAH) can be determined. Especially, the design of practical superhydrophobic surfaces is emphasized in connection with the transition between noncomposite and composite states; a criterion for judging such transition is proposed. The theoretical results are consistent with the Wenzel's and the Cassie's equations for equilibrium CA values and experimental observations. Furthermore, based on these results and the proposed criterion, some general principles to achieve superhydrophobic performance are suggested.     

Preparation of a durable superhydrophobic membrane by electrospinning poly (vinylidene fluoride) (PVDF) mixed with epoxy-siloxane modified SiO2 nanoparticles: a possible route to superhydrophobic surfaces with low water sliding angle and high water contact angle

A durable superhydrophobic surface with low water sliding angle (SA) and high water contact angle (CA) was obtained by electrospinning poly (vinylidene fluoride) (PVDF) which was mixed with epoxy-siloxane modified SiO(2) nanoparticles. To increase the roughness, modified SiO(2) nanoparticles were introduced into PVDF precursor solution. Then in the electrospinning process, nano-sized SiO(2) particles irregularly inlayed (it could also be regard as self-assembly) in the surface of the micro-sized PVDF mini-islands so as to form a dual-scale structure. This structure was responsible for the superhydrophobicity and self-cleaning property. In addition, epoxy-siloxane copolymer was used to modify the surface of SiO(2) nanoparticles so that the SiO(2) nanoparticles could stick to the surface of the micro-sized PVDF mini-islands. Through the underwater immersion test, the SiO(2) nanoparticles cannot be separated from PVDF easily so as to achieve the effect of durability. We chiefly explore the surface wettability and the relationship between the mass ratio of modified SiO(2) nanoparticles/PVDF and the CA, SA of electrospun mat. As the content of modified SiO(2) nanoparticles increased, the value of CA increased, ranging from 145.6° to 161.2°, and the water SA decreased to 2.17°, apparently indicating that the membrane we fabricated has a perfect effect of superhydrophobicity.     

Analysis of droplet evaporation on a superhydrophobic surface

The evaporation process for small, 1-2-mm-diameter droplets of water from patterned polymer surfaces is followed and characterized. The surfaces consist of circular pillars (5-15 microm diameter) of SU-8 photoresist arranged in square lattice patterns such that the center-to-center separation between pillars is 20-30 microm. These types of surface provide superhydrophobic systems with theoretical initial Cassie-Baxter contact angles for water droplets of up to 140-167 degrees, which are significantly larger than can be achieved by smooth hydrophobic surfaces. Experiments show that on these SU-8 textured surfaces water droplets initially evaporate in a pinned contact line mode, before the contact line recedes in a stepwise fashion jumping from pillar to pillar. Provided the droplets of water are deposited without too much pressure from the needle, the initial state appears to correspond to a Cassie-Baxter one with the droplet sitting upon the tops of the pillars. In some cases, but not all, a collapse of the droplet into the pillar structure occurs abruptly. For these collapsed droplets, further evaporation occurs with a completely pinned contact area consistent with a Wenzel-type state. It is shown that a simple quantitative analysis based on the diffusion of water vapor into the surrounding atmosphere can be performed, and estimates of the product of the diffusion coefficient and the concentration difference (saturation minus ambient) are obtained.     

Non-stick droplet surgery with a superhydrophobic scalpel

Cutting of nonstick droplets with a double-faced superhydrophobic blade is reported first. The process of manufacturing the superhydrophobic scalpel is presented. Cutting of water marbles and droplets deposited on a superhydrophobic surface is possible when the velocity of the blade is higher than a certain critical value. An estimation of the critical blade velocity coinciding with experimental findings is presented. Cutting of Janus and glycerol-based marbles is discussed. Coalescence of glycerol nonstick drops and marbles under cutting is treated.