Sorting (or isolation) and manipulation of rare cells with high recovery rate and purity are of critical importance to a wide range of physiological applications. In the current paper, we report on a generic single cell manipulation tool that integrates optical tweezers and microfluidic chip technologies for handling small cell population sorting with high accuracy. The laminar flow nature of microfluidics enables the targeted cells to be focused on a desired area for cell isolation. To recognize the target cells, we develop an image processing methodology with a recognition capability of multiple features, e.g., cell size and fluorescence label. The target cells can be moved precisely by optical tweezers to the desired destination in a noninvasive manner. The unique advantages of this sorter are its high recovery rate and purity in small cell population sorting. The design is based on dynamic fluid and dynamic light pattern, in which single as well as multiple laser traps are employed for cell transportation, and a recognition capability of multiple cell features. Experiments of sorting yeast cells and human embryonic stem cells are performed to demonstrate the effectiveness of the proposed cell sorting approach.
Droplet impacting on solid or liquid interfaces is a ubiquitous phenomenon in nature. Although complete rebound of droplets is widely observed on superhydrophobic surfaces, the bouncing of droplets on liquid is usually vulnerable due to easy collapse of entrapped air pocket underneath the impinging droplet. Here, we report a superhydrophobic-like bouncing regime on thin liquid film, characterized by the contact time, the spreading dynamics, and the restitution coefficient independent of underlying liquid film. Through experimental exploration and theoretical analysis, we demonstrate that the manifestation of such a superhydrophobic-like bouncing necessitates an intricate interplay between the Weber number, the thickness and viscosity of liquid film. Such insights allow us to tune the droplet behaviours in a well-controlled fashion. We anticipate that the combination of superhydrophobic-like bouncing with inherent advantages of emerging slippery liquid interfaces will find a wide range of applications.
In this paper we present a receding-horizon leader—follower (RH-LF) control framework to solve the formation problem of multiple non-holonomic mobile robots with a rapid error convergence rate. To maintain the desired leader—follower relationship, we propose a separation—bearing—orientation scheme (SBOS) for two-robot formations and separation—separation—orientation scheme (SSOS) for three-robot formations in deriving the desired postures of the followers. Unlike the other leader—follower approaches in the existing literature, the orientation deviations between the leaders and followers are explicitly controlled in our framework, which enables us to successfully solve formation controls when robots move backwards, which is termed as a formation backwards problem in this paper. Further, we propose to incorporate the receding-horizon scheme into our leader—follower controller to yield a fast convergence rate of the formation tracking errors. Experiments are finally performed on a group of mobile robots to demonstrate the effectiveness of the proposed formation control framework.