PDF(Pubmed)
Abstract：
Individual differences in size, experience, and task specialization in natural swarms often result in heterogeneity and hierarchy, facilitating efficient and coordinated task accomplishment. Drawing inspiration from this phenomenon, a general strategy is proposed for organizing magnetic micro/nanorobots (MNRs) with apparent differences in size, shape, and properties into cohesive microswarms with tunable heterogeneity, controlled spatial hierarchy, and collaborative tasking capability. In this strategy, disparate magnetic MNRs can be manipulated to show reversible transitions between synchronization and desynchronization by elaborately regulating parameter sets of the rotating magnetic field. Utilizing these transitions, alongside local robust hydrodynamic interactions, diverse heterospecific pairings of disparate magnetic MNRs can be organized into heterogeneous microswarms, and their spatial organization can be dynamically adjusted from egalitarian to leader-follower-like hierarchies on the fly, both in open space and complex microchannels. Furthermore, when specializing the disparate MNRs with distinct functions (\"division of labor\") such as sensing and drug carrying, they can execute precise drug delivery targeting unknown sites in a collaborative sensing-navigating-cargo dropping sequence, demonstrating significant potential for precise tumor treatment. These findings highlight the critical roles of attribute differences and hierarchical organization in designing efficient swarming micro/nanorobots for biomedical applications.
摘要：
个体差异的大小，经验,自然群体中的任务专业化通常会导致异质性和等级制度，促进高效和协调的任务完成。从这一现象中汲取灵感,提出了一种通用策略，用于组织尺寸明显差异的磁性微/纳米机器人（MNRs），形状,和具有可调异质性的粘性微群的性质，受控的空间层次结构，和协作任务能力。在这个战略中,通过精心调节旋转磁场的参数集，可以操纵不同的磁性MNR来显示同步和去同步之间的可逆转变。利用这些过渡，除了局部强大的水动力相互作用，不同磁性MNR的不同异质配对可以组织成异质微群，他们的空间组织可以动态调整，从平均主义到领导者-追随者-等级制度，在开放空间和复杂的微通道。此外，当专门研究具有不同功能(“分工”)的不同MNR时，如传感和药物携带，他们可以在协作传感导航货物投放序列中针对未知地点执行精确的药物递送，证明了精确治疗肿瘤的巨大潜力。这些发现强调了属性差异和分层组织在设计用于生物医学应用的高效蜂群微/纳米机器人中的关键作用。
