Programmable topotaxis of magnetic rollers in time-varying fields.

We describe how spatially uniform, time-periodic magnetic fields can be designed to power and direct the migration of ferromagnetic spheres up (or down) local gradients in the topography of a solid substrate. Our results are based on a dynamical model that considers the time-varying magnetic torques on the particle and its motion through the fluid at low Reynolds number. We use both analytical theory and numerical simulation to design magnetic fields that maximize the migration velocity up (or down) an inclined plane. We show how "topotaxis" of spherical particles relies on differences in the hydrodynamic resistance to rotation about axes parallel and perpendicular to the plane. Importantly, the designed fields can drive multiple independent particles to move simultaneously in different directions as determined by gradients in their respective environments. Experiments on ferromagnetic spheres provide evidence for topotactic motions up inclined substrates. The ability to program the autonomous navigation of driven particles within anisotropic environments is relevant to the design of colloidal robots.

Magneto-Capillary Particle Dynamics at Curved Interfaces: Time-Varying Fields and Drop Mixing.

Spatially uniform magnetic fields induce nonzero forces on magnetic particles adsorbed at curved liquid interfaces thereby driving their motion. Such motions, prohibited in bulk fluids, arise due to interfacial constraints that couple magnetic torques to capillary forces at curved interfaces. Here, we show that time-varying (spatially uniform) magnetic fields can be used to drive a variety of steady particle motions on water drops in decane. Upon application of a precessing field, magnetic Janus particles with amphiphilic surface chemistry move either along circular orbits at the drop poles or along zigzag paths at the drop equator. The different magneto-capillary motions depend on the frequency and precession angle of the field as well as the initial position of the particle on the drop surface. Our experimental observations are reproduced and explained by a mathematical model that accounts for the relevant magnetic, capillary, and hydrodynamic forces and torques that contribute to particle motion. In addition to ferromagnetic Janus particles, we show that similar dynamics can be achieved using superparamagnetic carbonyl iron particles, which are manufactured on industrial scales and respond to even weaker magnetic fields. We demonstrate how the field-driven motion of such particles at the drop interface can induce fluid flows that effectively mix the drop interior. These results suggest that magneto-capillary particle motions could be used to enhance mass transfer within emulsions stabilized by magnetic particles.