Modelling a dynamic magneto-agglutination bioassay.

The process of developing an end-to-end model of a magneto-immunoassay is described, simulating the agglutination effect due to the specific binding of bacteria to paramagnetic particles. After establishing the properties of the dose-specific agglutination through direct imaging, a microfluidic assay was used to demonstrate changes in the magnetophoretic transport dynamics of agglutinated clusters via transient inductive magentometer measurements. End-to-end mathematical modelling is used to establish the physical processes underlying the assay. First, a modified form of Becker-Döring nucleation kinetic equations is used to establish a relationship between analyte dose and average cluster size. Next, Stokes flow equations are used to establish a relationship between cluster size and speed of motion within the fluid chamber. This predicts a cluster-size dynamic profile of concentration of PMPs versus time when the magnetic field is switched between the two actuated magnets. Finally, inductive modelling is carried out to predict the response of the magnetometer circuit in response to the dynamics of magnetic clusters. The predictions of this model are shown to agree well with the results of experiments, and to predict the shape of the dose-response curve.

Closed-Loop Control of Electro-Ribbon Actuators.

Electro-ribbon actuators are lightweight, flexible, high-performance actuators for next generation soft robotics. When electrically charged, electrostatic forces cause the electrode ribbons to progressively zip together through a process called dielectrophoretic liquid zipping (DLZ), delivering contractions of more than 99% of their length. Electro-ribbon actuators exhibit pull-in instability, and this phenomenon makes them challenging to control: below the pull-in voltage threshold, actuator contraction is small, while above this threshold, increasing electrostatic forces cause the actuator to completely contract, providing a narrow contraction range for feedforward control. We show that application of a time-varying voltage profile that starts above pull-in threshold, but subsequently reduces, allows access to intermediate steady-states not accessible using traditional feed-forward control. A modified proportional-integral closed-loop controller is proposed (Boost-PI), which incorporates a variable boost voltage to temporarily elevate actuation close to, but not exceeding, the pull-in voltage threshold. This primes the actuator for zipping and drastically reduces rise time compared with a traditional PI controller. A multi-objective parameter-space approach was implemented to choose appropriate controller gains by assessing the metrics of rise time, overshoot, steady-state error, and settle time. This proposed control method addresses a key limitation of the electro-ribbon actuators, allowing the actuator to perform staircase and oscillatory control tasks. This significantly increases the range of applications which can exploit this new DLZ actuation technology.

Hiding the squid: patterns in artificial cephalopod skin.

Cephalopods employ their chromomorphic skins for rapid and versatile active camouflage and signalling effects. This is achieved using dense networks of pigmented, muscle-driven chromatophore cells which are neurally stimulated to actuate and affect local skin colouring. This allows cephalopods to adopt numerous dynamic and complex skin patterns, most commonly used to blend into the environment or to communicate with other animals. Our ultimate goal is to create an artificial skin that can mimic such pattern generation techniques, and that could produce a host of novel and compliant devices such as cloaking suits and dynamic illuminated clothing. This paper presents the design, mathematical modelling and analysis of a dynamic biomimetic pattern generation system using bioinspired artificial chromatophores. The artificial skin is made from electroactive dielectric elastomer: a soft, planar-actuating smart material that we show can be effective at mimicking the actuation of biological chromatophores. The proposed system achieves dynamic pattern generation by imposing simple local rules into the artificial chromatophore cells so that they can sense their surroundings in order to manipulate their actuation. By modelling sets of artificial chromatophores in linear arrays of cells, we explore the capability of the system to generate a variety of dynamic pattern types. We show that it is possible to mimic patterning seen in cephalopods, such as the passing cloud display, and other complex dynamic patterning.

Myelogenous leukemia in adult inbred MHC-defined miniature swine: a model for human myeloid leukemias.

This manuscript reports on five cases of spontaneous myelogenous leukemia, similar to human disease, occurring within highly inbred, histocompatible sublines of Massachusetts General Hospital (MGH) MHC-defined miniature swine. In cases where a neoplasm was suspected based on clinical observations, samples were obtained for complete blood count, peripheral blood smear, and flow cytometric analysis. Animals confirmed to have neoplasms were euthanized and underwent necropsy. Histological samples were obtained from abnormal tissues and suspect lesions. The phenotype of the malignancies was assessed by flow cytometric analysis of processed peripheral blood mononuclear cells and affected tissues. Five cases of spontaneous myeloid leukemia were identified in adult animals older than 30 months of age. All animals presented with symptoms of weight loss, lethargy, and marked leukocytosis. At autopsy, all animals had systemic disease involvement and presented with severe hepatosplenomegaly. Three of the five myelogenous leukemias have successfully been expanded in vitro. The clustered incidence of disease in this closed herd suggests that genetic factors may be contributing to disease development. Myelogenous leukemia cell lines established from inbred sublines of MGH MHC-defined miniature swine have the potential to be utilized as a model to evaluate therapies of human leukemia.