We present a microfluidic device for rapid larvae sorting and on-chip egg extraction of C. elegans at high purity and high throughput.

Origami has long been renowned as a simple yet creative form of art and its folding techniques have recently inspired advances in design and fabrication of miniature robots. In this work, we present the design and fabrication novelties, enhancements, and performance improvements on MinIAQ (Miniature Independently Actuated-legged Quadruped), an origami-inspired, foldable, miniature quadruped robot with individually actuated legs. The resulting robot, MinIAQ-II, has a trajectory-optimized leg actuation mechanism with longer stride, improved traction, less flexure joint bending, and smaller leg lift resulting in faster and smoother walking, better maneuverability, and higher durability and joint life. In order to maximize the joint fatigue life while keeping the leg design simple, the initial four-bar mechanism is optimized by manipulating the joint locations and changing the leg link into a non-straight knee shape with a fixed-angle lock. Despite having a 1 cm longer frame to embed its new actuation mechanism, the overall weight and dimensions are similar to its first version as its legs are no longer extended beyond its frame. As a result, MinIAQ-II is 12-cm-long, 6-cm-wide, 4.5-cm-high and weighs 23 grams. The test results demonstrate the improvement in speed over its predecessor from 0.65 to more than 0.8 bodylengths/s at 3 Hz, and an approximate decrease in body's roll ±21 • to ±9 • and pitch from 0 • -11 • to 0 • -7 • . The independent actuation and control over each leg enables such a robot to be used for gait studies in miniature scale, as is the next direction in our research.

This paper presents the design, fabrication, and operation of compound micromachines powered by acoustic streaming. The machine components were directly incorporated around pillars serving as shafts without further assembly steps using a single-step in situ polymerization process controlled by a programmable projector. Two strategies were presented for harvesting acoustic energy using sharp-edged structures. The first method is based on on-board pumping of fluids and the second method involves engineering of rotors. The implementation of these strategies resulted in the construction of microscale turbines and engines that can be coupled to gear trains for adaptable transmission of mechanical power. We provide a number of further improvements that may together lead to development of compact yet powerful robotic manipulation systems inside microfluidic devices.

Nonlinear optical frequency conversion is of fundamental importance in photonics and underpins countless of its applications: Sum- and difference-frequency generation in media with quadratic nonlinearity permits reaching otherwise inaccessible wavelength regimes, and the dramatic effect of supercontinuum generation through cubic nonlinearities has resulted in the synthesis of broadband multi-octave spanning spectra, much beyond what can be directly achieved with laser gain media. Chip-integrated waveguides permit to leverage both quadratic and cubic effects at the same time, creating unprecedented opportunities for multi-octave spanning spectra across the entire transparency window of a nonlinear material. Designing such waveguides often relies on numeric modeling of the underlying nonlinear processes, which, however, becomes exceedingly challenging when multiple and cascading nonlinear processes are involved. Here, to address this challenge, we report on a novel numeric simulation tool for mixed and cascaded nonlinearities that uses anti-aliasing strategies to avoid spurious light resulting from a finite simulation bandwidth. A dedicated fifth-order interaction picture Runge–Kutta solver with adaptive step-size permits efficient numeric simulation, as required for design parameter studies. The simulation results are shown to quantitatively agree with experimental data, and the simulation tool is available as an open-source Python package ( pychi).