Dynamic behavior of floating magnetic liquid marbles under steady and pulse-width-modulated magnetic fields

Liquid marbles show promising potential for digital microfluidic devices due to their lower friction with the platform surface than non-covered droplets. In this study, the manipulation of a biocompatible magnetic liquid marble with a magnetic shell (LMMS) is experimentally studied. The movement of the floating LMMS on the water surface, which is actuated by DC and pulse width modulation (PWM) magnetic fields, is investigated under the influence of various parameters, including the LMMS volume, the initial distance of the LMMS from the magnetic coil tip, the magnetic coil current, the PWM frequency and its duty cycle. The LMMS has a shorter travel time to the magnetic coil tip under a DC magnetic field by increasing the magnetic coil current, decreasing the initial distance and its volume. In the PWM mode, these parameters show similar behavior; moreover, increasing the PWM duty cycle and decreasing the PWM frequency shorten the travel time. It is demonstrated that actuation by a PWM magnetic field with step-by-step movement provides better control over manipulation of the floating magnetic marble. The dynamic behavior of an LMMS is compared to a ferrofluid marble (FM), which is formed using a ferrofluid instead of water as its core. It is observed that the LMMS has a lower velocity than the FM.