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\begin{document}

\title{Supplementary Information for ``A Wirelessly~ Controlled Shape-Memory
Alloy-Based Bistable Metal Swimming Device''}



\author[1]{Yu Wan}%
\author[1]{Keith Cuff}%
\author[1]{Michael J. Serpe}%
\affil[1]{Affiliation not available}%


\vspace{-1em}



  
  \date{May 26, 2024}


\begingroup
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\sloppy


~\textbf{This file includes:}

~

Figures S1 to S12

Movies S1 to S10

~

\textbf{Other Supplementary Materials for this manuscript include the
following:}

Movies S1 to S10

{}\selectlanguage{english}
\begin{figure}[H]
\begin{center}
\includegraphics[width=0.70\columnwidth]{figures/S-1/S-1}
\caption{{Figure S1. Force-Time diagram recorded on Logger Pro software (Reset for
4-3 taper ratio at 60 degree angle). Each spike represents the force
evolution for one test repeat (e.g., dark rectangle). The peak values
are picked (e.g., dark circle) and analyzed to represent the force
required to reset the metal strip.
{\label{871389}}%
}}
\end{center}
\end{figure}\selectlanguage{english}
\begin{figure}[H]
\begin{center}
\includegraphics[width=0.70\columnwidth]{figures/S2/S2}
\caption{{Figure S2. Force-Time diagram recorded at different pulling rates. Slow
rate was about 2 cm/s, fast rate was about 10 cm/s. Different pulling
rates yielded similar peaks indicating similar forces.
{\label{413469}}%
}}
\end{center}
\end{figure}

\par\null

~\selectlanguage{english}
\begin{figure}[H]
\begin{center}
\includegraphics[width=0.70\columnwidth]{figures/S-2/S-2}
\caption{{Figure S3. Setup of ping pong ball test for determining bistable metal
strip snapping energy output. (Bottom right red dot represents the
initial position of ping pong ball; top left red dot represents the
highest position the ping pong ball reaches; the height elevation is
marked by the vertical height difference between the two positions)
{\label{351930}}%
}}
\end{center}
\end{figure}\selectlanguage{english}
\begin{figure}[H]
\begin{center}
\includegraphics[width=0.70\columnwidth]{figures/S-3/S-3}
\caption{{Figure S4. Differential scanning calorimetry result for a piece of
Nitinol. Black curve is the heating process and red for cooling. The
blue scale bar for Y-axis represents 10 mW heat flow difference.
{\label{788511}}%
}}
\end{center}
\end{figure}

~\textbf{{}}\selectlanguage{english}
\begin{figure}[H]
\begin{center}
\includegraphics[width=0.70\columnwidth]{figures/S-4/S-4}
\caption{{Figure S5.~\textbf{a)} Setup for water bath actuation temperature
test~\textbf{b)} Plot of displacement of Nitinol coil at the indicated
temperatures.
{\label{919968}}%
}}
\end{center}
\end{figure}\selectlanguage{english}
\begin{figure}[H]
\begin{center}
\includegraphics[width=0.70\columnwidth]{figures/S-5/S-5}
\caption{{Figure S6.~\textbf{a)} Setup for no displacement actuation test
(stretched Nitinol wire tied one end to the hood accessory bar, the
other to a force sensor (black); red alligator clips with copper wire to
apply voltage onto the Nitinol wire). \textbf{b)} Time needed for
actuation at different voltages. \textbf{c)} Normalized cooling time for
different voltages per unit time of heating.
{\label{579261}}%
}}
\end{center}
\end{figure}

\textbf{}

~

\textbf{Figure S7.}~ Joule heating calculation. Assume pure resistance
circuit, Ohm's law applies and no resistance change. I=U/R,
H=I\textsuperscript{2}Rt. I is current; U is voltage; R is resistance; t
is time; H is the heat produced. If we assume heat capacity does not
change and the heat is use for temperature increase, \selectlanguage{greek}Δ\selectlanguage{english}T=Q/mc, Q=H. \selectlanguage{greek}Δ\selectlanguage{english}T is
temperature change; m is mass, c is specific heat capacity.

~

~

\textbf{Figure S8.} Swimming calculation. Slow swimming speed is
calculated based on Video S3 4.42 sec to 6.04 sec. Snapping mode
swimming speed is calculated based on Video S4 5.83 sec to 7.03 sec. 180
degree turning calculation is based on Video S5 6.36 sec to 16.34 sec.

~

{}\selectlanguage{english}
\begin{figure}[H]
\begin{center}
\includegraphics[width=0.70\columnwidth]{figures/S-8/S-8}
\caption{{Figure S9. Hollow channel introduction. Outer layer is a straight glass
tube. A plastic tube is inserted in the glass tube to get supported to
avoid being bent. A long fishing thread is placed in the middle of the
plastic tube.
{\label{837027}}%
}}
\end{center}
\end{figure}

\textbf{}

\par\null\selectlanguage{english}
\begin{figure}[H]
\begin{center}
\includegraphics[width=0.70\columnwidth]{figures/S-9/S-9}
\caption{{Figure S10. Programming and coding. Arduino and Spyder is used to upload
the code and program the Wi-Fi module. DearPyGui is used as a control
panel to actuate the swimming device.
{\label{899384}}%
}}
\end{center}
\end{figure}

~{}\selectlanguage{english}
\begin{figure}[H]
\begin{center}
\includegraphics[width=0.70\columnwidth]{figures/S-10/S-10}
\caption{{Figure S11. Layout for the 3D printed parts of the swimming device. All
connecting wires can go inside the parts to avoid cluster and keep neat.
{\label{798119}}%
}}
\end{center}
\end{figure}

~\selectlanguage{english}
\begin{figure}[H]
\begin{center}
\includegraphics[width=0.70\columnwidth]{figures/S12/S12}
\caption{{Figure S12. Picture shows the basic structure of pNIPAm microgel-based
etalon composed of a monolith of microgel layer (II) sandwiched between
two gold layers (I and III) on a support glass substrate (IV). To
fabricate etalon chips, first, PNIPAm-based microgels containing 10\%
acrylic acid (AAc) (pNIPAm-co-10\%AAc) were prepared by free radical
precipitation polymerization of the monomer NIPAm with
N,N'-Methylenebis(acrylamide) (BIS) as the crosslinker and AAc as a
comonomer. The resulting microgels have a size about 750 nm in diameter.
For the etalon chip, 2 nm Cr and 15 nm Au layer were subsequently coated
on to the glass slides using thermal evaporator. A layer of microgel was
coated and then another 15 nm Au layer was deposited.
{\label{304446}}%
}}
\end{center}
\end{figure}

\textbf{~}

\textbf{Video S1-S10.}

Rich media available at \url{https://youtu.be/Omji9J9idpA}



Rich media available at \url{https://youtu.be/lKmwzB1BLm8}



Rich media available at \url{https://youtu.be/mKmGnBUbKsI}



Rich media available at \url{https://youtu.be/7g6Vbt\_m8-4}



Rich media available at \url{https://youtu.be/HWUxc-8AQSQ}



Rich media available at \url{https://youtu.be/1KS4wvi23Ek}



Rich media available at \url{https://youtu.be/Ya5AZBZVP8k}



Rich media available at \url{https://youtu.be/PXi2tR8L79M}



Rich media available at \url{https://youtu.be/BLofxO30NqQ}



Rich media available at \url{https://youtu.be/B4sMxuI26LI}

\selectlanguage{english}
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\end{document}

