Bacteria primarily exist in robust, surface-associated communities known as biofilms, ubiquitous in both natural and anthropogenic environments. Mature biofilms resist a wide range of antimicrobial treatments and pose persistent pathogenic threats. Treatment of adherent biofilm is difficult, costly, and, in medical systems such as catheters or implants, frequently impossible. At the same time, strategies for biofilm prevention based on surface chemistry treatments or surface microstructure have been found to only transiently affect initial attachment. Here we report that Slippery LiquidInfused Porous Surfaces (SLIPS) prevent 99.6% of Pseudomonas aeruginosa biofilm attachment over a 7-d period, as well as Staphylococcus aureus (97.2%) and Escherichia coli (96%), under both static and physiologically realistic flow conditions. In contrast, both polytetrafluoroethylene and a range of nanostructured superhydrophobic surfaces accumulate biofilm within hours. SLIPS show approximately 35 times the reduction of attached biofilm versus best case scenario, state-of-the-art PEGylated surface, and over a far longer timeframe. We screen for and exclude as a factor cytotoxicity of the SLIPS liquid, a fluorinated oil immobilized on a structured substrate. The inability of biofilm to firmly attach to the surface and its effective removal under mild flow conditions (about 1 cm∕s) are a result of the unique, nonadhesive, "slippery" character of the smooth liquid interface, which does not degrade over the experimental timeframe. We show that SLIPS-based antibiofilm surfaces are stable in submerged, extreme pH, salinity, and UV environments. They are low-cost, passive, simple to manufacture, and can be formed on arbitrary surfaces. We anticipate that our findings will enable a broad range of antibiofilm solutions in the clinical, industrial, and consumer spaces.antifouling surfaces | biofilm resistance | slippery materials | surface engineering

Most of the world's bacteria exist in robust, sessile communities known as biofilms, ubiquitously adherent to environmental surfaces from ocean floors to human teeth and notoriously resistant to antimicrobial agents. We report the surprising observation that Bacillus subtilis biofilm colonies and pellicles are extremely nonwetting, greatly surpassing the repellency of Teflon toward water and lower surface tension liquids. The biofilm surface remains nonwetting against up to 80% ethanol as well as other organic solvents and commercial biocides across a large and clinically important concentration range. We show that this property limits the penetration of antimicrobial liquids into the biofilm, severely compromising their efficacy. To highlight the mechanisms of this phenomenon, we performed experiments with mutant biofilms lacking ECM components and with functionalized polymeric replicas of biofilm microstructure. We show that the nonwetting properties are a synergistic result of ECM composition, multiscale roughness, reentrant topography, and possibly yet other factors related to the dynamic nature of the biofilm surface. Finally, we report the impenetrability of the biofilm surface by gases, implying defense capability against vapor-phase antimicrobials as well. These remarkable properties of B. subtilis biofilm, which may have evolved as a protection mechanism against native environmental threats, provide a new direction in both antimicrobial research and bioinspired liquid-repellent surface paradigms.antimicrobial resistance | microcomputed tomography | biofilm hydrophobicity | liquid repellency | nonwettability

Bio‐inspired, multifunctional, high‐aspect‐ratio nanostructured surfaces are fabricated in a variety of materials with controlled geometry and stiffness. A soft‐lithography method that allows the one‐to‐one replication of nanostructures and renders it possible to produce arbitrary nanostructures with cross‐sectional shapes, orientations, and 2D lattices that are different from the original master is presented. The actuation of the posts is demonstrated.

This paper describes the architecture and implementation of an autonomous passenger vehicle designed to navigate using locally perceived information in preference to potentially inaccurate or incomplete map data. The vehicle architecture was designed to handle the original DARPA Urban Challenge requirements of perceiving and navigating a road network with segments defined by sparse waypoints. The vehicle implementation includes many heterogeneous sensors with significant communications and computation bandwidth to capture and process high-resolution, high-rate sensor data. The output of the comprehensive environmental sensing subsystem is fed into a kinodynamic motion planning algorithm to generate all vehicle motion. The requirements of driving in lanes, three-point turns, parking, and maneuvering through obstacle fields are all generated with a unified planner. A key aspect of the planner is its use of closed-loop simulation in a rapidly exploring randomized trees algorithm, which can randomly explore the space while efficiently generating smooth trajectories in a dynamic and uncertain environment. The overall system was realized through the creation of a powerful new suite of software tools for message passing, logging, and visualization. These innovations provide a strong platform for future research in autonomous driving in global positioning system-denied and highly dynamic environments with poor a priori information. C 2008 Wiley Periodicals, Inc.

This paper describes the architecture and implementation of an autonomous passenger vehicle designed to navigate using locally perceived information in preference to potentially inaccurate or incomplete map data. The vehicle architecture was designed to handle the original DARPA Urban Challenge requirements of perceiving and navigating a road network with segments defined by sparse waypoints. The vehicle implementation includes many heterogeneous sensors with significant communications and computation bandwidth to capture and process high-resolution, high-rate sensor data. The output of the comprehensive environmental sensing subsystem is fed into a kino-dynamic motion planning algorithm to generate all vehicle motion. The requirements of driving in lanes, three-point turns, parking, and maneuvering through obstacle fields are all generated with a unified planner. A key aspect of the planner is its use of closed-loop simulation in a Rapidly-exploring Randomized Trees (RRT) algorithm, which can randomly explore the space while efficiently generating smooth trajectories in a dynamic and uncertain environment. The overall system was realized through the creation of a powerful new suite of software tools for message-passing, logging, and visualization. These innovations provide a strong platform for future research in autonomous driving in GPS-denied and highly dynamic environments with poor a priori information.

As the dominant mode of bacterial existence, slimy surface-associated biofilms pervade natural and anthropogenic environments. Mature biofilms can be highly resistant to liquid or vapor antimicrobial attack and therefore pose persistent pathogenic threats. Surface chemistry treatments to inhibit biofilm growth have been found to only transiently affect initial attachment. In this work, we investigate the tunable effects of physical surface properties, including high-aspect-ratio (HAR) surface nanostructure arrays recently reported to induce long-range spontaneous spatial patterning of bacteria on the surface. The functional parameters and length scale regimes that control such artificial patterning for the rod-shaped pathogenic species Pseudomonas aeruginosa are elucidated through a combinatorial approach. We further report a crossover regime of biofilm growth on a HAR nanostructured surface versus the nanostructure effective stiffness. When the "softness" of the hair-like nanoarray is increased beyond a threshold, biofilm growth is inhibited as compared to a flat control surface. This is consistent with the mechanoselective adhesion of bacteria, a recently proposed mechanism previously considered unique to eukaryotic cells. Therefore by combining nanoarray-induced bacterial patterning and modulating the effective stiffness of the nanoarray-thus mimicking an extremely compliant flat surface-bacterial mechanoselective adhesion can be exploited to control and inhibit biofilm growth.

Arrays of high-aspect-ratio (HAR) nano- and microstructures are of great interest for designing surfaces for applications in optics, bio-nano interfaces, microelectromechanical systems, and microfluidics, but the difficulty of systematically and conveniently varying the geometries of these structures significantly limits their design and optimization for a specific function. This paper demonstrates a low-cost, high-throughput benchtop method that enables a HAR array to be reshaped with nanoscale precision by electrodeposition of conductive polymers. The method-named STEPS (structural transformation by electrodeposition on patterned substrates)-makes it possible to create patterns with proportionally increasing size of original features, to convert isolated HAR features into a closed-cell substrate with a continuous HAR wall, and to transform a simple parent two-dimensional HAR array into new three-dimensional patterned structures with tapered, tilted, anisotropic, or overhanging geometries by controlling the deposition conditions. We demonstrate the fabrication of substrates with continuous or discrete gradients of nanostructure features, as well as libraries of various patterns, starting from a single master structure. By providing exemplary applications in plasmonics, bacterial patterning, and formation of mechanically reinforced structures, we show that STEPS enables a wide range of studies of the effect of substrate topography on surface properties leading to optimization of the structures for a specific application. This research identifies solution-based deposition of conductive polymers as a new tool in nanofabrication and allows access to 3D architectures that were previously difficult to fabricate.

As seen throughout the natural world, nanoscale fibers exhibit a unique combination of mechanical and surface properties that enable them to wind and bend around each other into an immense diversity of complex forms. In this review, we discuss how this versatility can be harnessed to transform a simple array of anchored nanofibers into a variety of complex, hierarchically organized dynamic functional surfaces. We describe a set of recently developed benchtop techniques that provide a straightforward way to generate libraries of fibrous surfaces with a wide range of finely tuned, nearly arbitrary geometric, mechanical, material, and surface characteristics starting from a single master array. These simple systematic controls can be used to program the fibers to bundle together, twist around each other into chiral swirls, and assemble into patterned arrays of complex hierarchical architectures. The delicate balance between fiber elasticity and surface adhesion plays a critical role in determining the shape, chirality, and higher order of the assembled structures, as does the dynamic evolution of the geometric, mechanical, and surface parameters throughout the assembly process. Hierarchical assembly can also be programmed to run backwards, enabling a wide range of reversible, responsive behaviors to be encoded through rationally chosen surface chemistry. These strategies provide a foundation for designing a vast assortment of functional surfaces with anti-fouling, adhesive, optical, water and ice repellent, memory storage, microfluidic, capture and release, and many more capabilities with the structural and dynamic sophistication of their biological counterparts. Highlights Integrative approach to creating fibrous surfaces with multiscale complexity and dynamic behavior. Low-cost benchtop techniques to generate libraries of nanofiber arrays with fine-tuned parameters. Program fiber arrays to self-assemble into complex, chiral, hierarchical architectures. Encode reversible, responsive behavior through rationally chosen surface chemistry.