We establish a tool for direct measurements of the work needed to separate a liquid from a solid. This method mimics a pendant drop that is subjected to a gravitational force that is slowly increasing until the solid-liquid contact area starts to shrink spontaneously. The work of separation is then calculated in analogy to Tate's law. The values obtained for the work of separation are independent of drop size and are in agreement with Dupré's theory, showing that they are equal to the work of adhesion.

The pharmaceutical industry uses various solvents to increase drug penetrability to tissues. The solvent’s choice affects the efficacy of a drug. In this paper, we provide an unprecedented means of relating a solvent to a tissue quantitatively. We show that the solvents induce reorientation of the tissue surface molecules in a way that favors interaction and, therefore, penetrability of a solvent to a tissue. We provide, for the first time, a number for this tendency through a new physical property termed Interfacial Modulus ( G s ). G s , which so far was only predicted theoretically, is inversely proportional to such interactions. As model systems, we use HeLa and HaCaT tissue cultures with water and with an aqueous DMSO solution. The measurements are done using Centrifugal Adhesion Balance (CAB) when set to effective zero gravity. As expected, the addition of DMSO to water reduces G s . This reduction in G s is usually higher for HaCaT than for HeLa cells, which agrees with the common usage of DMSO in dermal medicine. We also varied the rigidities of the tissues. The tissue rigidity is not expected to relate to G s , and indeed our results didn’t show a correlation between these two physical properties.

A liquid drop may spread faster on surfaces when surfactants are added. Here we show that after some time the spreading in such systems can, under certain conditions, spontaneously reverse to retraction and the droplet pulls itself back, receding from areas it has just recently wetted, elevating its center of mass in a jerklike motion. The duration from drop placement to the onset of retraction ranges from hours to less than a second primarily as a function of surfactant concentration. When the retraction is asymmetric, it results in drop motion, and when it is symmetric, the mass of the drop collects itself on its spot. This phenomenon, which was predicted theoretically in 2014, is apparently a general one for drops with surfactants; however, other factors, such as evaporation and contamination, prevented its observance so far.

Tadmor et al.'s 2009 PRL article shows experiments of pendant drops with ∼30% higher retention forces than their sessile analogues. A recent article (de la Madrid, R. et al. Langmuir 2019, 35, 2871 seemingly explains this result theoretically using a drastically different experimental system that shows a ∼3% higher force that exceeds the scatter in three out of four data points. The differences between the two experimental systems might have allowed the two theories to coexist, but Tadmor's theory, which can explain both, allows an understanding of the solid−liquid interaction, which the newer theory lacks.

Laser Range Finders (LRF) have been widely used in the field of robotics to generate very accurate 2-D maps of environment perceived by Autonomous Mobile Robot. Stereo Vision devices on the other hand provide 3-D view of the surroundings with a range far much than of a LRF but at the tradeoff of accuracy. This paper demonstrates a technique of sensor fusion of information obtained from LRF and Stereovision camera systems to extract the accuracy and range of independents systems respectively. Pruning of the 3D point cloud obtained by the Stereo Vision Camera is done to achieve computational efficiency in real time environment, after which the point cloud model is scaled down to a 2-D vision map, to further reduce computational costs. The 2D map of the camera is fused with the 2D cost map of the LRF to generate a 2-D navigation map of the surroundings which in turn is passed as an occupancy grid to VFH+ for obstacle avoidance and path-planning. This technique has been successfully tested on "Lakshya"an IGV platform developed at Delhi College of Engineering in outdoor environments.

Extrand's interpretation in his "Comment on "Solid-Liquid Work of Adhesion" by Tadmor and Coworkers" may lead to an important discussion and physical understanding of the problem. Below, we compare the two approaches and elucidate the differences to put them in the right perspective.

Normally, pendant drops adapt contact angles that are closer to 90°than their sessile analogues. This is due to the drop's weight that pulls the pendant drop and straightens its contact angles. In this paper, we show a case in which the opposite happens: sessile drops that adapt contact angles that are closer to 90°than their pendant analogues. To achieve these peculiar states, one needs to increase the effective gravity on the drops and then relax it again to 1 g. Apparently, this and other phenomena depend not only on the direction of the gravitational force but also on the drop's history. We show that the drop's contact angle (and resultant area) is affected by two types of histories: short-term history and long-term history. For example, if we gradually increase the effective gravity on the drop, decrease it back to 1 g, and then repeat this cycle again and again, we see that the first cycle is drastically different, whereas other cycles approach a plateau in their behavior. In addition to drop's history, we explain these observations in terms of volume conservation, drop contact area, and pinning effect. This study may be generalized for other body forces such as electrical and magnetic or accelerating systems.

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