{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T02:07:37Z","timestamp":1760148457757,"version":"build-2065373602"},"reference-count":36,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2023,5,4]],"date-time":"2023-05-04T00:00:00Z","timestamp":1683158400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"2023 Research Fund of Myongji University"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Micromachines"],"abstract":"<jats:p>This paper presents a miniature robot designed for monitoring its surroundings and exploring small and complex environments by skating on the surface of water. The robot is mainly made of extruded polystyrene insulation (XPS) and Teflon tubes and is propelled by acoustic bubble-induced microstreaming flows generated by gaseous bubbles trapped in the Teflon tubes. The robot\u2019s linear motion, velocity, and rotational motion are tested and measured at different frequencies and voltages. The results show that the propulsion velocity is proportional to the applied voltage but highly depends on the applied frequency. The maximum velocity occurs between the resonant frequencies for two bubbles trapped in Teflon tubes of different lengths. The robot\u2019s maneuvering capability is demonstrated by selective bubble excitation based on the concept of different resonant frequencies for bubbles of different volumes. The proposed water skating robot can perform linear propulsion, rotation, and 2D navigation on the water surface, making it suitable for exploring small and complex water environments.<\/jats:p>","DOI":"10.3390\/mi14050999","type":"journal-article","created":{"date-parts":[[2023,5,4]],"date-time":"2023-05-04T02:28:02Z","timestamp":1683167282000},"page":"999","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Water Skating Miniature Robot Propelled by Acoustic Bubbles"],"prefix":"10.3390","volume":"14","author":[{"given":"Hyeonseok","family":"Song","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Ulsan National Institute of Science and Technology, Ulsan 44919, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daegeun","family":"Kim","sequence":"additional","affiliation":[{"name":"Microsystems, Inc., Yongin 17058, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sangkug","family":"Chung","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Myongji University, Yongin 17058, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,5,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Visvanathan, K., Shariff, F., Yee, S.Y., and Basu, A.S. 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