Supplementary material for this article is available at http://advances.sciencemag.org/cgi/content/full/6/5/eaay4237/DC1
Supplementary Results and Discussion
Supplementary Materials and Methods
Fig. S1. Data leading to the discovery of an anomaly.
Fig. S2. Temperature recordings for experiments performed at 27°C.
Fig. S3. Observations by CA and random at 27°C.
Fig. S4. Density of observations by CA and random at 27°C.
Fig. S5. Density of observations by CA and random at 27°C with equal scale.
Fig. S6. Distribution of observations by CA and random at 27°C.
Fig. S7. Evolution of the exploration measure for CA and random at 27°C.
Fig. S8. Observations by CA and random at 27°C every 100 iterations.
Fig. S9. Distribution of parameters selected using the random algorithm at 27°C.
Fig. S10. Distribution of targeted observations by the CA at 27°C.
Fig. S11. Distribution of parameters selected by the CA at 27°C.
Fig. S12. Distribution of the ratios of each oil explored by CA and random at 27°C.
Fig. S13. Distribution of resulting formulation properties by CA and random at 27°C.
Fig. S14. Distribution of droplet dynamical properties by CA and random at 27°C.
Fig. S15. Distribution of droplet size by CA and random at 27°C.
Fig. S16. Temperature recordings for experiments performed at 23°C and 27°C.
Fig. S17. Comparison of observations by CA and random at 23°C and 27°C.
Fig. S18. Comparison of density of observations by CA and random at 23°C and 27°C.
Fig. S19. Comparison of exploration measure for CA and random at 23°C and 27°C.
Fig. S20. Comparison of distribution of observations for CA and random at 23°C and 27°C.
Fig. S21. Comparison of ratios of pentanol in droplet formulation for CA and random at 23°C and 27°C.
Fig. S22. Experiments properties at a range of temperatures (17°C to 30°C) for 25 selected recipes.
Fig. S23. Measured versus predicted temperature of 140 droplet experiments based uniquely on their video.
Fig. S24. Recorded temperatures for the 20 repeats of the dye release experiments.
Fig. S25. Histogram of the color change at the start and end of a dye release experiment.
Fig. S26. Ratio of pixels dyed blue against time at 18°C and 29°C.
Fig. S27. Evolution of droplet division and speed metrics during a single 15-min experiment.
Fig. S28. Evolution of droplet division and speed metrics during a single 15-min experiment in the temperature range 20° to 30°C.
Fig. S29. Workflow used in the preparation of the temperature-time phase diagram.
Fig. S30. Cumulated distance traveled by droplets during a 15-min experiment.
Fig. S31. Spread of temperatures of the 59 experiments used for phase diagram preparation.
Fig. S32. Cumulated distance traveled by droplets binned in different temperature intervals.
Fig. S33. Reconstructed speed and acceleration of droplets from the cumulative displacement data.
Fig. S34. Temperature-time dependence on droplet behavior.
Fig. S35. 3D visualization of a droplet trajectory in time and space at 21°C and 27°C.
Fig. S36. Concentrations of oils in the aqueous phase through time.
Fig. S37. Comparison between rates of oil dissolution estimated from NMR experiments and cumulated distance travelled.
Fig. S38. Droplet speed evolution as temperature and aqueous phase pH are varied.
Fig. S39. Dissolution level of each oil as temperature and aqueous phase pH are varied.
Fig. S40. Impact of small changes in the proportion of each oil on the droplet speed-time profile during a 15-min experiment.
Fig. S41. Same as fig. S40 with zoom on the first 200s.
Fig. S42. Same as fig. S40 showing standard deviation.
Fig. S43. Impact of replacing pentanol with oil of varied chain length on the droplet speed-time profile during a 15-min experiment.
Fig. S44. Impact of number of droplet placed in the dish on the droplet speed-time profile during a 15-min experiment.
Fig. S45. Same as fig. S44 with standard deviation.
Fig. S46. Hydrodynamic diameter of micelles in the aqueous phase through time.
Fig. S47. Conceptual design of the new Dropfactory laboratory robot.
Fig. S48. Photo of the Dropfactory robot.
Fig. S49. 3D view of the CAD design.
Fig. S50. Geneva wheel design.
Fig. S51. Geneva wheel top-plates design.
Fig. S52. Photo of the Geneva wheel installed on Dropfactory.
Fig. S53. Wheel stabilizer design and photo.
Fig. S54. Modular linear actuator used designed for Dropfactory.
Fig. S55. Photo of pumps and chemical inputs on Dropfactory.
Fig. S56. Illustrating the working stations on the oil Geneva wheel.
Fig. S57. Photo of the oil filling station.
Fig. S58. Design of the oil filling head.
Fig. S59. Photo of the oil stirring station with the small magnetic stirrer plate.
Fig. S60. Photo and design of the oil cleaning station.
Fig. S61. Photo of the oil drying stations.
Fig. S62. Design of the drying station air guide.
Fig. S63. Illustrating the working stations on the aqueous Geneva wheel.
Fig. S64. Photo of the aqueous filling station.
Fig. S65. Design of the aqueous filling station tube guide.
Fig. S66. Photo of the syringe pick and place station.
Fig. S67. Design of the modular syringe driver.
Fig. S68. Photo of the recording station.
Fig. S69. Design of the recording station.
Fig. S70. Photo of the dish cleaning station.
Fig. S71. Design of the dish cleaning station.
Fig. S72. Photo of the drying station.
Fig. S73. Visual display of droplet placement considered.
Fig. S74. Comparison of biased droplet motion induced by droplet placement.
Fig. S75. Droplet tracking via OpenCV.
Fig. S76. Explanation of threshold definition for binarization of droplet video.
Fig. S77. Image processing pipeline for the detection of droplet.
Fig. S78. Visualization of the covered arena area metrics.
Fig. S79. Visualization of the exploration metrics.
Table S1. Description of each phases P1 to P6 with identifying criteria.
Table S2. Parameters values for oil concentration curve fitting.
Table S3. Measured PH of aqueous phase preparation.
Movie S1. Operation of the parallelized droplet robot.
Movie S2. Progression of the exploration for each algorithm.
Movie S3. 1st, 10th, and 50th highest speed droplet recipes from each algorithm.
Movie S4. Effect of temperature on a droplet recipe during a 90s experiment.
Movie S5. Effect of temperature on a droplet recipe during a 15-min experiment.
Movie S6. Effect of temperature on the release of methylene-blue dye.
