Noise-induced stochastic switching of microcargoes transport in artificial microtubule

Synchronization plays an important role in propelling microrobots, especially for those driven by an external magnetic field. Here, we substantially contribute to the understanding of a novel out-of-sync phenomenon called "slip-out", which has been recently discovered in experiments of an artificial microtubule (AMT). In a deterministic situation, we interpret and quantitatively characterize the switching in such a system between the stick and slip modes, whose different combinations over time define four long-term states. The stick-and-slip state is the most typical "slip-out" state with periodic switching, caused by both the phase lock between the microrod and the magnetic field, and the time-dependent magnetic moment. We then illustrate that thermal noise leads to stochastic switching by stimulating the phase difference across a specific threshold randomly. Finally, we reproduce the average velocity simulatively, which is highly consistent with real experiments. Importantly, the nearly permanent slip state is probed by our analysis of long-term states rather than observing real experiments. The investigation supports the design and operational strategies of AMT and other microrobots driven by magnetic fields.