  We report experiments on an agarose gel tablet loaded with camphoric acid
(c-boat) set into self-motion by interfacial tension gradients at the air-water
interface. We observe three distinct modes of c-boat motion: harmonic mode
where the c-boat speed oscillates sinusoidally in time, a steady mode where the
c-boat maintains constant speed, and a relaxation oscillation mode where the
c-boat maintains near-zero speed between sudden jumps in speed and position at
regular time intervals. Whereas all three modes have been separately reported
before in different systems, we show they belong to a common description.
Through control of the air-water surface tension with Sodium Dodecyl Sulfate
(SDS), we experimentally deduce the three self-propulsive modes result from
surface tension difference between Camphoric Acid (CA) and the ambient
surroundings.

Fluid Dynamics