Name: flapping soft fin deformation modeling using planar laser-induced fluorescence imaging
Uploaded: 2022-04-28T13:30:00
Description: Watch this Scientific Journal Video about Flapping Soft Fin Deformation Modeling using Planar Laser-Induced Fluorescence Imaging at JoVE.com

这项研究得到了海军研究办公室通过美国海军研究实验室（NRL）6.2基础计划的支持，并在Kaushik Sampath是NRL声学部门的雇员和Nicole Xu在NRL计算物理和流体动力学实验室担任NRC研究助理奖时进行。作者要感谢Ruben Hortensius博士（TSI Inc.）的技术支持和指导。

1. 翅片制造
<ol><li>根据所需的形状设计构建翅片模具。<ol>
<li>设计和构建一个定制的3D打印的翅片形状的光泽成品模具（图1）。请参阅 补充编码文件1-4中用于制造模具的STL文件。</li>
		<li>将结构元素插入模具，例如3D打印的刚性塑料前缘翼梁。请参阅 补充编码文件 2 中 spar 的 STL 文件。</li>
	</ol>
</li>
	<li>以所需的零件比例混合PDMS（参?...

<ol>
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平面激光诱导荧光通常用于通过用染料播种流体来可视化水流，当暴露于激光片25，26时会发出荧光。然而，以前没有报道过使用PLIF来可视化合规材料中的变形，本研究描述了一种使用PLIF获得柔性实心翅片中高分辨率形状变形的时程测量的方法。将这些翅片测量值与 FSI 仿真进行比较，可以验证数值模型，并为使用计算结果进行翅片设计和控制提供进一...

在自然界中，许多鱼类已经进化到使用各种身体和鳍的运动来实现运动。确定鱼类运动原理的研究有助于推动生物启发推进系统的设计，因为生物学家和工程师共同努力为水下航行器开发有能力的下一代推进和控制机制。各个研究小组研究了翅片配置，形状，材料，行程参数和表面曲率控制技术1，2，3，4，5，6，7，8，9，10，11，12.表征尖端涡流产生和尾流倾角对于理解单鳍和多鳍系统中推力产生的重要性已在计算和实验13，14，15，16，17，18的大量研究中得到记录。对于由顺应材料制成的翅片机构，在各种研究中显示，以减少尾流倾斜度和增加推力17，捕获和准确模拟其变形时间史以与流动结构分析配对也是至关重要的。然后，这些结果可用于验证计算模型，为翅片设计和控制提供信息，并促进柔性材料上非定常流体动力载荷的积极研究领域，这需要验证19。研究已经对鲨鱼鳍和其他复杂物体20，21，22中使用了基于图像的直接高速形状跟踪，但是复杂的3D鳍形状经常阻碍光学访问，使其难以测量。因此，迫切需要一种简单有效的方法来可视化柔性翅片运动。
聚二甲基硅氧烷（PDMS）是一种广泛用于合规翅片机构的材料，因为它成本低，易于使用，改变刚度的能力以及与水下应用的兼容性23，正如Majidi等人的综述中广泛描述的那样。除了这些优点之外，PDMS还具有光学透明性，这有利于使用光学诊断技术（如平面激光诱导荧光（PLIF））进行测量。传统上，在实验流体力学25中，PLIF已被用于可视化流体流动，方法是用染料或悬浮颗粒播种流体，或者利用当暴露于激光片26，27，28，29时已经在流动中的物质的量子跃迁。这种成熟的技术已被用于研究基本流体动力学，燃烧和海洋动力学26，30，31，32，33。
在本研究中，PLIF用于获得柔性鱼启发的机器人鳍的形状变形的时空分辨测量值。PDMS翅片的水下运动学不是用染料播种流体，而是在各种弦向横截面上可视化。虽然平面激光成像可以在常规的投射PDMS上进行，而无需额外的荧光，但修改PDMS以增强荧光可以通过减少背景元素（例如鳍片安装硬件）的影响来提高图像的信噪比（SNR）。PDMS可以通过采用两种方法来使荧光，通过荧光颗粒播种或色素沉着。据报道，对于给定的零件比率，前者会改变所得铸件PDMS34的刚度。因此，将无毒的市售颜料与透明PDMS混合以铸造用于PLIF实验的荧光翅片。
为了提供使用这些鳍运动学测量进行计算模型验证的示例，然后将实验运动学与鳍的耦合流固耦合（FSI）模型中的值进行比较。计算中使用的 FSI 模型基于使用测量的翅片材料属性计算的前七个特征模态。成功的比较可验证翅片模型，并有信心将计算结果用于翅片设计和控制。此外，PLIF结果表明，该方法可用于在未来研究中验证其他数值模型。关于这些FSI模型的附加信息可以在先前的工作35，36 和计算流体动力学方法的基本文本37，38中找到。未来的研究还可以同时测量固体变形和流体流动，以改进机器人鳍片，生物启发软机器人和其他应用中的FSI实验研究。此外，由于PDMS和其他兼容弹性体广泛用于各个领域，包括传感器和医疗设备，因此使用该技术可视化柔性固体中的变形可以使工程，物理，生物学和医学领域的更多研究人员受益。

<table border="1" fo:keep-together.within-page="1" fo:keep-with-next.within-page="always">
	<tbody>
		<tr>
			<td>ADMET controller</td>
			<td>ADMET</td>
			<td>MTESTQuattro</td>
			<td></td>
		</tr>
		<tr>
			<td>Axon II</td>
			<td>Society of Robots</td>
			<td></td>
			<td>Microcontroller for the fin hardware</td>
		</tr>
		<tr>
			<td>Berkeley Nucleonics Delay Generator</td>
			<td>Berkeley Nucleonics Corp</td>
			<td>Model 525</td>
			<td>BNC delay generator and software</td>
		</tr>
		<tr>
			<td>BobCat Cam Config</td>
			<td>Imperx</td>
			<td></td>
			<td>Camera settings software</td>
		</tr>
		<tr>
			<td>CCD camera</td>
			<td>Imperx</td>
			<td>B2340</td>
			<td>4 MegaPixel</td>
		</tr>
		<tr>
			<td>COMSOL</td>
			<td>COMSOL Inc</td>
			<td></td>
			<td>Commercial structural dynamics software for fluid-structure interaction modeling</td>
		</tr>
		<tr>
			<td>D646WP Servo</td>
			<td>Hitec</td>
			<td>36646S</td>
			<td>32-Bit, Digital, High Torque, Waterproof Servo for the fin pitch rotation</td>
		</tr>
		<tr>
			<td>D840WP Servo</td>
			<td>Hitec</td>
			<td>36840S</td>
			<td>32-Bit, Multi Purpose, Waterproof, Steel Gear Servo for the fin stroke rotation</td>
		</tr>
		<tr>
			<td>Electric Pink fluorescent pigment</td>
			<td>Silc Pig</td>
			<td>PMS812C</td>
			<td></td>
		</tr>
		<tr>
			<td>EverGreen (532 nm dual pulsed Nd:YAG laser system)</td>
			<td>Quantel</td>
			<td>EVG00070</td>
			<td>Laser head and power supply, 70 mJ</td>
		</tr>
		<tr>
			<td>Force transducer</td>
			<td>ADMET</td>
			<td>SM-10-961</td>
			<td>10 lbf load cell</td>
		</tr>
		<tr>
			<td>FrameLink Express</td>
			<td>Imperx</td>
			<td></td>
			<td>Camera capture software</td>
		</tr>
		<tr>
			<td>Longpass fluorescence filter</td>
			<td>Edmund Optics</td>
			<td></td>
			<td>560 nm</td>
		</tr>
		<tr>
			<td>MATLAB</td>
			<td>MathWorks</td>
			<td></td>
			<td>Software for image analysis</td>
		</tr>
		<tr>
			<td>Planetary centrifugal mixer</td>
			<td>THINKY MIXER</td>
			<td>AR-100</td>
			<td></td>
		</tr>
		<tr>
			<td>Silicone rubber compounds</td>
			<td>Momentive</td>
			<td>RTV615</td>
			<td>Clear PDMS</td>
		</tr>
		<tr>
			<td>Stratasys J750</td>
			<td>Stratasys</td>
			<td></td>
			<td>3D printer, polyjet</td>
		</tr>
		<tr>
			<td>Universal testing machine</td>
			<td>ADMET</td>
			<td>eXpert 2611</td>
			<td>Table top model</td>
		</tr>
		<tr>
			<td>VeroBlack</td>
			<td>Stratasys</td>
			<td></td>
			<td>3D printer material to build the molds</td>
		</tr>
		<tr>
			<td>VeroGray</td>
			<td>Stratasys</td>
			<td></td>
			<td>3D printer material to build the molds</td>
		</tr>
	</tbody>
</table>

flapping soft fin deformation modeling using planar laser-induced fluorescence imaging

受到各种鱼类鳍的启发的推进机制已被越来越多地研究，因为它们有可能提高无人车辆系统的机动和隐身能力。与更刚性结构相比，这些翅片机构膜中使用的软材料已被证明可以有效地增加推力和效率，但是准确测量和模拟这些软膜中的变形至关重要。本研究提出了一种工作流程，用于使用平面激光诱导荧光（PLIF）表征柔性水下拍打翅片的时间依赖性形状变形。制造具有不同刚度（0.38 MPa和0.82 MPa）的着色聚二甲基硅氧烷翅片膜并将其安装到组件上，以便在两个自由度（俯仰和滚动）中致动。在一系列翼展平面上采集PLIF图像，进行处理以获得翅片变形曲线，并组合以重建时变3D变形翅片形状。然后，这些数据用于为流固耦合仿真提供高保真度验证，并提高对这些复杂推进系统性能的理解。

将梯形鱼的人造胸鳍用两种不同的材料（PDMS 10：1和20：1，均与荧光染料混合）从模具中铸造出来，每种材料都有一个刚性的前缘翼梁插入前四分之一弦（图2 和 图3）。两种翅片材料的拉伸测试（图3）分别产生PDMS 20：1和PDMS 10：1翅片的弹性模量（图3），两种测量的R2 分别为0.38 MPa和0.82 MPa（相应的应力 - 应变曲线见 <stron...

Watch this Scientific Journal Video about Flapping Soft Fin Deformation Modeling using Planar Laser-Induced Fluorescence Imaging at JoVE.com

Flapping Soft Fin Deformation Modeling using Planar Laser-Induced Fluorescence Imaging

本方案涉及测量和表征用聚二甲基硅氧烷（PDMS）材料建造的水下拍打翅片中的3D形状变形。准确重建这些变形对于了解合规拍打翅片的推进性能至关重要。

基于平面激光诱导荧光成像的拍打软鳍变形建模

Propulsive mechanisms inspired by the fins of various fish species have been increasingly researched, given their potential for improved maneuvering and ...

非侵入式测量软机器人鳍片变形的能力非常重要，因为我们可以更好地为水下航行器的鳍片设计和控制提供信息，并验证计算模型。我们可以在流体动力学中重新利用现有的工具，称为刨床激光诱导荧光，并将其扩展为固体，然后可用于同时测量固体和流体。这种方法可以推广到软机器人系统和材料。我们可以使用这种技术，不仅可以验证流体结构相互作用，还可以研究传感器和医疗应用的柔性材料。首先设计和构建一个定制的3D打印光泽成品金属翅片形状的模具。通过在矩形玻璃水箱上安装脉冲激光系统来准备实验设置，以产生一个刨光片，该刨光片在30赫兹的中平面处与水箱相交。安装一个四百万像素的电荷耦合器件或CCD相机，带有35毫米镜头和516纳米的长通荧光滤光片。安装后，使用放置在激光片平面中的标尺从CCD相机拍摄单个图像，执行微米到像素转换的校准。然后在相机上选择两个位置，并通过分隔像素将距离以微米为单位进行划分。确保微米与像素比足够小或在亚毫米范围内。使用鳍片软件的触发输出以及来自延迟发生器和相关软件的信号，将激光脉冲和相机图像与拍打鳍片同步。确保所有激光器安全符合机构准则。要设置激光系统，请使用运行冷水机组的电源键打开激光系统，以冷却激光头。故障指示灯闪烁，直到系统准备好为激光器供电。将触发源设置为外部灯、外部Q开关。对于两个激光头，将激光能量设置为全功率的60%至80%，然后按每个Q开关按钮。然后按下电源按钮打开激光器。接下来，在打开相机设置软件并选择正确的端口之前，将电源线插入相机并确保与计算机的正确连接。打开延迟发生器后，将外部栅极通道连接到鳍触发器，将通道E连接到相机，将通道A连接到D连接到激光器。然后，打开延迟发生器软件，选择脉冲模式以突发，系统分辨率选择四纳秒。以秒为单位设置时间段。将外部触发/栅极模式调整为触发，阈值调节至 0.20 V，并在上升时调整触发沿。此外，按照脚本中的说明设置通道。对齐翅片，使激光片在跨度明智位置穿过翅片的一个线状部分，然后使用安装硬件固定翅片平台。将电源连接到翅片控制硬件和翅片电机，以使用选定的运动学开始翅片拍打，并关闭所有环境灯。在延迟发生器软件中，按运行开始同步实验，并在整个行程周期中获取激光片与翅片相交的图像。在打开激光片和关闭环境灯的情况下观察油箱中的翅片拍打。完成后，在断开翅片与电源的连接之前按停止键。移动翅片平台，使激光片在新的跨度明智位置交叉。用额外的所需翅片膜替换翅片，并如前所述进行实验，以获取所需测量次数的图像。通过从BW区域中提取代表鳍片横截面的所有白色物体，过滤点M二进制图像并使用M显示点M显示图像来分析图像，然后为每个图像创建二进制图像边界的轨迹，通过选择所有接触黑色背景像素的鳍像素来获得2D形状。将生成的翅片形状与从中心线生成的 3D 流固耦合或 FSI 模型进行比较，以展示如何将该过程用作高保真度验证。编程的鳍运动学产生43度的行程幅度和17度的螺距幅度。该图像说明了笔触中两个位置的比较。一个在上冲程的中间，一个在下冲的中间。此外，还比较了PDMS 10对1的形状变形和PDMS 20对1鳍片的形状变形。从平面激光诱导荧光、FSI和中上冲程的刚性外壳中重建了3D翅片形状，证明了本技术为FSI仿真提供高保真验证的能力。在实验中，由于不透明的刚性翼梁，翅片横截面在每一步都不可见。该图像显示了鳍片不可见的结果。要记住的最重要的事情是在运行完整实验之前测试组件的同步。设置计时后，先执行测试运行。

Research

JoVE Journal

Bioengineering

Diagnosis of Neoplasia in Barrett&#8217;s Esophagus using Vital-dye Enhanced Fluorescence Imaging

用生命染增强荧光成像瘤在Barrett食管诊断

The ability to differentiate benign metaplasia in Barrett&#8217;s Esophagus (BE) from neoplasia in vivo remains difficult as both tissue types can be flat ...

科研

生物工程

A Coupled Experiment-finite Element Modeling Methodology for Assessing High Strain Rate Mechanical Response of Soft Biomaterials

一个耦合试验，有限元建模方法以评估生物材料软的高应变率力学响应

This study offers a combined experimental and finite element (FE) simulation approach for examining the mechanical behavior of soft biomaterials (e.g. ...

High-resolution Spatiotemporal Analysis of Receptor Dynamics by Single-molecule Fluorescence Microscopy

受体动力学通过单分子荧光显微镜的高分辨率时空分析

Single-molecule microscopy is emerging as a powerful approach to analyze the behavior of signaling molecules, in particular concerning those aspect (e.g., ...

3D Orbital Tracking in a Modified Two-photon Microscope: An Application to the Tracking of Intracellular Vesicles

3d轨道跟踪的改进双光子显微镜之应用：细胞内的囊泡的跟踪

The objective of this video protocol is to discuss how to perform and analyze a three-dimensional fluorescent orbital particle tracking experiment using a ...

From Fast Fluorescence Imaging to Molecular Diffusion Law on Live Cell Membranes in a Commercial Microscope

从快速荧光成像在分子扩散法对活细胞的膜在商业显微镜

It has become increasingly evident that the spatial distribution and the motion of membrane components like lipids and proteins are key factors in the ...

Single Molecule Fluorescence Microscopy on Planar Supported Bilayers

单分子荧光显微镜在平面支持双层膜

In the course of a single decade single molecule microscopy has changed from being a secluded domain shared merely by physicists with a strong background ...

Biomechanical Characterization of Human Soft Tissues Using Indentation and Tensile Testing

人体软组织的生物力学特性采用压痕和拉伸试验

Regenerative medicine aims to engineer materials to replace or restore damaged or diseased organs. The mechanical properties of such materials should ...

Stiffness Measurement of Soft Silicone Substrates for Mechanobiology Studies Using a Widefield Fluorescence Microscope

用 Widefield 荧光显微镜研究软硅基美国匹茨堡的刚度测量

Soft tissues in the human body typically have stiffness in the kilopascal (kPa) range. Accordingly, silicone and hydrogel flexible substrates have been ...

Conducting Multiple Imaging Modes with One Fluorescence Microscope

使用一个荧光显微镜进行多种成像模式

Fluorescence microscopy is a powerful tool to detect biological molecules in situ and monitor their dynamics and interactions in real-time. In addition to ...

Visualizing Adhesion Formation in Cells by Means of Advanced Spinning Disk-Total Internal Reflection Fluorescence Microscopy

利用先进的纺额圆盘全内反射荧光显微镜观察细胞粘附形成

In living cells, processes such as adhesion formation involve extensive structural changes in the plasma membrane and the cell interior. In order to ...