Search

The development of highly compliant materials and actuators has enabled the design of soft robots that can be applied in rescue operations, in secure human-robot interactions, to manipulate fragile devices or objects, and for robot locomotion within complex environments. To develop reliable solutions for soft robotics applications, devices with the ability to deform and change shape are required, which must be equipped with appropriate sensors capable of withstanding large deformations at suitable speeds and respond repeatedly. This work presents a methodology to build strain sensors made of sensitive, thin, and conductive channels printed inside a soft matrix, using three-dimensional printing. As proof of concept, rectangular beams and semispherical caps embedded with sensitive circuits are developed that are designed to deform under applied forces and detect the gradual contact with objects. The rectangular beam with conductive lines separated from the neutral plane exhibits a quasi-linear electrical response as a function of the applied shear strain. Mechanical diodes, which trigger an activated response once a given deformation onset is exceeded, are implemented using circumferential conductive channels that are centered with the spherical body sensor. Sinusoidally shaped conductive channels located at a given distance from the spherical surface produce a monotonic electrical response, which detects deformations over a broad range. Linear sensors, with enhanced sensitivity to compression, are created if the sensitive conductive channels are oriented along the compression direction. Numerical calculations, used to guide the design of the sensor, show the capability of these sensors to measure simultaneous normal and tangential forces, making them suitable for applications involving fragile object manipulation and robot locomotion. An example of application of these sensors in the control of the forces applied by soft gripper lifting an object is given.

International audience; Pressurised membranes are usually used for low cost structures (e.g. inflatable bed), impact protections (e.g air-bags) or sport balls. The last two examples deal with impacts on human body. Under-inflated protective membranes are not effective whereas over-inflated objects can cause injury at impact. The coefficient of restitution represents the ability of a membrane to dissipate energy during an impact. Its dependence on membrane properties and inflation pressure is investigated on a model experiment using a spherical membrane. Coefficient of restitution increases with inflation pressure but decreases with impact speed. For a spherical membrane, it is shown that kinetic energy is lost by transfer to vibration modes. A physical modelling of a spherical membrane impact is build considering a quasi-static impact with small indentation. Finally, the dependency of the coefficient of restitution with mechanical parameters, pressurisation and impact characteristics is given.

We investigate the effect of a forest of pillars on a granular layer steadily flowing over a rough inclined plane. We quantify experimentally how the steady flow rate of grains is affected by the inter-pillars distance for different layer thicknesses and slope angles. We then propose a model based on a depth-average approximation associated with $\mu(I)$ rheology that considers the additional force exerted by the pillars on the granular layer. This model succeeds in accounting for most of the observed results when taking into account some inertia due to the nonvanishing Froude number of the flow., Comment: 9 pages, 7 figures

We investigate experimentally and theoretically the stability of a shear-thickening suspension flowing down an inclined plane. In a previous paper (Darbois Texier et al., Commun. Phys., vol. 3, 2020), we have shown that for particle volume fractions $\phi$ above the discontinuous shear-thickening fraction $\phi _{DST}$ , long surface waves grow spontaneously at a flow Reynolds number much below 1. This motivated a simplified analysis based on a purely inertialess mechanism, called the ‘Oobleck waves’ mechanism, which couples the negatively sloped rheology of the suspension with the free-surface deflection and captures well the experimental instability threshold and the wave speed, for $\phi >\phi _{DST}$ . However, neglecting inertia does not allow us to describe the inertial Kapitza regime observed for $\phi , nor does it allow us to discriminate between Oobleck waves and other inertial instabilities expected above $\phi _{DST}$ . This paper fills this gap by extending our previous analysis, based on a depth-averaged approach and the Wyart–Cates constitutive shear-thickening rheology, to account for inertia. The extended analysis recovers quantitatively the experimental instability threshold in the Kapitza regime, below $\phi _{DST}$ , and in the Oobleck waves regime, above $\phi _{DST}$ . By providing additional measurements of the wave growth rate and investigating theoretically the effect of a strain delay in the rheology, it also confirms that the instability observed above $\phi _{DST}$ stems from the non-inertial Oobleck wave mechanism, which is specific to free-surface flows and dominates modes of inertial origin. These results emphasize the variety of instability mechanisms for shear-thickening suspensions and might be relevant to free-surface flows of other complex fluids displaying velocity-weakening rheology.

We consider the penetration dynamics of a vertical cylinder into a dry granular medium subjected to successive impacts. The depth of the impactor below the free surface $z_N$ first evolves linearly with the impact number $N$ and then follows a power-law evolution $z_N \propto N^{1/3}$. The depth reached by the cylinder after a given number of impacts is observed to increase with the impact energy but to decrease with its diameter and the density of the granular medium. We develop a model that accounts for the quasi-static and inertial granular forces applying on the cylinder to rationalize our observations. This approach reveals the existence of two intrusion regimes for large and small impact numbers, allowing all data to be rescaled on a master curve. Then, we extend the study to the effect of sidewalls on the dynamics of the impactor. We show that lateral confinement changes the dependence of the impactor depth on the impact number $z_N (N)$. This effect is accounted for by considering the increase of the granular drag with the lateral confinement., Comment: 7 pages, 4 figures

Eggs are key ingredients in our kitchens because of their nutritional values and functional properties such as foaming, emulsifying and gelling, offering a wide variety of culinary achievements. They also constitute ideal objects to illustrate a myriad of scientific concepts. In this article, we focus on several experiments (egg-speriments) that involve the singular properties of the liquids contained inside the eggshell, especially the egg white. We first characterize the rheology of an egg white in a rotational rheometer for constant and oscillatory shear stresses revealing its shear-thinning behavior and visco-elastic properties. Then, we measure the tendency of the fluid to generate very long filaments when stretched that we relate to the shear modulus of the material. Second, we explore the anisotropic crack pattern that forms on a thin film of egg white after it is spread on a surface and let dried. The anisotropy results from the long protein chains present in the egg white which are straightened during film deposition. Finally, we consider the "spin test" that permits to distinguish between raw and hard-boiled eggs. To do so, we measure the residual rotation of a spinning raw egg after a short stop which reflects the continuation of the internal flow. These observations are interpreted in terms of viscous damping of the internal flow consistently with the measurements deduced from rheology., Comment: 9 pages, 13 figures

International audience

International audience; The force experienced by an object moving in a granular medium is a necessary input to describe locomotion problems in such a context. Towards this objective, resistive force theory (RFT) has been developed for granular flows inspired by previous developments in the case of viscous flows. In viscous fluids, a reciprocal motion does not lead to a net propulsion due to the kinematics reversibility of viscous flows that is included in the RFT. We show that, in a granular medium, a reciprocal motion allows for propulsion. We investigate the specific mechanisms underlying this propulsion and discuss how they differ from that of viscous flows. Understanding these phenomena permit both the accurate description of locomotion in sand and the refinement of the RFT for granular materials. These achievements provide opportunities towards the development of robots that are able to progress inside granular media and are suitable for controlling industrial processes.

Recent simulations and experiments have shown that shear-thickening of dense particle suspensions corresponds to a frictional transition. Based on this understanding, non-monotonic rheological laws have been proposed and successfully tested in rheometers. These recent advances offer a unique opportunity for moving beyond rheometry and tackling quantitatively hydrodynamic flows of shear-thickening suspensions. Here, we investigate the flow of a shear-thickening suspension down an inclined plane and show that, at large volume fractions, surface kinematic waves can spontaneously emerge. Curiously, the instability develops at low Reynolds numbers, and therefore does not fit into the classical framework of Kapitza or ‘roll-waves’ instabilities based on inertia. We show that this instability, that we call ‘Oobleck waves’, arises from the sole coupling between the non-monotonic (S-shape) rheological laws of shear-thickening suspensions and the flow free surface. The way interactions at the microscopic scale influence emerging flow properties in complex fluids at the macroscopic scale is one of the core problems in soft matter physics. This work provides experimental evidence together with a theoretical explanation for ‘Oobleck waves’, an instability arising from the coupling between the flow free surface and the non-monotonic rheological laws of shear-thickening suspensions.

This paper describes the deformation of an elastic pipe submitted to gravity and to an internal fluid flow. The pipe is clamped horizontally at one end and free at the other end. As the fluid velocity increases, the shape changes from an elastic beam deflected by its own weight towards an horizontal position. The shape of the pipe is characterized experimentally and is compared with a theoretical model based on the Euler–Bernoulli approximation and the conservation of the fluid momentum. We study how the determination of the pipe deformation provides an estimation of the conveyed fluid flow. Finally, the vertical force produced by the conveyed fluid to lift off a mass is deduced.

The physical mechanisms that bring about the propulsion of a rotating helix in a granular medium are considered. A propulsive motion along the axis of the rotating helix is induced by both symmetry breaking due to the helical shape, and the anisotropic frictional forces undergone by all segments of the helix in the medium. Helix dynamics is studied as a function of helix rotation speed and its geometrical parameters. The effect of the granular pressure and the applied external load were also investigated. A theoretical model is developed based on the anisotropic frictional force experienced by a slender body moving in a granular material, to account for the translation speed of the helix. A good agreement with experimental data is obtained, which allows for predicting the helix design to propel optimally within granular media. These results pave the way for the development of an efficient sand robot operating according to this mode of locomotion.

We study the effect of gravity on giant soap bubbles and show that it becomes dominant above the critical size [Formula: see text], where [Formula: see text] is the mean thickness of the soap film and [Formula: see text] is the capillary length ([Formula: see text] stands for vapor-liquid surface tension, and [Formula: see text] stands for the liquid density). We first show experimentally that large soap bubbles do not retain a spherical shape but flatten when increasing their size. A theoretical model is then developed to account for this effect, predicting the shape based on mechanical equilibrium. In stark contrast to liquid drops, we show that there is no mechanical limit of the height of giant bubble shapes. In practice, the physicochemical constraints imposed by surfactant molecules limit the access to this large asymptotic domain. However, by an exact analogy, it is shown how the giant bubble shapes can be realized by large inflatable structures.

International audience; Leaves are the organs that intercept light and create photosynthesis. Efficient light interception is provided by leaves oriented orthogonal to most of the sun rays. Except in the polar regions, this means orthogonal to the direction of acceleration due to gravity, or simply horizontal. The leaves of almost all terrestrial plants grow in a gravity field that tends to bend them downward and therefore may counteract light interception. Plants thus allocate biomass for self-support in order to maintain their leaves horizontal. To compete with other species (inter-species competition), as well as other individuals within the same species (intra-species competition), self-support must be achieved with the least biomass produced. This study examines to what extent leaves are designed to self-support. We show here that a basic mechanical model provides the optimal dimensions of a leaf for light interception and self-support. These results are compared to measurements made on leaves of various giant monocot species, especially palm trees and banana trees. The comparison between experiments and model predictions shows that the longer palms are optimally designed for self-support whereas shorter leaves are shaped predominantly by other parameters of selection. Copyright © 2016 Elsevier Ltd. All rights reserved.

International audience; We study experimentally the dynamics of shuttlecocks. We show that their trajectory is completely different from classical parabola : for a same launch, the flight of the shuttlecock quickly curves downwards and almost reaches a vertical asymptote. We solve the equation of motion with gravity and drag at high Reynolds number and find an analytical expression for the range. At high velocity, this reach does not depend on the velocity anymore. This phenomenon, that we call the "aerodynamic wall", is highly observable in badminton. Then we study how the shuttlecock shape influences the badminton game. The shuttlecock always flies the nose forehead, which means after the impact it has to flip. Actually it returns, oscillates and then stabilizes. We understand these damping oscillations by distinguishing the mass and aerodynamic center of a shuttlecock. (C) 2012 Published by Elsevier Ltd.

This study considers the spreading of a Newtonian and perfectly wetting liquid in a square array of cylindric micropillars confined between two plates. We show experimentally that the dynamics of the contact line follows a Washburn-like law which depends on the characteristics of the micropillar array (height, diameter and pitch). The presence of pillars can either enhanced or slow down the motion of the contact line. A theoretical model based on capillary and viscous forces has been developed in order to rationalize our observations. Finally, the impact of pillars on the volumic flow rate of liquid which is pumped in the microchannel is inspected.

We report experiments concerning the melting of ice disks (85 mm in diameter and 14 mm in height) at the surface of a thermalized water bath. During the melting, the ice disks undergo translational and rotational motions. In particular, the disks rotate. The rotation speed has been found to increase with the bath temperature. We investigated the flow under the bottom face of the ice disks by a particle image velocimetry technique. We find that the flow goes downwards and also rotates horizontally, so that a vertical vortex is generated under the ice disk. The proposed mechanism is the following. In the vicinity of the bottom face of the disk, the water eventually reaches the temperature of 4 °C for which the water density is maximum. The 4 °C water sinks and generates a downwards plume. The observed vertical vorticity results from the flow in the plume. Finally, by viscous entrainment, the horizontal rotation of the flow induces the solid rotation of the ice block. This mechanism seems generic: any vertical flow that generates a vortex will induce the rotation of a floating object.

Liquid rings can be generated in the Leidenfrost state using liquid oxygen of low boiling point ($- 183~\textdegree \mathrm{C} $) and high magnetic susceptibility, allowing one to ‘sculpt’ the liquid into a ring shape using an annular magnet. When the magnetic field is turned off, the ring shrinks back into a puddle with a constant acceleration. A potential flow approach accurately describes the dynamics of closure with an equation reminiscent of the Rayleigh–Plesset equation for the collapse of transient cavities.

Liquid oxygen, which is paramagnetic, also undergoes Leidenfrost effect at room temperature. In this article, we first study the deformation of oxygen drops in a magnetic field and show that it can be described via an effective capillary length, which includes the magnetic force. In a second part, we describe how these ultra-mobile drops passing above a magnet significantly slow down and can even be trapped. The critical velocity below which a drop is captured is determined from the deformation induced by the field., Comment: Published in Physics of Fluids (vol. 25, 032108, 2013) http://pof.aip.org/resource/1/phfle6/v25/i3/p032108_s1?isAuthorized=no

International audience; We study the trajectory of dense projectiles subjected to gravity and drag at large Reynolds number. We show that two types of trajectories can be observed: if the initial velocity is smaller than the terminal velocity of free fall, we observe the classical Galilean parabola: if it is larger, the projectile decelerates with an asymmetric trajectory first drawn by Tartaglia, which ends with a nearly vertical fall, as if a wall impeded the movement. This regime is often observed in sports, fireworks, watering, etc. and we study its main characteristics.