![Page 1: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/1.jpg)
Mechanics of thin elastic rodsEngineering meets computer graphics
Khalid Jawedwww.khalidjawed.com
Department of Mechanical Engineering
Massachusetts Institute of Technology
Image: Sketch-d.com, Roman Stocker (MIT), Geblinger (Weizmann)
![Page 2: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/2.jpg)
AgendaPart 1 Part 2
Coiling of rods Propulsion of
flagella
![Page 3: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/3.jpg)
England
With Fang Da, J. Joo, Eitan GrinspunColumbia Computer Graphics Group
Columbia University
France
Submarine Cable DeploymentGlobal Marine Systems
PipeLine Under The Ocean (PLUTO), 1944
Submarine Cable Map
Tangles in cablesGoyal et al, Int. J. Non Linear Mech. 2008
![Page 4: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/4.jpg)
Numerics: Discrete Elastic Rods
The Hobbit (2013)
Bergou et al, SIGGRAPH 2008
Twist-free frame Material frame
Discrete formulation
Discrete Differential Geometry
Weta Digital
![Page 5: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/5.jpg)
Experiments: rod fabrication
Vinyl polysiloxane polymer
Demolding
Curvature induced by
wrapping around cylinders
Natural curvature = 1 / natural radius
Curvature in engineering
Jindaltubes.com
Camera Injector
Conveyor belt
Vbelt
Vinj H
Control parameter:
Dimensionless speed mismatch
Miller et al, Phys. Rev. Lett. 2014
Jawed et al, Proc. Natl. Acad. Sci. 2014
![Page 6: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/6.jpg)
Static coiling
Gravito-bending length:
Jawed et al, Proc. Natl. Acad. Sci. 2014
Straight rod
Curved rod
Rc
![Page 7: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/7.jpg)
Dynamic coiling: straight rod
I. Meandering
II. Secondary patterns
IV. Translated coiling
III. Alternating loops
Dimensionless speed mismatch
Jawed et al, Proc. Natl. Acad. Sci. 2014
Jawed et al, Extreme Mechanics Letters, 2014
Me
an
de
rin
gA
lte
rna
tin
g lo
op
sTr
an
sla
tin
g c
oils
![Page 8: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/8.jpg)
Meandering: Hopf bifurcation?Jawed et al, Proc. Natl. Acad. Sci. 2014
Amplitude Wavelength Decay length
![Page 9: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/9.jpg)
Meandering length scale
What sets 𝝀𝟎?
Jawed et al, Proc. Natl. Acad. Sci. 2014
Geometry Onset wavelength
WavelengthAmplitude
![Page 10: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/10.jpg)
Meandering length scale
Physical parameters
Density, 𝜌Young’s modulus, E
Rod radius, r0
Numerical Experiment
Vary one parameter
keeping others fixed
What sets 𝝀𝟎?
Jawed et al, Proc. Natl. Acad. Sci. 2014
Geometry Onset wavelength
Gravito-bending length scale
![Page 11: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/11.jpg)
Meandering length scale
Geometry Onset wavelength
What sets 𝝀𝟎?
Jawed et al, Proc. Natl. Acad. Sci. 2014
H
Deployment height, H
![Page 12: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/12.jpg)
Meandering length scaleJawed et al, Proc. Natl. Acad. Sci. 2014
Putting it all together:
Onset wavelength
Meandering wavelength
Meandering amplitude
![Page 13: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/13.jpg)
Meandering Coiling length scaleJawed et al, Extreme Mechanics Letters 2014
Alternating loops
Translated coiling
![Page 14: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/14.jpg)
Prominence of geometry
Jawed, M. K. et al
A Geometric Model
for the Coiling of
an Elastic Rod
Deployed Onto a
Moving Substrate
Journal of Applied
Mechanics, 82
(12):121007,
2015
Stephen Morris, U of Toronto
Fluid-mechanical sewing machine Why similarity?
Eitan Grinspun, Columbia U.
Molten glass sewing machine Cooking of Jalebi
Brun et al, MIT
![Page 15: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/15.jpg)
Propulsion and instability of
bacterial flagella
Khalid Jawed
Noor Khouri
Pedro M. ReisElasticity, Geometry and Statistics Lab
Massachusetts Institute of Technology
Fang Da
Eitan Grinspun
Columbia Computer Graphics Group
Columbia University
R. SphaeroidesVibrio cholerae
R. Stocker (MIT)
Flagellum ~ 10 micron
Diameter ~ 10 nmHead
SimExpt
3 cm
H. Berg (Harvard) 10 µm
![Page 16: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/16.jpg)
Experiments
Cameras
Motor
Temp.
probe
Water
circulation
λl
R
Physical properties
ω
Axial length
Helix pitch
Helix radius
Rod radius
Rod density
Young’s Modulus
Temperature of glycerin
Viscosity of glycerin3 cm
![Page 17: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/17.jpg)
Numerics
Relation between velocity 𝒖 𝑠 at each point on flagellum and the force 𝒇 𝑠 exerted by the fluid.
Lighthill Slender Body Theory
Lighthill
Slender Body Theory +Discrete
Elastic
Rod
local non-local
where
𝛿 =1
2𝑟0 𝑒
[Lighthill SIAM Review, 1976]
![Page 18: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/18.jpg)
Flagellar dynamics
Physical propertiesSimulationsExperiments
BuckledUnbuckled
Bacteria Model
BuckledUnbuckled
Fluid loading can cause buckling 𝐹𝑝 =𝐹𝑝
𝐸𝐼/𝑙2
h
![Page 19: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/19.jpg)
Critical buckling velocity
BuckledUnbuckled BuckledUnbuckled
Critical angular velocity for buckling: ωb
![Page 20: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/20.jpg)
Buckling characterization
20/8
Critical force ∼ Viscous force
Fc
Fv
1
1
Bacteria
Bacteria
Geometry dependent
coefficient
![Page 21: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/21.jpg)
Phase diagram
Buckled
Son, K., Guasto, J., Stocker, R. (2013).
Bacteria can exploit a flagellar buckling
instability to change direction.
Nature physics, 9(8), 494-498.
Failure to functionality
Caulobacter crescentus (Wild)
Escherichia coli
Rhizobium lupini (Semicoiled)
R. lupini (Curly)
Salmonella (Wild)
Vibrio alginolyticus
Filled symbols: 𝐸𝐼 ∼ 10−23 N/m2
Y. Takano et al. JSME Int J., 2003
Open symbols: 𝐸𝐼 ∼ 10−24 N/m2
S. Fujime et al. J. Mol. Biol. (1972)
Norm. buckling velocity:
An
gu
lar
velo
cit
y sca
led
by
he
lix
rad
ius
![Page 22: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/22.jpg)
Conclusion
Jawed, M. K., Khouri, N. K., Da, F., Grinspun, E., & Reis, P. M.
Propulsion and instability of a flexible helical rod rotating in a viscous fluid
Physical Review Letters, 115(16):168101, 2015
Jawed, M. K. & Reis, P. M.
Deformation of a soft helical filament in an axial flow at low Reynolds number
Soft Matter, 2016
Email: [email protected] Web: khalidjawed.com
Natural environment
Experiments Simulations
• Coupled effect of flexible structure + fluid
• Structure: Discrete Elastic Rods
• Fluid: Lighthill slender body theory
• Flagella can buckle above a threshold angular velocity
• Bacteria may exploit buckling for functionality
H. Berg (Harvard)
![Page 23: Part 1 Part 2 - EPFL · Soft Matter, 2016 Email: khalidjm@mit.edu Web: khalidjawed.com Natural environment Experiments Simulations ... Bergou et al, SIGGRAPH 2008 Bergou et al, SIGGRAPH](https://reader035.vdocuments.site/reader035/viewer/2022071000/5fbc85516efccf24f215f65a/html5/thumbnails/23.jpg)
Discrete Elastic Rods
Simulation loop
Explicit energy gradient and Hessian
Time-parallel frame
Bergou et al, SIGGRAPH 2008
Bergou et al, SIGGRAPH 2010