A method for regulating self-oscillating gel spiral motion

Abstract

The present invention relates to the field of soft robotics, and more specifically, to a method for regulating the spiral motion of a self-oscillating gel. The method comprises pouring a self-oscillating solution into a reaction tank, cutting the self-oscillating gel into the self-oscillating solution, and then using a CCD camera to take timed photos of the self-oscillating gel. The photos are then transmitted back to a control system. Once the photos show that the self-oscillating gel generates a stably propagating pulse wave, the control system operates an 8-12 mW high-power laser to interrupt the self-oscillating gel, leaving only a single spiral wave. The control system then reflects a 0.15-1.85 mW low-power laser onto the self-oscillating gel via a reflector. The low-power laser directs the position of the spiral wave's tip. Different guidance of the tip position results in different spiral motion directions, thereby achieving regulation of the spiral motion direction of the self-oscillating gel. Compared to existing methods, the method is not limited by manual control, and the tip can be remotely controlled, resulting in higher accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of soft robots, and in particular to a method for regulating self-oscillating gel spiral motion. Background Art

[0002] Soft robots (primarily self-oscillating gels) inspired by biological systems can achieve high-dimensional biomimetic motion and can be used to perform a variety of complex tasks. In two-dimensional motion, spiral motion, as a composite motion combining translation and rotation, has important research value and practical application significance. The chirality of spiral motion is the asymmetric characteristic of its rotational direction, with right-handedness representing clockwise spiral motion and left-handedness representing counterclockwise spiral motion. The handedness of spiral motion affects the dynamic characteristics and function of the entire system, making chirality control of spiral motion in soft robots extremely important.

[0003] There are currently two methods for controlling the chirality of the spiral motion of soft robots: (1) Chiral structure design: Designing active materials into chiral structures, or self-assembling active particles into chiral clusters, and adjusting the chirality of the shape to achieve chirality conversion of the spiral motion. This involves precise control of the geometric shape, size, and material properties. (2) External field drive: Based on the interaction between the external physical field and the spiral structure, by adjusting the intensity and direction of the external field, the energy state of the spiral structure is changed, thereby changing the direction of the spiral motion. Specifically, the external magnetic field uses the rotation or gradient distribution of the magnetic field to achieve chirality reversal; the change in the direction of the external electric field can change the distribution and interaction of charges in the spiral structure, thereby regulating the direction of the spiral motion; chiral derivatives formed by combining photoresponsive molecules with chiral molecules, and active particles that are self-driven by interfacial photochemical reactions and photothermal conversion, can achieve chirality conversion of the spiral motion by adjusting parameters such as the wavelength and polarization of light.

[0004] However, the above chirality control method also has the following problems:

[0005] 1) The method of controlling the chirality of motion by designing chiral structures has high requirements on the shape of the micromotor itself. Only asymmetric chiral structures can achieve chiral motion. It cannot explain the chiral motion of symmetrical individuals in nature and is not universal.

[0006] 2) External field-driven micromotors are not suitable for field-free driving of coupled chemical reactions. They have poor adaptability to the environment and cannot sense environmental changes and communicate with each other based on the internal biochemical reaction network. The chirality of the micromotor's movement needs to be controlled by changing the intensity, frequency, and direction of the external field. In addition, the preparation process of the micromotor is demanding and requires precise control of the special shape and material composition.

[0007] In view of this, it is indeed necessary to provide a technical solution to the above problems. Summary of the Invention

[0008] One of the purposes of the present invention is to address the shortcomings of the existing technology and provide a method for regulating the self-oscillating gel spiral motion to solve the problems that the current regulation of the chiral motion of soft robots often requires the use of external fields and human drive, resulting in poor accuracy and strong interference.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] A method for regulating the self-oscillating gel spiral motion comprises the following steps:

[0011] S1. Place the reaction cell in an environment that provides uniform light intensity, pour the self-oscillating solution into the reaction cell, and cut the self-oscillating gel into the self-oscillating solution;

[0012] S2. Use a CCD camera to take timed photos of the self-oscillating gel and transmit the results back to the control system. Once the results show that the self-oscillating gel generates a stably propagating pulse wave, the control system operates an 8-12 mW high-power laser to interrupt it so that only one spiral wave remains on the self-oscillating gel.

[0013] S3. Then the control system reflects a low-power laser of 0.15 to 1.85 mW to the self-oscillating gel through a reflector. The low-power laser pulls the tip position of the spiral wave. Different guidance of the tip position results in different directions of spiral motion, thereby realizing the regulation of the direction of the spiral motion of the self-oscillating gel.

[0014] Preferably, the self-oscillating solution includes malonic acid at a concentration of 100 to 400 mmol / L, sodium bromate at a concentration of 130 to 200 mmol / L, and nitric acid at a concentration of 150 to 900 mmol / L; the wavelength of the high-power laser and the low-power laser is 447 nm.

[0015] Preferably, the thickness of the self-oscillating gel is 0.2-0.6 mm, and the cut size is (3-8 mm)*(3-8 mm).

[0016] Preferably, in step S1, the reaction cell is placed in a dark room environment and a light source is placed at the bottom thereof to provide a uniform light intensity environment, and the light source is 30 to 32 μW / cm 2 A blue surface light source is provided, and constant temperature circulating water at 22±0.1℃ is passed through the periphery of the reaction cell.

[0017] Preferably, the CCD camera is vertically arranged above the reaction tank.

[0018] Preferably, in step S3, a laser head emitting low-power laser is fixed to a robotic arm, and the deflection angle and deflection speed of the reflector are adjusted to reflect the low-power laser to the self-oscillating gel, and the low-power laser pulls the wave tip to any position of the self-oscillating gel.

[0019] Preferably, in step S3, a CCD camera is used to periodically capture movement images of the self-oscillating gel when the wave tip is at different positions of the self-oscillating gel, and the captured images are uploaded to a control system for processing to calculate a phase diagram of the relationship between the wave tip position of the self-oscillating gel and the direction of its spiral motion.

[0020] Preferably, the position of the wave tip of the self-oscillating gel is selected by using a phase diagram showing the relationship between the wave tip position and the direction of the spiral motion of the self-oscillating gel, thereby realizing the conversion of various spiral motion modes of the self-oscillating gel.

[0021] Preferably, the method for calculating the relationship phase diagram of the wave tip position of the self-oscillating gel and the rotation direction of its spiral motion is: the picture obtained by taking step S3 is binarized using the control system to determine the overall outline and center point of the self-oscillating gel in the picture, and then the wave tip position of the self-oscillating gel in the picture is identified, and the intersection points of the wave tip positions in the latter picture and the previous picture are identified in sequence by the overlapping method, and the average value of the wave tip position is calculated, that is, the wave tip position at different times is determined; the determined wave tip position and its corresponding spiral motion rotation direction are plotted into a relationship phase diagram.

[0022] Preferably, in step S3, a CCD camera is used to capture images of the self-oscillating spiral motion guided by the wave tip at the same position on the self-oscillating gel with different side lengths, and a relationship diagram between different side lengths and their corresponding spiral motion directions is prepared.

[0023] The beneficial effects of the present invention are as follows: the control method provided by the present invention first uses a high-power laser to make only one spiral wave exist on the self-oscillating gel, and then remotely controls the reflector through the control system, thereby realizing the control of the angle and deflection speed of the low-power laser, so that the low-power laser can directionally pull the tip of the spiral wave, and accurately pull the tip position to any position of the self-oscillating gel, so that the gel spiral motion of different chirality at different positions on the gel can be obtained, thereby realizing the control of the direction of the spiral motion of the self-oscillating gel. Compared with the existing method, the control method of the present invention is not limited by manual control, and can remotely use a low-power laser to pull the tip position to any position, so the tip position effect is more accurate, and the control of the spiral motion is also more precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a diagram of the process of exciting spiral waves using the control method of the present invention.

[0025] Figure 2This is a diagram showing the change in the position of the wave tip on the self-oscillating gel over time achieved by the control method of the present invention.

[0026] Figure 3 This is a phase diagram showing the relationship between the tip position of the 5 mm self-oscillating gel and the direction of its spiral motion in the present invention.

[0027] Figure 4 for Figure 3 Self-oscillating gel motion trajectory diagram of the medium wave tip at positions ①, ②, and ③.

[0028] Figure 5 This is a relationship diagram between the self-oscillating gels with different side lengths and their spiral motion trajectories when the wave tip position is fixed. DETAILED DESCRIPTION

[0029] To make the technical solutions and advantages of the present invention more clear, the present invention and its beneficial effects will be described in further detail below in conjunction with specific implementation methods, but the implementation methods of the present invention are not limited thereto.

[0030] The "self-oscillating gel" mentioned in this article refers to the self-oscillating gel based on the Belousov-Zhabotinsky chemical oscillation reaction, which can be called BZ self-oscillating gel; the "self-oscillating solution" also refers to the solution used for the Belousov-Zhabotinsky chemical oscillation reaction, which can be called BZ self-oscillating solution.

[0031] The self-oscillating gel in this article can be used as a soft robot.

[0032] The present invention aims to provide a method for regulating the self-oscillating gel spiral motion, comprising the following steps:

[0033] S1. Place the reaction cell in an environment that provides uniform light intensity, pour the self-oscillating solution into the reaction cell, cut the self-oscillating gel (BZ self-oscillating gel) and place it into the self-oscillating solution (BZ self-oscillating solution);

[0034] S2. Use a CCD camera to take timed photos of the self-oscillating gel and transmit the results back to the control system. Once the results show that the self-oscillating gel generates a stably propagating pulse wave, the control system operates an 8-12 mW high-power laser to interrupt it so that only one spiral wave remains on the self-oscillating gel.

[0035] S3. Then the control system reflects a low-power laser of 0.15 to 1.85 mW to the self-oscillating gel through a reflector. The low-power laser pulls the tip position of the spiral wave. Different guidance of the tip position results in different directions of spiral motion, thereby realizing the regulation of the direction of the spiral motion of the self-oscillating gel.

[0036] After stabilization in a BZ self-oscillating solution, two modes of chemical waves randomly appear in the BZ self-oscillating gel. Because defect points automatically form the tip of the spiral wave, gels with poor structural uniformity tend to spontaneously form multiple spiral waves, while gels with more uniform structure form pulse waves. High-power laser irradiation is required to suppress the excess spiral waves, or interrupt the pulse wave and suppress one of the breakpoints, leaving only one to automatically curl into a spiral wave for traction control. The spiral wave can drive the two-dimensional sheet-like BZ self-oscillating gel to perform two-dimensional spiral motion. The order in which the spiral wave collides with the gel boundary determines the type of gel motion trajectory. That is, if the spiral wave collides with the gel boundary clockwise, the gel motion trajectory is a clockwise (left-handed) spiral, and vice versa, it is a counterclockwise (right-handed) spiral. The transition state of the chiral transition is achiral, that is, a "Z"-shaped trajectory. The collision order is determined by the position of the spiral wave tip on the gel. By anchoring the tip and changing its position, the chirality of the self-oscillating gel motion trajectory can be transformed. Therefore, the control technology of the tip position is the key to achieving motion chirality transformation.

[0037] While there are currently successful precedents for using laser technology to pull wave tips, these rely on manual pulling methods, requiring the operator to visually locate the wave tip and manually control the laser to pull it. Due to individual differences among operators, manual laser movement methods are subject to significant errors and cannot accurately locate the wave tip and move the laser at a constant speed. Furthermore, manual manipulation can disrupt the system's motion. For example, excessive movement amplitude can cause vibrations in the liquid environment, disrupting the motion of the self-oscillating gel (soft robot). The control method provided by the present invention utilizes a CCD camera, control system, and reflector to remotely control the laser to pull the wave tip. This method eliminates the need for a darkroom (to provide a uniform light intensity environment, the reaction cell is typically placed in a darkroom and then an additional light source with uniform intensity is provided. Conventional control methods require the darkroom to be opened during laser pulling, which can affect experimental accuracy). This method avoids the interference of manual vibrations on gel motion. The present invention's wave tip tracking, positioning, imaging, and remote pulling system eliminates the individual errors associated with human-eye positioning of the wave tip and accurately tracks the movement of the wave tip.

[0038] In addition, the wave tip is sensitive to laser power. High power will destroy the spiral wave structure and make it unstable; low power has no attraction effect on the wave tip. Therefore, there are also high requirements for laser power. At present, the laser power range suitable for stable traction of the wave tip has not been explored. The inventors have found that low-power lasers of 0.15 to 1.85 mW have a good attraction effect on the wave tip, which is suitable for stabilizing the traction of the wave tip and thus controlling the chirality of the gel spiral motion. However, the inventors also found that when the traction power is too high, it will have an inhibitory effect on the wave tip, and the laser will not be able to smoothly traction the wave tip to move. Preferably, the low-power laser is controlled to 1 to 1.54 mW, which has a better traction effect.

[0039] Compared to conventional external field-driven chiral motion of micromotors, this invention targets the control of the chirality of the helical motion of a BZ self-oscillating gel driven by a helical wave. The position of the wave tip on the BZ self-oscillating gel determines the chirality of the gel's helical motion. Remotely controlling the helical wave tip with a laser, changing its position, results in the gel exhibiting different handednesses (chirality) and thus achieving control of the handedness of the BZ self-oscillating gel's helical motion.

[0040] Preferably, a CCD camera is positioned vertically above the reaction cell to ensure accurate capture of wave tips and gel movement. Specifically, the CCD camera is an industrial CCD camera that narrows its field of view to the center of the reaction cell. HuaTengVision software allows the camera to zoom in or out to accurately visualize the spatial location of the wave tips. The CCD camera is electrically connected to a control system, transmitting the captured images back to the control system and storing them for subsequent analysis to generate a phase diagram.

[0041] In some embodiments, the self-oscillating solution includes malonic acid (MA) at a concentration of 100-400 mmol / L, sodium bromate (NaBrO 3 ) at a concentration of 130-200 mmol / L, and nitric acid (HNO 3 ) at a concentration of 150-900 mmol / L.

[0042] The concentration of the BZ self-oscillating solution used in the experiment adopted by the present invention can maintain the spiral wavelength time stably, and the wavelength and wave number are moderate. Among them, if the HNO3 concentration is too low, the excitability of the system is low, the time for the spiral wave to propagate stably is short, and the period of chemical oscillation is long, the frequency is low, and the driving force generated is small; if the NaBrO3 and HNO3 concentrations are too high, the degradation of the gel polymer chain and the destruction of the structure will be accelerated, making the spiral wave extremely easy to destabilize, and the shrinkage-swelling rate of the gel will decrease, and the movement speed will slow down; if the MA concentration is too high, the wave tip roaming range is large, and the movement trajectory is difficult to control. Preferably, the concentration range of MA is 100-300mmol / L, the concentration range of NaBrO3 is 150-200mmol / L, and the concentration range of HNO3 is 400-900mmol / L. More preferably, the concentration range of MA is 150-300 mmol / L, the concentration range of NaBrO3 is 150-190 mmol / L, and the concentration range of HNO3 is 600-800 mmol / L. Further preferably, the concentration range of MA is 200 mmol / L, the concentration range of NaBrO3 is 170 mmol / L, and the concentration range of HNO3 is 700 mmol / L.

[0043] In some embodiments, the wavelength of the high power laser and the low power laser is 447 nm.

[0044] In some embodiments, the self-oscillating gel has a thickness of 0.2 to 0.6 mm, and the cut size is (3 to 8 mm)*(3 to 8 mm).

[0045] The present invention targets a self-oscillating gel with a thickness within the above range, and preferably a self-oscillating gel with a thickness of 0.4 mm is used for the experiment. The experiment also found that when the wave tip is anchored at a fixed position (the distance from the left and lower boundaries of the gel remains unchanged), the chirality of its spiral motion will also change when the size of the self-oscillating gel is changed. That is to say, this control method only changes the relative position of the wave tip on the gel without changing the dynamics of the wave tip, and can also achieve the effect of changing the collision order between the spiral wave and the gel boundary, and can also achieve rotational motion in different directions. Figure 5 shown.

[0046] In some embodiments, in step S1, a constant temperature circulating water at 22±0.1°C is passed through the periphery of the reaction cell. A certain volume of BZ self-oscillating solution is poured into the reaction cell filled with constant temperature circulating water (22±0.1°C), and the liquid level of the BZ self-oscillating solution is ensured to be slightly higher than the thickness of the BZ gel. That is, the BZ gel must be completely immersed in the solution, but the thick liquid level must not generate fluid forces that interfere with the movement of the gel itself, thereby better ensuring the subsequent stable movement of the gel.

[0047] In some embodiments, in step S1, the reaction cell is placed in a dark room environment and a light source is placed at the bottom thereof to provide a uniform light intensity environment, which is also more conducive to clearly photographing the BZ self-oscillating gel and the spiral waves on the gel. The light source can be 30 to 32 μW / cm 2 LED blue surface light source. Preferably, the light source can be 31.2μW / cm 2 Blue area light source.

[0048] High-power lasers are more effective in interrupting multiple spiral waves, and low-power lasers are also more effective in migrating wave tips.

[0049] In some embodiments, in step S3, a laser head emitting a low-power laser is fixed to a robotic arm, and the deflection angle and deflection speed of the reflector are adjusted to reflect the low-power laser onto the self-oscillating gel, and the low-power laser pulls the wave tip to any position of the self-oscillating gel. By controlling the movement of the robotic arm, in conjunction with the reflector and the CCD camera, the laser can be reflected onto the self-oscillating gel through the reflector, thereby regulating the movement of the laser. This control method only requires observing the shooting interface and operating the software to move the laser, without opening the darkroom, which basically avoids external interference and has higher accuracy. Specifically, the robotic arm can be equipped with an angle adjustment device, and the reflector is also provided with an angle adjustment device, so that the rotation angle of the reflector and the moving speed of the laser can be precisely controlled, thereby achieving precise deflection of the laser beam.

[0050] Preferably, in step S3, a CCD camera is used to periodically capture movement images of the self-oscillating gel when the wave tip is at different positions of the self-oscillating gel, and the captured images are uploaded to a control system for processing to calculate a phase diagram of the relationship between the wave tip position of the self-oscillating gel and the direction of its spiral motion.

[0051] Preferably, the position of the wave tip of the self-oscillating gel is selected by using a phase diagram showing the relationship between the wave tip position and the direction of the spiral motion of the self-oscillating gel, thereby realizing the conversion of various spiral motion modes of the self-oscillating gel.

[0052] The present invention utilizes a CCD camera, a control system, a reflector, and a mechanical arm to control the laser traction motion of the spiral wave tip. It is found that the chirality of the self-oscillating gel spiral motion is closely related to the position of the wave tip. At the same time, the corresponding relationship between the two is explored and a phase diagram is made. The phase diagram can be used to control the chirality of the soft robot's motion. If the first time period is a clockwise (left-handed) spiral motion, the second time period is a counterclockwise (right-handed) spiral motion, and the third time period is changed to a clockwise (left-handed) spiral motion, as well as the requirements for the direction of the spiral motion in other time periods, the phase diagram can be used to determine which position of the wave tip corresponds to which spiral motion. Thus, by controlling the angle, speed, and time of laser traction, the wave tip can be pulled to the corresponding position at the required time, thereby causing the gel to move according to a predetermined spiral trajectory. The control method of the present invention converts the uncontrollable directional motion of the soft robot into a directional controllable one through the phase diagram. The phase diagram can be used as the basis for the subsequent directional control of the chirality. Compared with the existing methods for controlling the direction of the spiral motion of the soft robot, this method has made great progress and greatly expanded the scope of future soft robot applications.

[0053] Among them, the calculation method of the relationship phase diagram of the wave tip position of the self-oscillating gel and its spiral motion rotation direction can be: the picture taken in step S3 is binarized using the control system to determine the overall outline and center point of the self-oscillating gel in the picture, and then the wave tip position of the self-oscillating gel in the picture is identified, and the intersection points of the wave tip positions in the latter picture and the previous picture are identified in sequence using the overlapping method, and the average value of the wave tip position is calculated, that is, the wave tip position at different times is determined; the determined wave tip position and its corresponding spiral motion rotation direction are plotted into a relationship phase diagram.

[0054] Specifically, the preparation method of the relationship phase diagram can be as follows: first use ZDevelop software to set the deflection angle of the reflector and the moving speed of the laser to control the low-power laser (447nm, 0.15~1.85mW) to pull the wave tip to any position of the gel. After the spiral wave propagates stably, HuaTeng Vision software controls the CCD camera to take a self-oscillating gel motion picture, stores it in the control system, crops the picture, and then uses the program in the control system to calculate the self-oscillating gel center point motion trajectory and the wave tip motion trajectory, wherein the program in the control system can be: first read the image with cv2.imread and convert the image into a matrix; use cv2.cvtColor(img,cv2.COLOR_BGR2GRAY) to get the grayscale value; use cv2.threshold for binarization; use cv2.medianBlur median filter to filter out noise; use cv2.findContours to find the contour of the gel; use cv2.moments(contour) to calculate the moment and get the center of the contour. point; use cv2.arcLength and cv2.approxPolyDP to perform quadrilateral matching on the outline; use cv2.threshold to remove the gel edge; use np.where(binary_image[mask]>x,0,255) to binarize the gel area; use cv2.Canny for edge detection; use cv2.dilate to perform dilation operation and connect the edges; first change the threshold, manually identify the tip position of the first image, and then search for the intersection point of the first image and the second image near the tip position, that is, use the overlap method to average these points, and repeat this cycle to obtain the tip position of each image, and then make a phase diagram of the tip position and its corresponding self-oscillating gel motion chirality, as shown in Figure 3 shown.

[0055] Alternatively, in step S3, a CCD camera can be used to capture images of the self-oscillating spiral motion of the wave tip at the same location on the self-oscillating gel with different side lengths, and a graph can be generated showing the relationship between different side lengths and the direction of the spiral motion. This method does not alter the dynamics of the wave tip; it only changes the relative position of the wave tip on the gel. This method also achieves the effect of changing the order in which the spiral wave collides with the gel boundary, thereby resulting in different spiral motions corresponding to different side lengths.

[0056] The same position referred to here is relative and can be referred to as the absolute position of the fixed tip. This is equivalent to using the lower left corner of the square gel as the origin, with the rightward and upward directions as the x- and y-axes. By fixing the coordinates of the tip and varying the gel size, the relative position of the tip is altered. Gels with different side lengths but the same absolute tip position are monitored. Images are taken with a CCD camera, and a program calculates their motion trajectories, generating a graph showing the relationship between gel side length and the direction of its helical motion.

[0057] Combined with the thickness and size range of the self-oscillating gel selected by the present invention, the present invention also explores the chirality of the spiral motion of soft robots corresponding to different sizes. The size range explored is mainly (2.91~5.83mm)*(2.91~5.83mm). When the side length of the self-oscillating gel increases from 2.91mm to 3.25mm, the direction of the spiral motion changes from clockwise to counterclockwise; and when the side length of the self-oscillating gel increases to 4.58mm, the spiral motion of the gel changes from counterclockwise to achiral motion; when the side length continues to increase to 5.83mm, the spiral motion of the gel still exhibits achiral motion, such as Figure 5 shown.

[0058] To make the technical solutions and advantages of the present invention more clear, the present invention and its beneficial effects are further described in detail below in conjunction with specific implementation methods and accompanying drawings, but the implementation methods of the present invention are not limited thereto.

[0059] Example 1

[0060] A method for regulating the self-oscillating gel spiral motion comprises the following steps:

[0061] S1. Place a circular reaction pool (6 cm in diameter) in a dark room and place a blue LED surface light source (I = 31.2 μW / cm 2 ) to provide a uniform light intensity environment. An industrial CCD was placed vertically above the reaction cell and electrically connected to a computer. 6 mL of a self-oscillating solution (BZ self-oscillating solution) was prepared and poured into the reaction cell. The BZ self-oscillating solution included 200 mmol / L MA, 170 mmol / L NaBrO3, and 700 mmol / L HNO3. A two-dimensional sheet of self-oscillating gel with a thickness of 0.4 mm was cut into squares of 5 mm × 5 mm and placed in the self-oscillating solution.

[0062] S2. Use a CCD camera to take timed photos of the self-oscillating gel and transmit the results back to the control system. Once the results show that the self-oscillating gel generates a stably propagating pulse wave, the control system operates a high-power laser (447 nm wavelength, 10 mW power) to interrupt the pulse wave and irradiate and suppress one of the breakpoints, so that only one spiral wave remains on the self-oscillating gel.

[0063] S3. Then the control system remotely controls the reflection of low-power laser (447nm wavelength, 1.54mW power) to the self-oscillating gel through CCD camera, reflector, robotic arm and angle adjustment device. The low-power laser pulls the tip of the spiral wave. The different guidance of the tip position presents different spiral motion directions, thereby realizing the regulation of the spiral motion direction of the self-oscillating gel.

[0064] Example 2

[0065] The difference from Example 1 is that in step S3, this embodiment also uses a CCD camera to periodically capture movement images of the self-oscillating gel when the wave tip is at different positions of the self-oscillating gel, and uploads the captured images to the control system for processing. The wave tip position is obtained using the above-mentioned overlapping method, and the motion trajectory of the gel center point is obtained using the binarization method. The wave tip position and the corresponding spiral motion direction of the self-oscillating gel are plotted into a relationship phase diagram. The relationship phase diagram can be used to directionally select the wave tip position to realize the conversion of various spiral motion modes of the self-oscillating gel.

[0066] The rest is the same as in Example 1 and will not be described again here.

[0067] Example 3

[0068] The difference from Example 2 is that in step S3, this embodiment also uses a CCD camera to capture images of the guided self-oscillating spiral motion when the wave tip is at the same position on the self-oscillating gel with different side lengths (2.91 to 5.83 mm), and makes a relationship diagram between different side lengths and their corresponding spiral motion directions. Based on this relationship diagram, the wave tip position can also be determined, and then the spiral trajectory direction can be selected by changing the side length of the gel, thereby increasing the conversion methods of various spiral motion modes of the self-oscillating gel.

[0069] The rest is the same as in Example 2 and will not be described again here.

[0070] Example 4

[0071] The difference from Example 1 is that in step S2, the power of the high-power laser is 8 mW.

[0072] The rest is the same as in Example 1 and will not be described again here.

[0073] Example 5

[0074] The difference from Example 1 is that in step S2, the power of the high-power laser is 12 mW.

[0075] The rest is the same as in Example 1 and will not be described again here.

[0076] Example 6

[0077] The difference from Example 1 is that in step S3, the power of the low-power laser is 0.15 mW.

[0078] The rest is the same as in Example 1 and will not be described again here.

[0079] Example 7

[0080] The difference from Example 1 is that in step S3, the power of the low-power laser is 1 mW.

[0081] The rest is the same as in Example 1 and will not be described again here.

[0082] Example 8

[0083] The difference from Example 1 is that in step S3, the power of the low-power laser is 1.85 mW.

[0084] The rest is the same as in Example 1 and will not be described again here.

[0085] Comparative Example 1

[0086] The difference from Example 1 is that in step S3, the power of the low-power laser is 3 mW.

[0087] The rest is referred to Example 1 and will not be described again here.

[0088] Comparative Example 2

[0089] The difference from Example 4 is that in step S3, the power of the low-power laser is 3 mW.

[0090] The rest is referred to Example 4 and will not be described again here.

[0091] like Figure 1 As shown, the process diagram of high-power laser-induced spiral waves in the control method of the present invention is a process diagram of interrupting the pulse wave and irradiating to suppress one of the breakpoints; Figure 2 This is a diagram showing the change of the wave tip position over time.

[0092] like Figure 3 As shown, the present invention calculates the relationship between the 5mm self-oscillating gel tip position and its spiral motion direction. For the relationship phase diagrams of other sizes, the same operation process is referred to and implemented, which will not be elaborated here.

[0093] like Figure 4 As shown, according to Figure 3 The order of ①, ② and ③ will pull the wave tip in a directional manner, from Figure 4 It can be seen that when moving from position ① to position ② and then to position ③, the spiral motion of the self-oscillating gel changes from clockwise to "Z" shape and finally to counterclockwise, which is consistent with the Figure 3 The relationship phase diagram in FIG corresponds to FIG. 1 , and it can be seen that the control method for controlling the wave tip position of the present invention can realize the directional control of the chirality of the gel helical motion.

[0094] In addition, by Figure 5 As shown in the figure, when the side length of the self-oscillating gel increases from 2.91 mm to 3.25 mm, the direction of the spiral motion changes from clockwise to counterclockwise; and when the side length of the self-oscillating gel increases to 4.58 mm, the spiral motion of the gel changes from counterclockwise to achiral motion; when the side length continues to increase to 5.83 mm, the spiral motion of the gel still exhibits achiral motion.

[0095] Furthermore, the inventors have discovered through research that, compared to Comparative Examples 1 and 2, controlling the laser pulling power to between 0.15 and 1.85 mW ensures that the laser attracts the wave tip without destroying the spiral wave structure. Preferably, controlling the low-power laser to 1.0 to 1.54 mW achieves even better stable pulling results.

[0096] In summary, it can be seen that the control method provided by the present invention is not restricted by manual control compared to the existing methods. By utilizing remote traction technology, the wave tip can be pulled to any interval according to the expected self-oscillating gel motion trajectory, thereby realizing the conversion of various motion modes with high accuracy and low possibility of interference.

[0097] Based on the disclosure and teachings of the above description, those skilled in the art will be able to make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the above specific embodiments. Any obvious improvements, substitutions, or modifications made by those skilled in the art based on the present invention fall within the scope of protection of the present invention. In addition, although certain specific terms are used in this description, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. A method for regulating the self-oscillating gel spiral motion, characterized in that: The following steps are involved: S1. Place the reaction cell in an environment that provides uniform light intensity, pour the self-oscillating solution into the reaction cell, and cut the self-oscillating gel into the self-oscillating solution; S2. Use a CCD camera to take timed photos of the self-oscillating gel and transmit the results back to the control system. Once the results show that the self-oscillating gel generates a stably propagating pulse wave, the control system operates an 8-12 mW high-power laser to interrupt it so that only one spiral wave remains on the self-oscillating gel. S3. Then the control system reflects a low-power laser of 0.15~1.85 mW to the self-oscillating gel through a reflector. The low-power laser pulls the tip position of the spiral wave. Different guidance of the tip position presents different spiral motion directions, thereby realizing the regulation of the spiral motion direction of the self-oscillating gel. The laser head emitting the low-power laser is fixed on the robotic arm, and the deflection angle and deflection speed of the reflector are adjusted to reflect the low-power laser to the self-oscillating gel. The low-power laser pulls the tip to any position of the self-oscillating gel. A CCD camera is used to regularly capture the motion pictures of the self-oscillating gel when the tip is at different positions of the self-oscillating gel, and the captured pictures are uploaded to the control system for processing, and a phase diagram of the relationship between the tip position of the self-oscillating gel and its spiral motion direction is calculated. The tip position is directionally selected using the phase diagram of the relationship between the tip position of the self-oscillating gel and its spiral motion direction, thereby realizing the conversion of various spiral motion modes of the self-oscillating gel.

2. The method for regulating the self-oscillating gel spiral motion according to claim 1, characterized in that: The self-oscillating solution includes malonic acid at a concentration of 100-400 mmol / L, sodium bromate at a concentration of 130-200 mmol / L, and nitric acid at a concentration of 150-900 mmol / L; the wavelength of the high-power laser and the low-power laser is 447 nm.

3. The method for regulating the self-oscillating gel spiral motion according to claim 1 or 2, characterized in that: The thickness of the self-oscillating gel is 0.2-0.6 mm, and the cut size is (3-8 mm)*(3-8 mm).

4. The method for regulating the self-oscillating gel spiral motion according to claim 1, characterized in that: In step S1, the reaction cell is placed in a dark room environment and a light source is placed at the bottom to provide a uniform light intensity environment. The light source is a blue surface light source of 30~32 μW / cm2, and a constant temperature circulating water of 22±0.1 ℃ is passed through the periphery of the reaction cell.

5. The method for regulating the self-oscillating gel spiral motion according to claim 1, characterized in that: The CCD camera is vertically arranged above the reaction pool.

6. The method for regulating the self-oscillating gel spiral motion according to claim 1, characterized in that: A method for calculating a phase diagram of the relationship between the wave tip position of a self-oscillating gel and the rotation direction of its spiral motion includes: using a control system to perform binary conversion on the image captured in step S3, determining the overall outline and center point of the self-oscillating gel in the image, then identifying the wave tip position of the self-oscillating gel in the image, using an overlapping method to sequentially identify the intersection points of the wave tip positions in the subsequent image and the previous image, calculating the average value of the wave tip position, that is, determining the wave tip position at different times; and plotting the determined wave tip position and its corresponding spiral motion rotation direction into a relationship phase diagram.

7. The method for regulating the self-oscillating gel spiral motion according to claim 1, characterized in that: In step S3, a CCD camera is used to capture images of the self-oscillating spiral motion when the wave tip is at the same position on the self-oscillating gel with different side lengths, and a relationship diagram of different side lengths and their corresponding spiral motion directions is prepared.

Images