Hydrodynamic treadmill: a tracking device to study biotic/abiotic systems in gravitational and hydrodynamic fields
View Patent ↗An annular fluid-filled sample chamber is used to provide observation of unbounded motion of objects in the fluid. Rotation of the sample chamber is under automatic control to compensate for azimuthal motion of the object, thereby keeping the object in a fixed field of view of an optical observation system. Further motion control can be provided in the radial and focus directions, which can be used to provide full 3D tracking of objects as they move in the fluid. An important application of this work is to observation and tracking of objects that move up or down in the fluid with respect to gravity.
1. Apparatus for observing unbounded motion of an object in a fluid, the apparatus comprising:
an optically transparent sample chamber configured as an annulus filled with a fluid and having an axis of rotation; and
an azimuthal control system configured to rotate the sample chamber as a unit about the axis of rotation to compensate for azimuthal motion of an object in the fluid such that the object continuously remains visible within a predetermined field of view;
wherein azimuthal motion of the object is motion of the object in a ϕ direction of an r, ϕ, z system of cylindrical coordinates having the axis of rotation of the sample chamber as its z axis.
2. The apparatus of claim 1 ,
wherein a resultant gravitational field is present at a location of the apparatus; and
wherein the apparatus is configured such that the azimuthal motion of the object is substantially up or down with respect to the resultant gravitational field.
3. The apparatus of claim 2 , further comprising a system for varying environmental parameters of the fluid as a function of a virtual depth as the virtual depth varies according to azimuthal motion of the object;
wherein the virtual depth is a radius of the sample chamber times a net total rotation angle of the sample chamber.
4. The apparatus of claim 3 , wherein the environmental parameters include one or more parameters selected from the group consisting of: optical intensity, optical spectrum, optical polarization, nutrient concentration, oxygen concentration, chemical species concentration, pressure, electric field direction and intensity, and magnetic field direction and intensity.
5. The apparatus of claim 2 , wherein a set-point for an azimuthal position of the object is selected to cause the object to move radially within the sample chamber due to the ambient gravitational field, whereby both azimuthal and radial control of object position is obtained.
6. The apparatus of claim 1 , wherein the control system is further configured to generate shear in the fluid via angular acceleration of the sample chamber, whereby an orientation of the object can be changed.
7. The apparatus of claim 1 , wherein the object is selected from the group consisting of: biotic objects, abiotic objects, neutrally buoyant objects, non-neutrally buoyant objects, and objects having a size of 1 mm or less.
8. The apparatus of claim 1 further comprising an optical observation system disposed to observe the predetermined field of view.
9. The apparatus of claim 8 , further comprising radial motion control and focus motion control of a relative position of the sample chamber and the optical observation system.
10. The apparatus of claim 9 , wherein the radial motion control and the focus motion control include open-loop control.
11. The apparatus of claim 9 , wherein the focus motion control comprises scanning a focal plane of the optical observation system in a focus range and adjusting the relative position of the sample chamber and the optical observation system such that the object is in best focus at a predetermined point of the focus range as the object moves.
12. The apparatus of claim 9 , wherein the radial motion control, the focus motion control and the azimuthal motion control are combined to generate a 3-D volumetric scan of motion of the object.
13. The apparatus of claim 9 , further comprising translational motion control of a relative position of the sample chamber and the optical observation system;
wherein the translational motion control and the azimuthal motion control both act to compensate for azimuthal motion of the object;
wherein a frequency range for the azimuthal motion control is from 0-10 Hz;
wherein a frequency range for the translational motion control is from 10-100 Hz.
14. The apparatus of claim 9 , further comprising a thermal enclosure within which the sample chamber and the optical observation system are enclosed.
15. The apparatus of claim 9 , wherein the optical observation system is a horizontally mounted microscope, and wherein all control of relative position of the optical observation system and the sample chamber is generated by motion of the sample chamber.
16. The apparatus of claim 9 , wherein the radial motion control and the focus motion control include closed-loop control.
17. The apparatus of claim 1 ,
wherein a terrestrial gravitational field is present at a location of the apparatus; and
wherein the apparatus is configured such that the azimuthal motion of the object is substantially up or down with respect to the terrestrial gravitational field.