  The mixing of an impurity into a flowing fluid is an important process in
many areas of science, including geophysical processes, chemical reactors, and
microfluidic devices. In some cases, for example periodic flows, the concepts
of nonlinear dynamics provide a deep theoretical basis for understanding
mixing. Unfortunately, the building blocks of this theory, i.e. the fixed
points and invariant manifolds of the associated Poincare map, have remained
inaccessible to direct experimental study, thus limiting the insight that could
be obtained. Using precision measurements of tracer particle trajectories in a
two-dimensional fluid flow producing chaotic mixing, we directly measure the
time-dependent stretching and compression fields. These quantities, previously
available only numerically, attain local maxima along lines coinciding with the
stable and unstable manifolds, thus revealing the dynamical structures that
control mixing. Contours or level sets of a passive impurity field are found to
be aligned parallel to the lines of large compression (unstable manifolds) at
each instant. This connection appears to persist as the onset of turbulence is
approached.
