We use hydrodynamics to investigate non-stationary channel flows of freely cooling dilute granular gases. We focus on the regime where the sound travel time through the channel is much shorter than the characteristic cooling time of the gas. As a result, the gas pressure rapidly becomes almost homogeneous, while the typical Mach number of the flow drops well below unity. Eliminating the acoustic modes, we reduce the hydrodynamic equations to a single nonlinear and nonlocal equation of a reaction-diffusion type in Lagrangian coordinates. This equation describes a broad class of channel flows and, in particular, can follow the development of the clustering instability from a weakly perturbed homogeneous cooling state to strongly nonlinear states. If the heat diffusion is neglected, the reduced equation is exactly soluble, and the solution develops a finite-time density blowup. The heat diffusion, however, becomes important near the attempted singularity. It arrests the density blowup and brings about novel inhomogeneous cooling states (ICSs) of the gas, where the pressure continues to decay with time, while the density profile becomes time-independent. Both the density profile of an ICS, and the characteristic relaxation time towards it are determined by a single dimensionless parameter that describes the relative role of the inelastic energy loss and heat diffusion. At large values of this parameter, the intermediate cooling dynamics proceeds as a competition between low-density regions of the gas. This competition resembles Ostwald ripening: only one hole survives at the end.
The long-time behavior of the current auto-correlation functions for the velocity, the shear stress and the heat flux is investigated in freely cooling granular gases. It is found that the correlation functions for the velocity and the shear stress have the long-time tails obeying $τ^{-d/2}$, while the correlation function of heat flux decays as $τ^{-(d+2)/2} \exp(-ζ^* τ)$ with the dimensionless cooling rate $ζ^*$, the spatial dimension $d$ and the scaled time $τ$ in terms of the collision frequency. The result of our numerical simulation of the freely cooling granular gases is consistent with…
We employ Navier-Stokes granular hydrodynamics to investigate the long-time behavior of clustering instability in a freely cooling dilute granular gas in two dimensions. We find that, in circular containers, the homogeneous cooling state (HCS) of the gas loses its stability via a sub-critical pitchfork bifurcation. There are no time-independent solutions for the gas density in the supercritical region, and we present analytical and numerical evidence that the gas develops thermal collapse unarrested by heat diffusion. To get more insight, we switch to a simpler geometry of a narrow-sector-shap…
Using diamagnetically levitated particles we investigate the dynamics of the freely cooling granular gas. At early times we find good agreement with Haff's law, where the time scale for particle collisions can be determined from independent measurements. At late times, clustering of particles occurs. This can be included in a Haff-like description taking into account the decreasing number of free particles. With this a good description of the data is possible over the whole time range.
We study the dynamics and structure of clusters in the inhomogeneous clustered regime of a freely cooling granular gas of point particles in one dimension. The coefficient of restitution is modeled as $r_0<1$ or 1 depending on whether the relative speed is greater or smaller than a velocity scale $δ$. The effective fragmentation rate of a cluster is shown to rise sharply beyond a $δ$ dependent time scale. This crossover is coincident with the velocity fluctuations within a cluster becoming order $δ$. Beyond this crossover time, the cluster size distribution develops a nontrivial power law dist…
The kinetic energy of a freely cooling granular gas decreases as a power law $t^{-θ}$ at large times $t$. Two theoretical conjectures exist for the exponent $θ$. One based on ballistic aggregation of compact spherical aggregates predicts $θ= 2d/(d+2)$ in $d$ dimensions. The other based on Burgers equation describing anisotropic, extended clusters predicts $θ=d/2$ when $2\le d \le 4$. We do extensive simulations in three dimensions to find that while $θ$ is as predicted by ballistic aggregation, the cluster statistics and velocity distribution differ from it. Thus, the freely cooling granular g…
It has been recently shown (Fouxon et al. 2007) that, in the framework of ideal granular hydrodynamics (IGHD), an initially smooth hydrodynamic flow of a granular gas can produce an infinite gas density in a finite time. Exact solutions that exhibit this property have been derived. Close to the singularity, the granular gas pressure is finite and almost constant. This work reports molecular dynamics (MD) simulations of a freely cooling gas of nearly elastically colliding hard disks, aimed at identifying the "attempted" density blowup regime. The initial conditions of the simulated flow mimic t…
This paper investigates a clustering instability of a freely falling granular jet composed of 100 micron glass spheres. The granular flow out of a circular nozzle starts out spatially uniform and then, further downstream, breaks up into well defined clusters. The role of air is investigated in this phenomenon by changing the ambient air pressure down to 1/5000th atm. An optical method is used that measures inhomogeneities in the flow in order to quantify the growth of the clusters. Clustering is observed down to the lowest pressure and the presence of air leads to larger drops but does not ini…
The time evolution and stationary values of the entropy per particle of a homogeneous freely cooling granular gas, relative to the maximum entropy consistent with the instantaneous translational and rotational temperatures, is analyzed by means of a Sonine approximation involving fourth-degree cumulants. The results show a rich variety of dependencies of the relative entropy on time and on the coefficients of normal and tangential restitution, including a peculiar behavior in the quasi-smooth limit.
A freely cooling granular gas with velocity dependent restitution coefficient is studied in one dimension. The restitution coefficient becomes near elastic when the relative velocity of the colliding particles is less than a velocity scale $δ$. Different statistical quantities namely density distribution, occupied and empty cluster length distributions, and spatial density and velocity correlation functions, are obtained using event driven molecular dynamic simulations. We compare these with the corresponding quantities of the sticky gas (inelastic gas with zero coefficient of restitution). We…
Whereas the original Boltzmann's $H$-theorem applies to elastic collisions, its rigorous generalization to the inelastic case is still lacking. Nonetheless, it has been conjectured in the literature that the relative entropy of the velocity distribution function with respect to the homogeneous cooling state (HCS) represents an adequate nonequilibrium entropy-like functional for an isolated freely cooling granular gas. In this work, we present molecular dynamics results reinforcing this conjecture and rejecting the choice of the Maxwellian over the HCS as a reference distribution. These results…
We study dynamics of freely cooling granular gases in two-dimensions using large-scale molecular dynamics simulations. We find that for dilute systems the typical kinetic energy decays algebraically with time, E(t) ~ t^{-1}, in the long time limit. Asymptotically, velocity statistics are characterized by a universal Gaussian distribution, in contrast with the exponential high-energy tails characterizing the early homogeneous regime. We show that in the late clustering regime particles move coherently as typical local velocity fluctuations, Delta v, are small compared with the typical velocity,…
Two granular gases separated by an adiabatic piston and initially in the same macroscopic state are considered. It is found that a phase transition with an spontaneous symmetry breaking occurs. When the mass of the piston is increased beyond a critical value, the piston moves to a stationary position different from the middle of the system. The transition is accurately described by a simple kinetic model that takes into account the velocity fluctuations of the piston. Interestingly, the final state is not characterized by the equality of the temperatures of the subsystems but by the cooling ra…
A freely falling stream of weakly cohesive granular particles is modeled and analysed with help of event driven simulations and continuum hydrodynamics. The former show a breakup of the stream into droplets, whose size is measured as a function of cohesive energy. Extensional flow is an exact solution of the one-dimensional Navier-Stokes equation, corresponding to a strain rate, decaying like 1/t from its initial value, gammaDot0. Expanding around this basic state, we show that the flow is stable for short times (gammaDot0 * t << 1), whereas for long times (gammaDot0 * t >> 1) perturbations of…
We compute the mean square displacement (MSD) of intruders immersed in a freely cooling granular gas made up of smooth inelastic hard spheres. In general, intruders and particles of the granular gas are assumed to have different mechanical properties, implying that non-equipartition of energy must be accounted for in the computation of the diffusion coefficient $D$. In the hydrodynamic regime, the time decay of the granular temperature $T$ of the cooling granular gas is known to be dictated by Haff's law; the corresponding decay of the intruder's collision frequency entails a time decrease of …
In its simplest statistical-mechanical description, a granular fluid can be modeled as composed of smooth inelastic hard spheres (with a constant coefficient of normal restitution $α$) whose velocity distribution function obeys the Enskog-Boltzmann equation. The basic state of a granular fluid is the homogeneous cooling state, characterized by a homogeneous, isotropic, and stationary distribution of scaled velocities, $F(\mathbf{c})$. The behavior of $F(\mathbf{c})$ in the domain of thermal velocities ($c\sim 1$) can be characterized by the two first non-trivial coefficients ($a_2$ and $a_3$) …
A polydisperse granular gas made of inelastic and rough hard disks is considered. Focus is laid on the kinetic-theory derivation of the partial energy production rates and the total cooling rate as functions of the partial densities and temperatures (both translational and rotational) and of the parameters of the mixture (masses, diameters, moments of inertia, and mutual coefficients of normal and tangential restitution). The results are applied to the homogeneous cooling state of the system and the associated nonequipartition of energy among the different components and degrees of freedom. It…
Finding the proper entropy-like Lyapunov functional associated with the inelastic Boltzmann equation for an isolated freely cooling granular gas is a still unsolved challenge. The original $H$-theorem hypotheses do not fit here and the $H$-functional presents some additional measure problems that are solved by the Kullback--Leibler divergence (KLD) of a reference velocity distribution function from the actual distribution. The right choice of the reference distribution in the KLD is crucial for the latter to qualify or not as a Lyapunov functional, the asymptotic "homogeneous cooling state" (H…
Particle beams are important tools for probing atomic and molecular interactions. Here we demonstrate that particle beams also offer a unique opportunity to investigate interactions in macroscopic systems, such as granular media. Motivated by recent experiments on streams of grains that exhibit liquid-like breakup into droplets, we use molecular dynamics simulations to investigate the evolution of a dense stream of macroscopic spheres accelerating out of an opening at the bottom of a reservoir. We show how nanoscale details associated with energy dissipation during collisions modify the stream…
Dry, freely evolving granular materials in a dilute gaseous state coalesce into dense clusters only due to dissipative interactions. This clustering transition is important for a number of problems ranging from geophysics to cosmology. Here we show that the evolution of a dilute, freely cooling granular gas is determined in a universal way by the ratio of inertial flow and thermal velocities, that is, the Mach number. Theoretical calculations and direct numerical simulations of the granular Navier--Stokes equations show that irrespective of the coefficient of restitution, density or initial ve…
We employ granular hydrodynamics to investigate a paradigmatic problem of clustering of particles in a freely cooling dilute granular gas. We consider large-scale hydrodynamic motions where the viscosity and heat conduction can be neglected, and one arrives at the equations of ideal gas dynamics with an additional term describing bulk energy losses due to inelastic collisions. We employ Lagrangian coordinates and derive a broad family of exact non-stationary analytical solutions that depend only on one spatial coordinate. These solutions exhibit a new type of singularity, where the gas density…
Free cooling of a gas of inelastically colliding hard spheres represents a central paradigm of kinetic theory of granular gases. At zero gravity the temperature of a freely cooling homogeneous granular gas follows a power law in time. How does gravity, which brings inhomogeneity, affect the cooling? We combine molecular dynamics simulations, a numerical solution of hydrodynamic equations and an analytic theory to show that a granular gas cooling under gravity undergoes thermal collapse: it cools down to zero temperature and condenses on the bottom of the container in a finite time.
Fluctuating hydrodynamics is used to describe the total energy fluctuations of a freely evolving gas of inelastic hard spheres near the threshold of the clustering instability. They are shown to be governed by vorticity fluctuations only, that also lead to a renormalization of the average total energy. The theory predicts a power-law divergent behavior of the scaled second moment of the fluctuations, and a scaling property of their probability distribution, both in agreement with simulations results. A more quantitative comparison between theory and simulation for the critical amplitudes and t…
We study the inhomogeneous clustered regime of a freely cooling granular gas of rough particles in two dimensions using large-scale event driven simulations and scaling arguments. During collisions, rough particles dissipate energy in both the normal and tangential directions of collision. In the inhomogeneous regime, translational kinetic energy and the rotational energy decay with time $t$ as power-laws $t^{-θ_T}$ and $t^{-θ_R}$. We numerically determine $θ_T \approx 1$ and $θ_R \approx 1.6$, independent of the coefficients of restitution. The inhomogeneous regime of the granular gas has bee…
We report a general class of steady and transient states of granular gases. We find that the kinetic theory of inelastic gases admits stationary solutions with a power-law velocity distribution, f(v) ~ v^(-sigma). The exponent sigma is found analytically and depends on the spatial dimension, the degree of inelasticity, and the homogeneity degree of the collision rate. Driven steady-states, with the same power-law tail and a cut-off can be maintained by injecting energy at a large velocity scale, which then cascades to smaller velocities where it is dissipated. Associated with these steady-stat…
We study the V-shaped wake (Mach cone) formed by a cylindrical rod moving through a thin, vertically vibrated granular layer. The wake, analogous to a shock (hydraulic jump) in shallow water, appears for rod velocities v_R greater than a critical velocity c. We measure the half-angle, theta, of the wake as a function of v_R and layer depth, h. The angle satisfies the Mach relation, sin(theta)=c/v_R, where c=sqrt(gh), even for h as small as one particle diameter.
We consider solutions to the hyperbolic system of equations of ideal granular hydrodynamics with conserved mass, total energy and finite momentum of inertia and prove that these solutions generically lose the initial smoothness within a finite time in any space dimension $n$ for the adiabatic index $γ\le 1+\frac{2}{n}.$ Further, in the one-dimensional case we introduce a solution depending only on the spatial coordinate outside of a ball containing the origin and prove that this solution under rather general assumptions on initial data cannot be global in time too. Then we construct an exact a…
An isolated mixture of smooth, inelastic hard spheres supports a homogeneous cooling state with different kinetic temperatures for each species. This phenomenon is explored here by molecular dynamics simulation of a two component fluid, with comparison to predictions of the Enskog kinetic theory. The ratio of kinetic temperatures is studied for two values of the restitution coefficient, $α=0.95$ and 0.80, as a function of mass ratio, size ratio, composition, and density. Good agreement between theory and simulation is found for the lower densities and higher restitution coefficient; significan…
Starting from a recent derivation of the energy production rates in terms of the number of translational and rotational degrees of freedom, a comparative study on different granular temperatures in gas mixtures of inelastic and rough disks or spheres is carried out. Both the homogeneous freely cooling state and the state driven by a stochastic thermostat are considered. It is found that the relaxation number of collisions per particle is generally smaller for disks than for spheres, the mean angular velocity relaxing more rapidly than the temperature ratios. In the asymptotic regime of the und…
We study the kinetic theory of driven granular gases, taking into account both translational and rotational degrees of freedom. We obtain the high-energy tail of the stationary bivariate energy distribution, depending on the total energy E and the ratio x=sqrt{E_w/E} of rotational energy E_w to total energy. Extremely energetic particles have a unique and well-defined distribution f(x) which has several remarkable features: x is not uniformly distributed as in molecular gases; f(x) is not smooth but has multiple singularities. The latter behavior is sensitive to material properties such as the…
Neutral grains made of the same dielectric material can attain considerable charges due to collisions and generate long-range interactions. We perform molecular dynamic simulations in three dimensions for a dilute, freely-cooling granular gas of viscoelastic particles that exchange charges during collisions. As compared to the case of clustering of viscoelastic particles solely due to dissipation, we find that the electrostatic interactions due to collisional charging alter the characteristic size, morphology and growth rate of the clusters. The average cluster size grows with time as a power …
Experiments test the dependence of shearing stress on the first two gradients of shear strain. The tests were conducted by direct numerical simulation using the Discrete Element Method (DEM) on a large two-dimensional (2D) assembly of circular disks. The assembly was coerced into non-uniformly deformed shapes by applying body forces to the material region. The tests show that shearing stress is affected by both the first and second gradients of shear strain, and the measured responses to strain and its gradients are all incrementally non-linear. The dilation rate is unaffected by strain gradie…
Grad's method of moments is employed to develop higher-order Grad's moment equations---up to first 26-moments---for granular gases within the framework of the (inelastic) Boltzmann equation. The homogeneous cooling state of a freely cooling granular gas is investigated with the Grad's 26-moment equations in a semi-linearized setting and it is shown that the granular temperature in the homogeneous cooling state still decays according to Haff's law while the other higher-order moments decay on a faster time scale. The constitutive relations for stress and heat flux (the Navier--Stokes and Fourie…
Granular materials fluidized by a rapidly vibrating bottom plate often develop a fascinating density inversion: a heavier layer of granulate supported by a lower-density region. We employ the Navier-Stokes granular hydrodynamics to follow a density inversion as it develops in time. Assuming a dilute low-Mach-number flow, we derive a reduced time-dependent model of the late stage of the dynamics. The model looks especially simple in the Lagrangian coordinates. The time-dependent solution describes the growth of a density peak at an intermediate height. A transient temperature minimum is predict…
Department of Electrical；Computer Engineering, Concorida University, Canada
An important challenge in robotics is understanding the interactions between robots and deformable terrains that consist of granular material. Granular flows and their interactions with rigid bodies still pose several open questions. A promising direction for accurate, yet efficient, modeling is using continuum methods. Also, a new direction for real-time physics modeling is the use of deep learning. This research advances machine learning methods for modeling rigid body-driven granular flows, for application to terrestrial industrial machines as well as space robotics (where the effect of gra…
We used the Density Functional formalism, in particular the Scaled Particle Theory, applied to a length-polydisperse hard-rectangular fluid to study its phase behavior as a function of the mean particle aspect ratio ($κ_0$) and polydispersity ($Δ_0$). The numerical solutions of the coexistence equations were calculated by transforming the original problem with infinite degrees of freedoms to a finite set of equations for the amplitudes of the Fourier expansion of the moments of the density profiles. We divided the study into two parts: The first one is devoted to the calculation of the phase d…
We investigate a gas of wet granular particles, covered by a thin liquid film. The dynamic evolution is governed by two-particle interactions, which are mainly due to interfacial forces in contrast to dry granular gases. When two wet grains collide, a capillary bridge is formed and stays intact up to a certain distance of withdrawal when the bridge ruptures, dissipating a fixed amount of energy. A freely cooling system is shown to undergo a nonequillibrium dynamic phase transition from a state with mainly single particles and fast cooling to a state with growing aggregates, such that bridge ru…
