Many systems in nature exhibit transitions between fluid-like states and solid-like states, or "jamming transitions". There is a strong theoretical foundation for understanding equilibrium phase transitions that involve solidification, or jamming. Other jamming transitions, such as the glass transition, are less well-understood. The jamming phase diagram has been proposed to unify the description of equilibrium phase transitions, the glass transitions, and other non-equilibrium jamming transitions. As with equilibrium phase transitions, which can either be first order (discontinuous in a relevant order parameter) or second order (continuous), one would expect that generalized jamming transitions can be continuous or discontinuous. In studies of flow in complex fluids, there is a wide range of evidence for discontinuous transitions, mostly in the context of shear localization, or shear banding. In this paper, I review the experimental evidence for discontinuous transitions. I focus on systems in which there is a discontinuity in the rate of strain between two, coexisting states: one in which the material is flowing and the other in which it is solid-like.
We investigate the rigidity transition associated with shear jamming in frictionless, as well as frictional, disk packings in the quasi-static regime and at low shear rates. For frictionless disks, the transition is under quasistatic shear is discontinuous, with an instantaneous emergence of a system spanning rigid cluster at the jamming transition. For frictional systems, the transition appears continuous for finite shear rates, but becomes sharper for lower shear rates. In the quasi-static limit, it is discontinuous as in the frictionless case. Thus, our results show that the rigidity transi…
We study the emergence of discontinuous shear-thickening (DST) in cornstarch, by combining macroscopic rheometry with local Magnetic Resonance Imaging (MRI) measurements. We bring evidence that macroscopic DST is observed only when the flow separates into a low-density flowing and a high-density jammed region. In the shear-thickened steady state, the local rheology in the flowing region, is not DST but, strikingly, is often shear-thinning. Our data thus show that the stress jump measured during DST, in cornstach, does not capture a secondary, high-viscosity branch of the local steady rheology,…
We numerically study the linear response of two-dimensional frictional granular materials under oscillatory shear. The storage modulus $G'$ and the loss modulus $G''$ in the zero strain rate limit depend on the initial strain amplitude of the oscillatory shear before measurement. The shear jammed state (satisfying $G'>0$) can be observed at an amplitude greater than a critical initial strain amplitude. The fragile state is defined by the emergence of liquid-like and solid-like states depending on the form of the initial shear. In this state, the observed $G'$ after the reduction of the strain …
The discontinuous jump in the bulk modulus $B$ at the jamming transition is a consequence of the formation of a critical contact network of spheres that resists compression. We introduce lattice models with underlying under-coordinated compression resistant spring lattices to which next-nearest-neighbor springs can be added. In these models, the jamming transition emerges as a kind of multicritical point terminating a line of rigidity-percolation transitions. Replacing the under-coordinated lattices with the critical network at jamming yields a faithful description of jamming and its relation …
We report direct measurements of spatially resolved surface stresses over the entire surface of a dense suspension during discontinuous shear thickening (DST) using Boundary Stress Microscopy (BSM) in a parallel-plate rheometer. We find that large fluctuations in the bulk rheological response at the onset of DST are the result of localized transitions to a state with very high stress, consistent with a fully jammed solid that makes direct contact with the shearing boundaries. That jammed solid like phase (SLP) is rapidly fractured, producing two separate SLPs that propagate in opposite directi…
Discontinuous shear-thickening in dense suspensions naturally emerges from the activation of frictional forces by shear flow in non-Brownian systems close to jamming. Yet, this physical picture is incomplete as most experiments study soft colloidal particles subject to thermal fluctuations. To characterise discontinuous shear-thickening in colloidal suspensions we use computer simulations to provide a complete description of the competition between athermal jamming, frictional forces, thermal motion, particle softness, and shear flow. We intentionally neglect hydrodynamics, electrostatics, lub…
The shear rheology of soft particles systems becomes complex at large density because crowding effects may induce a glass transition for Brownian particles, or a jamming transition for non-Brownian systems. Here we successfully explore the hypothesis that the shear stress contributions from glass and jamming physics are `additive'. We show that the experimental flow curves measured in a large variety of soft materials (colloidal hard spheres, microgel suspensions, emulsions, aqueous foams) as well as numerical flow curves obtained for soft repulsive particles in both thermal and athermal limit…
Via molecular dynamics simulations, we unveil the hysteretic nature of the jamming transition of soft repulsive frictionless spheres, as it occurs varying the volume fraction or the shear stress. In a given range of control parameters the system may be found both in a flowing and in an jammed state, depending on the preparation protocol. The hysteresis is due to an underlying energy landscape with many minima, as explained by a simple model, and disappears in the presence of strong viscous forces and in the small $σ$ limit. In this limit, structural quantities are continuous at the transition,…
We investigate experimentally the mechanical response of a monolayer of bi-disperse frictional grains to an inhomogeneous shear perturbation across the jamming transition. We inflate an intruder inside the packing and use photo-elasticity and tracking techniques to measure the induced shear strain and stresses at the grain scale. We quantify experimentally the constitutive relations for strain amplitudes as low as 0.001 and for a range of packing fractions within 2% variation around the jamming transition. At the transition strong nonlinear effects set in : both the shear modulus and the dilat…
We study the effect of thermalization on the rigidity of a randomly packed soft repulsive sphere system around the jamming point by analyzing the shear-modulus using the cloned liquid theory with the 1 step replica symmetry breaking ansatz and molecular dynamics simulations. Contrarily to the usual harmonic picture for solids, we found that the thermalized jamming system is anomalously softer than at zero temperature such that the shear-modulus becomes as small as the pressure down to vanishingly low temperatures.
We present the experimental studies of highly strained soft bidisperse granular systems made of hyperelastic and plastic particles. We explore the behavior of granular matter deep in the jammed state from local field measurement from the grain scale to the global scale. By mean of digital image correlation and accurate image recording we measure for each compression step the evolution of the particle geometries and their right Cauchy-Green strain tensor fields. We analyze the evolution of the usual macroscopic observables (stress, packing fraction, coordination, fraction of non-rattlers, \text…
We study numerically the critical behavior and marginal stability of the shear jamming transition for frictionless soft spheres, observed to occur over a finite range of densities, associated with isotropic jamming for densities above the minimum jamming (J-point) density. Several quantities are shown to scale near the shear jamming point in the same way as the isotropic jamming point. We compute the exponents associated with the small force distribution and the interparticle gap distribution,and show that the corresponding exponents are consistent with the marginal stability condition observe…
We show that the maximum entropy hypothesis can successfully explain the distribution of stresses on compact clusters of particles within disordered mechanically stable packings of soft, isotropically stressed, frictionless disks above the jamming transition. We show that, in our two dimensional case, it becomes necessary to consider not only the stress but also the Maxwell-Cremona force-tile area, as a constraining variable that determines the stress distribution. The importance of the force-tile area had been suggested by earlier computations on an idealized force-network ensemble.
The rheology near jamming of a suspension of soft colloidal spheres is studied using a custom microfluidic rheometer that provides stress versus strain rate over many decades. We find non-Newtonian behavior below the jamming concentration and yield stress behavior above it. The data may be collapsed onto two branches with critical scaling exponents that agree with expectations based on Hertzian contacts and viscous drag. These results support the conclusion that jamming is similar to a critical phase transition, but with interaction-dependent exponents.
While the glass transition at non-zero temperature seems to be hard to access for experimental, theoretical, or simulation studies, jamming at zero temperature has been explored in great detail. It is a widely discussed question whether this athermal jamming transition is related to the glass transition. Motivated by the exploration of the energy landscape that has been successfully used to describe athermal jamming, we introduce a new method to determine whether the configuration space of a soft sphere system can be explored within a reasonable timescale or not, i.e., whether the system is er…
The unconventional thermal properties of jammed amorphous solids are directly related to their density of vibrational states. While the vibrational spectrum of jammed soft sphere solids has been fully described, the vibrational spectrum of hard spheres, a model for colloidal glasses, is still unknown due to the difficulty of treating the non-analytic interaction potential. We bypass this difficulty using the recently described effective interaction potential for the free energy of thermal hard spheres. By minimizing this effective free energy we mimic a quench and produce typical configuration…
We consider the rheology of soft-core frictionless disks in two dimensions in the neighborhood of the athermal jamming transition. From numerical simulations of bidisperse, overdamped, particles, we argue that the divergence of the viscosity below jamming is characteristic of the hard-core limit, independent of the particular soft-core interaction. We develop a mapping from soft-core to hard-core particles that recovers all the critical behavior found in earlier scaling analyses. Using this mapping we derive a duality relation that gives the exponent of the non-linear Herschel-Bulkley rheology…
We explore numerically the shear rheology of soft repulsive particles at large volume fraction. The interplay between viscous dissipation and thermal motion results in multiple rheological regimes encompassing Newtonian, shear-thinning and yield stress regimes near the `colloidal' glass transition when thermal fluctuations are important, crossing over to qualitatively similar regimes near the `jamming' transition when dissipation dominates. In the crossover regime, glass and jamming sectors coexist and give complex flow curves. Although glass and jamming limits are characterized by similar mac…
Granular jamming has been identified as a fundamental mechanism for the operation of robotic grippers. In this work, we show, that soft particles like expanded polystyrene beads lead to significantly larger gripping forces in comparison to rigid particles. In contradiction to naive expectation, the combination of jamming and elasticity gives rise to very different properties of the jammed phase, compared to hard-particle systems. This may be of interest also beyond the application in robotic grippers.
Amorphous systems of soft particles above jamming have more contacts than are needed to achieve mechanical equilibrium. The force network of a granular system with a fixed contact network is thus underdetermined, and can be characterized as a random instantiation within the space of the force network ensemble. In this work, we show that by examining the boundaries of this space of allowed force networks, defect contacts which are not necessary for stability of the system can be uniquely identified. We further show that in the near jamming limit, this identification is nearly always correct and…
By exploring the properties of the energy landscape of a bidisperse system of soft harmonic disks in two dimensions we determine the thermal jamming transition. To be specific, we study whether the ground state of the system where the particle do not overlap can be reached within a reasonable time. Starting with random initial configurations, the energy landscape is probed by energy minimization steps as in case of athermal jamming and in addition steps where an energy barrier can be crossed with a small but non-zero probability. For random initial conditions we find that as a function of pack…
We perform numerical simulations to determine the shear stress and pressure of steady-state shear flow in a soft-disk model in two dimensions at zero temperature in the vicinity of the jamming transition ϕ_J. We use critical point scaling analyses to determine the critical behavior at jamming, and we find that it is crucial to include corrections to scaling for a reliable analysis. We find that the relative size of these corrections are much smaller for pressure than for shear stress. We furthermore find a superlinear behavior for pressure and shear stress above ϕ_J, both from the scaling anal…
The phase behaviour of soft colloids has attracted great attention due to the large variety of new phenomenologies emerging from their ability to pack at very high volume fractions. Here we report rheological measurements on interpenetrated polymer network microgels composed of poly(Nisopropylacrylamide) (PNIPAM) and polyacrylic acid (PAAc) at fixed PAAc content as a function of weight concentration. We found three different rheological regimes characteristic of three different states: a Newtonian shear-thinning fluid, an attractive glass characterized by a yield stress, and a jamming state. W…
Simulations are used to study the steady shear rheology of dense suspensions of frictional particles exhibiting discontinuous shear thickening and shear jamming, in which finite-range cohesive interactions result in a yield stress. We develop a constitutive model that combines yielding behavior and shear thinning at low stress with the frictional shear thickening at high stresses, in good agreement with the simulation results. This work shows that there is a distinct difference between solids below the yield stress and in the shear-jammed state, as the two occur at widely separated stress leve…
Dense suspensions can exhibit an abrupt change in their viscosity in response to increasing shear rate. The origin of this discontinuous shear thickening (DST) has been ascribed to the transformation of lubricated contacts to frictional, particle-on-particle contacts. Recent research on the flowing and jamming behavior of dense suspensions has explored the intersection of ideas from granular physics and Stokesian fluid dynamics to better understand this transition from lubricated to frictional rheology. DST is reminiscent of classical phase transitions, and a key question is how interactions b…
We demonstrate the existence of high--order jamming crossovers in systems of particles with repulsive contact interactions, which originate from the collapse of successive coordination shells. At zero temperature, these crossovers induce an anomalous behavior of the bulk modulus, which varies non--monotonically with the density, while at finite temperature they induce density anomalies consisting in an increased diffusivity upon isothermal compression and in a negative thermal expansion coefficient. We rationalize the dependence of these crossovers on the softness of the interaction potential,…
We study the rheology of amorphous packings of soft, frictionless particles close to jamming. Implementing a quasistatic simulation method we generate a well defined ensemble of states that directly samples the system at its yield-stress. A continuous jamming transition from a freely-flowing state to a yield stress situation takes place at a well defined packing fraction, where the scaling laws characteristic of isostatic solids are observed. We propose that long-range correlations observed below the transition are dominated by this isostatic point, while those that are observed above the tran…
Recent studies of athermal systems such as dry grains and dense, non-Brownian suspensions have shown that shear can lead to solidification through the process of shear jamming in grains and discontinuous shear thickening in suspensions. The similarities observed between these two distinct phenomena suggest that the physical processes leading to shear-induced rigidity in athermal materials are universal. We present a non-equilibrium statistical mechanics model, which exhibits the phenomenology of these shear-driven transitions: shear jamming and discontinuous shear thickening in different regio…
Amorphous materials as diverse as foams, emulsions, colloidal suspensions and granular media can jam into a rigid, disordered state where they withstand finite shear stresses before yielding. Here we review the current understanding of the transition to jamming and the nature of the jammed state for disordered packings of particles that act through repulsive contact interactions and are at zero temperature and zero shear stress. We first discuss the breakdown of affine assumptions that underlies the rich mechanics near jamming. We then extensively discuss jamming of frictionless soft spheres. …
Recent simulations have predicted that near jamming for collections of spherical particles, there will be a discontinuous increase in the mean contact number, Z, at a critical volume fraction, phi_c. Above phi_c, Z and the pressure, P are predicted to increase as power laws in phi-phi_c. In experiments using photoelastic disks we corroborate a rapid increase in Z at phi_c and power-law behavior above phi_c for Z and P. Specifically we find power-law increase as a function of phi-phi_c for Z-Z_c with an exponent beta around 0.5, and for P with an exponent psi around 1.1. These exponents are in …
Self-organization, and transitions from reversible to irreversible behaviour, of interacting particle assemblies driven by externally imposed stresses or deformation is of interest in comprehending diverse phenomena in soft matter. They have been investigated in a wide range of systems, such as colloidal suspensions, glasses, and granular matter. In different density and driving regimes, such behaviour is related to yielding of amorphous solids, jamming, and memory formation, \emph{etc.} How these phenomena are related to each other has not, however, been much studied. In order to obtain a uni…
Athermal packings of soft repulsive spheres exhibit a sharp jamming transition in the thermodynamic limit. Upon further compression, various structural and mechanical properties display clean power-law behavior over many decades in pressure. As with any phase transition, the rounding of such behavior in finite systems close to the transition plays an important role in understanding the nature of the transition itself. The situation for jamming is surprisingly rich: the assumption that jammed packings are isotropic is only strictly true in the large-size limit, and finite-size has a profound ef…
The jamming of bi-disperse soft core disks is considered, using a variety of different protocols to produce the jammed state. In agreement with other works, we find that cooling and compression can lead to a broad range of jamming packing fractions $ϕ_J$, depending on cooling rate and initial configuration; the larger the degree of big particle clustering in the initial configuration, the larger will be the value of $ϕ_J$. In contrast, we find that shearing disrupts particle clustering, leading to a much narrower range of $ϕ_J$ as the shear strain rate varies. In the limit of vanishingly small…
Kinetic theory for dilute inertial suspension having soft-core potential is theoretically investigated. From the analysis of the scattering process, the expression of the scattering angle is analytically obtained. We derive the flow curve between the viscosity and the shear rate, which shows two-step discontinuous shear thickening when we change the softness of the particles. The molecular dynamics simulation shows that our theoretical results are consistent with the numerical ones.
We carry out numerical simulations to study transport behavior about the jamming transition of a model granular material in two dimensions at zero temperature. Shear viscosity ηis computed as a function of particle volume density ρand applied shear stress σ, for diffusively moving particles with a soft core interaction. We find an excellent scaling collapse of our data as a function of the scaling variable σ/|ρ_c-ρ|^Δ, where ρ_c is the critical density at σ=0 ("point J"), and Δis the crossover scaling critical exponent. Our results show that jamming is a true critical phenomenon, extending to …
A theory is constructed to describe the zero-temperature jamming transition as the density of repulsive soft spheres is increased. Local mechanical stability imposes a constraint on the minimum number of bonds per particle; we argue that this constraint suggests an analogy to $k$-core percolation. The latter model can be solved exactly on the Bethe lattice, and the resulting transition has a mixed first-order/continuous character. The exponents characterizing the continuous part appear to be the same as for the jamming transition. Finally, numerical simulations suggest that in finite dimension…
In the presence of attraction, the jamming transition of packings of frictionless particles corresponds to the rigidity percolation. When the range of attraction is long, the distribution of the size of rigid clusters, $P(s)$, is continuous and shows a power-law decay. For systems with short-range attractions, however, $P(s)$ appears discontinuous. There is a power-law decay for small cluster sizes, followed by a low probability gap and a peak near the system size. We find that this appearing ``discontinuity'' does not mean that the transition is discontinuous. In fact, it signifies the coexis…
Rheological phase transitions open the door to the less explored realm of non-equilibrium phase transitions. The main mechanism driving these transitions is usually mechanical perturbation by shear--- an unjamming mechanism. Investigating discontinuous shear thickening (DST) is challenging because the shear counterintuitively acts as a jamming mechanism. Moreover, at the brink of this transition, a thickening material exhibits fluctuations that extend both spatially and temporally. Despite recent extensive research, the origins of such spatiotemporal fluctuations remain unidentified. Here, we …
We present an analysis of finite-size effects in jammed packings of N soft, frictionless spheres at zero temperature. There is a 1/N correction to the discrete jump in the contact number at the transition so that jammed packings exist only above isostaticity. As a result, the canonical power-law scalings of the contact number and elastic moduli break down at low pressure. These quantities exhibit scaling collapse with a non-trivial scaling function, demonstrating that the jamming transition can be considered a phase transition. Scaling is achieved as a function of N in both 2 and 3 dimensions,…
The Jamming of soft spheres at zero temperature, the J-point, has been extensively studied both numerically and theoretically and can now be considered as a safe location in the space of models, where a street lamp has been lit up. However, a recent work by Ikeda et al, 2013 reveals that, in the Temperature/Packing fraction parameter space, experiments on colloids are actually rather far away from the scaling regime illuminated by this lamp. Is it that the J-point has little to say about real system? What about granular media? Such a-thermal, frictional, systems are a-priori even further away …
When materials such as foams or emulsions are compressed, they display solid behaviour above the so-called `jamming' transition. Because compression is done out-of-equilibrium in the absence of thermal fluctuations, jamming appears as a new kind of a nonequilibrium phase transition. In this proceeding paper, we suggest that tools from equilibrium statistical mechanics can in fact be used to describe many specific features of the jamming transition. Our strategy is to introduce thermal fluctuations and use statistical mechanics to describe the complex phase behaviour of systems of soft repulsiv…
Amorphous solids tend to present an abundance of soft elastic modes, which diminish their transport properties, generate heterogeneities in their elastic response, and affect non-linear processes like thermal activation of plasticity. This is especially true in packings of particles near their jamming transition, for which effective medium theory and variational arguments can both predict the density of vibrational modes. However, recent numerics support that one hypothesis of the variational argument does not hold. We provide a novel variational argument which overcomes this problem, and corr…
CSIRO（联邦科学与工业研究组织）；University of Queensland（昆士兰大学）；Queensland University of Technology（昆士兰科技大学）；University of Melbourne（墨尔本大学）
We test grip strength and shock absorption properties of various granular material in granular jamming robotic components. The granular material comprises a range of natural, manufactured, and 3D printed material encompassing a wide range of shapes, sizes, and Shore hardness. Two main experiments are considered, both representing compelling use cases for granular jamming in soft robotics. The first experiment measures grip strength (retention force measured in Newtons) when we fill a latex balloon with the chosen grain type and use it as a granular jamming gripper to pick up a range of test ob…
We study numerically the phases and dynamics of a dense collection of self-propelled particles with soft repulsive interactions in two dimensions. The model is motivated by recent in vitro experiments on confluent monolayers of migratory epithelial and endothelial cells. The phase diagram exhibits a liquid phase with giant number fluctuations at low packing fraction and high self-propulsion speed and a jammed phase at high packing fraction and low self-propulsion speed. The dynamics of the jammed phase is controlled by the low frequency modes of the jammed packing.
We determine the form of the complex shear modulus $G^*$ in soft sphere packings near jamming. Viscoelastic response at finite frequency is closely tied to a packing's intrinsic relaxational modes, which are distinct from the vibrational modes of undamped packings. We demonstrate and explain the appearance of an anomalous excess of slowly relaxing modes near jamming, reflected in a diverging relaxational density of states. From the density of states, we derive the dependence of $G^*$ on frequency and distance to the jamming transition, which is confirmed by numerics.
Various disordered dense systems such as foams, gels, emulsions and colloidal suspensions, exhibit a jamming transition from a liquid state (they flow) to a solid state below a yield stress. Their structure, thoroughly studied with powerful means of 3D characterization, exhibits some analogy with that of glasses which led to call them soft glassy materials. However, despite its importance for geophysical and industrial applications, their rheological behavior, and its microscopic origin, is still poorly known, in particular because of its nonlinear nature. Here we show from two original experi…
We probe flows of soft, viscous spheres near the jamming point, which acts as a critical point for static soft spheres. Starting from energy considerations, we find nontrivial scaling of velocity fluctuations with strain rate. Combining this scaling with insights from jamming, we arrive at an analytical model that predicts four distinct regimes of flow, each characterized by rational-valued scaling exponents. Both the number of regimes and values of the exponents depart from prior results. We validate predictions of the model with simulations.
We find that in simulations of quasi-statically sheared frictional disks, the shear jamming transition can be characterized by an abrupt jump in the number of force bearing contacts between particles. This mechanical coordination number increases discontinuously from $Z = 0$ to $Z \gtrsim d +1$ at a critical shear value $γ_c$, as opposed to a smooth increase in the number of geometric contacts. This is accompanied by a diverging timescale $τ^*$ that characterizes the time required by the system to attain force balance when subjected to a perturbation. As the global shear $γ$ approaches the cri…
