A long-standing issue in the area of granular media is the tail of the force distribution, in particular whether this is exponential, Gaussian, or even some other form. Here we resolve the issue for the case of the force network ensemble in two dimensions. We demonstrate that conservation of the total area of a reciprocal tiling, a direct consequence of local force balance, is crucial for predicting the local stress distribution. Maximizing entropy while conserving the tiling area and total pressure leads to a distribution of local pressures with a generically Gaussian tail that is in excellent agreement with numerics, both with and without friction and for two different contact networks.
Solids are distinguished from fluids by their ability to resist shear. In traditional solids, the resistance to shear is associated with the emergence of broken translational symmetry as exhibited by a non-uniform density pattern. In this work, we focus on the emergence of shear-rigidity in a class of solids where this paradigm is challenged. Dry granular materials have no energetically or entropically preferred density modulations. We show that, in contrast to traditional solids, the emergence of shear rigidity in these granular solids is a collective process, which is controlled solely by bo…
"Granular elasticity," useful for calculating static stress distributions in granular media, is generalized by including the effects of slowly moving, deformed grains. The result is a hydrodynamic theory for granular solids that agrees well with models from soil mechanics.
We report on experimentally observed shear stress fluctuations in both granular solid and fluid states, showing that they are non-Gaussian at low shear rates, reflecting the predominance of correlated structures (force chains) in the solidlike phase, which also exhibit finite rigidity to shear. Peaks in the rigidity and the stress distribution's skewness indicate that a change to the force-bearing mechanism occurs at the transition to fluid behaviour, which, it is shown, can be predicted from the behaviour of the stress at lower shear rates. In the fluid state stress is Gaussian distributed, s…
Granular solid hydrodynamics, constructed to describe quasi-elastic and plastic motion of granular solid, is shown also capable of accounting for the rheology of granular dense flow. This makes it a unified, though still qualitative, hydrodynamic description, enabling one to tackle fluidization and jamming, the hysteretic transition between elasto-plastic motion and uniform dense flow.
Although fully elastic when static, granular media become transiently elastic when being slowly sheared -- during which both the elastic energy and stress relax. Starting from this observation, we cogently derive the framework for granular hydrodynamics, a set of differential equations consistent with general principles of physics, especially reversible and irreversible thermodynamics. In addition, an expression for the granular elastic energy is reviewed and further discussed.
Compaction is considered and embedded into broader granular behavior. Reversible compaction is related to the pressure exerted by agitated grains, a quantity relevant to dense flow. Irreversible compaction is derived from the loss of elastic deformation, the physics behind elasto-plastic flows.
We derive the macroscopic stress tensor for plug-free dense granular flow, using a first-principles coarse-graining of the inter-granular forces. The derivation is based on the assumption, which defines the da Vinci Fluid model, that the inter-granular interactions are dominated by normal contact forces and solid friction. An explicit form for the stress -- strain rate relation is obtained, providing closure for the flow equations of dense granular fluids and improves on existing models, which are also based on solid friction as the dominant drag mechanism.
A unified continuum-mechanical theory has been until now lacking for granular media, some believe it could not exist. Derived employing the hydrodynamic approach, GSH is such a theory, though as yet a qualitative one. The behavior being accounted for includes static stress distribution, elastic wave, elasto-plastic motion, the critical state and rapid dense flow. The equations and application to a few typical experiments are presented here.
In this supplementary paper we present some details on the solid-liquid interface detection, the deduction of the non-equilibrium free energy, the analysis of the granular temperature and energy per mode, a validation of the small slope approximation, a description of the Langevin dynamics, and the error analysis.
Granular elasticity, an elasticity theory useful for calculating static stress distribution in granular media, is generalized to the dynamic case by including the plastic contribution of the strain. A complete hydrodynamic theory is derived based on the hypothesis that granular medium turns transiently elastic when deformed. This theory includes both the true and the granular temperatures, and employs a free energy expression that encapsulates a full jamming phase diagram, in the space spanned by pressure, shear stress, density and granular temperature. For the special case of stationary granu…
The anisotropic, stress-dependent velocity of elastic waves in glass beads -- as observed by Y. Khidas and X. Jia, see [Phys. Rev. E, 81:021303, Feb. 2010] -- is shown to be well accounted for by ``granular solid hydrodynamics,'' a broad-range macroscopic theory of granular behavior. As the theory makes no reference to fabric anisotropy, the influence of which on sound is in doubt.
{\sc gsh} is a continuum mechanical theory constructed to qualitatively account for a broad range of granular phenomena. To probe and demonstrate its width, simple solutions of {\sc gsh} are related to granular phenomena and constitutive models, including (i) for vanishing shear rates: static stress distribution and propagation of elastic waves; (ii) at slow rates: critical state, shear band, the models of hypoplasticity and barodesy; (iii) at higher rates: the MIDI-model, rapid dense flow in the Bagnold regime. A unified, densely correlated understanding of granular physics emerges as a resul…
Propotional paths as summed up by the Goldscheider Rule (GR) -- stating that given a constant strain rate, the evolution of the stress maintains the ratios of its components -- is a characteristics of elasto-plastic motion in granular media. Barodesy, a constitutive relation proposed recently by Kolymbas, is a model that, with GR as input, successfully accounts for data from soil mechanical experiments. Granular solid hydrodynamics (GSH), a theory derived from general principles of physics and two assumptions about the basic behavior of granular media, is constructed to qualitatively account f…
A simulation model is presented, comprising elastic spheres with a short range attraction. Besides conservative forces, radial- and shear friction, and radial noise are added. The model can be used to simulate colloids, granular solids and powders, and the parameters may be related to experimental systems via the range of attraction and the adhesion energy. The model shares the simplicity and speed of Dissipative Particle Dynamics (DPD), yet the predictions are rather non-trivial. We demonstrate that the model predicts the correct scaling relations for fracture of granular solids, and we prese…
The approach to the critical state -- the transition from partially elastic to perfectly plastic behavior -- is considered the most characteristic of granular phenomena in soil mechanics. By identifying the critical state as the steady-state solution of the elastic strain, and presenting the main results as transparent, analytic expressions, the physics of this important phenomenon is clarified.
Despite extensive studies on either smooth granular-fluid flow or the solid-like deformation at the slow limit, the change between these two extremes remains largely unexplored. By systematically investigating the fluctuations of tightly packed grains under steady shearing, we identify a transition zone with prominent stick-slip avalanches. We establish a state diagram, and propose a new dimensionless shear rate based on the speed dependence of inter-particle friction and particle size. With fluid-immersed particles confined in a fixed volume and forced to "flow" at viscous numbers $J$ decades…
We report an experimental investigation of the transition from a hexagonally ordered solid phase to a disordered liquid in a monolayer of vibrated spheres. The transition occurs as the intensity of the vibration amplitude is increased. Measurements of the density of dislocations and the positional and orientational correlation functions show evidence for a dislocation-mediated continuous transition from a solid phase with long-range order to a liquid with only short-range order. The results show a strong similarity to simulations of melting of hard disks in equilibrium, despite the fact that t…
We present measurements of the particle velocity distribution in the flow of granular material through vertical channels. Our study is confined to dense, slow flows where the material shears like a fluid only in thin layers adjacent to the walls, while a large core moves without continuous deformation, like a solid. We find the velocity distribution to be non-Gaussian, anisotropic, and to follow a power law at large velocities. Remarkably, the distribution is identical in the fluid-like and solid-like regions. The velocity variance is maximum at the core, defying predictions of hydrodynamic th…
We consider dense rapid shear flow of inelastically colliding hard disks. Navier-Stokes granular hydrodynamics is applied accounting for the recent finding \cite{Luding,Khain} that shear viscosity diverges at a lower density than the rest of constitutive relations. New interpolation formulas for constitutive relations between dilute and dense cases are proposed and justified in molecular dynamics (MD) simulations. A linear stability analysis of the uniform shear flow is performed and the full phase diagram is presented. It is shown that when the inelasticity of particle collision becomes large…
In a granular solid, mechanical equilibrium requires a delicate balance of forces at the disordered grain scale. To understand how macroscopic rigidity can emerge in this amorphous solid, it is crucial that we understand how Newton's laws pass from the disordered grain scale to the laboratory scale. In this work, we introduce an exact discrete calculus, in which Newton's laws appear as differential relations at the scale of a single grain. Using this calculus, we introduce gauge variables which describe identically force- and torque-balanced configurations. In a first, intrinsic formulation, w…
We experimentally study the critical properties of the non-equilibrium solid-liquid-like transition that takes place in vibrated granular matter. The critical dynamics is characterized by the coupling of the density field with the bond-orientational order parameter $Q_4$, which measures the degree of local crystallization. Two setups are compared, which present the transition at different critical accelerations as a a result of modifying the energy dissipation parameters. In both setups five independent critical exponents are measured, associated to different properties of $Q_4$: the correlati…
One of the most noticeable collective motion of non-cohesive granular matter is clustering under certain conditions. In particular, when a quasi-two-dimensional monolayer of mono-disperse non-cohesive particles is vertically vibrated, a solid-liquid-like transition occurs when the driving amplitude exceeds a critical value. Here, the physical mechanism underlying particle clustering relies on the strong interactions mediated by grain collisions, rather than on grain-grain cohesive forces. In average, the solid cluster resembles a drop, with a striking circular shape. We experimentally investig…
We study the transition of a granular packing from liquid to solid bonding in the course of drying. The particles are initially wetted by a liquid brine and the cohesion of the packing is ensured by capillary forces, but the crystallization of the solute transforms the liquid bonds into partially cemented bonds. This transition is evidenced experimentally by measuring the compressive strength of the samples at regular intervals of times. Our experimental data reveal three regimes: 1) Up to a critical degree of saturation, no solid bonds are formed and the cohesion remains practically constant;…
A recent theory for stress transmission in isostatic granular and cellular systems predicts a constitutive equation that couples the stress field to the local microstructure. The theory could not be applied to macroscopic systems because the constitutive equation becomes trivial upon straightforward coarse-graining. This problem is resolved here for arbitrary planar structures. The solution is based on the observation that staggered order makes it possible to couple the stress to a reduced geometric tensor that can be coarse-grained. The method proposed here makes it possible to apply this ide…
The rheology of a granular shear flow is studied in a quasi-2d rotating cylinder. Measurements are carried out near the midpoint along the length of the surface flowing layer where the flow is steady and non-accelerating. Streakline photography and image analysis are used to obtain particle velocities and positions. Different particle sizes and rotational speeds are considered. We find a sharp transition in the apparent viscosity ($η$) variation with rms velocity ($u$). In the fluid-like region above the depth corresponding to the transition point (higher rms velocities) there is a rapid incre…
We present a description of granular dynamics based on the idea of differentiation between fluid and solid components. First, we construct a model of completely fluidized phase. Then we discuss a shear surface motion on the boundary of the bulk solid phase, induced by a moving wall. Our results include the thickness dependence of the velocity of a developed avalanche, density and velocity profiles in granular Couette flow experiment.
The penetration by a gravity driven impact of a solid sphere into a granular medium is studied by two-dimensional simulations. The scaling laws observed experimentally for both the final penetration depth and the stopping time with the relevant physical parameters are here recovered numerically without the consideration of any solid friction. Collisional processes are thus found as essential in explaining the physics of the qualitatively observed phenomena whereas frictional processes can only be considered as secondary effects in the granular penetration by impact.
We examine the spreading of a suspension of non-Brownian spheres suspended in a Newtonian liquid on a solid substrate. We show that the spreading dynamics is well described by the classical Cox-Voinov law provided the value of the fluid viscosity that arises in the capillary number of the problem is adjusted to a value that depends on particle size and volume fraction in a non-trivial way. We demonstrate that this behavior is a signature of the ability of the particles to approach the contact line close enough to affect dissipation.
Meandering instability is familiar to everyone through river meandering or small rivulets of rain flowing down a windshield. However, its physical understanding is still premature, although it could inspire researchers in various fields, such as nonlinear science, fluid mechanics and geophysics, to resolve their long-standing problems. Here, we perform a small-scale experiment in which air flow is created in a thin granular bed to successfully find a meandering regime, together with other remarkable fluidized regimes, such as a turbulent regime. We discover that phase diagrams of the flow regi…
We studied experimentally the effect of grain size and maximum load on the compaction and subsequent relaxation of a granular column when it is subjected to vertical uniaxial compression. The experiments were performed using two different types of grains: 1) solid glass beads, and 2) porous beads that consist of agglomerates of glass powder. We found that the compression force increases non-linearly with time, with sudden drops for the case of glass beads and periodic undulations for dust particles. Whereas the grain size effect is small in the average force load, the fluctuations become large…
In this review, a theoretical description is provided for the solid (granular) phase of the gas-solid flows that are the focus of this book. Emphasis is placed on the fundamental concepts involved in deriving a macroscopic hydrodynamic description for the granular material in terms of the hydrodynamic fields (species densities, flow velocity, and the granular temperature) from a prescribed "microscopic" interaction among the grains. To this end, the role of the interstitial gas phase, body forces such as gravity, and other coupling to the environment are suppressed and retained only via a poss…
We study the structural properties of two-dimensional granular packings prepared by random deposition from a source line. We consider a class of random ballistic deposition models based on single-particle relaxation rules controlled by a critical angle, and we show that these local rules can be formulated as rolling friction in the framework of dynamic methods for the simulation of granular materials. We find that a packing prepared by random deposition models is generically unstable, and undergoes dynamic rearrangements. As a result, the dynamic method leads systematically to a higher solid f…
Formulating a statistical mechanics for granular matter remains a significant challenge, in part, due to the difficulty associated with a complete characterization of the systems under study. We present a fully characterized model of a granular material consisting of $N$ two-dimensional, frictionless, hard discs, confined between hard walls, including a complete enumeration of all possible jammed structures. We show the properties of the jammed packings are independent of the distribution of defects within the system and that all the packings are isostatic. This suggests the assumption of equa…
A key interest in geomorphology is to predict how the shear stress $τ$ exerted by a turbulent flow of air or liquid onto an erodible sediment bed affects the transport load $M\tilde g$ (i.e., the submerged weight of transported nonsuspended sediment per unit area) and its average velocity when exceeding the sediment transport threshold $τ_t$. Most transport rate predictions in the literature are based on the scaling $M\tilde g\proptoτ-τ_t$, the physical origin of which, however, has remained controversial. Here we test the universality and study the origin of this scaling law using particle-sc…
Creep mechanisms in uniaxially compressed 3D granular solids comprised of faceted frictionless grains are studied numerically using a constant pressure and constant stress simulation method. Rapid uniaxial compression followed by slow dilation is predicted on the basis of a logarithmic creep phenomenon. Micromechanical analysis indicates the existence of a correlation between granular creep and grain-scale deformations. Localized regions of large strain appear during creep and grow in magnitude and size with time. Furthermore, the accumulation of non-affine granular displacements increases lin…
We have found that the ability of long thin rods to jam into a solid-like state in response to a local perturbation depends upon both the particle aspect ratio and the container size. The dynamic phase diagram in this parameter space reveals a broad transition region separating granular stick-slip and solid-like behavior. In this transition region the pile displays both solid and stick-slip behavior. We measure the force on a small object pulled through the pile, and find the fluctuation spectra to have power law tails with an exponent characteristic of the region. The exponent varies from $β=…
Granular impact -- the dynamic intrusion of solid objects into granular media -- is widespread across scientific and engineering applications including geotechnics. Existing approaches for simulating granular impact dynamics have relied on either a pure discrete method or a pure continuum method. Neither of these methods, however, is deemed optimal from the computational perspective. Here, we introduce a hybrid continuum-discrete approach, built on the coupled material-point and discrete-element method (MP-DEM), for simulating granular impact dynamics with unparalleled efficiency. To accommoda…
Gravity-driven flows of granular matter are involved in a wide variety of situations, ranging from industrial processes to geophysical phenomena, such as avalanches or landslides. These flows are characterized by the coexistence of solid and fluid phases, whose stability is directly related to the erosion and sedimentation occurring at the solid-fluid interface. To describe these mechanisms, we build a microscopic model involving friction, geometry, and a nonlocal cooperativity emerging from the propagation of collisions. This new picture enables us to obtain a detailed description of the exch…
Two approaches exist to account for granular dynamics: The athermal one takes grains as elementary, the thermal one considers the total entropy that includes microscopic degrees of freedom such as phonons and electrons. Discrete element method (DEM), granular kinetic theory and athermal statistical mechanics (ASM) belong to the first, granular solid hydrodynamics (GSH) to the second one. A discussion of the conceptual differences between both is given here, leading, among others, to the following insights: (1) While DEM and granular kinetic theory are well justified to take grains as athermal,…
The friction of a sliding plate on a thin immersed granular layer obeys Amonton-Coulomb law. We bring to the fore a large set of experimental results which indicate that, over a few decades of values, the effective dynamical friction-coefficient depends neither on the viscosity of the interstitial fluid nor on the size of beads in the sheared layer, which bears out the analogy with the solid-solid friction in a wide range of experimental parameters. We accurately determine the granular-layer dilatancy, which dependance on the grain size and slider velocity can be qualitatively accounted by con…
We report on measurements of self-diffusion coefficients in discrete numerical simulations of steady, homogeneous, collisional shearing flows of nearly identical, frictional, inelastic spheres. We focus on a range of relatively high solid volume fractions that are important in those terrestrial gravitational shearing flows that are dominated by collisional interactions. Diffusion over this range of solid fraction has not been well characterized in previous studies. We first compare the measured values with an empirical scaling based on shear rate previously proposed in the literature, and high…
The response to a localized force provides a sensitive test for different models of stress transmission in granular solids. The elasto-plastic models traditionally used by engineers have been challenged by theoretical and experimental results which suggest a wave-like (hyperbolic) propagation of the stress, as opposed to the elliptic equations of static elasticity. Numerical simulations of two-dimensional granular systems subject to a localized external force are employed to examine the nature of stress transmission in these systems as a function of the magnitude of the applied force, the fric…
We study the responses of fluid-immersed soft hydrogel spheres that are sheared under controlled volume fractions. Slippery, deformable particles along with the density-matched interstitial fluid are sandwiched between two opposing rough cones, allowing studies for a wide range of volume fraction $ϕ$ both above and below the jamming of granular suspension. We utilize sudden cessations of shearing, accompanied by refraction-matched internal imaging, to supplement the conventional flow-curve measurements. At sufficiently high volume fractions, the settling of particles after the cessations exhib…
