We present experiments on several distinct effective temperatures in a granular system at a sequence of increasing packing densities and at a sequence of decreasing driving rates. This includes single-grain measurements based on the mechanical energies of both the grains and an embedded oscillator, as well as a collective measurement based on the Einstein relation between diffusivity and mobility, which all probe different time scales. Remarkably, all effective temperatures agree. Furthermore, mobility data along the two trajectories collapse when plotted vs effective temperature and exhibit an Arrhenius form with the same energy barrier as the microscopic relaxation time.
We examine the jamming transition in a two-dimensional granular polymer system using compressional simulations. The jamming density ϕ_c decreases with increasing length of the granular chain due to the formation of loop structures, in excellent agreement with recent experiments. The jamming density can be further reduced in mixtures of granular chains and granular rings, also as observed in experiment. We show that the nature of the jamming in granular polymer systems has pronounced differences from the jamming behavior observed for polydisperse two-dimensional disk systems at Point J. This re…
We investigate the rheology of sheared granular materials near the jamming transition point. We numerically determine the values of the critical fraction and the exponents for the jamming transition using a finite size scaling and the nonlinear minimization method known as the Levenberg-Marquardt algorithm. The exponents are close to our previous theoretical prediction, but there is a small discrepancy, if the critical point is independently determined.
Critical behaviors of sheared dense and frictionless granular materials in the vicinity of the jamming transition are numerically investigated. From the extensive molecular dynamics simulation, we verify the validity of the scaling theory near the jamming transition proposed by Otsuki and Hayakawa (Prog. Theor. Phys., 121, 647 (2009)). We also clarify the critical behaviors of the shear viscosity and the pair correlation function based on both a phenomenology and the simulation.
The critical rheology of sheared frictional granular materials near jamming transition is numer- ically investigated. It is confirmed that there exist a true critical density which characterizes the onset of the yield stress, and two fictitious critical densities which characterize the scaling laws of rheological properties. We find the existence of a hysteresis loop between two of the critical densities for each friction coefficient. It is noteworthy that the critical scaling law for frictionless jamming transition seems to be still valid even for frictional jamming despite using fictitious c…
We introduce a stochastic microscopic model to investigate the jamming and reorganization of grains induced by an object moving through a granular medium. The model reproduces the experimentally observed periodic sawtooth fluctuations in the jamming force and predicts the period and the power spectrum in terms of the controllable physical parameters. It also predicts that the avalanche sizes, defined as the number of displaced grains during a single advance of the object, follow a power-law, $P(s)\sim s^{-τ}$, where the exponent is independent of the physical parameters.
We investigate the jamming transition in packings of emulsions and granular materials via molecular dynamics simulations. The emulsion model is composed of frictionless droplets interacting via nonlinear normal forces obtained using experimental data acquired by confocal microscopy of compressed emulsions systems. Granular materials are modeled by Hertz-Mindlin deformable spherical grains with Coulomb friction. In both cases, we find power-law scaling for the vanishing of pressure and excess number of contacts as the system approaches the jamming transition from high volume fractions. We find …
We study the origin of the scaling behavior in frictionless granular media above the jamming transition by analyzing their linear response. The response to local forcing is non-self-averaging and fluctuates over a length scale that diverges at the jamming transition. The response to global forcing becomes increasingly non-affine near the jamming transition. This is due to the proximity of floppy modes, the influence of which we characterize by the local linear response. We show that the local response also governs the anomalous scaling of elastic constants and contact number.
Granular packings display the remarkable phenomenon of dilatancy [1], wherein their volume increases upon shear deformation. Conventional wisdom and previous results suggest that dilatancy, as also the related phenomenon of shear-induced jamming, requires frictional interactions [2, 3]. Here, we investigate the occurrence of dilatancy and shear jamming in frictionless packings. We show that the existence of isotropic jamming densities ϕj above the minimal density, the J-point density ϕJ [4, 5], leads both to the emergence of shear-induced jamming and dilatancy. Packings at ϕJ form a significan…
We study the rheological properties of a granular suspension subject to constant shear stress by constant volume molecular dynamics simulations. We derive the system `flow diagram' in the volume fraction/stress plane $(ϕ,F)$: at low $ϕ$ the flow is disordered, with the viscosity obeying a Bagnold-like scaling only at small $F$ and diverging as the jamming point is approached; if the shear stress is strong enough, at higher $ϕ$ an ordered flow regime is found, the order/disorder transition being marked by a sharp drop of the viscosity. A broad jamming region is also observed where, in analogy w…
The dynamics of the jamming transition in a three-dimensional granular system under vertical vibration is studied using diffusing-wave spectroscopy. When the maximum acceleration of the external vibration is large, the granular system behaves like a fluid, with the dynamic correlation function G(t) relaxing rapidly. As the acceleration of vibration approaches the gravitational acceleration g, the relaxation of G(t) slows down dramatically, and eventually stops. Thus the system undergoes a phase transition and behaves like a solid. Near the transition point, we find that the structural relaxati…
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.
We provide a comprehensive picture of the jamming phase diagram by connecting the athermal, granular ensemble of jammed states and the equilibrium fluid through the inherent structure paradigm for a system hard discs confined to a narrow channel. The J-line is shown to be divided into packings that are thermodynamically accessible from the equilibrium fluid and inaccessible packings. The J-point is found to occur at the transition between these two sets of packings and is located at the maximum the inherent structure distribution. A general thermodynamic argument suggests that the density of t…
A remarkable property of dense suspensions is that they can transform from liquid-like at rest to solid-like under sudden impact. Previous work showed that this impact-induced solidification involves rapidly moving jamming fronts; however, details of this process have remained unresolved. Here we use high-speed ultrasound imaging to probe non-invasively how the interior of a dense suspension responds to impact. Measuring the speed of sound we demonstrate that the solidification proceeds without a detectable increase in packing fraction, and imaging the evolving flow field we find that the shea…
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…
Quasi-2D bidisperse amorphous systems of steel beads are fluidized by a uniform upflow of air, so that the beads roll on a horizontal plane. The short-time ballistic motion of the beads is stochastic, with non-Gaussian speed distributions and with different average kinetic energies for the two species. The approach to jamming is studied as a function of increasing bead area fraction and also as a function of decreasing air speed. The structure of the system is measured in terms of both the Voronoi tessellation and the pair distribution function. The dynamics of the system is measured in terms …
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…
For the purpose of applying laws or principles originated from thermal systems to granular athermal systems, we may need to properly define the critical temperature concept in granular powders. The conventional environmental temperature in thermal systems is too weak to drive movements of particles in granular powders and cannot function as a thermal energy indicator. For maintaining the same functionality as in thermal systems, the temperature in granular powders is defined analogously and uniformly in this article. The newly defined granular temperature is utilized to describe and explain on…
We have performed a novel experiment on granular packs composed of automatically swelling particles. By analyzing the Voronoi structure of packs going through the jamming transition, we show that the local configuration of a jamming pack is strikingly similar to that of a glass-forming liquid, both in terms of their universal area distribution and the process of defect annealing. Furthermore, we demonstrate that an unambiguous structural signature of the jamming transition can be obtained from the pair correlation functions of a pack. Our study provides insights into the structural properties …
Studying the jamming transition of granular and colloidal systems, has lead to a proliferation of theoretical and numerical results formulated in the language of the eigenspectrum of the dynamical matrix for these disordered system. Only recently however, these modes have been accessed experimentally in colloidal and granular media, computing the eigenmodes of the covariance matrix of the particle positions. At the same time new conceptual and methodological questions have appeared, regarding the interpretation of these results. In the present paper, we first give an overview of the theoretica…
We demonstrate that a highly frustrated anisotropic Josephson junction array(JJA) on a square lattice exhibits a zero-temperature jamming transition, which shares much in common with those in granular systems. Anisotropy of the Josephson couplings along the horizontal and vertical directions plays roles similar to normal load or density in granular systems. We studied numerically static and dynamic response of the system against shear, i. e. injection of external electric current at zero temperature. Current-voltage curves at various strength of the anisotropy exhibit universal scaling feature…
This paper describes methods to measure flow rate and jamming onset of granules discharged through a flat-bottom cylindrical hopper with a circular orifice. The intrinsic jamming onset for ideal particles (spherical, monodisperse, smooth) is experimentally measured by two independent methods, with good agreement. For non-ideal particles, the normalized jamming onset increases with elongated granule shape, broadened size distribution and increased friction as measured by the drained angle of repose. An empirical model of the jamming onset is introduced to quantify these effects over the range o…
We present extensive computational results for the effective temperature, defined by the fluctuation-dissipation relation between the mean square displacement and the average displacement of grains, under the action of a weak, external perturbation, of a sheared, bi-disperse granular packing of compressible spheres. We study the dependence of this parameter on the shear rate and volume fractions, the type of particle and the observable in the fluctuation-dissipation relation. We find the same temperature for different tracer particles in the system. The temperature becomes independent on the s…
Rheological properties of dense flows of hard particles are singular as one approaches the jamming threshold where flow ceases, both for granular flows dominated by inertia, and for over-damped suspensions. Concomitantly, the lengthscale characterizing velocity correlations appears to diverge at jamming. Here we review a theoretical framework that gives a scaling description of stationary flows of frictionless particles. Our analysis applies both to suspensions and inertial flows of hard particles. We report numerical results in support of the theory, and show the phase diagram that results wh…
We explore the initial moments of impact between two dense granular clusters in a two-dimensional geometry. The particles are composed of solid CO$_{2}$ and are levitated on a hot surface. Upon collision, the propagation of a dynamic "jamming front" produces a distinct regime for energy dissipation in a granular gas in which the translational kinetic energy decreases by over 90%. Experiments and associated simulations show that the initial loss of kinetic energy obeys a power law in time, $ΔE=-Kt^{3/2}$, a form that can be predicted from kinetic arguments.
We study the internal dynamical processes taking place in a granular packing below yield stress. At all packing fractions and down to vanishingly low applied shear, a logarithmic creep is evidenced. The experiments are analyzed under the scope of a visco-elastic model introducing an internal "fluidity" variable. For all experiments, the creep dynamics can be rescaled onto a unique curve which displays jamming at the random-close-packing limit. At each packing fraction, a stress value is evidenced, corresponding to the onset of internal granular reorganisation leading to a slowing down the cree…
Diverging correlation lengths on either side of the jamming transition are used to formulate a rheological model of granular shear flow, based on the propagation of stress through force chain networks. The model predicts three distinct flow regimes, characterized by the shear rate dependence of the stress tensor, that have been observed in both simulations and experiments. The boundaries separating the flow regimes are quantitatively determined and testable. In the limit of jammed granular solids, the model predicts the observed anomalous scaling of the shear modulus and a new relation for the…
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 …
This paper is aimed at pursuing a recent discussion about the comparison between Self-Organised Criticality, the jamming process and the percolation theory in the problem of a silo discharge [I. Zuriguel, A. Garcimartin, D. Maza, L.A.Pugnaloni, J.M.Pastor, "Jamming during the discharge of granular matter from a silo", Phys.Rev.E 71, 051303 (2005)]. Statistics of blocking a silo is investigated from different models: percolation, self organised criticality..
Data61, CSIRO（澳大利亚联邦科学与工业研究组织数据61中心）；University of Queensland（昆士兰大学）
Granular jamming is a popular soft robotics technology that has seen recent widespread applications including industrial gripping, surgical robotics and haptics. However, to date the field has not fully exploited the fundamental science of the jamming phase transition, which has been rigorously studied in the field of statistical and condensed matter physics. This work introduces vibration as a means to improve the properties of granular jamming grippers through vibratory fluidisation and the exploitation of resonant modes within the granular material. We show that vibration in soft jamming gr…
Rheological properties of a dense granular material consisting of frictionless spheres are investigated. It is found that the shear stress, the pressure, and the kinetic temperature obey critical scaling near the jamming transition point, which is considered as a critical point. These scaling laws have some peculiar properties in view of conventional critical phenomena because the exponents depend on the interparticle force models so that they are not universal. It is also found that these scaling laws imply the relation between the exponents that describe the growing correlation length.
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…
Supercooled liquids and dense colloids exhibit anomalous behaviour known as "spatially heterogeneous dynamics" (SHD), which becomes increasingly pronounced with approach to the glass transition. Recently, SHD has been observed in confined granular packings under slow shear near the onset of jamming, bolstering speculation that the two transitions are related. Here, we report measurements of SHD in a system of air-driven granular beads, as a function of both density and effective temperature. On approach to jamming, the dynamics become progressively slower and more spatially heterogeneous. The …
We establish that the rheological curve of dry granular media is non-monotonic, both in the presence and absence of external mechanical agitations. In the presence of weak vibrations, the non-monotonic flow curves govern a hysteretic transition between slow but steady and fast, inertial flows. In the absence of vibrations, the non-monotonic flow curve governs the yielding behavior of granular media. Finally, we show that non-monotonic flow curves can be seen in at least two different flow geometries and for several granular materials.
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.
We investigate experimentally the dynamics of an intruder dragged by a constant force in an assembly of horizontally vibrated grains close to jamming. At moderate packing fractions, the intruder moves rapidly as soon as the force is applied. Above some threshold value of the packing fraction which increases with the applied force, the intruder exhibits an intermittent creep motion with strong fluctuations reminiscent of a crackling noise signal. These fluctuations behave in a critical manner at the jamming transition unveilled in a previous study. The transition separates a regime where the in…
Jammed states of frictional granular systems can be induced by shear strain at densities below the isostatic jamming density ($ϕ_c$). It remains unclear, however, how much friction affects this so-called shear-jamming. Friction appears in two ways in this type of experiment: friction between particles, and friction between particles and the base on which they rest. Here, we study how particle-bottom friction, or basal friction, affects shear jamming in quasi-two dimensional experiments. In order to study this issue experimentally, we apply simple shear to a disordered packing of photoelastic d…
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…
CSIRO（联邦科学与工业研究组织）；Queensland University of Technology（昆士兰科技大学）；University of Queensland（昆士兰大学）
Granular jamming has recently become popular in soft robotics with widespread applications including industrial gripping, surgical robotics and haptics. Previous work has investigated the use of various techniques that exploit the nature of granular physics to improve jamming performance, however this is generally underrepresented in the literature compared to its potential impact. We present the first research that exploits vibration-based fluidisation actively (e.g., during a grip) to elicit bespoke performance from granular jamming grippers. We augment a conventional universal gripper with …
Classical soil mechanics results are used to propose the equation of the jamming transition surface in the (stress, specific volume) space. Taking axis-ymmetric conditions, labelling q the deviatoric stress and p' the mean pressure applied on the granular skeleton, and considering normal range of pressure (10 kPa-10MPa) the equation of the surface of jamming transition is v = vo-m ln(p'/p'o)+ md ln(1+q q/(M' M' p' p')); M' is related to the friction angle, m and md are two constants which depend on soil characteristics; p'o is a "unit" pressure.
Granular materials jam when developing a network of contact forces able to resist the applied stresses. Through numerical simulations of the dynamics of the jamming process, we show that the jamming transition does not occur when the kinetic energy vanishes. Rather, as the system jams, the kinetic energy becomes dominated by rattlers particles, that scatter withing their cages. The relaxation of the kinetic energy in the jammed configuration exhibits a double power-law decay, which we interpret in terms of the interplay between backbone and rattlers particles.
CSIRO（联邦科学与工业研究组织）；Queensland University of Technology（昆士兰科技大学）；Griffith University（格里菲斯大学）
Fruit harvesting has recently experienced a shift towards soft grippers that possess compliance, adaptability, and delicacy. In this context, pneumatic grippers are popular, due to provision of high deformability and compliance, however they typically possess limited grip strength. Jamming possesses strong grip capability, however has limited deformability and often requires the object to be pushed onto a surface to attain a grip. This paper describes a hybrid gripper combining pneumatics (for deformation) and jamming (for grip strength). Our gripper utilises a torus (donut) structure with two…
We investigate the mixing characteristics of dry granular material while draining down a silo with multiple exit orifices. The mixing in the silo, which otherwise consists of noninteracting stagnant and flow regions, is observed to improve significantly when the flow through specific orifices is stopped intermittently. This momentary stoppage of flow through the orifice is either controlled manually or is chosen by the system itself when the orifice width is small enough to cause spontaneous jamming and unjamming. We observe that the overall mixing behavior shows a systematic dependence on the…
The jamming transition is accompanied by a rich phenomenology, such as hysteresis or non-local effects, which is still not well understood. Here we experimentally investigate a model frictionless granular layer flowing down an inclined plane, as a way to disentangle generic collective effects from those arising from frictional interactions. We find that thin frictionless granular layers are devoid of hysteresis, yet the layer stability is increased as it gets thinner. Rheological laws obtained for different layer thicknesses can be collapsed into a unique master curve, supporting that non-loca…
Confinement of a slender body into a granular array induces stress localization in the geometrically nonlinear structure, and jamming, reordering, and vertical dislocation of the surrounding granular medium. By varying the initial packing density of grains and the length of a confined elastica, we identify the critical length necessary to induce jamming, and demonstrate an intricate coupling between folds that localize along grain boundaries. Above the jamming threshold, the characteristic length of elastica deformation is shown to scale with the length over which force field fluctuations prop…
The existence of universal scaling in the vicinity of the jamming transition of sheared granular materials is predicted by a phenomenology. The critical exponents are explicitly determined, which are independent of the spatial dimension. The validity of the theory is verified by the molecular dynamics simulation.
The drainage of particulate foams is studied under conditions where the particles are not trapped individually by constrictions of the interstitial pore space. The drainage velocity decreases continuously as the particle volume fraction $ϕ_{p}$ increases. The suspensions jam - and therefore drainage stops - for values $ϕ_{p}^{*}$ which reveal a strong effect of the particle size. In accounting for the particular geometry of the foam, we show that $ϕ_{p}^{*}$ accounts for unusual confinement effects when the particles pack into the foam network. We model quantitatively the overall behavior of t…
We have explored isotropically jammed states of semi-2D granular materials through cyclic compression. In each compression cycle, systems of either identical ellipses or bi-disperse disks, transition between jammed and unjammed states. We determine the evolution of the average pressure, P, and structure through consecutive jammed states. We observe a transition point, ϕm, above which P persists over many cycles; below ϕm, P relaxes slowly. The relaxation time scale associated with P increases with packing fraction, while the relaxation time scale for collective particle motion remains constant…
Unlike dry granular materials, a dense granular suspension like cornstarch in water can strongly resist extensional flows. At low extension rates, such a suspension behaves like a viscous liquid, but rapid extension results in a response where stresses far exceed the predictions of lubrication hydrodynamics and capillarity. To understand this remarkable mechanical response, we experimentally measure the normal force imparted by a large bulk of the suspension on a plate moving vertically upward at a controlled velocity. We observe that above a velocity threshold, the peak force increases by ord…
We have investigated the spatiotemporal chaotic dynamics of unjamming and jamming of particles in a toy-model system -- a rotating drum partially filled with bidisperse disks to create avalanches. The magnitudes of the first Lyapunov vector $δu(t)$ and velocity $v(t)$ of particles are directly measured for the first time to yield insights into their spatial correlation $C_{δu,v}$, which is stronger near the unjamming but is weaker near the jamming transition, consistent with the recent work of Banigan et al., Nature Phys. $\bf{9}$, 288, (2013). $v(t)$ shows rich dynamics: it grows exponentiall…
Experiments with acoustic waves guided along the mechanically free surface of an unconsolidated granular packed structure provide information on the elasticity of granular media at very low pressures that are naturally controlled by the gravitational acceleration and the depth beneath the surface. Comparison of the determined dispersion relations for guided surface acoustic modes with a theoretical model reveals the dependencies of the elastic moduli of the granular medium on pressure. The experiments confirm recent theoretical predictions that relaxation of the disordered granular packing thr…
This paper establishes a link between the non-local behaviour of granular materials and the presence of transient clusters of jammed particles within the flow. These clusters are first evidenced in simulated dense granular flows subjected to plane shear, and are found to originate from a mechanism of multiple orthogonal shear banding. A continuum non-local model, similar in form to the non-local Cooperative model, is then derived by considering the spatial redistribution of vorticity induced by these clusters. The non-locality length scale is thus expressed in terms of the cluster size. The pu…
Shear modulus of frictionless granular materials near the jamming transition under oscillatory shear is numerically investigated. It is found that the shear modulus $G$ satisfies a scaling law to interpolate between $G \sim (ϕ- ϕ_J)^{1/2}$ and $G \sim γ_0^{-1/2}(ϕ-ϕ_J)$ for a linear spring model of the elastic interaction between contacting grains, where $ϕ$, $ϕ_J$, and $γ_0$ are, respectively, the volume fraction of grains, the fraction at the jamming point, and the amplitude of the oscillatory shear. The linear relation between the shear modulus and $ϕ- ϕ_J$ can be understood by slip avalanc…
