We study the onset of patterns in vertically oscillated layers of frictionless dissipative particles. Using both numerical solutions of continuum equations to Navier-Stokes order and molecular dynamics (MD) simulations, we find that standing waves form stripe patterns above a critical acceleration of the cell. Changing the frequency of oscillation of the cell changes the wavelength of the resulting pattern; MD and continuum simulations both yield wavelengths in accord with previous experimental results. The value of the critical acceleration for ordered standing waves is approximately 10% higher in molecular dynamics simulations than in the continuum simulations, and the amplitude of the waves differs significantly between the models. The delay in the onset of order in molecular dynamics simulations and the amplitude of noise below this onset are consistent with the presence of fluctuations which are absent in the continuum theory. The strength of the noise obtained by fit to Swift-Hohenberg theory is orders of magnitude larger than the thermal noise in fluid convection experiments, and is comparable to the noise found in experiments with oscillated granular layers and in recent fluid experiments on fluids near the critical point. Good agreement is found between the mean field value of onset from the Swift-Hohenberg fit and the onset in continuum simulations. Patterns are compared in cells oscillated at two different frequencies in MD; the layer with larger wavelength patterns has less noise than the layer with smaller wavelength patterns.
The question when and how dense granular materials start to flow under stress, despite many industrial and geophysical applications, remains largely unresolved. We develop and test a simple equation for the onset of quasi-static flows of granular materials which is based on the frictional aging of the granular packing. The result is a non-monotonic stress-strain relation which - akin to classical friction - is independent of the shear rate. This relation suffices to understand the below-threshold deformations of aging granular media, and its solid-to-liquid transition. Our results also elucida…
We investigate the onset of irreversibility in a dense granular medium subjected to cyclic shear in a split-bottom geometry. To probe the micro and mesoscale we image bead trajectories in 3D throughout a series of shear strain oscillations. Though beads lose and regain contact with neighbors during a cycle, the topology of the contact network exhibits reversible properties for small oscillation amplitudes. With increasing reversal amplitude a transition to an irreversible diffusive regime occurs.
We investigate the onset of the wall-induced convection in vertically vibrated granular matter by means of experiments and two-dimensional computer simulations. In both simulations and experiments we find that the wall-induced convection occurs inside the bouncing bed region of the parameter space in which the granular bed behaves like a bouncing ball. A good agreement between experiments and simulations is found for the peak vibration acceleration at which convection starts. By comparing the results of simulations initialised with and without defects, we find that the onset of convection occu…
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 performed molecular dynamics simulations of granular beds driven by a model hydrodynamic shear flow to elucidate general grain-scale mechanisms that determine the onset and cessation of sediment transport. By varying the Shields number (the nondimensional shear stress at the top of the bed) and particle Reynolds number (the ratio of particle inertia to viscous damping), we explore how variations of the fluid flow rate, particle inertia, and fluid viscosity affect the onset and cessation of bed motion. For low to moderate particle Reynolds numbers, a critical boundary separates mobile and st…
The author investigates the onset of patterns in vertically oscillated layers of dissipative particles using numerical solutions of continuum equations to Navier-Stokes order. Above a critical accelerational amplitude of the cell, standing waves form stripe patterns which oscillate subharmonically with respect to the cell. Continuum simulations neglecting interparticle friction yield pattern wavelengths consistent with experiments using frictional particles. However, the critical acceleration for standing wave formation is approximately 10% lower in continuum simulations without added noise th…
The jamming transition in granular materials is well-known for exhibiting hysteresis, wherein the level of shear stress required to trigger flow is larger than that below which flow stops. Although such behavior is typically modeled as a simple non-monotonic flow rule, the rheology of granular materials is also nonlocal due to cooperativity at the grain scale, leading for instance to increased strengthening of the flow threshold as system size is reduced. We investigate how these two effects - hysteresis and nonlocality - couple with each other by incorporating non-monotonicity of the flow rul…
Brittle materials under impact loading exhibit a transition from a cracked solid to a granular medium. Appropriate representation of this transition to granular mechanics and the resulting initial fragment size and shape distribution in computational models is not well understood. The current work provides a numerical model to analyze competitive crack coalescence in the transition regime and provides insight into the onset of comminution and the initial conditions for subsequent granular flow. Crack statistics obtained from initial flaws using a wing crack growth based damage model have been …
We propose and numerically implement a constitutive framework for granular media that allows the material to traverse through its many common phases during the flow process. When dense, the material is treated as a pressure sensitive elasto-viscoplastic solid obeying a yield criterion and a plastic flow rule given by the $μ(I)$ inertial rheology of granular materials. When the free volume exceeds a critical level, the material is deemed to separate and is treated as disconnected, stress-free media. A Material Point Method (MPM) procedure is written for the simulation of this model and many dem…
Using both a continuum Navier-Stokes solver, with the mu(I)-flow-law implemented to model the viscous behavior, and the discrete Contact Dynamics algorithm, the discharge of granular silos is simulated in two dimensions from the early stages of the discharge until complete release of the material. In both cases, the Beverloo scaling is recovered. We first do not attempt quantitative comparison, but focus on the qualitative behavior of velocity and pressure at different locations in the flow. A good agreement is obtained in the regions of rapid flows, while areas of slow creep are not entirely …
The Navier-Stokes granular hydrodynamics is employed for determining the threshold of thermal convection in an infinite horizontal layer of granular gas. The dependence of the convection threshold, in terms of the inelasticity of particle collisions, on the Froude and Knudsen numbers is found. A simple necessary condition for convection is formulated in terms of the Schwarzschild's criterion, well-known in thermal convection of (compressible) classical fluids. The morphology of convection cells at the onset is determined. At large Froude numbers, the Froude number drops out of the problem. As …
Slow and dense granular flows often exhibit narrow shear bands, making them ill-suited for a continuum description. However, smooth granular flows have been shown to occur in specific geometries such as linear shear in the absence of gravity, slow inclined plane flows and, recently, flows in split-bottom Couette geometries. The wide shear regions in these systems should be amenable to a continuum description, and the theoretical challenge lies in finding constitutive relations between the internal stresses and the flow field. We propose a set of testable constitutive assumptions, including rat…
Recently, a new nonlocal granular rheology was successfully used to predict steady granular flows, including grain-size-dependent shear features, in a wide variety of flow configurations, including all variations of the split-bottom cell. A related problem in granular flow is that of mechanically-induced creep, in which shear deformation in one region of a granular medium fluidizes its entirety, including regions far from the sheared zone, effectively erasing the yield condition everywhere. This enables creep deformation when a force is applied in the nominally quiescent region through an intr…
We develop and fully characterize a meshfree Lagrangian (particle) model for continuum-based numerical modeling of dry and submerged granular flows. The multiphase system of the granular material and the ambient fluid is treated as a multi-density multi-viscosity system in which the viscous behaviour of the granular phase is predicted using a regularized viscoplastic rheological model with a pressure-dependent yield criterion. The numerical technique is based on the Weakly-Compressible Moving Particle Semi-implicit (WC-MPS) method. The required algorithms for approximation of the effective vis…
We study interactions between shocks and standing-wave patterns in vertically oscillated layers of granular media using three-dimensional, time-dependent numerical solutions of continuum equations to Navier-Stokes order. We simulate a layer of grains atop a plate that oscillates sinusoidally in the direction of gravity. Standing waves form stripe patterns when the accelerational amplitude of the plate's oscillation exceeds a critical value. Shocks also form with each collision between the layer and the plate; we show that pressure gradients formed by these shocks cause the flow to reverse dire…
A continuum theory of partially fluidized granular flows is developed. The theory is based on a combination of the equations for the flow velocity and shear stresses coupled with the order parameter equation which describes the transition between flowing and static components of the granular system. We apply this theory to several important granular problems: avalanche flow in deep and shallow inclined layers, rotating drums and shear granular flows between two plates. We carry out quantitative comparisons between the theory and experiment.
We propose an explanation for the onset of oscillations seen in numerical simulations of dense, inclined flows of inelastic, frictional spheres. It is based on a phase transition between disordered and ordered collisional states that may be interrupted by the formation of force chains. Low frequency oscillations between ordered and disordered states take place over weakly bumpy bases; higher-frequency oscillations over strongly bumpy bases involve the formation of particle chains that extend to the base and interrupt the phase change. The predicted frequency and amplitude of the oscillations i…
Continuum modeling of size-segregation and flow in dense, bidisperse granular media: Accounting for segregation driven by both pressure gradients and shear-strain-rate gradients
This work proposes a model for granular deformation that predicts the stress and velocity profiles in well-developed dense granular flows. Recent models for granular elasticity (Jiang and Liu 2003) and rate-sensitive plastic flow (Jop et al. 2006) are reformulated and combined into one universal granular continuum law, capable of predicting flowing regions and stagnant zones simultaneously in any arbitrary 3D flow geometry. The unification is performed by justifying and implementing a Kroner-Lee elasto-plastic decomposition, with care taken to ensure certain continuum physical principles are n…
We develop a continuum description of partially fluidized granular flows. Our theory is based on the hydrodynamic equation for the flow coupled with the order parameter equation which describes the transition between flowing and static components of the granular system. This theory captures important phenomenology recently observed in experiments with granular flows on rough inclined planes (Daerr and Douady, Nature (London) v. 399, 241 (1999)): layer bistability, and transition from triangular avalanches propagating downhill at small inclination angles to balloon-shaped avalanches also propag…
Granular surface flows are common in industrial practice and natural systems, however, theoretical description of such flows is at present incomplete. Two prototype systems involving surface flow are compared: heap formation by pouring at a point and rotating cylinders. Continuum models for analysis of these flows are reviewed, and experimental results for quasi-2d systems are presented. Experimental results in both systems are well described by continuum models.
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…
We report moment distribution results from a laboratory earthquake fault experiment consisting of sheared elastic plates separated by a narrow gap filled with a two dimensional granular medium. Local measurement of strain displacements of the plates at over 800 spatial points located adjacent to the gap allows direct determination of the moments and their spatial and temporal distributions. We show that events consist of localized, larger brittle motions and spatially-extended, smaller non-brittle events. The non-brittle events have a probability distribution of event moment consistent with an…
Dense granular flows are well described by several continuum models, however, their internal dynamics remain elusive. This study explores the contact force distributions in simulated steady and homogenous shear flows. Results demonstrate the existence of high magnitude contact forces in faster flows with stiffer grains. A proposed physical mechanism explains this rate-dependent force transmission. This analysis establishes a relation between contact forces and grain velocities, providing an entry point to unify a range of continuum models derived from either contact forces or grain velocity.
The accurate and efficient modeling of granular flows and their interactions with external bodies is an open research problem. Continuum methods can be used to capture complexities neglected by terramechanics models without the computational expense of discrete element methods. Constitutive models and numerical solvers are the two primary aspects of the continuum methods. The viscoplastic size-dependent non-local granular fluidity (NGF) constitutive model has successfully provided a quantitative description of experimental flows in many different configurations in literature. This research dev…
A rigid-plastic Cosserat model for slow frictional flow of granular materials, proposed by us in an earlier paper, has been used to analyze plane and cylindrical Couette flow. In this model, the hydrodynamic fields of a classical continuum are supplemented by the couple stress and the intrinsic angular velocity fields. The balance of angular momentum, which is satisfied implicitly in a classical continuum, must be enforced in a Cosserat continuum. As a result, the stress tensor could be asymmetric, and the angular velocity of a material point may differ from half the local vorticity. An import…
We carry out a detailed comparison of soft particle molecular dynamics simulations with the theory of partially fluidized shear granular flows. We verify by direct simulations a constitutive relation based on the separation of the shear stress tensor into a fluid part proportional to the strain rate tensor, and a remaining solid part. The ratio of these two components is determined by the order parameter. Based on results of the simulations we construct the ``free energy'' function for the order parameter. We also present the simulations of the stationary deep 2D granular flows driven by an up…
Sufficiently fine granular systems appear to exhibit continuum properties, though the precise continuum limit obtained can be vastly different depending on the particular system. We investigate the continuum limit of an unconfined, dense granular flow. To do this we use as a test system a two-dimensional dense cohesionless granular jet impinging upon a target. We simulate this via a timestep driven hard sphere method, and apply a mean-field theoretical approach to connect the macroscopic flow with the microscopic material parameters of the grains. We observe that the flow separates into a cone…
The continuum theory of partially fluidized shear granular flows is tested and calibrated using two dimensional soft particle molecular dynamics simulations. The theory is based on the relaxational dynamics of the order parameter that describes the transition between static and flowing regimes of granular material. We define the order parameter as a fraction of static contacts among all contacts between particles. We also propose and verify by direct simulations the constitutive relation based on the splitting of the shear stress tensor into a``fluid part'' proportional to the strain rate tens…
We present a method to estimate the segregation parameter, $S,$ a key input in a continuum transport model of particulate flows. $S$ is determined by minimizing the difference between measured and model-predicted concentration profiles. To validate the approach, we conduct discrete element method simulations of size-bidisperse mixtures in quasi-2D bounded heap flow; the resulting data show that $S$ calculated from concentration profiles is consistent with the directly measured value. The method's accuracy depends critically on the velocity profile during filling, but only weakly on the diffusi…
We study theoretically the erosion threshold of a granular bed forced by a viscous fluid. We first introduce a novel model of interacting particles driven on a rough substrate. It predicts a continuous transition at some threshold forcing $θ_c$, beyond which the particle current grows linearly $J\sim θ-θ_c$, in agreement with experiments. The stationary state is reached after a transient time $t_{\rm conv}$ which diverges near the transition as $t_{\rm conv}\sim |θ-θ_c|^{-z}$ with $z\approx 2.5$. The model also makes quantitative testable predictions for the drainage pattern: the distribution …
Starting from configurations having homogeneous spatial density, we study kinetics in a two-dimensional system of inelastically colliding hard particles, a popular model for cooling granular matter. Following an initial time period, the system exhibits a crossover to an inhomogeneous regime that is characterized by the formation and growth of particle-rich clusters. We present results on the time dependence of average mass of the clusters and that of average kinetic energy, obtained via event driven molecular dynamics simulations, for a wide range of values for the coefficient of restitution (…
A systematic and mechanistic connection between granular materials' macroscopic and grain level behaviors is developed for monodisperse systems of spherical elastic particles under die compaction. The Granular Micromechanics Approach (GMA) with static assumption is used to derive the stiffness tensor of transversely isotropic materials, from the average behavior of particle-particle interactions in all different directions at the microscale. Two particle-scale directional density distribution functions, namely the directional distribution of a combined mechano-geometrical property and the dire…
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.
Granular materials are ubiquitous in our daily lives. While they have been a subject of intensive engineering research for centuries, in the last decade granular matter attracted significant attention of physicists. Yet despite a major efforts by many groups, the theoretical description of granular systems remains largely a plethora of different, often contradicting concepts and approaches. Authors give an overview of various theoretical models emerged in the physics of granular matter, with the focus on the onset of collective behavior and pattern formation. Their aim is two-fold: to identify…
Granular intrusion is commonly observed in natural and human-made settings. Unlike typical solids and fluids, granular media can simultaneously display fluid-like and solid-like characteristics in a variety of intrusion scenarios. This multi-phase behavior increases the difficulty of accurately modeling these and other yielding (or flowable) materials. Micro-scale modeling methods, such as DEM (Discrete Element Method), capture this behavior by modeling the media at the grain scale, but there is often interest in the macro-scale characterizations of such systems. We examine the efficacy of a m…
Erosion shapes our landscape and occurs when a sufficient shear stress is exerted by a fluid on a sedimented layer. What controls erosion at a microscopic level remains debated, especially near the threshold forcing where it stops. Here we study experimentally the collective dynamics of the moving particles, using a set-up where the system spontaneously evolves toward the erosion onset. We find that the spatial organization of the erosion flux is heterogeneous in space, and occurs along channels of local flux $σ$ whose distribution displays scaling near threshold and follows $P(σ)\sim J/σ$, wh…
We study a layer of grains atop a plate which oscillates sinusoidally in the direction of gravity, using three-dimensional, time-dependent numerical solutions of continuum equations to Navier-Stokes order as well as hard-sphere molecular dynamics simulations. For high accelerational amplitudes of the plate, the layer exhibits a steady-state "density inversion" in which a high-density portion of the layer is supported by a lower-density portion. At low accelerational amplitudes, the layer exhibits oscillatory time dependence that is strongly correlated to the motion of the plate. We show that c…
We present the results of an experimental study of patterned segregation in a horizontally shaken shallow layer of a binary mixture of dry particles. An order parameter for the segregated structures is defined and the effect of the variation of the combined filling fraction, $C$, of the mixture on the observed pattern formation is systematically studied. The surprising result is that there is a critical event associated with the onset of the pattern, at $C=0.647\pm0.049$, which has the characteristics of a second order phase transition, including critical slowing down.
We analyze the capabilities of various recently developed techniques, namely Resistive Force Theory (RFT) and continuum plasticity implemented with the Material Point Method (MPM), in capturing dynamics of wheel--dry granular media interactions. We compare results to more conventionally accepted methods of modeling wheel locomotion. While RFT is an empirical force model for arbitrarily-shaped bodies moving through granular media, MPM-based continuum modeling allows the simulation of full granular flow and stress fields. RFT allows for rapid evaluation of interaction forces on arbitrary shaped …
Granular intrusions, such as dynamic impact or wheel locomotion, are complex multiphase phenomena where the grains exhibit solid-like and fluid-like characteristics together with an ejected gas-like phase. Despite decades of modeling efforts, a unified description of the physics in such intrusions is as yet unknown. Here we show that a continuum model based on the simple notions of frictional flow and tension-free separation describes complex granular intrusions near free surfaces. This model captures dynamics in a variety of experiments including wheel locomotion, plate intrusions, and runnin…
We investigate the mechanical response of jammed packings of repulsive, frictionless spherical particles undergoing isotropic compression. Prior simulations of the soft-particle model, where the repulsive interactions scale as a power-law in the interparticle overlap with exponent $α$, have found that the ensemble-averaged shear modulus $\langle G \rangle$ increases with pressure $P$ as $\sim P^{(α-3/2)/(α-1)}$ at large pressures. However, a deep theoretical understanding of this scaling behavior is lacking. We show that the shear modulus of jammed packings of frictionless, spherical particles…
When sand flows out of a funnel onto a surface, a three dimensional pile that is stabilized by friction grows taller as it spreads. Here we investigate an idealized two dimensional analogue: spreading of a pile of monodisperse oil droplets at a boundary. In our system the droplets are buoyant, adhesive, and in contrast to sand, here friction is negligible. The buoyant droplets are added to the pile one-at-a-time. As the aggregate grows, it reaches a critical height and the 2D pile spreads out across the barrier. We find that, while granularity is important, the growth process is reminiscent of…
A rigid-plastic Cosserat model has been used to study dense, fully developed flow of granular materials through a vertical channel. Frictional models based on the classical continuum do not predict the occurrence of shear layers, at variance with experimental observations. This feature has been attributed to the absence of a material length scale in their constitutive equations. The present model incorporates such a material length scale by treating the granular material as a Cosserat continuum. Thus localised couple stresses exist and the stress tensor is asymmetric. The velocity profiles pre…
Experiments on a thin layer of cohesive wet granular matter under vertical vibrations reveal kink separated domains that collide with the container at different phases. Due to the strong cohesion arising from the formation of liquid bridges between adjacent particles, the domains move collectively upon vibrations. Depending on the periodicity of this collective motion, the kink fronts may propagate, couple with each other and form rotating spiral patterns in the case of period tripling, or stay as standing wave patterns in the case of period doubling. Moreover, both patterns may coexist with g…
The granular silo is one of the many interesting illustrations of the thixotropic property of granular matter: a rapid flow develops at the outlet, propagating upwards through a dense shear flow while material at the bottom corners of the container remains static. For large enough outlets, the discharge flow is continuous; however, by contrast with the clepsydra for which the flow velocity depends on the height of fluid left in the container, the discharge rate of granular silos is constant. Implementing a plastic rheology in a 2D Navier-Stokes solver (following the mu(I)-rheology or a constan…
It is well known that the classical energetically consistent micropolar model has limits in simulating the frequency band structure of packed granular materials (see Merkel et al., 2011). It is here shown that if a standard continualization of the difference equation of motion of the discrete model is carried out, an equivalent micropolar continuum is obtained which is able to accurately simulate the optical branches of the discrete model. Nevertheless, this homogenized continuum presents non-positive defined elastic potential energy, a deficiency that limits the reliability of the model and i…
A continuum model for the phase separation and coarsening, observed in electrostatically driven granular media, is formulated in terms of a Ginzburg-Landau equation subject to conservation of the total number of grains. In the regime of well-developed clusters, the continuum model is used to derive "sharp-interface" equations that govern the dynamics of the interphase boundary. The model captures the essential physics of this system.
One essential question in material sciences is how to bridge the gap between the microscopic picture and a macroscopic description. The former involves contact forces and deformations, whereas the latter concerns tensorial quantities like the stress or the velocity gradient. A two-dimensional shear-cell filled with disks of different sizes is examined by means of a ``microscopic'' discrete element method (DEM). Applying a consistent averaging formalism, one can obtain scalar- and vector-fields as well as classical tensorial macroscopic quantities like fabric, stress or velocity gradient and, i…
Vertically vibrated rod-shaped granular materials confined to quasi-2D containers self organize into distinct patterns. We find, consistent with theory and simulation, a density dependent isotropic-nematic transition. Along the walls, rods interact sterically to form a wetting layer. For high rod densities, complex patterns emerge as a result of competition between bulk and boundary alignment. A continuum elastic energy accounting for nematic distortion and local wall anchoring reproduces the structures seen experimentally.
{\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…
Continuum modelling of granular flow has been plagued with the issue of ill-posed equations for a long time. Equations for incompressible, two-dimensional flow based on the Coulomb friction law are ill-posed regardless of the deformation, whereas the rate-dependent $μ(I)$-rheology is ill-posed when the non-dimensional strain-rate $I$ is too high or too low. Here, incorporating ideas from Critical-State Soil Mechanics, we derive conditions for well-posedness of PDEs that combine compressibility with $I$-dependent rheology. When the $I$-dependence comes from a specific friction coefficient $μ(I)…
