Experiments quantifying the rotational and translational motion of particles in a dense, driven, 2D granular gas floating on an air table reveal that kinetic energy is divided equally between the two translational and one rotational degrees of freedom. This equipartition persists when the particle properties, confining pressure, packing density, or spatial ordering are changed. While the translational velocity distributions are the same for both large and small particles, the angular velocity distributions scale with the particle radius. The probability distributions of all particle velocities have approximately exponential tails. Additionally, we find that the system can be described with a granular Boyle's Law with a van der Waals-like equation of state. These results demonstrate ways in which conventional statistical mechanics can unexpectedly apply to non-equilibrium systems.
In a granular gas experiment of magnetized particles confined in a thin layer, the rate of dissipative collisions is tuned by adjusting the amplitude of an external magnetic field. The velocity statistics are analyzed using the dynamic and static structure factors of transverse velocity modes. Using the fluctuating hydrodynamics theory we measure the deviation from kinetic energy equipartition in this out-of-equilibrium system as a function of the dissipative collision rate. When the collision rate is decreased, the distance to equipartition becomes smaller meaning that the dynamical propertie…
We consider the problem of determining the granular temperatures of the components of a homogeneous binary heated mixture of inelastic hard spheres, in the framework of Enskog kinetic theory. Equations are derived for the temperatures of each species and their ratio, which is different from unity, as may be expected since the system is out of equilibrium. We focus on the particular heating mechanism where the inelastic energy loss is compensated by an injection through a random external force (``stochastic thermostat''). The influence of various parameters and their possible experimental relev…
A binary mixture made of heavy and light inelastic hard spheres in the free cooling state is considered. First, the regions in the parameter space where the partial granular temperature of the heavy species is larger (or smaller) than that of the light species are analyzed. Next, the asymptotic behavior of the mean square velocity ratio in the disparate-mass limit is investigated, assuming different scaling laws for the parameters of the mixture. It is seen that two general classes of states are possible: a "normal" state and an "ordered" state, the latter representing a strong breakdown of en…
Two species of particles in a binary granular system typically do not have the same mean kinetic energy, in contrast to the equipartition of energy required in equilibrium. We investigate the role of the heating mechanism in determining the extent of this non-equipartition of kinetic energy. In most experiments, different species of particle are unequally heated at the boundaries. We show by event-driven simulations that this differential heating at the boundary influences the level of non-equipartition even in the bulk of the system. This conclusion is fortified by studying a numerical model …
We report experiments on the equipartition of kinetic energy between grains made of two different materials in a mixture of grains vibrated in 2 dimensions. In general, the two types of grains do not attain the same granular temperature, Tg = 1/2m v^2. However, the ratio of the two temperatures is constant in the bulk of the system and independent of the vibration velocity. The ratio depends strongly on the ratio of mass densities of the grains, but is not sensitive to the inelasticity of grains. Also, this ratio is insensitive to compositional variables of the mixture such as the number fract…
We discuss the statistical mechanics of granular matter and derive several significant results. First, we show that, contrary to common belief, the volume and stress ensembles are inter-dependent, necessitating the use of both. We use the combined ensemble to calculate explicitly expectation values of structural and stress-related quantities for two-dimensional systems. We thence demonstrate that structural properties may depend on the angoricity tensor and that stress-based quantities may depend on the compactivity. This calls into question previous statistical mechanical analyses of static g…
The hydrodynamic conservation equations and constitutive relations for a binary granular mixture composed of smooth, nearly elastic, hard spheres with non-equipartition energies and different mean velocities are derived. This research is aimed to build three-dimensional kinetic theory to characterize the behaviors of two species of particles suffering different forces. The standard Enskog method is employed assuming a Maxwell velocity distribution for each species of particles. The collision components of the stress tensor and the other parameters are calculated from the zeroth- and first-orde…
We study a homogeneously driven granular gas of inelastic hard particles with rough surfaces subject to Coulomb friction. The stationary state as well as the full dynamic evolution of the translational and rotational granular temperatures are investigated as a function of the three parameters of the friction model. Four levels of approximation to the (velocity-dependent) tangential restitution are introduced and used to calculate translational and rotational temperatures in a mean field theory. When comparing these theoretical results to numerical simulations of a randomly driven mono-layer of…
We present an experimental study performed on a vibrated granular gas enclosed into a 2D rectangular cell. Experiments are realized in microgravity. High speed video recording and optical tracking allow to obtain the full kinematics (translation and rotation) of the particles. The inelastic parameters are retrieved from the experimental trajectories as well as the translational and rotational velocity distributions. We report that the experimental ratio of translational versus rotational temperature decreases to the density of the medium but increases with the driving velocity of the cell. The…
Using particle simulations of the uniform shear flow of a rough dilute granular gas, we show that the translational and rotational velocities are strongly correlated in direction, but there is no orientational correlation-induced singularity at perfectly smooth ($β=-1$) and rough ($β=1$) limits for elastic collisions ($e=1$); both the translational and rotational velocity distribution functions remain close to a Gaussian for these two limiting cases. Away from these two limits, the orientational as well as spatial velocity correlations are responsible for the emergence of non-Gaussian high vel…
In a recent paper [A. Santos, G. M. Kremer, and V. Garzó, \emph{Prog. Theor. Phys. Suppl.} \textbf{184}, 31-48 (2010)] the collisional energy production rates associated with the translational and rotational granular temperatures in a granular fluid mixture of inelastic rough hard spheres have been derived. In the present paper the energy production rates are explicitly decomposed into equipartition rates (tending to make all the temperatures equal) plus genuine cooling rates (reflecting the collisional dissipation of energy). Next the homogeneous free cooling state of a binary mixture is anal…
We use X-ray tomography to investigate the translational and rotational dynamical heterogeneities of a three dimensional hard ellipsoids granular packing driven by oscillatory shear. We find that particles which translate quickly form clusters with a size distribution given by a power-law with an exponent that is independent of the strain amplitude. Identical behavior is found for particles that are translating slowly, rotating quickly, or rotating slowly. The geometrical properties of these four different types of clusters are the same as those of random clusters. Different cluster types are …
The Boltzmann collision operator for a dilute granular gas of inelastic rough hard spheres is much more intricate than its counterpart for inelastic smooth spheres. Now the one-body distribution function depends not only on the translational velocity of the center of mass but also on the angular velocity of the particle. Moreover, the collision rules couple both velocities, involving not only the coefficient of normal restitution but also the coefficient of tangential restitution. The aim of this paper is to propose an extension to inelastic rough particles of a Bhatnagar-Gross-Krook-like kine…
We study the effects of long range interactions on the phases observed in cohesive granular materials. At high vibration amplitudes, a gas of magnetized particles is observed with velocity distributions similar to non-magnetized particles. Below a transition temperature compact clusters are observed to form and coexist with single particles. The cluster growth rate is consistent with a classical nucleation process. However, the temperature of the particles in the clusters is significantly lower than the surrounding gas, indicating a breakdown of equipartition. If the system is quenched to low …
We perform experimental and numerical studies of a granular system under cyclic-compression to investigate reversibility and memory effects. We focus on the quasi-static forcing of dense systems, which is most relevant to a wide range of geophysical, industrial, and astrophysical problems. We find that soft-sphere simulations with proper stiffness and friction quantitatively reproduce both the translational and rotational displacements of the grains. We then utilize these simulations to demonstrate that such systems are capable of storing the history of previous compressions. While both mean t…
Starting from a recent derivation of the energy production rates in terms of the number of translational and rotational degrees of freedom, a comparative study on different granular temperatures in gas mixtures of inelastic and rough disks or spheres is carried out. Both the homogeneous freely cooling state and the state driven by a stochastic thermostat are considered. It is found that the relaxation number of collisions per particle is generally smaller for disks than for spheres, the mean angular velocity relaxing more rapidly than the temperature ratios. In the asymptotic regime of the und…
Behavior analogous to a second order phase transition is observed for the homogeneous cooling state of a heavy impurity particle in a granular fluid. The order parameter $ϕ$ is the ratio of impurity mean square velocity to that of the fluid, with a conjugate field $h$ proportional to the mass ratio. A parameter $β$, measuring the fluid cooling rate relative to the impurity--fluid collision rate, is the analogue of the inverse temperature. For $β<1$ the fluid is ``normal'' with $ϕ=0$ at $h=0$, as in the case of a system with elastic collisions. For $β>1$ an ``ordered'' state with $ϕ\neq 0$ occu…
We analyze reversibility of both displacements and rotations of spherical grains in three-dimensional compression experiments. Using transparent acrylic beads with cylindrical holes and index matching techniques, we are not only capable of tracking displacements but also, for the first time, analyze reversibility of rotations. We observe that for moderate compression amplitudes, up to one bead diameter, the translational displacements of the beads after each cycle become mostly reversible after an initial transient. By contrast, granular rotations are largely irreversible. We find a weak corre…
The time evolution and stationary values of the entropy per particle of a homogeneous freely cooling granular gas, relative to the maximum entropy consistent with the instantaneous translational and rotational temperatures, is analyzed by means of a Sonine approximation involving fourth-degree cumulants. The results show a rich variety of dependencies of the relative entropy on time and on the coefficients of normal and tangential restitution, including a peculiar behavior in the quasi-smooth limit.
A polydisperse granular gas made of inelastic and rough hard disks is considered. Focus is laid on the kinetic-theory derivation of the partial energy production rates and the total cooling rate as functions of the partial densities and temperatures (both translational and rotational) and of the parameters of the mixture (masses, diameters, moments of inertia, and mutual coefficients of normal and tangential restitution). The results are applied to the homogeneous cooling state of the system and the associated nonequipartition of energy among the different components and degrees of freedom. It…
We study here the steady state attained in a granular gas of inelastic rough spheres that is subject to a spatially uniform random volume force. The stochastic force has the form of the so-called white noise and acts by adding impulse to the particle translational velocities. We work out an analytical solution of the corresponding velocity distribution function from a Sonine polynomial expansion that displays energy non-equipartition between the translational and rotational modes, translational and rotational kurtoses, and translational-rotational velocity correlations. By comparison with a nu…
In general, the total kinetic energy in a multicomponent granular gas of inelastic and rough hard spheres is unequally partitioned among the different degrees of freedom. On the other hand, partial energy equipartition can be reached, in principle, under appropriate combinations of the mechanical parameters of the system. Assuming common values of the coefficients of restitution, we use kinetic-theory tools to determine the conditions under which the components of a granular mixture in the homogeneous cooling state have the same translational and rotational temperatures as those of a one-compo…
We study the conditions under which a Mpemba-like effect emerges in granular gases of inelastic and rough hard disks driven by a class of thermostats characterized by the splitting of the noise intensity into translational and rotational counterparts. Thus, granular particles are affected by a stochastic force and a stochastic torque, which inject translational and rotational energy, respectively. We realize that a certain choice of a thermostat of this class can be characterized just by the total intensity and the fraction of noise transferred to the rotational degree of freedom with respect …
Granular gas mixtures modeled as systems of inelastic and rough particles, either hard disks on a plane or hard spheres, are considered. Both classes of systems are embedded in a three-dimensional space ($d=3$) but, while in the hard-sphere case the translational and angular velocities are vectors with the same dimensionality (and thus there are $d_{\text{tr}}=3$ translational and $d_{\text{rot}}=3$ rotational degrees of freedom), in the hard-disk case the translational velocity vectors are planar (i.e., $d_{\text{tr}}=2$ translational degrees of freedom) and the angular velocity vectors are o…
It is well-recognized that granular media under rapid flow conditions can be modeled as a gas of hard spheres with inelastic collisions. At moderate densities, a fundamental basis for the determination of the granular hydrodynamics is provided by the Enskog kinetic equation conveniently adapted to account for inelastic collisions. A surprising result (compared to its molecular gas counterpart) for granular mixtures is the failure of the energy equipartition, even in homogeneous states. This means that the partial temperatures $T_i$ (measuring the mean kinetic energy of each species) are differ…
We show how the Gillespie algorithm, originally developed to describe coupled chemical reactions, can be used to perform numerical simulations of a granular intruder particle colliding with thermalized bath particles. The algorithm generates a sequence of collision ``events'' separated by variable time intervals. As input, it requires the position-dependent flux of bath particles at each point on the surface of the intruder particle. We validate the method by applying it to a one-dimensional system for which the exact solution of the homogeneous Boltzmann equation is known and investigate the …
We consider the thermal and athermal overdamped motion of particles in 1D geometries where discrete internal degrees of freedom (spin) are coupled with the translational motion. Adding a driving velocity that depends on the time-dependent spin constitutes the simplest model of active particles (run-and-tumble processes) where the violation of the equipartition principle and of the Sutherland-Einstein relation can be studied in detail even when there is generalized reversibility. We give an example (with four spin values) where the irreversibility of the translational motion manifests itself on…
We study the kinetic theory of driven granular gases, taking into account both translational and rotational degrees of freedom. We obtain the high-energy tail of the stationary bivariate energy distribution, depending on the total energy E and the ratio x=sqrt{E_w/E} of rotational energy E_w to total energy. Extremely energetic particles have a unique and well-defined distribution f(x) which has several remarkable features: x is not uniformly distributed as in molecular gases; f(x) is not smooth but has multiple singularities. The latter behavior is sensitive to material properties such as the…
We study in this work the dynamics of a granular impurity immersed in a low-density granular gas of identical particles. For description of the kinetics of the granular gas and the impurity particles we use the rough hard sphere collisional model. We take into account the effects of non-conservation of energy upon particle collision. We find an (approximate) analytical solution of the pertinent kinetic equations for the single-particle velocity distribution functions that reproduces reasonably well the properties of translational/rotational energy non-equipartition. We assess the accuracy of t…
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.
At a macroscopic level, concepts such as top spin, back spin and rolling are commonly used to describe the collision of balls and surfaces. Each term refers to an aspect of the coupling of rotational motion during the collision of a spherical particle with a planar surface. In this paper we explore the mechanisms of energy transfer involving the collision of a rotating sphere and a surface using a model of frictional interactions developed for granular material. We present explicit analytical treatments for the scattering and derive expressions for two important limiting classes: energy conser…
We experimentally investigate the velocity distributions of quasi two-dimensional granular materials, which are homogeneously driven, i.e. uniformly heated, by an electromagnetic vibrator, where the translational velocity and the rotation of a single particle are Gaussian and independent. We observe the non-Gaussian distributions of particle velocity, with the density-independent high-energy tails characterized by an exponent of $β=1.50\pm0.03$ for volume fractions of $0.111\leϕ\le0.832$, covering a wide range of structures and dynamics. Surprisingly, our results are in excellent agreement wit…
We study the Brownian motion of ellipsoidal particles lying on an agitated granular bath composed of magnetic particles. We quantify the mobility of different floating ellipsoidal particles using the mean square displacement and the mean square angular displacement, and relate the diffusion coefficients to the bath particle motion. In terms of the particle major radius $R$, we find the translational diffusion coefficient scales roughly as $1/R^2$ and the rotational diffusion coefficient scales as roughly $1/R^4$; this is consistent with the assumption that diffusion arises from random kicks of…
The most widely used model for granular gases is perhaps the inelastic hard-sphere model (IHSM), where the grains are assumed to be perfectly smooth spheres colliding with a constant coefficient of normal restitution. A much more tractable model is the inelastic Maxwell model (IMM), in which the velocity-dependent collision rate is replaced by an effective mean-field constant. This simplification has been taken advantage of by many researchers to find a number of exact results within the IMM. On the other hand, both the IHSM and IMM neglect the impact of roughness -- generally present in real …
We study the inhomogeneous clustered regime of a freely cooling granular gas of rough particles in two dimensions using large-scale event driven simulations and scaling arguments. During collisions, rough particles dissipate energy in both the normal and tangential directions of collision. In the inhomogeneous regime, translational kinetic energy and the rotational energy decay with time $t$ as power-laws $t^{-θ_T}$ and $t^{-θ_R}$. We numerically determine $θ_T \approx 1$ and $θ_R \approx 1.6$, independent of the coefficients of restitution. The inhomogeneous regime of the granular gas has bee…
In a granular gas, inelastic collisions produce an instability in which the constituent particles cluster heterogeneously. These clusters then interact with each other, further decreasing their kinetic energy. We report experiments of the free collisions of dense clusters of particles in a two-dimensional geometry. The particles are composed of solid CO$_{2}$, which float nearly frictionlessly on a hot surface due to sublimated vapor. After two dense clusters of $\approx$ 100 particles collide, there are two distinct stages of evolution. First, the translational kinetic energy rapidly decrease…
Equilibration between Translational and Rotational Modes in Molecular Dynamics Simulations of Rigid Water Requires a Smaller Integration Time-Step Than Often Used
The Boltzmann equation for inelastic and rough hard spheres is considered as a model of a dilute granular gas. In this model, the collisions are characterized by constant coefficients of normal and tangential restitution and hence the translational and rotational degrees of freedom are coupled. A normal solution to the Boltzmann equation is obtained by means of the Chapman-Enskog method for states near the homogeneous cooling state. The analysis is carried out to first order in the spatial gradients of the number density, the flow velocity, and the granular temperature. The constitutive equati…
We compute the mean square displacement (MSD) of intruders immersed in a freely cooling granular gas made up of smooth inelastic hard spheres. In general, intruders and particles of the granular gas are assumed to have different mechanical properties, implying that non-equipartition of energy must be accounted for in the computation of the diffusion coefficient $D$. In the hydrodynamic regime, the time decay of the granular temperature $T$ of the cooling granular gas is known to be dictated by Haff's law; the corresponding decay of the intruder's collision frequency entails a time decrease of …
We study a quasi-two-dimensional monolayer of granular rods fluidized by a spatially and temporally homogeneous upflow of air. By tracking the position and orientation of the particles, we characterize the dynamics of the system with sufficient resolution to observe ballistic motion at the shortest time scales. Particle anisotropy gives rise to dynamical anisotropy and superdiffusive dynamics parallel to the rod's long axis, causing the parallel and perpendicular mean squared displacements to become diffusive on different timescales. The distributions of free times and free paths between colli…
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…
Confocal microscopy of fluorescent labeled particles has been used to study the dynamical and structural properties of colloidal and granular matter in real space. Localization algorithms allow for a fully automatized determination of the three dimensional positions and translational motions of all constituent (spherical) particles in the observed volume. Though, particle deformations or rotational motions were hardly addressed. Here we present preparation and image processing techniques to also extract the deformation and rotational state of the particles. The deformation analysis is worked o…
The force network ensemble is one of the most promising statistical descriptions of granular media, with an entropy accounting for all force configurations at mechanical equilibrium consistent with some external stress. It is possible to define a temperature-like parameter, the angoricity α^{-1}, which under isotropic compression is a scalar variable. This ensemble is frequently studied on whole packings of grains; however, previous works have shown that spatial correlations can be neglected in many cases, opening the door to studies on a single grain. Our work develops a Monte Carlo method to…
We study an air-fluidized granular monolayer, composed of plastic spheres which roll on a metallic grid. The air current is adjusted so that the spheres never loose contact with the grid, so that the dynamics may be regarded as pseudo two-dimensional (or two-dimensional, if the effects of sphere rolling are not taken into account). We find two surprising continuous transitions, both of them displaying two coexisting phases. Moreover, in all cases, we found the coexisting phases display strong energy non-equipartition. In the first transition, at weak fludization, a glassy phase coexists with a…
Granular material in a swirled container exhibits a curious transition as the number of particles is increased: at low densities the particle cluster rotates in the same direction as the swirling motion of the container, while at high densities it rotates in the opposite direction. We investigate this phenomenon experimentally and numerically using a co-rotating reference frame in which the system reaches a statistical steady-state. In this steady-state the particles form a cluster whose translational degrees of freedom are stationary, while the individual particles constantly circulate around…
The rheology of 2D steady surface flow of cohesionless cylinders in a rotating drum is investigated through {\em Non Smooth Contact Dynamics} simulations. Profile of volume fraction, translational and angular velocity, rms velocity, strain rate and stress tensor were measured at the midpoint along the length of the surface flowing layer where the flow is generally considered as steady and homogeneous. Analysis of these data and their inter-relations suggest the local inertial number - defined as the ratio between local inertial forces and local confinement forces - to be the relevant dimension…
The dynamical properties of a tracer or impurity particle immersed in a host gas of inelastic and rough hard spheres in the homogeneous cooling state is studied. Specifically, the breakdown of energy equipartition as characterized by the tracer/host ratios of translational and rotational temperatures is analyzed by exploring a wide spectrum of values of the control parameters of the system (masses, moments of inertia, sizes, and coefficients of restitution). Three complementary approaches are considered. On the theoretical side, the Boltzmann and Boltzmann--Lorentz equations (both assuming the…
Biot's theory predicts the wave velocities of a saturated poroelastic granular medium from the elastic properties, density and geometry of its dry solid matrix and the pore fluid, neglecting the interaction between constituent particles and local flow. However, when the frequencies become high and the wavelengths comparable with particle size, the details of the microstructure start to play an important role. Here, a novel hydro-micromechanical numerical model is proposed by coupling the lattice Boltzmann method (LBM) with the discrete element method (DEM. The model allows to investigate the d…
