Constitutive relation for the friction between lubricated surfaces

Self-phoretic oscillatory motion in a harmonic trap

We consider the motion of a harmonically trapped overdamped particle, which is submitted to a self-phoretic force, that is proportional to the gradient of a diffusive field for which the particle itself is the source. In agreement with existing results for free particles or particles in a bounded domain, we find that the system exhibits a transition between an immobile phase, where the particle stays at the center of the trap, and an oscillatory state. We perform an exact analysis giving access to the bifurcation threshold, as well as the frequency of oscillations and their amplitude near the threshold. Our analysis also characterizes the shape of two-dimensional oscillations that take place along a circle or a straight line. Our results are confirmed by numerical simulations.

Predicting human touch sensitivity to single atom substitutions in surface monolayers for molecular control in tactile interfaces

The mechanical stimuli generated as a finger interrogates the physical and chemical features of an object form the basis of fine touch. Haptic devices, which are used to control touch, primarily focus on recreating physical features, but the chemical aspects of fine touch may be harnessed to create richer tactile interfaces and reveal fundamental aspects of tactile perception. To connect tactile perception with molecular structure, we systematically varied silane-derived monolayers deposited onto surfaces smoother than the limits of human perception. Through mechanical friction testing and cross-correlation analysis, we made predictions of which pairs of silanes might be distinguishable by humans. We predicted, and demonstrated, that humans can distinguish between two isosteric silanes which differ only by a single nitrogen-for-carbon substitution. The mechanism of tactile contrast originates from a difference in monolayer ordering, as quantified by the Hurst exponent, which was replicated in two alkylsilanes with a three-carbon difference in length. This approach may be generalizable to other materials and lead to new tactile sensations derived from materials chemistry.

Stick-slip boundary friction mode as a second-order phase transition with an inhomogeneous distribution of elastic stress in the contact area

This article presents an investigation of the dynamical contact between two atomically flat surfaces separated by an ultrathin lubricant film. Using a thermodynamic approach we describe the second-order phase transition between two structural states of the lubricant which leads to the stick-slip mode of boundary friction. An analytical description and numerical simulation with radial distributions of the order parameter, stress and strain were performed to investigate the spatial inhomogeneity. It is shown that in the case when the driving device is connected to the upper part of the friction block through an elastic spring, the frequency of the melting/solidification phase transitions increases with time.

Effect of stress nonhomogeneity on the shear melting of a thin boundary lubrication layer

We consider the dynamical properties of boundary lubrication in contact between two atomically smooth solid surfaces separated by an ultrathin layer of lubricant. In contrast to previous works on this topic, we explicitly consider the heterogeneity of tangential stresses, which arises in a contact of elastic bodies that are moved tangentially relative to each other. To describe phase transitions between structural states of the lubricant we use an approach based on the field theory of phase transitions. It is assumed that the lubricant layer, when stressed, can undergo a shear-melting transition of first or second order. While solutions for the homogeneous system can be easily obtained analytically, the kinetics of the phase transitions in the spatially heterogeneous system can only be studied numerically. In our numerical experiments melting of the lubricant layer starts from the outer boundary of contact and propagates to its center. The melting wave is followed by a wave of solidification. This process repeats itself periodically, following the stick-slip pattern that is characteristic of such systems. Depending on the thermodynamic and kinetic parameters of the model, different modes of sliding with almost complete or only partial intermediate solidification are possible.

Dynamical behavior of molecular motor assemblies in the rigid and crossbridge models

We present a detailed analysis of the dynamical instabilities appearing in two kinetic theories for the collective behavior of molecular motors: the rigid two-state model and the two-state crossbridge (or power-stroke) model with continuous binding sites. We calculate force-velocity relations, discuss their stability, plot a diagram that summarizes the oscillation regimes, identify the location of the Hopf bifurcation with a memory effect, discuss the oscillation frequency and make a link with single-molecule experiments. We show that the instabilities present in these models naturally translate into non-linearities in force-displacement relations, and at linear order give forces that are similar to the delayed stretch activation observed in oscillating muscles. We also find that instabilities can appear for both apparent load-decelerated and load-accelerated detachment rates in a 3-state crossbridge model.

Stick-slip instabilities and shear strain localization in amorphous materials

We study the impact of strain localization on the stability of frictional slipping in dense amorphous materials. We model the material using shear transformation zone (STZ) theory, a continuum approximation for plastic deformation in amorphous solids. In the STZ model, the internal state is quantified by an effective disorder temperature, and the effective temperature dynamics capture the spontaneous localization of strain. We study the effect of strain localization on stick-slip instabilities by coupling the STZ model to a noninertial spring slider system. We perform a linear stability analysis to generate a phase diagram that connects the small scale physics of strain localization to the macroscopic stability of sliding. Our calculations determine the values of spring stiffness and driving velocity where steady sliding becomes unstable and we confirm our results through numerical integration. We investigate both homogeneous deformation, where no shear band forms, and localized deformation, where a narrow shear band spontaneously forms and accommodates all of the deformation. Our results show that at a given velocity, strain localization leads to unstable frictional sliding at a much larger spring stiffness compared to homogeneous deformation, and that localized deformation cannot be approximated by a homogeneous model with a narrower material. We also find that strain localization provides a physical mechanism for irregular stick-slip cycles in certain parameter ranges. Our results quantitatively connect the internal physics of deformation in amorphous materials to the larger scale frictional dynamics of stick-slip.

Continuum theory of memory effect in crack patterns of drying pastes

A possible clarification of memory effect observed in crack patterns of drying pastes [A. Nakahara and Y. Matsuo, J. Phys. Soc. Jpn. 74, 1362 (2005)] is presented in terms of a macroscopic elastoplastic model of isotropic pastes. We study flows driven by steady gravitational force instead of external oscillation. The model predicts creation of residual tension in favor of cracks perpendicular to the flow direction, thus causing the same type of memory effect as that reported by Nakahara and Matsuo for oscillated CaCO3 pastes.

The nonlinear nature of friction

Tribology is the study of adhesion, friction, lubrication and wear of surfaces in relative motion. It remains as important today as it was in ancient times, arising in the fields of physics, chemistry, geology, biology and engineering. The more we learn about tribology the more complex it appears. Nevertheless, recent experiments coupled to theoretical modelling have made great advances in unifying apparently diverse phenomena and revealed many subtle and often non-intuitive aspects of matter in motion, which stem from the nonlinear nature of the problem.

Non-Lipschitzian control algorithms for extended mechanical systems

We derive the properties of a general control algorithm [Braiman et al., Phys. Rev. Lett. 90, 094301 (2003)] for quantities describing global features of nonlinear extended mechanical systems. The control algorithm is based on the concepts of non-Lipschitzian dynamics and global targeting. We show that (i) certain average quantities of the controlled system can be driven-exactly or approximately-towards desired targets which become linearly stable attractors for the system's dynamics; (ii) the basins of attraction of these targets are reached in very short times; and (iii) while within reasonably broad ranges the time-scales of the control and of the intrinsic dynamics may be quite different, this disparity does not affect significantly the overall efficiency of the proposed scheme, up to natural fluctuations.

Boundary lubrication with a glassy interface

Recently introduced constitutive equations for the rheology of dense, disordered materials are investigated in the context of stick-slip experiments in boundary lubrication. The model is based on a generalization of the shear transformation zone (STZ) theory, in which plastic deformation is represented by a population of mesoscopic regions which may undergo nonaffine deformations in response to stress. The generalization we study phenomenologically incorporates the effects of aging and glassy relaxation. Under experimental conditions associated with typical transitions from stick-slip to steady sliding and stop-start tests, these effects can be dominant, although the full STZ description is necessary to account for more complex, chaotic transitions.

Stick-slip dynamics of a granular layer under shear

Stick-slip regime of shear granular flows is studied theoretically and numerically. Numerical experiments are carried out for a thin Couette cell using soft-particle molecular dynamics code in two dimensions. We apply order parameter theory of partially fluidized granular flows and find a good agreement with simulations and experiments by Nasuno et al.

Solid-liquid transition of ultrathin lubricant film

We represent a melting of ultrathin lubricant film by friction between atomically flat surfaces as a result of action of spontaneously appearing elastic field of stress shear component caused by the external supercritical heating. The kinetics of this solid-liquid transition is described by the Maxwell-type and Voigt-Kelvin equations for viscoelastic matter as well as by the relaxation equation for temperature. We show that these equations coincide formally with the synergetic Lorenz system, where the stress acts as the order parameter, the conjugate field is reduced to the elastic shear strain, and the temperature is the control parameter. Using the adiabatic approximation we find the steady-state values of these quantities. Taking into account the deformational defect of the shear modulus, we show that lubricant melting is realized according to mechanism of the first-order transition. The critical temperature of the friction surfaces increases with growth of the characteristic value of shear viscosity and decreases with growth of the shear modulus value linearly.

Transitions between smooth and complex stick-slip sliding of surfaces

Shear measurements were performed on mica surfaces with molecularly thin films of squalane (C30H62) confined between them. Squalane is a branched hydrocarbon liquid that can be in the liquid, glassy, or liquid-crystalline state under confinement. The friction forces, especially the transitions between smooth and intermittent (e.g., stick-slip) sliding, were measured over a wider range of applied loads (pressures), sliding velocities (shear rates), and temperatures than in previous studies. The results reveal that, depending on the conditions, qualitatively different behavior can arise in the same system. These include both abrupt and continuous transitions, both upper and lower critical transition temperatures, short and very long transient effects, and chaotic, sawtooth, or sinusoidal stick-slip that can slowly decay with time or distance sheared. The differences between these branched and simpler, e.g., spherical, unbranched molecules are compared, as well as with unlubricated (dry) surfaces and macroscopic (geological) systems.

Friction between two weakly adhering boundary lubricated surfaces in water

The sliding of adhesive surfactant-bearing surfaces was studied with a surface forces apparatus nanotribometer. When the surfaces are fully immersed in an aqueous solution, the dynamic behavior is drastically different and more varied than under dry conditions. In solution, the shear stress exhibits at least five different velocity regimes. In particular, the sliding may proceed by an "inverted" stick-slip over a large range of driving velocities, this regime being bounded by smooth (kinetic) sliding at both lower and higher driving velocities. The general behavior of the system was studied in detail, i.e., over a large range of experimental conditions, and theoretically accounted for in terms of a general model based on the kinetics of formation and rupture of adhesive links (bonds) between the two shearing surfaces with an additional viscous term.

Control of friction at the nanoscale

We propose a new algorithm to control frictional dynamics of a small array of particles towards preassigned values of the average sliding velocity. The control is based on the concepts of non-Lipschitzian dynamics and terminal attractor. Extensive numerical simulations illustrate the robustness, efficiency, and convenience of the algorithm.

Logarithmic rate dependence of force networks in sheared granular materials

Many models of slow, dense granular flows assume that the internal stresses are independent of the shearing rate. In contrast, logarithmic rate dependence is found in solid-on-solid friction, geological settings and elsewhere. Here we investigate the rate dependence of stress in a slowly sheared two-dimensional system of photoelastic disks, in which we are able to determine forces on the granular scale. We find that the mean (time-averaged) stress displays a logarithmic dependence on the shear rate for plastic (irreversible) deformations. However, there is no perceivable dependence on the driving rate for elastic (reversible) deformations, such as those that occur under moderate repetitive compression. Increasing the shearing rate leads to an increase in the strength of the force network and stress fluctuations. Qualitatively, this behaviour resembles the changes associated with an increase in density. Increases in the shearing rate also lead to qualitative changes in the distributions of stress build-up and relaxation events. If shearing is suddenly stopped, stress relaxations occur with a logarithmic functional form over long timescales. This slow collective relaxation of the stress network provides a mechanism for rate-dependent strengthening.

Rearrangements and dilatancy for sheared dense materials

Constitutive equations are proposed for dense materials, based on the identification of two types of free-volume activated rearrangements associated with shear and compaction. Two situations are studied: the case of an amorphous solid in a stress-strain test, and the case of a lubricant in tribology test. Varying parameters, strain softening, shear thinning, and stick-slip motion can be observed.

Continuum theory of partially fluidized granular flows

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 the 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.

Granular friction, Coulomb failure, and the fluid-solid transition for horizontally shaken granular materials

We present the results of an extensive series of experiments, molecular dynamics simulations, and models that address horizontal shaking of a layer of granular material. The goal of this work was to better understand the transition between the "fluid" and "solid" states of granular materials. In the experiments, the material-consisting of glass spheres, smooth and rough sand-was contained in a container of rectangular cross section, and subjected to horizontal shaking of the form x=A sin(omega(t)). The base of the container was porous, so that it was possible to reduce the effective weight of the sample by means of a vertical gas flow. The acceleration of the shaking could be precisely controlled by means of an accelerometer mounted onboard the shaker, plus feedback control and lockin detection. The relevant control parameter for this system was the dimensionless acceleration, Gamma=Aomega(2)/g, where g was the acceleration of gravity. As Gamma was varied, the layer underwent a backward bifurcation between a solidlike state that was stationary in the frame of the shaker and a fluidlike state that typically consisted of a sloshing layer of maximum depth H riding on top of a solid layer. That is, with increasing Gamma, the solid state made a transition to the fluid state at Gamma(cu) and once the system was in the fluid state, a decrease in Gamma left the system in the fluidized state until Gamma reached Gamma(cd)<Gamma(cu). In the fluidized state, the flow consisted of back and forth sloshing at the shaker frequency, plus a slower convective flow along the shaking direction and additionally in the horizontal direction transverse to the shaking direction. Molecular dynamics simulations show that the last of these flows is associated with shear and dilation at the vertical sidewalls. For Gamma<Gamma(cu) and in the solid state, there was a "gas" of free particles sliding on the surface of the material. These constituted much less than one layer's worth of particles in all cases. If these "sliders" were suppressed by placing a thin strip of plastic on the surface, the hysteresis was removed, and the transition to fluidization occurred at a slightly lower value than Gamma(cd) for the free surface case. The hysteresis was also suppressed if a vertical gas flow from the base was sufficient to support roughly 40% of the weight of the sample. Both the transition to the fluid state from the solid and the reverse transition from the fluid to the solid were characterized by similar divergent time scales. If Gamma was increased above Gamma(cu) by a fractional amount epsilon=(Gamma-Gamma(cu))/Gamma(cu), where epsilon was small, there was a characteristic time tau=Aepsilon(-beta) for the transition from solid to fluid to occur, where beta is 1.00+/-0.06. Similarly, if Gamma was decreased below Gamma(cd) in the fluidized state by an amount epsilon=(Gamma-Gamma(cd))/Gamma(cd), there was also a transient time tau=Bepsilon(-beta), where beta is again indistinguishable from 1.00. In addition, the amplitudes A and B are essentially identical. By placing a small "impurity" on top of the layer, consisting of a heavier particle, we found that the exponent beta varied as the impurity mass squared and changed by a factor of 3. A simple Coulomb friction model with friction coefficients mu(k)<mu(s) for the fluid and solid states predicts a reversible rather than hysteretic transition to the fluid state, similar to what we observe with the addition of the small overload from a plastic strip. In an improved model, we provide a relaxational mechanism that allows the friction coefficient to change continuously between the low and high values. This model produces the hysteresis seen in experiments.

Confined molecules under shear: from a microscopic description to phenomenology

A coarse grained two-state model is derived starting from a molecular dynamics description of a molecular system under shear. This model captures the main features of the response of a confined system under shear, and generalizes the phenomenological Tomlinson model for the response of a driven system. The derivation is based on the solution of coupled microscopic equations using a mean field approximation. The two-state model agrees well with the direct numerical solution and offers a practical approach to investigate the response of sheared systems under a broad range of parameters.

Dynamic phase transitions in confined lubricant fluids under shear

A surface force apparatus was used to measure the transient and steady-state friction forces between molecularly smooth mica surfaces confining thin films of squalane, C30H62, a saturated, branched hydrocarbon liquid. The dynamic friction "phase diagram" was determined under different shearing conditions, especially the transitions between stick-slip and smooth sliding "states" that exhibited a chaotic stick-slip regime. The apparently very different friction traces exhibited by simple spherical, linear, and branched hydrocarbon films under shear are shown to be due to the much longer relaxation times and characteristic length scales associated with transitions from rest to steady-state sliding, and vice versa, in the case of branched liquids. The physical reasons and tribological implications for the different types of transitions observed with spherical, linear, and branched fluids are discussed.

Slip pulses at a sheared frictional viscoelastic/nondeformable interface

We study the possibility for a semi-infinite block of linear viscoelastic material, in homogeneous frictional contact with a nondeformable one, to slide under shear via a periodic set of "self-healing pulses," i.e., a set of drifting slip regions separated by stick ones. We show that, contrary to existing experimental indications, such a mode of frictional sliding is impossible for an interface obeying a simple local Coulomb law of solid friction. We then discuss possible physical improvements of the friction model which might open the possibility of such dynamics, among which slip weakening of the friction coefficient, and stress the interest of developing systematic experimental investigations of this question.

Viscoplasticity and the dynamics of brittle fracture

I propose a model of fracture in which the curvature of the crack tip is a relevant dynamical variable and crack advance is governed solely by plastic deformation of the material near the tip. This model is based on a rate-and-state theory of plasticity introduced in earlier papers by Falk, Lobkovsky, and myself. In the approximate analysis developed here, fracture is brittle whenever the plastic yield stress is nonzero. The tip curvature finds a stable steady-state value at all loading strengths, and the tip stress remains at or near the plastic yield stress. The crack speed grows linearly with the square of the effective stress intensity factor above a threshold that depends on the surface tension. This result provides a possible answer to the fundamental question of how breaking stresses are transmitted through plastic zones near crack tips.

Slow viscous flows in micropolar fluids

A systematic calculation of micropolar fluid flows around a sphere and a cylinder is presented. The explicit velocity fields and the drag forces exerted by the fluid flow in both two and three dimensions are obtained. The solution of a steady micropolar fluid flow inside the cylinder is also obtained and is identical to the form observed in an experiment on granular vibrating beds.

Rate-and-state theory of plastic deformation near a circular hole

We show that a simple rate-and-state theory accounts for most features of both time-independent and time-dependent plasticity in a spatially inhomogeneous situation, specifically, a circular hole in a large stressed plate. Those features include linear viscoelastic flow at small applied stresses, strain hardening at larger stresses, and a dynamic transition to viscoplasticity at a yield stress. In the static limit, this theory predicts the existence of a plastic zone near the hole for some but not all ranges of parameters. The rate-and-state theory also predicts dynamic failure modes that we believe may be relevant to fracture mechanics.

Simple model for granular friction

We propose a simple phenomenological model to describe the motion of a plate on granular layers pushed at a constant speed. The model contains the order parameter characterizing the transition from a solidlike state to a liquidlike state. The model reproduces the hysteresis in frictional force and the universal profile of the slip velocity, which are observed in experiment. Our model predicts that the area of hysteresis loop depends on the pushing speed.

Tuning friction with noise and disorder

We present numerical and experimental evidence which demonstrates that under certain conditions friction can be reduced by spatial disorder and/or thermal noise. We discuss possible mechanisms for this behavior.