Force and flow at the onset of drag in plowed granular media

Drag force regime in dry and immersed granular media

The drag force acting on an intruder colliding with granular media is typically influenced by the impact velocity and the penetrating depth. In this paper, the investigation was extended to the dry and immersed scenarios through coupled simulations at different penetrating velocities. The drag force regime was clarified to exhibit velocity dependence in the initial contact stage, followed by the inertial transit stage with a F∼z^{2} (force-depth) relationship. Subsequently, it transitioned into the depth-dependent regime in both dry and immersed cases. The underlying rheological mechanism was explored, revealing that, in both dry and immersed scenarios, the granular bulk underwent a state relaxation process, as indicated by the granular inertial number. Additionally, the presence of the ambient fluid restricted the flow dynamics of the perturbed granular material, exhibiting a similar rheology as observed in the dry case.

Amorphous entangled active matter

The design of amorphous entangled systems, specifically from soft and active materials, has the potential to open exciting new classes of active, shape-shifting, and task-capable 'smart' materials. However, the global emergent mechanics that arise from the local interactions of individual particles are not well understood. In this study, we examine the emergent properties of amorphous entangled systems in an in silico collection of u-shaped particles ("smarticles") and in living entangled aggregate of worm blobs (L. variegatus). In simulations, we examine how material properties change for a collective composed of smarticles as they undergo different forcing protocols. We compare three methods of controlling entanglement in the collective: external oscillations of the ensemble, sudden shape-changes of all individuals, and sustained internal oscillations of all individuals. We find that large-amplitude changes of the particle's shape using the shape-change procedure produce the largest average number of entanglements, with respect to the aspect ratio (l/w), thus improving the tensile strength of the collective. We demonstrate applications of these simulations by showing how the individual worm activity in a blob can be controlled through the ambient dissolved oxygen in water, leading to complex emergent properties of the living entangled collective, such as solid-like entanglement and tumbling. Our work reveals principles by which future shape-modulating, potentially soft robotic systems may dynamically alter their material properties, advancing our understanding of living entangled materials, while inspiring new classes of synthetic emergent super-materials.

Nonadditive drag of tandem rods drafting in granular sediments

We examine the drag experienced by a pair of vertical rods moving in tandem through a granular bed immersed in a fluid as a function of their separation distance and speed. As in Newtonian fluids, the net drag experienced by the rods initially increases with distance from the value for a single rod before plateauing to twice the value. However, the drag acting on the two rods is remarkably different, with the leading rod experiencing roughly similar drag compared to a solitary rod, while the following rod experiences far less drag. The anomalous relationship of drag and the distance between the leading and following body is observed in both dry granular beds and while immersed in viscous Newtonian fluids across the quasistatic and the rate-dependent regimes. Through refractive index matching, we visualize the sediment flow past the two rods and show that a stagnant region develops in their reference frame between the rods for small separations. Thus, the following rod is increasingly shielded from the granular flow with decreasing separation distance, leading to a lower net drag. Care should be exercised in applying resistive force theory to multicomponent objects moving in granular sediments based on our result that drag is not additive at short separation distances.

The Smooth Transition From Many-Legged to Bipedal Locomotion—Gradual Leg Force Reduction and its Impact on Total Ground Reaction Forces, Body Dynamics and Gait Transitions

Most terrestrial animals move with a specific number of propulsive legs, which differs between clades. The reasons for these differences are often unknown and rarely queried, despite the underlying mechanisms being indispensable for understanding the evolution of multilegged locomotor systems in the animal kingdom and the development of swiftly moving robots. Moreover, when speeding up, a range of species change their number of propulsive legs. The reasons for this behaviour have proven equally elusive. In animals and robots, the number of propulsive legs also has a decisive impact on the movement dynamics of the centre of mass. Here, I use the leg force interference model to elucidate these issues by introducing gradually declining ground reaction forces in locomotor apparatuses with varying numbers of leg pairs in a first numeric approach dealing with these measures’ impact on locomotion dynamics. The effects caused by the examined changes in ground reaction forces and timing thereof follow a continuum. However, the transition from quadrupedal to a bipedal locomotor system deviates from those between multilegged systems with different numbers of leg pairs. Only in quadrupeds do reduced ground reaction forces beneath one leg pair result in increased reliability of vertical body oscillations and therefore increased energy efficiency and dynamic stability of locomotion.

Intrusion into Granular Media Beyond the Quasistatic Regime

The drag force exerted on an object intruding into granular media is typically assumed to arise from additive velocity and depth dependent contributions. We test this with intrusion experiments and molecular dynamics simulations at constant speed over four orders of magnitude, well beyond the quasistatic regime. For a vertical cylindrical rod we find velocity dependence only right after impact, followed by a crossover to a common, purely depth-dependent behavior for all intrusion speeds. The crossover is set by the timescale for material, forced to well up at impact, to subsequently settle under gravity. These results challenge current models of granular drag.

Surprising simplicity in the modeling of dynamic granular intrusion

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 running legged robots. The model reveals that one static and two dynamic effects primarily give rise to intrusion forces in such scenarios. We merge these effects into a further reduced-order technique (dynamic resistive force theory) for rapid modeling of granular locomotion of arbitrarily shaped intruders. The continuum-motivated strategy we propose for identifying physical mechanisms and corresponding reduced-order relations has potential use for a variety of other materials.

Mitigating memory effects during undulatory locomotion on hysteretic materials

While terrestrial locomotors often contend with permanently deformable substrates like sand, soil, and mud, principles of motion on such materials are lacking. We study the desert-specialist shovel-nosed snake traversing a model sand and find body inertia is negligible despite rapid transit and speed dependent granular reaction forces. New surface resistive force theory (RFT) calculation reveals how wave shape in these snakes minimizes material memory effects and optimizes escape performance given physiological power limitations. RFT explains the morphology and waveform-dependent performance of a diversity of non-sand-specialist snakes but overestimates the capability of those snakes which suffer high lateral slipping of the body. Robophysical experiments recapitulate aspects of these failure-prone snakes and elucidate how re-encountering previously deformed material hinders performance. This study reveals how memory effects stymied the locomotion of a diversity of snakes in our previous studies (Marvi et al., 2014) and indicates avenues to improve all-terrain robots.

Locomotion of Ants Walking up Slippery Slopes of Granular Materials

Many insects encounter locomotory difficulties in walking up sand inclines. This is masterfully exploited by some species for building traps from which prey are rarely able to escape, as the antlion and its deadly pit. The aim of this work is to tear apart the relative roles of granular material properties and slope steepness on the insect leg kinematics, gait patterns, and locomotory stability. For this, we used factorial manipulative experiments with different granular media inclines and the ant Aphaenogaster subterranea. Our results show that its locomotion is similar on granular and solid media, while for granular inclined slopes we observe a loss of stability followed by a gait pattern transition from tripod to metachronal. This implies that neither the discrete nature nor the roughness properties of sand alone are sufficient to explain the struggling of ants on sandy slopes: the interaction between sand properties and slope is key. We define an abnormality index that allows us to quantify the locomotory difficulties of insects walking up a granular incline. The probability of its occurrence reveals the local slipping of the granular media as a consequence of the pressure exerted by the ant's legs. Our findings can be extended to other models presenting locomotory difficulties for insects, such as slippery walls of urns of pitcher plants. How small arthropods walking on granular and brittle materials solve their unique stability trade-off will require a thorough understanding of the transfer of energy from leg to substrate at the particle level.

Support of modified Archimedes' law theory in granular media

We study the resistance force of cylindrical objects penetrating quasi-statically into granular media experimentally and numerically. Simulations are validated against experiments. In contrast to previous studies, we find in both experiments and simulations that the force-depth relation consists of three regimes, rather than just two: transient and steady-state. The three regimes are driven by different dynamics: an initial matter compression, a developing stagnant zone, and an increase in steady-state force with a fully developed stagnant zone. By simulations, we explored the effects of a wide range of parameters on the penetration dynamics. We find that the initial packing fraction, the inter-granular sliding friction coefficient, and the grain shape (aspect ratio) have a significant effect on the gradient Kφ of the force-depth relation in the steady-state regime, while the rolling friction coefficient noticeably affects only the initial compression regime. Conversely, Kφ is not sensitive to the following grain properties: size, size distribution, shear modulus, density, and coefficient of restitution. From the stress fields observed in the simulations, we determine the internal friction angles φ, using the Mohr-Coulomb yield criterion, and use these results to test the recently-proposed modified Archimedes' law theory. We find excellent agreement, with the results of all the simulations falling very close to the predicted curve of φ vs. Kφ. We also examine the extreme case of frictionless spheres and find that, although no stagnant zone develops during penetration into such media, the value of their internal friction angle, φ = 9° ± 1°, also falls squarely on the theoretical curve. Finally, we use the modified Archimedes' law theory and an expression for the time-dependent growth of the stagnant zone to propose an explicit constitutive relation that fits excellently the force-depth curve throughout the entire penetration process.

Leg force interference in polypedal locomotion

The examination of gaits and gait changes has been the focus of movement physiology and legged robot engineering since the first emergence of the fields. While most examinations have focused on bipedal and quadrupedal designs, many robotic implementations rely on the higher static stability of three or more pairs of legs. Thus far, however, the effect of number of pairs of legs on locomotion dynamics has not been examined. Accordingly, the present approach aims to extend available theory to polypedal designs and examines how the number of active walking legs affects body dynamics when combined with changing duty factors and phase relations. The model shows that ground force interference of higher numbers of active pairs of walking legs can prevent effective use of bouncing gaits, such as trot, and their associated advantages, such as energy efficiency, because significantly higher degrees of leg synchronization are required. It also shows that small changes in the leg coordination pattern have a much higher impact on the center-of-mass dynamics in locomotor systems with many legs than in those with fewer legs. In this way, the model reveals coordinative constraints for specific gaits facilitating the assessment of animal locomotion and economization of robotic locomotion.

Crater formation during raindrop impact on sand

After a raindrop impacts on a granular bed, a crater is formed as both drop and target deform. After an initial, transient, phase in which the maximum crater depth is reached, the crater broadens outwards until a final steady shape is attained. By varying the impact velocity of the drop and the packing density of the bed, we find that avalanches of grains are important in the second phase and hence affect the final crater shape. In a previous paper, we introduced an estimate of the impact energy going solely into sand deformation and here we show that both the transient and final crater diameter collapse with this quantity for various packing densities. The aspect ratio of the transient crater is however altered by changes in the packing fraction.

Drag law for an intruder in granular sediments

We investigate the drag experienced by a spherical intruder moving through a medium consisting of granular hydrogels immersed in water as a function of its depth, size, and speed. The medium is observed to display a yield stress with a finite force required to move the intruder in the quasistatic regime at low speeds before rapidly increasing at high speeds. In order to understand the relevant time scales that determine drag, we estimate the inertial number I given by the ratio of the time scales required to rearrange grains due to the overburden pressure and imposed shear and the viscous number J given by the ratio of the time scales required to sediment grains in the interstitial fluid and imposed shear. We find that the effective friction μ_{e} encountered by the intruder can be parametrized by I=sqrt[ρ_{g}/P_{p}]v_{i}, where ρ_{g} is the density of the granular hydrogels, v_{i} is the intruder speed, and P_{p} is the overburden pressure due to the weight of the medium, over a wide range of I where the Stokes number St=I^{2}/J≫1. We then show that μ_{e} can be described by the function μ_{e}(I)=μ_{0}+αI^{β}, where μ_{0}, α, and β are constants that depend on the medium. This formula can be used to predict the drag experienced by an intruder of a different size at a different depth in the same medium as a function of its speed.

Drag-force regimes in granular impact

We study the penetration dynamics of a projectile incident normally on a substrate comprising of smaller granular particles in three-dimensions using the discrete element method. Scaling of the penetration depth is consistent with experimental observations for small velocity impacts. Our studies are consistent with the observation that the normal or drag force experienced by the penetrating grain obeys the generalized Poncelet law, which has been extensively invoked in understanding the drag force in the recent experimental data. We find that the normal force experienced by the projectile consists of position and kinetic-energy-dependent pieces. Three different penetration regimes are identified in our studies for low-impact velocities. The first two regimes are observed immediately after the impact and in the early penetration stage, respectively, during which the drag force is seen to depend on the kinetic energy. The depth dependence of the drag force becomes significant in the third regime when the projectile is moving slowly and is partially immersed in the substrate. These regimes relate to the different configurations of the bed: the initial loose surface packed state, fluidized bed below the region of impact, and the state after the crater formation commences.

Effect of volume fraction on granular avalanche dynamics

We study the evolution and failure of a granular slope as a function of prepared volume fraction, ϕ(0). We rotated an initially horizontal layer of granular material (0.3-mm-diam glass spheres) to a 45° angle while we monitor the motion of grains from the side and top with high-speed video cameras. The dynamics of grain motion during the tilt process depended sensitively on ϕ(0)∈[0.58-0.63] and differed above or below the granular critical state, ϕ(c), defined as the onset of dilation as a function of increasing volume fraction. For ϕ(0)-ϕ(c)<0, slopes experienced short, rapid, precursor compaction events prior to the onset of a sustained avalanche. Precursor compaction events began at an initial angle θ(0)=7.7±1.4° and occurred intermittently prior to the onset of an avalanche. Avalanches occurred at the maximal slope angle θ(m)=28.5±1.0°. Granular material at ϕ(0)-ϕ(c)>0 did not experience precursor compaction prior to avalanche flow, and instead experienced a single dilational motion at θ(0)=32.1±1.5° prior to the onset of an avalanche at θ(m)=35.9±0.7°. Both θ(0) and θ(m) increased with ϕ(0) and approached the same value in the limit of random close packing. The angle at which avalanching grains came to rest, θ(R)=22±2°, was independent of ϕ(0). From side-view high-speed video, we measured the velocity field of intermittent and avalanching flow. We found that flow direction, depth, and duration were affected by ϕ(0), with ϕ(0)-ϕ(c)<0 precursor flow extending deeper into the granular bed and occurring more rapidly than precursor flow at ϕ(0)-ϕ(c)>0. Our study elucidates how initial conditions-including volume fraction-are important determinants of granular slope stability and the onset of avalanches.