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Lift and drag forces on moving intruders in granular materials are of fundamental interest. While the drag force on an intruder in granular flow has been studied, the few studies characterizing the lift force explore a relatively limited range of parameters. Here we use discrete element method (DEM) simulations to measure the lift force, $F_\mathrm{L}$, on a spherical intruder in a uniformly sheared bed of smaller spheres for a range of intruder slip velocities, $u_\mathrm{s}$, relative to the unperturbed flow. In what at first appears as a puzzling result, $F_\mathrm{L}$ in granular shear flow acts in the opposite direction to the Saffman lift force on a sphere in a sheared fluid at low $u_\mathrm{s}$, reaches a maximum value, and then decreases, eventually reversing direction and becoming comparable to $F_\mathrm{L}$ for a fluid. This non-monotonic response holds over a range of flow conditions, and the $F_\mathrm{L}$ versus $u_\mathrm{s}$ data can be collapsed by scaling both quantities using the particle sizes, shear rate, and overburden pressure. Analogous fluid simulations demonstrate that the flow field around the intruder particle is similar in the granular and fluid cases. However, the shear stress acting on the intruder in a granular shear flow is much less than that in a fluid shear flow. This difference, combined with a void region behind the intruder in granular flow, which alters the pressure and shear stress on the trailing side of the intruder, significantly changes the lift-force inducing stresses acting on the intruder between the granular and fluid cases., Comment: 27 pages, 17 figures

Particle segregation is common in natural and industrial processes involving flowing granular materials. Complex, and seemingly contradictory, segregation phenomena have been observed for different boundary conditions and forcing. Using discrete element method simulations, we show that segregation of a single particle intruder can be described in a unified manner across different flow configurations. A scaling relation for the net segregation force is obtained by measuring forces on an intruder particle in controlled-velocity flows where gravity and flow kinematics are varied independently. The scaling law consists of two additive terms: a buoyancy-like gravity-induced pressure gradient term and a shear rate gradient term, both of which depend on the particle size ratio. The shear rate gradient term reflects a kinematics-driven mechanism whereby larger (smaller) intruders are pushed toward higher (lower) shear rate regions. The scaling is validated, without refitting, in wall-driven flows, inclined wall-driven flows, vertical silo flows, and free surface flows down inclines. Comparing the segregation force to the intruder weight results in predictions of the segregation direction that match experimental and computational results for various flow configurations.

In bidisperse particle mixtures varying in size or density alone, large particles rise (driven by percolation) and heavy particles sink (driven by buoyancy). When the two particle species differ from each other in both size and density, the two segregation mechanisms either enhance (large/light and small/heavy) or oppose (large/heavy and small/light) each other. In the latter case, an equilibrium condition exists in which the two segregation mechanisms balance and the particles no longer segregate. This leads to a methodology to design non-segregating particle mixtures by specifying particle size ratio, density ratio, and mixture concentration to achieve the equilibrium condition. Using DEM simulations of quasi-2D bounded heap flow, we show that segregation is significantly reduced for particle mixtures near the equilibrium condition. In addition, the rise-sink transition for a range of particle size and density ratios matches the combined size and density segregation model predictions.

Granular media (GM) present locomotor challenges for terrestrial and extraterrestrial devices because they can flow and solidify in response to localized intrusion of wheels, limbs, and bodies. While the development of airplanes and submarines is aided by understanding of hydrodynamics, fundamental theory does not yet exist to describe the complex interactions of locomotors with GM. In this paper, we use experimental, computational, and theoretical approaches to develop a terramechanics for bio-inspired locomotion in granular environments. We use a fluidized bed to prepare GM with a desired global packing fraction, and use empirical force measurements and the Discrete Element Method (DEM) to elucidate interaction mechanics during locomotion-relevant intrusions in GM such as vertical penetration and horizontal drag. We develop a resistive force theory (RFT) to account for more complex intrusions. We use these force models to understand the locomotor performance of two bio-inspired robots moving on and within GM.

Segregation patterns of size-bidisperse particle mixtures in a fully-three-dimensional flow produced by alternately rotating a spherical tumbler about two perpendicular axes are studied over a range of particle sizes and volume ratios using both experiments and a continuum model. Pattern formation results from the interaction of size segregation with chaotic regions and non-mixing islands of the flow. Specifically, large particles in the flowing surface layer are preferentially deposited in non-mixing islands despite the effects of collisional diffusion and chaotic transport. The protocol-dependent structure of the unstable manifolds of the flow surrounding the non-mixing islands provides further insight into why certain segregation patterns are more robust than others.

Discrete element method simulations of confined bidisperse granular shear flows elucidate the balance between diffusion and segregation that can lead to either mixed or segregated states, depending on confining pressure. Results indicate that the collisional diffusion is essentially independent of overburden pressure. Because the rate of segregation diminishes with overburden pressure, the tendency for particles to segregate weakens relative to the re-mixing of particles due to collisional diffusion as the overburden pressure increases. Using a continuum approach that includes a pressure dependent segregation velocity and a pressure independent diffusion coefficient, the interplay between diffusion and segregation is accurately predicted for both size and density bidisperse mixtures over a wide range of flow conditions when compared to simulation results. Additional simulations with initially segregated conditions demonstrate that applying a high enough overburden pressure can suppress segregation to the point that collisional diffusion mixes the segregated particles., Comment: 17 pages double spaced, 6 figures, 1 table

We characterize the local concentration dependence of segregation velocity and segregation flux in both size and density bidisperse gravity-driven free-surface granular flows as a function of the particle size ratio and density ratio, respectively, using discrete element method (DEM) simulations. For a range of particle size ratios and inlet volume flow rates in size-bidisperse flows, the maximum segregation flux occurs at a small particle concentration less than 0.5, which decreases with increasing particle size ratio. The segregation flux increases up to a size ratio of 2.4 but plateaus from there to a size ratio of 3. In density bidisperse flows, the segregation flux is greatest at a heavy particle concentration less than 0.5 which decreases with increasing particle density ratio. The segregation flux increases with increasing density ratio for the extent of density ratios studied, up to 10. We further demonstrate that the simulation results for size driven segregation are in accord with the predictions of the kinetic sieving segregation model of Savage and Lun.

We study the transition between steady flows of non-cohesive granular materials in quasi-2D bounded heaps by suddenly changing the feed rate. In both experiments and simulations, the primary feature of the transition is a wedge of flowing particles that propagates downstream over the rising free surface with a wedge front velocity inversely proportional to the square root of time. An additional longer duration transient process continues after the wedge front reaches the downstream wall. The entire transition is well modeled as a moving boundary problem with a diffusion-like equation derived from local mass balance and a local relation between the flux and the surface slope., Comment: 5 pages, 3 figures

Predicting segregation of granular materials composed of different-sized particles is a challenging problem. In this paper, we develop and implement a theoretical model that captures the interplay between advection, segregation, and diffusion in size bidisperse granular materials. The fluxes associated with these three driving factors depend on the underlying kinematics, whose characteristics play key roles in determining particle segregation configurations. Unlike previous models for segregation, our model uses parameters based on kinematic measures from discrete element method simulations instead of arbitrarily adjustable fitting parameters, and it achieves excellent quantitative agreement with both experimental and simulation results when applied to quasi-two-dimensional bounded heaps. The model yields two dimensionless control parameters, both of which are only functions of physically control parameters (feed rate, particle sizes, and system size) and kinematic parameters (diffusion coefficient, flowing layer depth, and percolation velocity). The P\'eclet number, $Pe$, captures the interplay of advection and diffusion, and the second dimensionless parameter, $\Lambda$, describes the interplay between segregation and advection. A parametric study of $\Lambda$ and $Pe$ demonstrates how the particle segregation configuration depends on the interplay of advection, segregation, and diffusion. The model can be readily adapted to other flow geometries., Comment: Accepted for publication in the Journal of Fluid Mechanics

Models of monodisperse particle flow in partially filled three-dimensional tumblers often assume that flow along the axis of rotation is negligible. We test this assumption, for spherical and double cone tumblers, using experiments and discrete element method simulations. Cross sections through the particle bed of a spherical tumbler show that, after a few rotations, a colored band of particles initially perpendicular to the axis of rotation deforms: particles near the surface drift toward the pole, while particles deeper in the flowing layer drift toward the equator. Tracking of mm-sized surface particles in tumblers with diameters of 8-14 cm shows particle axial displacements of one to two particle diameters, corresponding to axial drift that is 1-3% of the tumbler diameter, per pass through the flowing layer. The surface axial drift in both double cone and spherical tumblers is zero at the equator, increases moving away from the equator, and then decreases near the poles. Comparing results for the two tumbler geometries shows that wall slope causes axial drift, while drift speed increases with equatorial diameter. The dependence of axial drift on axial position for each tumbler geometry is similar when both are normalized by their respective maximum values.

Achieving effective locomotion on diverse terrestrial substrates can require subtle changes of limb kinematics. Biologically inspired legged robots (physical models of organisms) have shown impressive mobility on hard ground but suffer performance loss on unconsolidated granular materials like sand. Because comprehensive limb-ground interaction models are lacking, optimal gaits on complex yielding terrain have been determined empirically. To develop predictive models for legged devices and to provide hypotheses for biological locomotors, we systematically study the performance of SandBot, a small legged robot, on granular media as a function of gait parameters. High performance occurs only in a small region of parameter space. A previously introduced kinematic model of the robot combined with a new anisotropic granular penetration force law predicts the speed. Performance on granular media is maximized when gait parameters minimize body acceleration and limb interference, and utilize solidification features of granular media.

We use plate drag to study the response of granular media to localized forcing as a function of volume fraction, $\phi$. A bifurcation in the force and flow occurs at the onset of dilatancy, $\phi_c.$ Below $\phi_c$ rapid fluctuations in the drag force, $F_D,$ are observed. Above $\phi_c$ fluctuations in $F_D$ are periodic and increase with $\phi$. Velocity field measurements indicate that the bifurcation in $F_D$ results from the formation of stable shear bands above $\phi_c$ which are created and destroyed periodically during drag. A friction-based model captures the dynamics for $\phi>\phi_c$., Comment: 4 pages, 5 figures