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We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free flow to congested traffic as the density of the system increases. In the latter scenario we also observe the characteristic stop-and-go waves. The unique advantages of this novel system, such as experimental stability and repeatability, allow for extended experimental runs, facilitating a comprehensive statistical analysis of the global dynamics. Above a certain density, we observe a divergence of the average jam duration and the average number of robots involved in it. This discovery enables us to precisely identify another transition: from congested intermittent flow (for intermediate densities) to a totally congested scenario for high densities. Beyond this finding, the present work demonstrates the suitability of robot swarms to model complex behaviors in many particle systems., Comment: 5 pages, 4 figures plus supplemental material

Granular flows through narrow outlets may be interrupted by the formation of arches or vaults that clog the exit. These clogs may be destroyed by vibrations. A feature which remains elusive is the broad distribution $p(\tau)$ of clog lifetimes $\tau$ measured under constant vibrations. Here, we propose a simple model for arch-breaking, in which the vibrations are formally equivalent to thermal fluctuations in a Langevin equation; the rupture of an arch corresponds to the escape from an energy trap. We infer the distribution of trap depths from experiments and, using this distribution, we show that the model captures the empirically observed heavy tails in $p(\tau)$. These heavy tails flatten at large $\tau$, consistently with experimental observations under weak vibrations, but this flattening is found to be systematic, thus questioning the ability of gentle vibrations to restore a finite outflow forever. The trap model also replicates recent results on the effect of increasing gravity on the statistics of clog formation in a static silo. Therefore, the proposed framework points to a common physical underpinning to the processes of clogging and unclogging, despite their different statistics.

The "faster-is-slower" (FIS) effect was first predicted by computer simulations of the egress of pedestrians through a narrow exit [Helbing D, Farkas I J, Vicsek T, Nature 407:487-490 (2000)]. FIS refers to the finding that, under certain conditions, an excess of the individuals' vigor in the attempt to exit causes a decrease in the flow rate. In general, this effect is identified by the appearance of a minimum when plotting the total evacuation time of a crowd as a function of the pedestrian desired velocity. Here, we experimentally show that the FIS effect indeed occurs in three different systems of discrete particles flowing through a constriction: (a) humans evacuating a room, (b) a herd of sheep entering a barn and (c) grains flowing out a 2D hopper over a vibrated incline. This finding suggests that FIS is a universal phenomenon for active matter passing through a narrowing.

In a recent paper [Zuriguel et al., Phys. Rev. Lett. 107, 278001 (2011)] it has been shown that the presence of an obstacle above the outlet can significatively reduce the clogging probability of granular matter pouring from a silo. The amount of this reduction strongly depends on the obstacle position. In this work, we present new measurements to analyze different outlet sizes, extending foregoing results and revealing that the effect of the obstacle is enhanced as the outlet size is increased. In addition, the effect of the obstacle position on the flow rate properties and in the geometrical features of arches is studied. These results reinforce previous evidence of the pressure reduction induced by the obstacle. In addition, it is shown how the mean avalanche size and the average flow rate are not necessarily linked. On the other hand, a close relationship is suggested between the mean avalanche size and the flow rate fluctuations.

We present experimental results about the stability of arches against external vibrations. Two dimensional strings of mutually stabilizing grains are geometrically analyzed and subsequently submitted to a periodic forcing at fixed frequency and increasing amplitude. The main factor that determines the granular arch resistance against vibrations is the maximum angle among those formed between any particle of the arch and its two neighbors: the higher the maximum angle is, the easier to break the arch. Based in an analysis of the forces, a simple explanation is given for this dependence. From this, interesting information can be extracted about the expected magnitudes of normal forces and friction coefficients of the particles conforming the arches.

We present experimental data corresponding to a two dimensional dense granular flow, namely, the gravity-driven discharge of grains from a small opening in a silo. We study the microscopic velocity field with the help of particle tracking techniques. From these data, the velocity profiles can be obtained and the validity of some long-standing approaches can be assessed. Moreover, the fluctuations of the velocities are taken into consideration in order to characterize the features of the advective motion (due to the gravity force) and the diffusive motion, which shows nontrivial behaviour.

We present experimental results on the shape of arches that block the outlet of a two dimensional silo. For a range of outlet sizes, we measure some properties of the arches such as the number of particles involved, the span, the aspect ratio, and the angles between mutually stabilizing particles. These measurements shed light on the role of frictional tangential forces in arching. In addition, we find that arches tend to adopt an aspect ratio (the quotient between height and half the span) close to one, suggesting an isotropic load. The comparison of the experimental results with data from numerical models of the arches formed in the bulk of a granular column reveals the similarities of both, as well as some limitations in the few existing models., Comment: 8 pages; submitted to Physical Review E

We present experimental results of the jamming of non-cohesive particles discharged from a flat bottomed silo subjected to vertical vibration. When the exit orifice is only a few grain diameter wide, the flow can be arrested due to the formation of blocking arches. Hence, an external excitation is needed to resume the flow. The use of a continuous gentle vibration is a usual technique to ease the flow in such situations. Even though jamming is less frequent, it is still an issue in vibrated silos. There are, in principle, two possible mechanisms through which vibrations may facilitate the flow: (i) a decrease in the probability of the formation of blocking arches, and (ii) the breakage of blocking arches once they have been formed. By measuring the time intervals inside an avalanche during which no particles flow through the outlet, we are able to estimate the probability of breaking a blocking arch by vibrations. The result agrees with the prediction of a bivariate probabilistic model in which the formation of blocking arches is equally probable in vibrated and non-vibrated silos. This indicates that the second aforementioned mechanism is the main responsible for improving the flowability in gently vibrated silos.

We present an experimental study of the outflow of a hopper continuously vibrated by a piezoelectric device. Outpouring of grains can be achieved for apertures much below the usual jamming limit observed for non vibrated hoppers. Granular flow persists down to the physical limit of one grain diameter, a limit reached for a finite vibration amplitude. For the smaller orifices, we observe an intermittent regime characterized by alternated periods of flow and blockage. Vibrations do not significantly modify the flow rates both in the continuous and the intermittent regime. The analysis of the statistical features of the flowing regime shows that the flow time significantly increases with the vibration amplitude. However, at low vibration amplitude and small orifice sizes, the jamming time distribution displays an anomalous statistics.

The flow rate of grains through large orifices is known to be dependent on its diameter to a 5/2 power law. This relationship has been checked for big outlet sizes, whereas an empirical fitting parameter is needed to reproduce the behavior for small openings. In this work, we provide experimental data and numerical simulations covering a wide span of outlet sizes, both in three and two dimensions. This allows us to show that the laws that are usually employed are satisfactory only if a small range of openings is considered. We propose a new law for the mass flow rate of grains that correctly reproduces the data for all the orifice sizes, including the behaviors for very large and very small outlet sizes., Comment: submitted to Granular Matter

The silo discharge process is studied by molecular dynamics simulations. The development of the velocity profile and the probability density function for the displacements in the horizontal and vertical axis are obtained. The PDFs obtained at the beginning of the discharge reveal non-Gaussian statistics and superdiffusive behaviors. When the stationary flow is developed, the PDFs at shorter temporal scales are non-Gaussian too. For big orifices a well defined transition between ballistic and diffusive regime is observed. In the case of a small outlet orifice, no well defined transition is observed. We use a nonlinear diffusion equation introduced in the framework of non-extensive thermodynamics in order to describe the movements of the grains. The solution of this equation gives a well defined relationship ($\gamma = 2/(3-q)$) between the anomalous diffusion exponent $\gamma$ and the entropic parameter $q$ introduced by the non-extensive formalism to fit the PDF of the fluctuations., Comment: 18 pages, 6 figures. Substantially enlarged with new results. Accepted for EPJ-E

In this work we present an experimental study of the jamming that stops the free flow of grains from a silo discharging by gravity. When the outlet size is not much bigger than the beads, granular material jams the outlet of the container due to the formation of an arch. Statistical data from the number of grains fallen between consecutive jams are presented. The information that they provide can help to understand the jamming phenomenon. As the ratio between the size of the orifice and the size of the beads is increased, the probability that an arch blocks the outlet decreases. We show here that there is a power law divergence of the mean avalanche size for a finite critical radius. Beyond this critical radius no jamming can occur and the flow is never stopped. The dependence of the arch formation on the shape and the material of the grains has been explored. It has been found that the material properties of the grains do not affect the arch formation probability. On the contrary, the shape of the grains deeply influences it. A simple model to interpret the results is also discussed., Comment: Submitted to Phys. Rev. E

We present an experimental study of the movement of individual particles in a layer of vertically shaken granular material. High-speed imaging allows us to investigate the motion of beads within one vibration period. This motion consists mainly of vertical jumps, and a global ordered drift. The analysis of the system movement as a whole reveals that the observed bifurcation in the flight time is not adequately described by the Inelastic Bouncing Ball Model. Near the bifurcation point, friction plays and important role, and the branches of the bifurcation do not diverge as the control parameter is increased. We quantify the friction of the beads against the walls, showing that this interaction is the underlying mechanism responsible for the dynamics of the flow observed near the lateral wall.

The fluctuation-dissipation relation (FDR) is measured on the dielectric properties of a polymer glass (polycarbonate)in the range $20mHz - 100Hz$. It is found that after a quench below the glass transition temperature the fluctuation dissipation theorem is strongly violated. The amplitude and the persistence time of this violation are decreasing functions of frequency. At frequencies larger than 1Hz it persists for about $3h$. The origin of this violation is a highly intermittent dynamics characterized by large fluctuations. The relevance of these results for recent models of aging dynamics are discussed., Comment: to be published in Europhysics Letters

We have looked into an experiment that has been termed the ``canonical example'' of jamming: granular material, clogging the outlet of a container as it is discharged by gravity. We present quantitative data of such an experiment. The experimental control parameter is the ratio between the radius of the orifice and the radius of the beads. As this parameter is increased, the jamming probability decreases. However, in the range of parameters explored, no evidence of criticality --in the sense of a jamming probability that becomes infinitely small for a finite radius-- has been found. We draw instead a comparison with a simple model that captures the main features of the phenomenon, namely, percolation in one dimension. The model gives indeed a phase transition, albeit a special one.

The acoustic emission of fracture precursors, and the failure time of samples of heterogeneous materials (wood, fiberglass) are studied as a function of the load features and geometry. It is shown that in these materials the failure time is predicted with a good accuracy by a model of microcrack nucleation proposed by Pomeau. We find that the time interval $% \delta t$ between events (precursors) and the energy $\varepsilon$ are power law distributed and that the exponents of these power laws depend on the load history and on the material. In contrast, the cumulated acoustic energy $E$ presents a critical divergency near the breaking time $\tau $ which is $% E\sim \left( \frac{\tau -t}\tau \right) ^{-\gamma }$. The positive exponent $% \gamma $ is independent, within error bars, on all the experimental parameters., Comment: to be published on European Physical Journal

Experimental results are presented for a vertically shaken granular layer. In the range of accelerations explored, the layer develops a convective motion in the form of one or more rolls. The velocity of the grains near the wall has been measured. It grows linearly with the acceleration, then the growing rate slows down. A rescaling with the amplitude of the wall velocity and the height of the granular layer makes all data collapse in a single curve. This can provide insights on the mechanism driving the motion., Comment: 10 pages, 5 figures submitted to Phys. Rev. Lett

The acoustic emission of fracture precursors is measured in heterogeneous materials. The statistical behaviour of these precursors is studied as a function of the load features and the geometry. We find that the time interval between events (precursors) and events energies are power law distributed and that the exponents of these power laws depend on the load history and on the material. In contrast, the cumulated acoustic energy presents a critical divergency near the breaking time. The critical exponent is independent, within error bars, by all the experimental parameters., Comment: 11pages, 4 figures, submitted to Phys.Rev.Lett

The failure time of samples of heterogeneous materials (wood, fiberglass) is studied as a function of the applied stress. It is shown that in these materials the failure time is predicted with a good accuracy by a model of microcrack nucleation proposed by Pomeau. It is also shown that the crack growth process presents critical features when the failure time is approached., Comment: 13 pages, 4 figures, submitted to Europhysics Letters