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The Discrete Element Method is widely employed for simulating granular flows, but conventional integration techniques may produce unphysical results for simulations with static friction when particle size ratios exceed $R \approx 3$. These inaccuracies arise because some variables in the velocity-Verlet algorithm are calculated at the half-timestep, while others are computed at the full timestep. To correct this, we develop an improved velocity-Verlet integration algorithm to ensure physically accurate outcomes up to the largest size ratios examined ($R=100$). The implementation of this improved integration method within the LAMMPS framework is detailed, and its effectiveness is validated through a simple three-particle test case and a more general example of granular flow in mixtures with large size-ratios, for which we provide general guidelines for selecting simulation parameters and accurately modeling inelasticity in large particle size-ratio simulations.

Predicting particle segregation has remained challenging due to the lack of a general model for the segregation velocity that is applicable across a range of granular flow geometries. Here, a segregation velocity model for dense granular flows is developed by exploiting momentum balance and recent advances in particle-scale modelling of the segregation driving and drag forces over a wide range of particle concentrations, size and density ratios, and flow conditions. This model is shown to correctly predict particle segregation velocity in a diverse set of idealized and natural granular flow geometries simulated using the discrete element method. When incorporated in the well-established advection-diffusion-segregation formulation, the model has the potential to accurately capture segregation phenomena in many relevant industrial application and geophysical settings.

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

Static granular packings play a central role in numerous industrial applications and natural settings. In these situations, fluid or fine particle flow through a bed of static particles is heavily influenced by the narrowest passage connecting the pores of the packing, commonly referred to as pore throats or constrictions. Existing studies predominantly assume monodisperse rigid particles, but this is an oversimplification of the problem. In this work, we illustrate the connection between pore throat size, polydispersity, and particle deformation. Simple analytical expressions are provided to link these properties of the packing, followed by examples from Discrete Element Method (DEM) simulations of fine particle percolation demonstrating the impact of polydispersity and particle deformation. Our intent is to emphasize the substantial impact of polydispersity and particle deformation on constriction size, underscoring the importance of accounting for these effects in particle transport in granular packings.

Legged robot locomotion is hindered by a mismatch between applications where legs can outperform wheels or treads, most of which feature deformable substrates, and existing tools for planning and control, most of which assume flat, rigid substrates. In this study we focus on the ramifications of plastic terrain deformation on the hop-to-hop energy dynamics of a spring-legged monopedal hopping robot animated by a switched-compliance energy injection controller. From this deliberately simple robot-terrain template, we derive a hop-to-hop energy return map, and we use physical experiments and simulations to validate the hop-to-hop energy map for a real robot hopping on a real deformable substrate. The dynamical properties (fixed points, eigenvalues, basins of attraction) of this map provide insights into efficient, responsive, and robust locomotion on deformable terrain. Specifically, we identify constant-fixed-point surfaces in a controller parameter space that suggest it is possible to tune control parameters for efficiency or responsiveness while targeting a desired gait energy level. We also identify conditions under which fixed points of the energy map are globally stable, and we further characterize the basins of attraction of fixed points when these conditions are not satisfied. We conclude by discussing the implications of this hop-to-hop energy map for planning, control, and estimation for efficient, agile, and robust legged locomotion on deformable terrain., Comment: 20 pages, 13 figures, submitted to IEEE Transactions on Robotics

We study the percolation velocity, $v_p,$ of a fine spherical particle in a sheared large-particle bed under gravity using discrete element method simulations for large-to-fine particle diameter ratios, $R=d/d_f,$ below and above the free-sifting threshold, $R_t\approx6.5.$ For $RR_t$, $v_p$ is constant at low $\dot\gamma$ but decreases toward zero at higher shear rates due to fine-particle excitation.

Particle segregation in dense flowing size-disperse granular mixtures is driven by gravity and shear, but predicting the associated segregation force due to both effects has remained an unresolved challenge. Here, a model of the combined gravity- and kinematics-induced segregation force on a single intruder particle is integrated with a model of the concentration dependence of the gravity-induced segregation force. The result is a general model of the net particle segregation force in flowing size-bidisperse granular mixtures. Using discrete element method simulations for comparison, the model correctly predicts the segregation force for a variety of mixture concentrations and flow conditions in both idealized and natural shear flows.

In dense flowing bidisperse particle mixtures varying in size or density alone, smaller particles sink (driven by percolation) and lighter particles rise (driven by buoyancy). But when the particle species differ from each other in both size and density, percolation and buoyancy can either enhance (large/light and small/heavy) or oppose (large/heavy and small/light) each other. In the latter case, a local equilibrium condition can exist in which the two segregation mechanisms balance and particles remain mixed: this allows the design of minimally-segregating mixtures by specifying particle size ratio, density ratio, and mixture concentration. Using experimentally validated DEM simulations, we show that mixtures specified by the methodology remain relatively well-mixed in the thin rapid surface flows characteristic of heaps and tumblers commonly used in industry. Furthermore, minimally-segregating particle mixtures prepared in a fully segregated state in a tumbler mix over time and eventually reach a state of nearly uniform species concentration., Comment: 19 pages, 17 figures, submitted to AIChE Journal

We present a continuum approach to model segregation of size-bidisperse granular materials in unsteady bounded heap flow as a prototype for modeling segregation in other time varying flows. In experiments, a periodically modulated feed rate produces stratified segregation like that which occurs due to intermittent avalanching, except with greater layer-uniformity and higher average feed rates. Using an advection-diffusion-segregation equation and characterizing transient changes in deposition and erosion after a feed rate change, we model stratification for varying feed rates and periods. Feed rate modulation in heap flows can create well-segregated layers, which effectively mix the deposited material normal to the free surface at lengths greater than the combined layer-thickness. This mitigates the strong streamwise segregation that would otherwise occur at larger particle-size ratios and equivalent steady feed rates and can significantly reduce concentration variation during hopper discharge. Coupling segregation, deposition and erosion is challenging but has many potential applications.

Using simulations and a virtual-spring-based approach, we measure the segregation force, Fseg, over a range of size-bidisperse mixture concentrations, particle size ratios, and shear rates to develop a model for Fseg that extends its applicability from the well-studied non-interacting intruders regime to finite-concentration mixtures where cooperative phenomena occur. The model predicts the concentration below which the single intruder assumption applies and provides an accurate description of the pressure partitioning between species.

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.

Flowing granular materials segregate due to differences in particle size (driven by percolation) and density (driven by buoyancy). Modelling the segregation of mixtures of large/heavy particles and small/light particles is challenging due to the opposing effects of the two segregation mechanisms. Using discrete element method (DEM) simulations of combined size and density segregation we show that the segregation velocity is well described by a model that depends linearly on the local shear rate and quadratically on the species concentration. Concentration profiles predicted by incorporating this segregation velocity model into a continuum advection-diffusion-segregation transport model match DEM simulation results well for a wide range of particle size and density ratios. Most surprisingly, the DEM simulations and the segregation velocity model both show that the segregation direction for a range of size and density ratios depends on the local species concentration. This leads to a methodology to determine the combination of particle size ratio, density ratio, and particle concentration for which a bidisperse mixture will not segregate.

We present a method to estimate the segregation parameter, $S,$ a key input in a continuum transport model of particulate flows. $S$ is determined by minimizing the difference between measured and model-predicted concentration profiles. To validate the approach, we conduct discrete element method simulations of size-bidisperse mixtures in quasi-2D bounded heap flow; the resulting data show that $S$ calculated from concentration profiles is consistent with the directly measured value. The method's accuracy depends critically on the velocity profile during filling, but only weakly on the diffusion coefficient. When the velocity profile is nominally spanwise invariant, the error between estimated and measured $S$ is $10\%$. This method is intended for practical application (described in Part II), so we restrict characterization of the velocity profile to that which can be readily determined experimentally, and explore the sensitivity of concentration profiles to variation of the gap between the sidewalls of the heap., Comment: 13 pages, 11 figures. Correctly formatted version of article published in Powder Technology

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.

Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain presents additional challenges such as permanent ground deformation which dissipates energy. In this paper, we examine the soft landing problem: given some impact momentum, bring the robot to rest while minimizing foot penetration depth. To gain insight into properties of penetration depth-minimizing control policies, we formulate a constrained optimal control problem and obtain a bang-bang open-loop force profile. Motivated by examples from biology and recent advances in legged robotics, we also examine impedance-control solutions to the dimensionless soft landing problem. Through simulations, we find that optimal impedance reduces penetration depth nearly as much as the open-loop force profile, while remaining robust to model uncertainty. Through simulations and experiments, we find that the solution space is rich, exhibiting qualitatively different relationships between impact velocity and the optimal impedance for small and large dimensionless impact velocities. Lastly, we discuss the relevance of this work to minimum-cost-of-transport locomotion for several actuator design choices.

We computationally determine the force on single spherical intruder particles in sheared granular flows as a function of particle size, particle density, shear rate, overburden pressure, and gravitational acceleration. The force scales similarly to, but deviates from, the buoyancy force predicted by Archimedes' principle. The deviation depends only on the intruder to bed particle size ratio, but not the density ratio or flow conditions. We propose a simple force model that successfully predicts whether intruders rise or sink, knowing only the size and density ratios, for a variety of flow configurations in physical experiments.

Individual constituent balance equations are often used to derive expressions for species-specific segregation velocities in flows of dense granular mixtures. We propose a semiempirical expression for the interspecies momentum exchange in density-bidisperse granular flows as an extension of ideas from kinetic theory and compare it to a previous viscous drag approach that is analogous to particles settling in a fluid. The proposed model expands the range of the granular kinetic theory from short-duration binary collisions to the multiple enduring contacts characteristic of dense shear flows and incorporates the effects of particle friction, concentration ratio, and local flow conditions. The segregation velocities derived from the momentum balance equation using both interspecies drag models match the downward and upward segregation velocities of heavy and light particles obtained from DEM simulations through the flowing layer depth for different density ratios and constituent concentrations in confined shear flows. Predictions of the kinetic theory inspired approach are additionally compared to results from free surface heap flow simulations, and, again, a close match is observed.

Mixing by cutting-and-shuffling can be mathematically described by the dynamics of piecewise isometries (PWIs), higher dimensional analogs of one-dimensional interval exchange transformations. In a two-dimensional domain under a PWI, the exceptional set, $\bar{E}$, which is created by the accumulation of cutting lines (the union of all iterates of cutting lines and all points that pass arbitrarily close to a cutting line), defines where mixing is possible but not guaranteed. There is structure within $\bar{E}$ that directly influences the mixing potential of the PWI. Here we provide new computational and analytical formalisms for examining this structure by way of measuring the density and connectivity of $\varepsilon$-fattened cutting lines that form an approximation of $\bar{E}$. For the example of a PWI on a hemispherical shell studied here, this approach reveals the subtle mixing behaviors and barriers to mixing formed by invariant ergodic subsets (confined orbits) within the fractal structure of the exceptional set. Some PWIs on the shell have provably non-ergodic exceptional sets, which prevent mixing, while others have potentially ergodic exceptional sets where mixing is possible since ergodic exceptional sets have uniform cutting line density. For these latter exceptional sets, we show the connectivity of orbits in the PWI map through direct examination of orbit position and shape and through a two-dimensional return plot to explain the necessity of orbit connectivity for mixing., Comment: 22 pages, 12 figures

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.

We examine the dynamics of cutting-and-shuffling a hemispherical shell driven by alternate rotation about two horizontal axes using the framework of piecewise isometry (PWI) theory. Previous restrictions on how the domain is cut-and-shuffled are relaxed to allow for non-orthogonal rotation axes, adding a new degree of freedom to the PWI. A new computational method for efficiently executing the cutting-and-shuffling using parallel processing allows for extensive parameter sweeps and investigations of mixing protocols that produce a low degree of mixing. Non-orthogonal rotation axes break some of the symmetries that produce poor mixing with orthogonal axes and increase the overall degree of mixing on average. Arnold tongues arising from rational ratios of rotation angles and their intersections, as in the orthogonal axes case, are responsible for many protocols with low degrees of mixing in the non-orthogonal-axes parameter space. Arnold tongue intersections along a fundamental symmetry plane of the system reveal a new and unexpected class of protocols whose dynamics are periodic, with exceptional sets forming polygonal tilings of the hemispherical shell., Comment: 22 pages, 15 figures; added additional inscribed solid that was missed

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 experimentally study the transition from steady flow to unsteady flow in a quasi-2D granular heap when small amounts of water are added to monodisperse glass spheres. Particles flow uniformly down both sides of the heap for low water content, but unsteady flow occurs as the water content increases. The unsteady flow mode consists of a non-depositing downslope avalanche and an upslope propagating granular jump. The transition from steady to unsteady flow occurs when the slope exceeds a critical angle as a result of water-induced cohesion. Under unsteady flow conditions, the deposited heap consists of loosely packed and densely packed layers, the formation of which is closely related to the unsteady flow dynamics., Comment: 10 pages, 8 figures

Mixing by cutting-and-shuffling can be understood and predicted using dynamical systems based tools and techniques. In existing studies, mixing is generated by maps that repeat the same cut-and-shuffle process at every iteration, in a "fixed" manner. However, mixing can be greatly improved by varying the cut-and-shuffle parameters at each step, using a "variable" approach. To demonstrate this approach, we show how to optimize mixing by cutting-and-shuffling on the one-dimensional line interval, known as an interval exchange transformation (IET). Mixing can be significantly improved by optimizing variable protocols, especially for initial conditions more complex than just a simple two-color line interval. While we show that optimal variable IETs can be found analytically for arbitrary numbers of iterations, for more complex cutting-and-shuffling systems, computationally expensive numerical optimization methods would be required. Furthermore, the number of control parameters grows linearly with the number of iterations in variable systems. Therefore, optimizing over large numbers of iterations is generally computationally prohibitive. We demonstrate an ad hoc approach to cutting-and-shuffling that is computationally inexpensive and guarantees the mixing metric is within a constant factor of the optimum. This ad hoc approach yields significantly better mixing than fixed IETs which are known to produce weak-mixing, because cut pieces never reconnect. The heuristic principles of this method can be applied to more general cutting-and-shuffling systems.

While structures and bifurcations controlling tracer particle transport and mixing have been studied extensively for systems with only stretching-and-folding, and to a lesser extent for systems with only cutting-and-shuffling, few studies have considered systems with a combination of both. We demonstrate two bifurcations for non-mixing islands associated with elliptic periodic points that only occur in systems with combined cutting-and-shuffling and stretching-and-folding, using as an example a map approximating biaxial rotation of a less-than-half-full spherical granular tumbler. First, we characterize a bifurcation of elliptic island containment, from containment by manifolds associated with hyperbolic periodic points to containment by cutting line tangency. As a result, the maximum size of the non-mixing region occurs when the island is at the bifurcation point. We also demonstrate a bifurcation where periodic points are annihilated by the cutting-and-shuffling action. Chains of elliptic and hyperbolic periodic points that arise when invariant tori surrounding an elliptic point break up [according to Kolmogorov-Arnold-Moser (KAM) theory] can annihilate when they meet a cutting line. Consequently, the Poincar\'{e} index (a topological invariant of smooth systems) is not preserved.

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

Remarkably persistent mixing and non-mixing regions (islands) are observed to coexist in a three-dimensional dynamical system where randomness is expected. The track of an x-ray opaque particle in a spherical shell half-filled with dry non-cohesive particles and periodically rotated about two axes reveals interspersed structures that are spatially complex and vary non-trivially with the rotation angles. The geometric skeleton of the structures forms from the subtle interplay between fluid-like mixing by stretching-and-folding, and solids mixing by cutting-and-shuffling, which is described by the mathematics of piecewise isometries. In the physical system, larger islands predicted by the cutting-and-shuffling model alone can persist despite the presence of stretching-and-folding flows and particle-collision-driven diffusion, while predicted smaller islands are not observed. By uncovering the synergy of simultaneous fluid and solid mixing, we point the way to a more fundamental understanding of advection driven mixing in materials with both solid and flowing regions.

In this review we argue for the creation of a physics of moving systems -- a locomotion "robophysics" -- which we define as the pursuit of the discovery of principles of self generated motion. Robophysics can provide an important intellectual complement to the discipline of robotics, largely the domain of researchers from engineering and computer science. The essential idea is that we must complement study of complex robots in complex situations with systematic study of simplified robophysical devices in controlled laboratory settings and simplified theoretical models. We must thus use the methods of physics to examine successful and failed locomotion in simplified (abstracted) devices using parameter space exploration, systematic control, and techniques from dynamical systems. Using examples from our and other's research, we will discuss how such robophysical studies have begun to aid engineers in the creation of devices that begin to achieve life-like locomotor abilities on and within complex environments, have inspired interesting physics questions in low dimensional dynamical systems, geometric mechanics and soft matter physics, and have been useful to develop models for biological locomotion in complex terrain. The rapidly decreasing cost of constructing sophisticated robot models with easy access to significant computational power bodes well for scientists and engineers to engage in a discipline which can readily integrate experiment, theory and computation., Comment: 61 pages, 18 figures, IOPScience journal: Reports on Progress in Physics

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.

Segregation and mixing of granular mixtures during heap formation have important consequences in industry and agriculture. This research investigates three different final particle configurations of bi-disperse granular mixtures -- stratified, segregated and mixed -- during filling of quasi-two dimensional silos. We consider a larger number and relatively wider range of control parameters than previous studies, including particle size ratio, flow rate, system size and heap rise velocity. The boundary between stratified and unstratified states is primarily controlled by the two-dimensional flow rate, with the critical flow rate for the transition depending weakly on particle size ratio and flowing layer length. In contrast, the transition from segregated to mixed states is controlled by the rise velocity of the heap, a control parameter not previously considered. The critical rise velocity for the transition depends strongly on the particle size ratio., Comment: 13 pages, 14 figures. Submitted to Physical Review E

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

Legged locomotion on flowing ground ({\em e.g.} granular media) is unlike locomotion on hard ground because feet experience both solid- and fluid-like forces during surface penetration. Recent bio-inspired legged robots display speed relative to body size on hard ground comparable to high performing organisms like cockroaches but suffer significant performance loss on flowing materials like sand. In laboratory experiments we study the performance (speed) of a small (2.3 kg) six-legged robot, SandBot, as it runs on a bed of granular media (1 mm poppy seeds). For an alternating tripod gait on the granular bed, standard gait control parameters achieve speeds at best two orders of magnitude smaller than the 2 body lengths/s ($\approx 60$ cm/s) for motion on hard ground. However, empirical adjustment of these control parameters away from the hard ground settings, restores good performance, yielding top speeds of 30 cm/s. Robot speed depends sensitively on the packing fraction $\phi$ and the limb frequency $\omega$, and a dramatic transition from rotary walking to slow swimming occurs when $\phi$ becomes small enough and/or $\omega$ large enough. We propose a kinematic model of the rotary walking mode based on generic features of penetration and slip of a curved limb in granular media. The model captures the dependence of robot speed on limb frequency and the transition between walking and swimming modes but highlights the need for a deeper understanding of the physics of granular media., Comment: 4 figures

Direct measurements of the acceleration of spheres and disks impacting granular media reveal simple power law scalings along with complex dynamics which bear the signatures of both fluid and solid behavior. The penetration depth scales linearly with impact velocity while the collision duration is constant for sufficiently large impact velocity. Both quantities exhibit power law dependence on sphere diameter and density, and gravitational acceleration. The acceleration during impact is characterized by two jumps: a rapid, velocity dependent increase upon initial contact and a similarly sharp, depth dependent decrease as the impacting object comes to rest. Examining the measured forces on the sphere in the vicinity of these features leads to a new experimentally based granular force model for collision. We discuss our findings in the context of recently proposed phenomenological models that capture qualitative dynamical features of impact but fail both quantitatively and in their inability to capture significant acceleration fluctuations that occur during penetration and which depend on the impacted material., Comment: 14 pages, 22 figures, 3 tables