Efficacy of simple continuum models for diverse granular intrusions

Agarwal, Shashank; Karsai, Andras; Goldman, Daniel I.; Kamrin, Ken

doi:10.1039/d1sm00130b

Cited by 12 publications

(18 citation statements)

References 71 publications

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“…As the intrusion proceeds, the height of the frustum gradually increases, and at d = 0.10, the frustum eventually develops into a cone and maintains its shape afterward till the end of the intrusion at d = 2.0. This observation is in line with the postulation by Aguilar and Goldman, 59 while the "fanning out" mechanism of the wedge 60 has not been observed from our simulations.…”

Section: Intrusion Of Solid Objectsupporting

confidence: 93%

“…The same topic has attracted a series of interesting studies recently. [57][58][59][60] Figure 11 illustrates the simulation setup involving two types of intruders with a dimension of 1 m in both height and diameter: cylinder and cuboid. Given the symmetry nature of the problem, only one quarter of the domain is simulated with a dimension of 5 × 5 × 5 m. Figure 11B,C shows the mesh and the associated material points, respectively.…”

Section: Intrusion Of Solid Objectmentioning

confidence: 99%

“…Motivated by a recent study by Kang et al, 56 where the drag forces are examined experimentally by driving the intruder quasi‐statically into the granular matter, for example, glass beads, quartz and millet. The same topic has attracted a series of interesting studies recently 57‐60 …”

Section: Numerical Examplesmentioning

confidence: 99%

“…Aguilar and Goldman 59 postulate that the stagnant zone extends its volume from a flat disc to a cone wedge, analogous to a fixed‐base frustum with increasing height. On the other hand, Agarwal et al 60 argued that the stagnant zone starts as a short wedge and gradually “fanning out”, converging eventually to a trapezoid‐like shape. Therefore, it is of interest to investigate the initial nonlinear regime of force‐displacement curve and its underlying development mechanism for the stagnant zone.…”

Section: Numerical Examplesmentioning

confidence: 99%

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Scalable three‐dimensional hybrid continuum‐discrete multiscale modeling of granular media

Liang

Zhao

et al. 2022

Numerical Meth Engineering

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This study presents a scalable three‐dimensional (3D) multiscale framework for continuum‐discrete modeling of granular materials. The proposed framework features rigorous coupling of a continuum‐based material point method (MPM) and a discrete approach discrete element method (DEM) to enable cross‐scale modeling of boundary value problems pertaining to granular media. It employs MPM to solve the governing equations of a macroscopic continuum domain for a boundary value problem that may undergo large deformation. The required loading‐path‐dependent constitutive responses at each material point of the MPM are provided by a DEM solution based on grain‐scale contact‐based discrete simulations that receive macroscopic information at the specific material point as boundary conditions. This hierarchical coupling enables direct dialogs between the macro and micro scales of granular media while fully harnessing the predictive advantages of both MPM and DEM at the two scales. An effective, scalable parallel scheme is further developed, based on the flat message passing interface (MPI) model, to address the computational cost of the proposed framework for 3D large‐scale simulations. We demonstrate that the proposed parallel scheme may offer up to 32X and 40X speedup in strong and weak scaling tests, respectively, significantly empowering the numerical performance and predictive capability of the proposed framework. The 3D parallelized multiscale framework is validated by an element test and a column collapse problem, before being applied to simulate the intrusion of a solid object. The multiscale simulation successfully captures the characteristic response of intrusion as postulated by the modified Archimedes' law theory. The progressive development of the stagnant zone during the intrusion is further examined from a cross‐scale perspective.

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Section: Intrusion Of Solid Objectsupporting

confidence: 93%

Section: Intrusion Of Solid Objectmentioning

confidence: 99%

Section: Numerical Examplesmentioning

confidence: 99%

Section: Numerical Examplesmentioning

confidence: 99%

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Scalable three‐dimensional hybrid continuum‐discrete multiscale modeling of granular media

Liang

Zhao

et al. 2022

Numerical Meth Engineering

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“…In recent years, it has been shown that plasticity-based PDE models can also obtain the form of 2D granular RFT (21). More recently, the performance of the continuum approach in modeling a variety of granular intrusions has been demonstrated for wheeled locomotion, impact and penetration, and multi-body intrusion (2,(22)(23)(24)(25). Additionally, the approach also provides insight into the somewhat surprising observation that granular RFT is often more accurate than its viscous fluid counterpart (12,13).…”

Section: Significance Statementmentioning

confidence: 99%

Mechanistic framework for reduced-order models in soft materials: Application to three-dimensional granular intrusion

Agarwal¹,

Goldman²,

Kamrin³

2022

Preprint

Self Cite

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Granular intrusion is common in a range of processes including ballistic impact and penetration problems, and locomotion of humans, animals, and vehicles in natural terrains. The computational cost of full-scale numerical modeling is high, whereas a capability to model such scenarios in real-time is critical in applications such as path planning and efficient maneuvering of vehicles in sandy terrains and extraterrestrial environments. Existing reduced-order methods that model intrusion have limited capabilities due to their shape-and media-specific forms. This work formulates a reduced-order modeling technique, 3-dimensional Resistive Force Theory (3D-RFT), capable of accurately and quickly predicting the resistive force on arbitrary-shaped bodies moving in grains. Aided by a continuum mechanical description of the granular bed, a comprehensive set of symmetry constraints, and a large amount of reference data, we develop a self-consistent and accurate form for 3D-RFT. We verify the model capabilities in a wide range of cases and show it can be quickly recalibrated to different media and intruder surface types.

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Toward Robotic Sensing and Swimming in Granular Environments using Underactuated Appendages

Chopra,

Vasile,

Jadhav

et al. 2023

Advanced Intelligent Systems

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Granular environments, such as sand, are one of the most challenging substrates for robots to move within due to large depth‐dependent forces, unpredictable fluid/solid resistance forces, and limited sensing capabilities. An untethered robot is presented, inspired by biological diggers like sea turtles, which utilize underactuated appendages to enable propulsion and obstacle sensing in granular environments. To guide the robot's design, experiments are conducted on test appendages to identify the morphological and actuation parameters for forward thrust generation. Obstacle sensing is observed in granular media by measuring the increased force on the moving appendage caused by changes in the granular flow around it. These results are integrated into an untethered robot capable of subsurface locomotion in a controlled granular bed like natural, loosely packed sand. The robot achieves subsurface “swimming” at a speed of 1.2 mm s−1, at a depth of 127 mm, faster than any other reported untethered robot at this depth, while also detecting obstacles during locomotion via force sensors embedded in the appendages. Finally, subsurface robot locomotion in natural sand at the beach is demonstrated, a feat no other robot has accomplished, showcasing how underactuated structures enable movement and sensing in granular environments with limited limb control.

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Efficacy of simple continuum models for diverse granular intrusions

Abstract: Granular intrusion is commonly observed in natural and human-made settings. Unlike typical solids and fluids, granular media can simultaneously display fluid-like and solid-like characteristics in a variety of intrusion scenarios....

Cited by 12 publications

References 71 publications

Scalable three‐dimensional hybrid continuum‐discrete multiscale modeling of granular media

Scalable three‐dimensional hybrid continuum‐discrete multiscale modeling of granular media

Mechanistic framework for reduced-order models in soft materials: Application to three-dimensional granular intrusion

Toward Robotic Sensing and Swimming in Granular Environments using Underactuated Appendages

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