Friction law and hysteresis in granular materials

Role of inertia in the starting and stopping mechanisms of granular flows

It is well known that a pile of grains starts and stops flowing at different angles of repose. It is also known that such starting and stopping angles exhibit thickness-dependent behavior, with deeper layers beginning to flow more readily and arresting at lower angles than shallower materials. These considerations have motivated various rheological assumptions in granular constitutive laws. This paper demonstrates that such observations can instead be partly attributed to inertial effects. In particular, we examine the roles of two control parameters characterizing conventional chute flow experiments: the rate of inclination of the chute, and the threshold surface velocity associated with identification of the flow. Both of these parameters control the system's momentum at different instances. We perform two-dimensional discrete element simulations and also develop a one-dimensional analytic model based on the standard μ(I) rheology. Results indeed indicate a difference between the starting and stopping angles as well as a thickness dependency, despite the absence of any hysteresis or material length scale in the underlying rheological model. Higher threshold velocities are shown to produce higher angles at which flow begins. In addition, the starting (stopping) angle increases (decreases) with the applied inclination rate. For thick enough granular layers, no matter how small the rate is, critical angles are shown to deviate from the quasistatic limit. Therefore, inertial effects should not a priori be neglected. To finalize our argument, we show the effect of the inclination rate and the threshold velocity in a laboratory setup, using small-scale experiments of an inclined chute.

Granular Temperature Controls Local Rheology of Vibrated Granular Flows

We use numerical simulations to demonstrate a local rheology for dense granular flows under shear and vibration. Granular temperature has been suggested as a rheological control but has been difficult to isolate. Here, we consider a granular assembly that is subjected to simple shear and harmonic vibration at the boundary, which provides a controlled source of granular temperature. We find that friction is reduced due to local velocity fluctuations of grains. All data obey a local rheology that relates the material friction coefficient, the granular temperature, and the dimensionless shear rate. We also observe that reduction in material friction due to granular temperature is associated with reduction in fabric anisotropy. We demonstrate that the temperature can be modeled by a heat equation with dissipation with appropriate boundary conditions, which provides complete closure of the system and allows a fully local continuum description of sheared, vibrated granular flows. This success suggests local rheology based on temperature combined with a diffusion equation for granular temperature may provide a general strategy to model dense granular flows.

Nonmonotonic Constitutive Curves and Shear Banding in Dry and Wet Granular Flows

We use particle simulations to map comprehensively the shear rheology of dry and wet granular matter comprising particles of finite stiffness, in both fixed pressure and fixed volume protocols. At fixed pressure we find nonmonotonic constitutive curves that are shear thinning, whereas at fixed volume we find nonmonotonic constitutive curves that are shear thickening. We show that the presence of one nonmonotonicity does not imply the other. Instead, there exists a signature in the volume fraction measured under fixed pressure that, when present, ensures nonmonotonic constitutive curves at fixed volume. In the context of dry granular flow we show that gradient and vorticity bands arise under fixed pressure and volume, respectively, as implied by the constitutive curves. For wet systems our results are consistent with a recent experimental observation of shear thinning at fixed pressure. We furthermore predict discontinuous shear thickening in the absence of critical load friction.

Identifying rheological regimes within pyroclastic density currents

Pyroclastic density currents (PDCs) are the most lethal of all volcanic hazards. An ongoing challenge is to accurately forecast their run-out distance such that effective mitigation strategies can be implemented. Central to this goal is an understanding of the flow mobility-a quantitative rheological model detailing how the high temperature gas-pyroclast mixtures propagate. This is currently unknown, yet critical to accurately forecast the run-out distance. Here, we use a laboratory apparatus to perform rheological measurements on real gas-pyroclast mixtures at dynamic conditions found in concentrated to intermediate pumice-rich PDCs. We find their rheology to be non-Newtonian featuring (i) a yield stress where deposition occurs; (ii) shear-thinning behavior that promotes channel formation and local increases in velocity and (iii) shear-thickening behavior that promotes decoupling and potential co-PDC plume formation. We provide a universal regime diagram delineating these behaviors and illustrating how flow can transition between them during transport.

Self-replicating segregation patterns in horizontally vibrated binary mixture of granules

Fluidized granular mixtures of various particle sizes exhibit intriguing patterns as different species segregate and condense. However, understanding the segregation dynamics is hindered by the inability to directly observe the time evolution of the internal structure. We discover self-replicating bands within a quasi-2D container subjected to horizontal agitation, resulting in steady surface waves. Through direct observation of surface flow and evolving internal structures, we reveal the crucial role of coupling among segregation, surface flow, and hysteresis in granular fluidity. We develop Bonhoeffer-van der Pol type equations grounded in experimental observations, reproducing complex band dynamics, such as replication, oscillation, and breathing. It suggests the similarity between pattern formation in granular segregation and that in reaction-diffusion systems.

Permanent shear localization in dense disordered materials due to microscopic inertia

In this work using computer simulations of 3D model of dense disordered solids we show, for the first time, the appearance of shear localization in the stationary flow under homogeneous driving conditions. To rationalize our simulation results we develop a continuum model, that couples the dynamics of the local flow to the evolution of a kinetic temperature field related to the local inertial dynamics. Our model predicts that the coupling of the flow field to this additional destabilizing field appears only as a necessary condition for shear localization, a minimum system size is necessary to accommodate the flow instability. Moreover we show that this size criterion resulting from our continuum description is in quantitative agreement with our particle-based simulation results.

Frictional Weakening of Vibrated Granular Flows

We computationally study the frictional properties of sheared granular media subjected to harmonic vibration applied at the boundary. Such vibrations are thought to play an important role in weakening flows, yet the independent effects of amplitude, frequency, and pressure on the process have remained unclear. Based on a dimensional analysis and DEM simulations, we show that, in addition to a previously proposed criterion for peak acceleration that leads to breaking of contacts, weakening requires the absolute amplitude squared of the displacement to be sufficiently large relative to the confining pressure. The analysis provides a basis for predicting flows subjected to arbitrary external vibration and demonstrates that a previously unrecognized second process that is dependent on dissipation contributes to shear weakening under vibrations.

Hysteresis and return point memory in the random-field Blume-Capel model

We study the zero-temperature steady-state of the random-field Blume-Capel model with spin-flip Glauber dynamics on a random regular graph. The magnetization m as a function of the external field H is observed to have double hysteresis loops with a return point memory. We also solve the model on a Bethe lattice in the approximation that the spin relaxation dynamics is abelian and find good agreement between simulations on random regular graphs and Bethe lattice calculations for negative values of H.

Flow reversal triggers discontinuous shear thickening response across an erodible granular bed in a Couette-Poiseuille-like flow

Granular rheology is experimentally investigated in a vertical Couette-Poiseuille-like channel flow of photoelastic disks, where an erodible bed is sheared intermittently by an upward-moving shear band and a gravity-induced reverse flow. The shear band conforms to the existing nonlocal Eyring-like rheology but the bed exhibits discontinuous shear thickening from the Bagnold inertial regime near the band-bed interface to the Herschel-Bulkley plastic regime near the static wall. This newly discovered bed rheology is rate dependent and is associated with the fragility of the contact networks indicated by the statistics of local stress states inferred from the material photoelastic responses.

Flow and arrest in stressed granular materials

Flowing granular materials often abruptly arrest if not driven by sufficient applied stresses. Such abrupt cessation of motion can be economically expensive in industrial materials handling and processing, and is significantly consequential in intermittent geophysical phenomena such as landslides and earthquakes. Using discrete element simulations, we calculate states of steady flow and arrest for granular materials under the conditions of constant applied pressure and shear stress, which are also most relevant in practice. Here the material can dilate or compact, and flow or arrest, in response to the applied stress. Our simulations highlight that under external stress, the intrinsic response of granular materials is characterized by uniquely-defined steady states of flow or arrest, which are highly sensitive to interparticle friction. While the flowing states can be equivalently characterized by volume fraction, coordination number or internal stress ratio, to characterize the states of shear arrest, one needs to also consider the structural anisotropy in the contact network. We highlight the role of dilation in the flow-arrest transition, and discuss our findings in the context of rheological transitions in granular materials.

Strain localization in planar shear of granular media: the role of porosity and boundary conditions

Shear strain localization into shear bands is associated with velocity weakening instabilities and earthquakes. Here, we simulate steady-state plane-shear flow of numerical granular material (gouge), confined between parallel surfaces. Both constant shear stress and constant strain-rate boundary conditions are tested, and the two types of boundary conditions are found to yield distinct velocity profiles and friction laws. The inertial number, I, exerts the largest control on the layers' behavior, but additional dependencies of friction on normal stress and thickness of the layer are observed under constant stress boundary condition. We find that shear-band localization, which is present in the quasistatic regime ([Formula: see text]) in rate-controlled shear, is absent under stress-controlled loading. In the latter case, flow ceases when macroscopic friction coefficient approaches the quasistatic friction value. The inertial regime that occurs at higher inertial numbers ([Formula: see text]) is associated with distributed shear, and friction and porosity that increase with shear rate (rate-strengthening regime). The finding that shear under constant stress boundary condition produces the inertial, distributed shear but never quasistatic, localized deformation is rationalized based on low fluctuations of shear forces in granular contacts for stress-controlled loading. By examining porosity within and outside a shear band, we also provide a mechanical reason why the transition between quasistatic and inertial shear coincides with the transition between localized and distributed strain.

Interplay between hysteresis and nonlocality during onset and arrest of flow in granular materials

The jamming transition in granular materials is well-known for exhibiting hysteresis, wherein the level of shear stress required to trigger flow is larger than that below which flow stops. Although such behavior is typically modeled as a simple non-monotonic flow rule, the rheology of granular materials is also nonlocal due to cooperativity at the grain scale, leading for instance to increased strengthening of the flow threshold as system size is reduced. We investigate how these two effects - hysteresis and nonlocality - couple with each other by incorporating non-monotonicity of the flow rule into the nonlocal granular fluidity (NGF) model, a nonlocal constitutive model for granular flows. By artificially tuning the strength of nonlocal diffusion, we demonstrate that both ingredients are key to explaining certain features of the hysteretic transition between flow and arrest. Finally, we assess the ability of the NGF model to quantitatively predict material behavior both around the transition and in the flowing regime, through stress-driven discrete element method (DEM) simulations of flow onset and arrest in various geometries. Along the way, we develop a new methodology to compare deterministic model predictions with the stochastic behavior exhibited by the DEM simulations around the jamming transition.

Nonlocal Effects Reflect the Jamming Criticality in Frictionless Granular Flows Down Inclines

The jamming transition is accompanied by a rich phenomenology such as hysteresis or nonlocal effects that is still not well understood. Here, we experimentally investigate a model frictionless granular layer flowing down an inclined plane as a way to disentangle generic collective effects from those arising from frictional interactions. We find that thin frictionless granular layers are devoid of hysteresis of the avalanche angle, yet the layer stability increases as it gets thinner. Steady rheological laws obtained for different layer thicknesses can be collapsed into a unique master curve, supporting the idea that nonlocal effects are the consequence of the usual finite-size effects associated with the presence of a critical point. This collapse indicates that the so-called isostatic length l^{*}, the scale on which pinning a boundary freezes all remaining floppy modes, governs the effect of boundaries on flow and rules out other propositions made in the past.

Signature of Transition between Granular Solid and Fluid: Rate-Dependent Stick Slips in Steady Shearing

Despite extensive studies on either smooth granular-fluid flow or the solidlike deformation at the slow limit, the change between these two extremes remains largely unexplored. By systematically investigating the fluctuations of tightly packed grains under steady shearing, we identify a transition zone with prominent stick-slip avalanches. We establish a state diagram, and propose a new dimensionless shear rate based on the speed dependence of interparticle friction and particle size. With fluid-immersed particles confined in a fixed volume and forced to "flow" at viscous numbers J decades below reported values, we answer how a granular system can transition to the regime sustained by solid-to-solid friction that goes beyond existing paradigms based on suspension rheology.

Viscosity of cohesive granular flows

Cohesive granular materials such as wet sand, snow, and powders can flow like a viscous liquid. However, the elementary mechanisms of momentum transport in such athermal particulate fluids are elusive. As a result, existing models for cohesive granular viscosity remain phenomenological and debated. Here we use discrete element simulations of plane shear flows to measure the viscosity of cohesive granular materials, while tuning the intensity of inter-particle adhesion. We establish that two adhesion-related, dimensionless numbers control their viscosity. These numbers compare the force and energy required to break a bond to the characteristic stress and kinetic energy in the flow. This progresses the commonly accepted view that only one dimensionless number could control the effect of adhesion. The resulting scaling law captures strong, non-Newtonian variations in viscosity, unifying several existing viscosity models. We then directly link these variations in viscosity to adhesion-induced modifications in the flow micro-structure and contact network. This analysis reveals the existence of two modes of momentum transport, involving either grain micro-acceleration or balanced contact forces, and shows that adhesion only affects the latter. This advances our understanding of rheological models for granular materials and other soft materials such as emulsions and suspensions, which may also involve inter-particle adhesive forces.

Integration through transients approach to the μ(I) rheology

This work generalizes the granular integration through transients formalism introduced by Kranz et al. [Phys. Rev. Lett. 121, 148002 (2018)10.1103/PhysRevLett.121.148002] to the determination of the pressure. We focus on the Bagnold regime and provide theoretical support to the empirical μ(I) rheology laws that have been successfully applied in many granular flow problems. In particular, we confirm that the interparticle friction is irrelevant in the regime where the μ(I) laws apply.

Shear jamming, discontinuous shear thickening, and fragile states in dry granular materials under oscillatory shear

We numerically study the linear response of two-dimensional frictional granular materials under oscillatory shear. The storage modulus G^{'} and the loss modulus G^{''} in the zero strain rate limit depend on the initial strain amplitude of the oscillatory shear before measurement. The shear jammed state (satisfying G^{'}>0) can be observed at an amplitude greater than a critical initial strain amplitude. The fragile state is defined by the emergence of liquid-like and solid-like states depending on the form of the initial shear. In this state, the observed G^{'} after the reduction of the strain amplitude depends on the phase of the external shear strain. The loss modulus G^{''} exhibits a discontinuous jump corresponding to discontinuous shear thickening in the fragile state.

Insights into the rheology of cohesive granular media

An uninterrupted flow of powders is the key to smooth production operations of many industries. However, powders have more difficulty flowing than coarse, granular media like sand because of the interparticle cohesive interactions. What precisely controls the “flowability” of powders remains unclear. Here, we address this issue by performing numerical simulations of the flow of cohesive grains. We show that the cohesiveness during flow is not only controlled by the interparticle adhesion, but also by the stiffness and inelasticity of the grains. For the same adhesion, stiffer and less dissipative grains yield a less cohesive flow, i.e., higher “flowability.” This combined effect can be embedded in a single dimensionless number—a result that enriches our understanding of powder rheology.

Characterization and prediction of the “flowability” of powders are of paramount importance in many industries. However, our understanding of the flow of powders like cement or flour is sparse compared to the flow of coarse, granular media like sand. The main difficulty arises because of the presence of adhesive forces between the grains, preventing smooth and continuous flows. Several tests are used in industrial contexts to probe and quantify the “flowability” of powders. However, they remain empirical and would benefit from a detailed study of the physics controlling flow dynamics. Here, we attempt to fill the gap by performing intensive discrete numerical simulations of cohesive grains flowing down an inclined plane. We show that, contrary to what is commonly perceived, the cohesive nature of the flow is not entirely controlled by the interparticle adhesion, but that stiffness and inelasticity of the grains also play a significant role. For the same adhesion, stiffer and less dissipative grains yield a less cohesive flow. This observation is rationalized by introducing the concept of a dynamic, “effective” adhesive force, a single parameter, which combines the effects of adhesion, elasticity, and dissipation. Based on this concept, a rheological description of the flow is proposed for the cohesive grains. Our results elucidate the physics controlling the flow of cohesive granular materials, which may help in designing new approaches to characterize the “flowability” of powders.

How collective asperity detachments nucleate slip at frictional interfaces

Sliding at a quasi-statically loaded frictional interface can occur via macroscopic slip events, which nucleate locally before propagating as rupture fronts very similar to fracture. We introduce a microscopic model of a frictional interface that includes asperity-level disorder, elastic interaction between local slip events, and inertia. For a perfectly flat and homogeneously loaded interface, we find that slip is nucleated by avalanches of asperity detachments of extension larger than a critical radius [Formula: see text] governed by a Griffith criterion. We find that after slip, the density of asperities at a local distance to yielding [Formula: see text] presents a pseudogap [Formula: see text], where θ is a nonuniversal exponent that depends on the statistics of the disorder. This result makes a link between friction and the plasticity of amorphous materials where a pseudogap is also present. For friction, we find that a consequence is that stick-slip is an extremely slowly decaying finite-size effect, while the slip nucleation radius [Formula: see text] diverges as a θ-dependent power law of the system size. We discuss how these predictions can be tested experimentally.

Criticality at a Finite Strain Rate in Fluidized Soft Glassy Materials

We study the emergence of critical dynamics in the steady shear rheology of fluidized soft glassy materials. Within a mesoscale elastoplastic model accounting for a shear band instability, we show how additional noise can induce a transition from a phase separated to homogeneous flow, accompanied by critical-like fluctuations of the macroscopic shear rate. Both macroscopic quantities and fluctuations exhibit power law behaviors in the vicinity of this transition, consistent with previous experimental findings on vibrated granular media. Altogether, our results suggest a generic scenario for the emergence of criticality when shear weakening mechanisms compete with a fluidizing noise.

Local Rheology Relation with Variable Yield Stress Ratio across Dry, Wet, Dense, and Dilute Granular Flows

Dry, wet, dense, and dilute granular flows have been previously considered fundamentally different and thus described by distinct, and in many cases incompatible, rheologies. We carry out extensive simulations of granular flows, including wet and dry conditions, various geometries and driving mechanisms (boundary driven, fluid driven, and gravity driven), many of which are not captured by standard rheology models. For all simulated conditions, except for fluid-driven and gravity-driven flows close to the flow threshold, we find that the Mohr-Coulomb friction coefficient μ scales with the square root of the local Péclet number Pe provided that the particle diameter exceeds the particle mean free path. With decreasing Pe and granular temperature gradient M, this general scaling breaks down, leading to a yield condition with a variable yield stress ratio characterized by M.

Friction weakening by mechanical vibrations: A velocity-controlled process

Frictional weakening by vibrations was first invoked in the 70s to explain unusual fault slips and earthquakes, low viscosity during the collapse of impact craters or the extraordinary mobility of sturzstroms, peculiar rock avalanches which travels large horizontal distances. This mechanism was further invoked to explain the remote triggering of earthquakes or the abnormally large runout of landslides or pyroclastic flows. Recent experimental and theoretical works pointed out that the key parameter which governs frictional weakening in sheared granular media is the characteristic velocity of the vibrations. Here we show that the mobility of the grains is not mandatory and that the vibration velocity governs the weakening of both granular and solid friction. The critical velocity leading to the transition from stick-slip motion to continuous sliding is in both cases of the same order of magnitude, namely a hundred microns per second. It is linked to the roughness of the surfaces in contact.

Ultrasonic tracking of a sinking ball in a vibrated dense granular suspension

Observing and understanding the motion of an intruder through opaque dense suspensions such as quicksand remains a practical and conceptual challenge. Here we use an ultrasonic probe to monitor the sinking dynamics of a steel ball in a dense glass bead packing (3D) saturated by water. We show that the frictional model developed for dry granular media can be used to describe the ball motion induced by horizontal vibration. From this rheology, we infer the static friction coefficient and effective viscosity that decrease when increasing the vibration intensity. Our main finding is that the vibration-induced reduction of the yield stress and increase of the sinking depth are presumably due to micro-slips induced at the grain contacts but without visible plastic deformation due to macroscopic rearrangements, in contrast to dry granular packings. To explain these results, we propose a mechanism of acoustic lubrication that reduces the inter-particle friction and leads to a decrease of the yield stress. This scenario is different from the mechanism of liquefaction usually invoked in loosely packed quicksands where the vibration-induced compaction increases the pore pressure and decreases the confining pressure on the solid skeleton, thus reducing the granular resistance to external load.

Induced and endogenous acoustic oscillations in granular faults

The frictional properties of disordered systems are affected by external perturbations. These perturbations usually weaken the system by reducing the macroscopic friction coefficient. This friction reduction is of particular interest in the case of disordered systems composed of granular particles confined between two plates, as this is a simple model of seismic fault. Indeed, in the geophysical context frictional weakening could explain the unexpected weakness of some faults, as well as earthquake remote triggering. In this manuscript, we review recent results concerning the response of confined granular systems to external perturbations, considering the different mechanisms by which the perturbation could weaken a system, the relevance of the frictional reduction to earthquakes, as well as discussing the intriguing scenario whereby the weakening is not monotonic in the perturbation frequency, so that a re-entrant transition is observed, as the system first enters a fluidized state and then returns to a frictional state.This article is part of the theme issue 'Statistical physics of fracture and earthquakes'.

Glassy dynamics of landscape evolution

Soil is apparently solid as it moves downhill at glacial speeds, but can also liquefy from rain or earthquakes. This behavior is actually similar to that of glass, which creeps very slowly at low temperatures but becomes a liquid at higher temperatures. We develop a discrete granular-physics hillslope model, which shows that the similarities between soil and glass are more than skin deep. Despite the geologic and climatic complexity of natural environments, the shapes and erosion rates of hillsides over geologic timescales appear to be governed by generic dynamics characteristic of disordered and amorphous materials.

Soil creeps imperceptibly downhill, but also fails catastrophically to create landslides. Despite the importance of these processes as hazards and in sculpting landscapes, there is no agreed-upon model that captures the full range of behavior. Here we examine the granular origins of hillslope soil transport by discrete element method simulations and reanalysis of measurements in natural landscapes. We find creep for slopes below a critical gradient, where average particle velocity (sediment flux) increases exponentially with friction coefficient (gradient). At critical gradient there is a continuous transition to a dense-granular flow rheology. Slow earthflows and landslides thus exhibit glassy dynamics characteristic of a wide range of disordered materials; they are described by a two-phase flux equation that emerges from grain-scale friction alone. This glassy model reproduces topographic profiles of natural hillslopes, showing its promise for predicting hillslope evolution over geologic timescales.

Shaken and stirred: Random organization reduces viscosity and dissipation in granular suspensions

The viscosity of suspensions of large (≥10 μm) particles diverges at high solid fractions due to proliferation of frictional particle contacts. Reducing friction, to allow or improve flowability, is usually achieved by tuning the composition, either by changing particle sizes and shapes or by adding lubricating molecules. We present numerical simulations that demonstrate a complementary approach whereby the viscosity divergence is shifted by driven flow tuning, using superimposed shear oscillations in various configurations to facilitate a primary flow. The oscillations drive the suspension toward an out-of-equilibrium, absorbing state phase transition, where frictional particle contacts that dominate the viscosity are reduced in a self-organizing manner. The method can allow otherwise jammed states to flow; even for unjammed states, it can substantially decrease the energy dissipated per unit strain. This creates a practicable route to flow enhancement across a broad range of suspensions where compositional tuning is undesirable or problematic.