Scaling and dynamics of sphere and disk impact into granular media

Drag force regime in dry and immersed granular media

The drag force acting on an intruder colliding with granular media is typically influenced by the impact velocity and the penetrating depth. In this paper, the investigation was extended to the dry and immersed scenarios through coupled simulations at different penetrating velocities. The drag force regime was clarified to exhibit velocity dependence in the initial contact stage, followed by the inertial transit stage with a F∼z^{2} (force-depth) relationship. Subsequently, it transitioned into the depth-dependent regime in both dry and immersed cases. The underlying rheological mechanism was explored, revealing that, in both dry and immersed scenarios, the granular bulk underwent a state relaxation process, as indicated by the granular inertial number. Additionally, the presence of the ambient fluid restricted the flow dynamics of the perturbed granular material, exhibiting a similar rheology as observed in the dry case.

Penetration of a spinning sphere impacting a granular medium

We investigate experimentally the influence of rotation on the penetration depth of a spherical projectile impacting a granular medium. We show that a rotational motion significantly increases the penetration depth achieved. Moreover, we model our experimental results by modifying the frictional term of the equation describing the penetration dynamics of an object in a granular medium. In particular, we find that the frictional drag decreases linearly with the velocity ratio between rotational (spin motion) and translational (falling motion) velocities. The good agreement between our model and our experimental measurements offers perspectives for estimating the depth that spinning projectiles reach after impacting onto a granular ground, such as happens with seeds dropped from aircraft or with landing probes.

High speed impact on granular media: breakdown of conventional inertial drag models

In this study, we extensively explore the impact process on granular media, particularly focusing on situations where the ratio of impact speed to acoustic speed is on the order of 0.01-1. This range significantly exceeds that considered in existing literature (0.0001-0.001). Our investigation involves a comprehensive comparison between our simulation data, obtained under high-speed conditions, and the established macroscopic drag models. In the high-speed regime, conventional drag force models prove inadequate, and the drag force cannot be separated into a depth-dependent static pressure and a depth-independent inertial drag, as suggested in previous literature. A detailed examination of the impact process in the high-speed limit is also presented, involving the spatio-temporal evolution of the force chain network, displacement field, and velocity field at the particle length scale. Unlike prior works demonstrating the exponential decay of pulses, we provide direct evidence of acoustic pulses propagating over long distances, reflecting from boundaries, and interfering with the original pulses. These acoustic pulses, in turn, induce large scale reorganization of the force chain network, and the granular medium continuously traverses different jammed states to support the impact load. Reorientation of the force chains leads to plastic dissipation and the eventual dissipation of the impact energy. Furthermore, we study the scaling of the early stage peak forces with the impact velocity and find that spatial dimensionality strongly influences the scaling.

Impact craters formed by spinning granular projectiles

Craters formed by the impact of agglomerated materials are commonly observed in nature, such as asteroids colliding with planets and moons. In this paper, we investigate how the projectile spin and cohesion lead to different crater shapes. For that, we carried out discrete element method computations of spinning granular projectiles impacting onto cohesionless grains for different bonding stresses, initial spins, and initial heights. We found that, as the bonding stresses decrease and the initial spin increases, the projectile's grains spread farther from the collision point, and in consequence, the crater shape becomes flatter, with peaks around the rim and in the center of the crater. Our results shed light on the dispersion of the projectile's material and the different shapes of craters found on Earth and other planetary environments.

Imperfect bodies sink imperfectly when settling in granular matter

From Mars rovers to buildings, objects eventually sink and tilt into a fluidized granular bed due to gravity. Despite the irregular shape of realistic granular intruders, most research focus on the settling of "perfect" objects like spheres and cylinders. Here, we systematically explore the penetration of "imperfect" solids-from stones to bodies with carefully controlled asymmetries-into granular beds. A cylinder with two halves of different roughnesses rotates toward the granular region next to the smoother surface and deviates from the vertical direction. We demonstrate that even small irregularities in the surface of an object may produce substantial changes in the penetration process. Using computer simulations, we show that defects concentrate granular force chains, thus producing decisive forces on the intruder. Furthermore, we demonstrate that tilting and migration of sinking bodies can be correctly predicted by a simple mechanical model based on a unified force law.

Roles of packing fraction, microscopic friction, and projectile spin in cratering by impact

From small seeds falling from trees to asteroids colliding with planets and moons, the impact of projectiles onto granular targets occurs in nature at different scales. In this paper, we investigate open questions in the mechanics of granular cratering, in particular, the forces acting on the projectile and the roles of granular packing, grain-grain friction, and projectile spin. For that, we carried out discrete element method computations of the impact of solid projectiles on a cohesionless granular medium, where we varied the projectile and grain properties (diameter, density, friction, and packing fraction) for different available energies (within relatively small values). We found that a denser region forms below the projectile, pushing it back and causing its rebound by the end of its motion, and that solid friction affects considerably the crater morphology. Besides, we show that the penetration length increases with the initial spin of the projectile, and that differences in initial packing fractions can engender the diversity of scaling laws found in the literature. Finally, we propose an ad hoc scaling that collapsed our data for the penetration length and can perhaps unify existing correlations. Our results provide new insights into the formation of craters in granular matter.

Penetrating a granular medium by successive impacts

We consider the penetration dynamics of a vertical cylinder into a dry granular medium subjected to successive impacts. The depth of the impactor below the free surface z_{N} first evolves linearly with the impact number N and then follows a power-law evolution z_{N}∝N^{1/3}. The depth reached by the cylinder after a given number of impacts is observed to increase with the impact energy, but to decrease with its diameter and the density of the granular medium. We develop a model that accounts for the quasistatic and inertial granular forces applying on the cylinder to rationalize our observations. This approach reveals the existence of two intrusion regimes for large and small impact numbers, allowing all data to be rescaled on a master curve. Then, we extend the study to the effect of sidewalls on the dynamics of the impactor. We show that lateral confinement changes the dependence of the impactor depth on the impact number z_{N}(N). This effect is accounted for by considering the increase of the granular drag with the lateral confinement.

Unified penetration depth of low-velocity intruders into granular packings

Penetration of intruders into granular packings is well described by separately considering the dry or wet case of granular environments in previous experiments and simulations; however, the unified description of such penetration depth in these two granular media remains elusive due to lacking clear explanations about its origins. Based on three-dimensional discrete element method simulations, we introduce a power-law fitting form of the final penetration depth of a spherical intruder with low velocity vertically penetrating into dry and wet granular packings, excellently expressed on a master curve as a power-law function of a dimensionless impact number that is defined as the square root of the ratio between the inertial stress of the intruder and the linear combination of the mean gravitational stress and the cohesive stress exerted on each grain in the packings, as a remarkable extension of the inertial number in dry granular flows. This scaling robustly provides physical insights inherent in the unified description of the material properties of granular packings and the impactor penetration conditions on the final penetration depth in the impact tests, providing evidence of impact properties in different disciplines and applications in science and engineering.

Sink versus tilt penetration into shaken dry granular matter: The role of the foundation

We study the behavior of cylindrical objects as they sink into a dry granular bed fluidized due to lateral oscillations. Somewhat unexpectedly, we have found that, within a large range of lateral shaking powers, cylinders with flat bottoms sink vertically, while those with a "foundation" consisting of a shallow ring attached to their bottom, tilt besides sinking. The latter scenario seems to dominate independently from the nature of the foundation when strong enough lateral vibrations are applied. We are able to explain the observed behavior by quasi-2D numerical simulations, which also demonstrate the influence of the intruder's aspect ratio. The vertical sink dynamics is explained with the help of a Newtonian equation of motion for the intruder. Our findings may shed light on the behavior of buildings and other manmade structures during earthquakes.

Design and Research Sowing Devices for Aerial Sowing of Forest Seeds with UAVs

Modern unmanned aerial vehicles (UAV) can be effectively used for aerial sowing of forests. A feature of aerial sowing is the possibility of rapid reforestation at low costs, which is extremely important in the current environmental situation. The purpose of this study is to develop a set of sowing devices intended for use with UAVs. For this, the metering devices and seed distribution devices were analyzed, used on the UAV or having prospects for such use. The existing studies of metering devices, implemented by numerical methods, are analyzed. Further, the synthesis of eight different designs of sowing devices in the 3D CAD was carried out and their comparative assessment was completed in terms of mass and a set of technological parameters. Based on its results, a sowing device was selected that is most suitable for a specific given technology. Discrete Element Method (DEM) was used to simulate the workflow: imitation of loading of the sowing device, study of work in various modes, study of the process of impact interaction of seeds with the soil environment. The complex of developed sowing devices can provide sowing of almost any type of forest seeds within the framework of various technologies and soil climatic conditions.

Effect of two parallel intruders on total work during granular penetrations

The intrusion of single passive intruders into granular particles has been studied in detail. However, the intrusion force produced by multiple intruders separated at a distance from one another, and hence the effect of their presence in close proximity to one another, is less explored. Here, we used numerical simulations and laboratory experiments to study the force response of two parallel rods intruding vertically into granular media while varying the gap spacing between them. We also explored the effect of variations in friction, intruder size, and particle size on the force response. The total work (W) of the two rods over the depth of intrusion was measured, and the instantaneous velocities of particles over the duration of intrusion were calculated by simulations. We found that the total work done by the intruders changes with distance between them. We observed a peak in W at a gap spacing of ∼3 particle diameters, which was up to 25% greater than W at large separation (>11 particle diameters), beyond which the total work plateaued. This peak was likely due to reduced particle flow between intruders as we found a larger number of strong forces-identified as force chains-in the particle domain at gaps surrounding the peak force. Although higher friction caused greater force generation during intrusion, the gap spacing between the intruders at which the peak total work was generated remained unchanged. Larger intruder sizes resulted in greater total work with the peak in W occurring at slightly larger intruder separations. Taken together, our results show that peak total work done by two parallel intruders remained within a narrow range, remaining robust to most other tested parameters.

How head shape and substrate particle size affect fossorial locomotion in lizards

Granular substrates ranging from silt to gravel cover much of the Earth's land area, providing an important habitat for fossorial animals. Many of these animals use their heads to penetrate the substrate. Although there is considerable variation in head shape, how head shape affects fossorial locomotor performance in different granular substrates is poorly understood. Here, head shape variation for 152 species of fossorial lizards was quantified for head diameter, slope and pointiness of the snout. The force needed to penetrate different substrates was measured using 28 physical models spanning this evolved variation. Ten substrates were considered, ranging in particle size from 0.025 to 4 mm in diameter and consisting of spherical or angular particles. Head shape evolved in a weakly correlated manner, with snouts that were gently sloped being blunter. There were also significant clade differences in head shape among fossorial lizards. Experiments with physical models showed that as head diameter increased, absolute penetration force increased but force normalized by cross-sectional area decreased. Penetration force decreased for snouts that tapered more gradually and were pointier. Larger and angular particles required higher penetration forces, although intermediate size spherical particles, consistent with coarse sand, required the lowest force. Particle size and head diameter effect were largest, indicating that fossorial burrowers should evolve narrow heads and bodies, and select relatively fine particles. However, variation in evolved head shapes and recorded penetration forces suggests that kinematics of fossorial movement are likely an important factor in explaining evolved diversity.

Intrusion into Granular Media Beyond the Quasistatic Regime

The drag force exerted on an object intruding into granular media is typically assumed to arise from additive velocity and depth dependent contributions. We test this with intrusion experiments and molecular dynamics simulations at constant speed over four orders of magnitude, well beyond the quasistatic regime. For a vertical cylindrical rod we find velocity dependence only right after impact, followed by a crossover to a common, purely depth-dependent behavior for all intrusion speeds. The crossover is set by the timescale for material, forced to well up at impact, to subsequently settle under gravity. These results challenge current models of granular drag.

Ricochets on Asteroids: Experimental study of low velocity grazing impacts into granular media

Spin off events and impacts can eject boulders from an asteroid surface and rubble pile asteroids can accumulate from debris following a collision between large asteroids. These processes produce a population of gravitational bound objects in orbit that can impact an asteroid surface at low velocity and with a distribution of impact angles. We present laboratory experiments of low velocity spherical projectiles into a fine granular medium, sand. We delineate velocity and impact angles giving ricochets, those giving projectiles that roll-out from the impact crater and those that stop within their impact crater. With high speed camera images and fluorescent markers on the projectiles we track spin and projectile trajectories during impact. We find that the projectile only reaches a rolling without slipping condition well after the marble has reached peak penetration depth. The required friction coefficient during the penetration phase of impact is 4-5 times lower than that of the sand suggesting that the sand is fluidized near the projectile surface during penetration. We find that the critical grazing impact critical angle dividing ricochets from roll-outs, increases with increasing impact velocity. The critical angles for ricochet and for roll-out as a function of velocity can be matched by an empirical model during the rebound phase that balances a lift force against gravity. We estimate constraints on projectile radius, velocity and impact angle that would allow projectiles on asteroids to ricochet or roll away from impact, finally coming to rest distant from their initial impact sites.

Locomotion and palaeoclimate explain the re-evolution of quadrupedal body form in Brachymeles lizards

Evolutionary reversals, including re-evolution of lost structures, are commonly found in phylogenetic studies. However, we lack an understanding of how these reversals happen mechanistically. A snake-like body form has evolved many times in vertebrates, and occasionally a quadrupedal form has re-evolved, including in Brachymeles lizards. We use body form and locomotion data for species ranging from snake-like to quadrupedal to address how a quadrupedal form could re-evolve. We show that large, quadrupedal species are faster at burying and surface locomotion than snake-like species, indicating a lack of expected performance trade-off between these modes of locomotion. Species with limbs use them while burying, suggesting that limbs are useful for burying in wet, packed substrates. Palaeoclimatological data suggest that Brachymeles originally evolved a snake-like form under a drier climate probably with looser soil in which it was easier to dig. The quadrupedal clade evolved as the climate became humid, where limbs and large size facilitated fossorial locomotion in packed soils.

Rolling away from the Wall into Granular Matter

The sedimentation of solid objects into granular matter near boundaries is an almost virgin field of research. Here we describe in detail the penetration dynamics of a cylindrical object into a quasi-2D granular medium. By tracking the trajectory of the cylinder as it penetrates the granular bed, we characterize two distinct kinds of motion: its center of mass moves horizontally away from the lateral wall, and it rotates around its symmetry axis. While the repulsion is caused by the loading of force chains between the intruder and the wall, the rotation can be associated to the frictional forces between the grains and the intruder. Finally, we show the analogies between the sedimentation of twin intruders released far from any boundaries, and that of one intruder released near a vertical wall.

Power-Law Scaling of Early-Stage Forces during Granular Impact

We experimentally and computationally study the early-stage forces during intruder impacts with granular beds in the regime where the impact velocity approaches the granular force propagation speed. Experiments use 2D assemblies of photoelastic disks of varying stiffness, and complimentary discrete-element simulations are performed in 2D and 3D. The peak force during the initial stages of impact and the time at which it occurs depend only on the impact speed, the intruder diameter, the stiffness of the grains, and the mass density of the grains according to power-law scaling forms that are not consistent with Poncelet models, granular shock theory, or added-mass models. The insensitivity of our results to many system details suggests that they may also apply to impacts into similar materials like foams and emulsions.

A novel experimental setup for an oblique impact onto an inclined granular layer

We develop an original apparatus of the granular impact experiment by which the incident angle of the solid projectile and the inclination angle of the target granular layer can be systematically varied. Whereas most of the natural cratering events occur on inclined surfaces with various incident angles, there have not been any experiments on oblique impacts on an inclined target surface. To perform systematic impact experiments, a novel experimental apparatus has to be developed. Therefore, we build an apparatus for impact experiments where both the incident angle and the inclination angle can be independently varied. The projectile-injection unit accelerates a plastic ball (6 mm in diameter) up to v_i ≃ 100 m s^-1 impact velocity. The barrel of the injection unit is made with a three-dimensional printer. The impact dynamics is captured by using high-speed cameras to directly measure the impact velocity and incident angle. The rebound dynamics of the projectile (restitution coefficient and rebound angle) is also measured. The final crater shapes are measured using a line-laser profiler mounted on the electric stages. By scanning the surface using this system, a three-dimensional crater shape (height map) can be constructed. From the measured result, we can define and measure the characteristic quantities of the crater. The analyzed result on the restitution dynamics is presented as an example of systematic experiments using the developed system.

Scattering of shock wave by impurities in a viscoelastic granular chain

The transmission and the reflection of a shock wave by one or several impurities in viscoelastic bead chains is studied in the present paper. There is only one reflected wave for a single impurity. The amplitude of the beads oscillation increases as the initial velocity of the boundaries beads increases, while it decreases as the viscosity coefficient increases. Two reflected waves will be produced if the impurity number is larger than a critical value. This critical value depends on both the initial velocity and the viscosity coefficient. In addition, the maximum amplitude of reflected wave is a constant, when the viscosity coefficient is large enough.

Cratering response during droplet impacts on granular beds

This experimental work focuses on the cratering response of granular layers induced by liquid droplet impacts. A droplet impact results in severe granular layer deformation, crater formation and deposits in the vicinity of the impact center. High-precision three-dimensional imaging of the granular layer surface revealed important characteristics of liquid impacts on granular matter, such as singular asymmetric deformations of the layer. Our analysis also demonstrated that the impact energy and the granular packing, and its inherent compressibility, are not the unique parameters controlling the bed response, for which granular fraction heterogeneities may induce strong variations. Such heterogeneous conditions primarily influence the magnitude but not the dynamics of liquid impacts on granular layers. Finally, a general equation can be used to relate the enery released during cratering to both the impact energy and the compressibility of the granular matter. However, our results do not support any transition triggered by the compaction-dilation regime. Hence, higly detailed numerical simulations could provide considerable insights regarding the remaining questions related to heterogeneous packing conditions and its influence over the bulk compressibility and the compaction-dilation phase transition.

Support of modified Archimedes' law theory in granular media

We study the resistance force of cylindrical objects penetrating quasi-statically into granular media experimentally and numerically. Simulations are validated against experiments. In contrast to previous studies, we find in both experiments and simulations that the force-depth relation consists of three regimes, rather than just two: transient and steady-state. The three regimes are driven by different dynamics: an initial matter compression, a developing stagnant zone, and an increase in steady-state force with a fully developed stagnant zone. By simulations, we explored the effects of a wide range of parameters on the penetration dynamics. We find that the initial packing fraction, the inter-granular sliding friction coefficient, and the grain shape (aspect ratio) have a significant effect on the gradient Kφ of the force-depth relation in the steady-state regime, while the rolling friction coefficient noticeably affects only the initial compression regime. Conversely, Kφ is not sensitive to the following grain properties: size, size distribution, shear modulus, density, and coefficient of restitution. From the stress fields observed in the simulations, we determine the internal friction angles φ, using the Mohr-Coulomb yield criterion, and use these results to test the recently-proposed modified Archimedes' law theory. We find excellent agreement, with the results of all the simulations falling very close to the predicted curve of φ vs. Kφ. We also examine the extreme case of frictionless spheres and find that, although no stagnant zone develops during penetration into such media, the value of their internal friction angle, φ = 9° ± 1°, also falls squarely on the theoretical curve. Finally, we use the modified Archimedes' law theory and an expression for the time-dependent growth of the stagnant zone to propose an explicit constitutive relation that fits excellently the force-depth curve throughout the entire penetration process.

Millimetric granular craters from pulsed laser ablation

This Rapid Communication reports on an experimental study of granular craters formed by a mechanism, namely, optical energy, via a pulsed laser focused onto the surface of a granular bed. This represents an insight into granular cratering for two reasons; first, there is no physical contact between the initiation mechanism and the granular media (as typical for impact or explosion craters). Second, the resulting craters are millimetric in scale, which facilitates a test of energy scalings down to a previously unobserved lengthscale. Indeed, we observe a range of energy scalings conforming to D_{c}∼E^{β} with β≈0.31-0.43 depending on the characteristics of the granular media.

Shock wave due to the short-period impact in one-dimensional plasticity bead chain

The waves in a one-dimensional (1-D) bead chain produced by a constant velocity impact in a short period are studied numerically in the present paper. It seems that in some cases, the waves look like a shock wave, while in other cases they may be composed of several solitary waves or some oscillations. These characteristics depend on both the bead parameters and the impact parameters, such as the plasticity of the bead material, the piston velocity and the impact duration. It is found that the shock structure appears if the duration of the impact is longer, while it will evolve into several solitary waves if the duration of the impact is small enough. This indicates that the bead velocity attenuates with power function. The strength of the attenuation depends on the plasticity, the piston velocity and the bead radius.

Collision-based understanding of the force law in granular impact dynamics

We study the stopping force felt by an intruder impacting onto a granular medium. Variations in the shape of the intruder can influence the penetration depth by changing the inertial drag. We find this observed correlation can be explained by associating the velocity-dependent inertial drag to the energy dissipation that occurs through intermittent collisions of force-chain-like clusters, the mean behavior of which can be statistically described. In consequence, the stopping force can be captured through a proposed collisional model with good accuracy, and the observed impact dynamics data can be reproduced quantitatively.

Viscous dynamics of drops and bubbles in Hele-Shaw cells: Drainage, drag friction, coalescence, and bursting

In this review article, we discuss recent studies on drops and bubbles in Hele-Shaw cells, focusing on how scaling laws exhibit crossovers from the three-dimensional counterparts and focusing on topics in which viscosity plays an important role. By virtue of progresses in analytical theory and high-speed imaging, dynamics of drops and bubbles have actively been studied with the aid of scaling arguments. However, compared with three-dimensional problems, studies on the corresponding problems in Hele-Shaw cells are still limited. This review demonstrates that the effect of confinement in the Hele-Shaw cell introduces new physics allowing different scaling regimes to appear. For this purpose, we discuss various examples that are potentially important for industrial applications handling drops and bubbles in confined spaces by showing agreement between experiments and scaling theories. As a result, this review provides a collection of problems in hydrodynamics that may be analytically solved or that may be worth studying numerically in the near future.

Archimedes' law explains penetration of solids into granular media

Understanding the response of granular matter to intrusion of solid objects is key to modelling many aspects of behaviour of granular matter, including plastic flow. Here we report a general model for such a quasistatic process. Using a range of experiments, we first show that the relation between the penetration depth and the force resisting it, transiently nonlinear and then linear, is scalable to a universal form. We show that the gradient of the steady-state part, K ϕ , depends only on the medium's internal friction angle, ϕ, and that it is nonlinear in μ = tan ϕ, in contrast to an existing conjecture. We further show that the intrusion of any convex solid shape satisfies a modified Archimedes' law and use this to: relate the zero-depth intercept of the linear part to K ϕ and the intruder's cross-section; explain the curve's nonlinear part in terms of the stagnant zone's development.

Friction force regimes and the conditions for endless penetration of an intruder into a granular medium

An intruder penetrating into a granular column experiences a depth-dependent friction force F(z). Different regimes of F(z) have been measured depending on the experimental design: a nearly linear dependence for shallow penetrations, total saturation at large depths, and an exponential increase when the intruder approaches the bottom of the granular bed. We report here an experiment that allows us to measure the different regimes in a single run during the quasistatic descent of a sphere in a light granular medium. From the analysis of the resistance in the saturation zone, it was found that F(z) follows a cube-power-law dependence on the intruder diameter and an exponential increase with the packing fraction of the bed. Moreover, we determine the critical mass m_{c} required to observe infinite penetration and its dependence on the above parameters. Finally, we use our results to estimate the final penetration depth reached by intruders of masses m<m_{c}. The results indicate that an intruder of any density (larger than the density of the granular bed) can sink indefinitely into the granular medium if the bed packing fraction is smaller than a critical value.

Granular response to impact: Topology of the force networks

The impact of an intruder on granular matter leads to the formation of mesoscopic force networks, which were seen particularly clearly in the recent experiments carried out with photoelastic particles [Clark et al., Phys. Rev. Lett. 114, 144502 (2015)PRLTAO0031-900710.1103/PhysRevLett.114.144502]. These force networks are characterized by complex structure and evolve on fast time scales. While it is known that total photoelastic activity in the granular system is correlated with the acceleration of the intruder, it is not known how the structure of the force network evolves during impact, and if there are dominant features in the networks that can be used to describe the intruder's dynamics. Here, we use topological tools, in particular persistent homology, to describe these features. Persistent homology allows quantification of both structure and time evolution of the resulting force networks. We find that there is a clear correlation of the intruder's dynamics and some of the topological measures implemented. This finding allows us to discuss which properties of the force networks are most important when attempting to describe the intruder's dynamics. In particular, we find that the presence of loops in the force network, quantified by persistent homology, is strongly correlated to the deceleration of the intruder. In some cases, particularly for the impact on soft particles, the measures derived from the persistence analysis describe the deceleration of the intruder even better than the total photoelastic activity. We are also able to define an upper bound on the relevant time scale over which the force networks evolve.

It's just sand between the toes: how particle size and shape variation affect running performance and kinematics in a generalist lizard

Animals must cope with and be able to move effectively on a variety of substrates. Substrates composed of granular media, such as sand and gravel, are extremely common in nature, and vary tremendously in particle size and shape. Despite many studies of the properties of granular media and comparisons of locomotion between granular and solid substrates, the effects of systematically manipulating these media on locomotion is poorly understood. We studied granular media ranging over four orders of magnitude in particle size, and differing in the amount of particle shape variation, to determine how these factors affected substrate physical properties and sprinting in the generalist lizard Eremias arguta. We found that media with intermediate particle sizes had high bulk densities, low angles of stability and low load-bearing capacities. Rock substrates with high shape variation had higher values for all three properties than glass bead substrates with low shape variation. We found that E. arguta had the highest maximum velocities and accelerations on intermediate size particles, and higher velocities on rock than glass beads. Lizards had higher stride frequencies and lower duty factors on intermediate particle size substrates, but their stride lengths did not change with substrate. Our findings suggest that sand and gravel may represent different locomotor challenges for animals. Sand substrates provide animals with an even surface for running, but particles shift underfoot. In contrast, gravel particles are heavy, so move far less underfoot, yet provide the animal with an uneven substrate.

Asteroid surface impact sampling: dependence of the cavity morphology and collected mass on projectile shape

In-situ exploration and remote thermal infrared observation revealed that a large fraction of Solar System small bodies should be covered with granular regolith. The complex and varied geology of the regolith layer may preserve the historical records of the surface modification and topographic evolution experienced by asteroids, especially cratering processes, in which the projectile shape plays a crucial role. Regarding the impact sampling scheme, the projectile-shape dependence of both the cavity morphology and the collected mass remains to be explored. This paper studies the process of the low-speed impact sampling on granular regolith using projectiles of different shapes. The results demonstrate that the projectile shape significantly influences the excavation stage, forming cavities with different morphologies, i.e., cone-shaped, bowl-shaped and U-shaped. We further indicate that the different velocity distributions of the ejecta curtains due to the various projectile shapes result in various amounts of collected mass in sampler canister, regarding which the 60° conical projectile exhibits preferable performance for impact sampling scheme. The results presented in this article are expected to reveal the dependence of the excavation process on projectile shape under micro gravity and provide further information on the optimal designs of impact sampling devices for future sample-return space missions.

Note: Planetary gravities made simple: Sample test of a Mars rover wheel

We introduce an instrument for a wide spectrum of experiments on gravities other than our planet's. It is based on a large Atwood machine where one of the loads is a bucket equipped with a single board computer and different sensors. The computer is able to detect the falling (or rising) and then the stabilization of the effective gravity and to trigger actuators depending on the experiment. Gravities within the range 0.4 g-1.2 g are easily achieved with acceleration noise of the order of 0.01 g. Under Martian gravity, we are able to perform experiments of approximately 1.5 s duration. The system includes features such as WiFi and a web interface with tools for the setup, monitoring, and data analysis of the experiment. We briefly show a case study in testing the performance of a model Mars rover wheel in low gravities.

Collisional model of energy dissipation in three-dimensional granular impact

We study the dynamic process occurring when a granular assembly is displaced by a solid impactor. The momentum transfer from the impactor to the target is shown to occur through sporadic, normal collisions of high force carrying grains at the intruder surface. We therefore describe the stopping force of the impact through a collisional-based model. To verify the model in impact experiments, we determine the forces acting on an intruder decelerating through a dense granular medium by using high-speed imaging of its trajectory. By varying the intruder shape and granular target, intruder-grain interactions are inferred from the consequent path. As a result, we connect the drag to the effect of intruder shape and grain density based on a proposed collisional model.

On the Horizontal Deviation of a Spinning Projectile Penetrating into Granular Systems

The absence of a general theory that describes the dynamical behavior of the particulate materials makes the numerical simulations the most current powerful tool that can grasp many mechanical problems relevant to the granular materials. In this paper, based on a two-dimensional soft particle discrete element method (DEM), a numerical approach is developed to investigate the consequence of the orthogonal impact into various granular beds of projectile rotating in both clockwise (CW) and counterclockwise (CCW) directions. Our results reveal that, depending on the rotation direction, there is a significant deviation of the x-coordinate of the final stopping point of a spinning projectile from that of its original impact point. For CW rotations, a deviation to the right occurs while a left deviation has been recorded for CCW rotation case.

Penetration in bimodal, polydisperse granular material

We investigate the impact penetration of spheres into granular media which are compositions of two discrete size ranges, thus creating a polydisperse bimodal material. We examine the penetration depth as a function of the composition (volume fractions of the respective sizes) and impact speed. Penetration depths were found to vary between δ=0.5D_{0} and δ=7D_{0}, which, for mono-modal media only, could be correlated in terms of the total drop height, H=h+δ, as in previous studies, by incorporating correction factors for the packing fraction. Bimodal data can only be collapsed by deriving a critical packing fraction for each mass fraction. The data for the mixed grains exhibit a surprising lubricating effect, which was most significant when the finest grains [d_{s}∼O(30) μm] were added to the larger particles [d_{l}∼O(200-500) μm], with a size ratio, ε=d_{l}/d_{s}, larger than 3 and mass fractions over 25%, despite the increased packing fraction. We postulate that the small grains get between the large grains and reduce their intergrain friction, only when their mass fraction is sufficiently large to prevent them from simply rattling in the voids between the large particles. This is supported by our experimental observations of the largest lubrication effect produced by adding small glass beads to a bed of large sand particles with rough surfaces.

A novel facility for reduced-gravity testing: A setup for studying low-velocity collisions into granular surfaces

This work presents an experimental design for studying low-velocity collisions into granular surfaces in low-gravity. In the experiment apparatus, reduced-gravity is simulated by releasing a free-falling projectile into a surface container with a downward acceleration less than that of Earth's gravity. The acceleration of the surface is controlled through the use of an Atwood machine, or a system of pulleys and counterweights. The starting height of the surface container and the initial separation distance between the projectile and surface are variable and chosen to accommodate collision velocities up to 20 cm/s and effective accelerations of ∼0.1 to 1.0 m/s(2). Accelerometers, placed on the surface container and inside the projectile, provide acceleration data, while high-speed cameras capture the collision and act as secondary data sources. The experiment is built into an existing 5.5 m drop tower frame and requires the custom design of all components, including the projectile, surface sample container, release mechanism, and deceleration system. Data from calibration tests verify the efficiency of the experiment's deceleration system and provide a quantitative understanding of the performance of the Atwood system.

Steady flow dynamics during granular impact

We study experimentally and computationally the dynamics of granular flow during impacts where intruders strike a collection of disks from above. In the regime where granular force dynamics are much more rapid than the intruder motion, we find that the particle flow near the intruder is proportional to the instantaneous intruder speed; it is essentially constant when normalized by that speed. The granular flow is nearly divergence free and remains in balance with the intruder, despite the latter's rapid deceleration. Simulations indicate that this observation is insensitive to grain properties, which can be explained by the separation of time scales between intergrain force dynamics and intruder dynamics. Assuming there is a comparable separation of time scales, we expect that our results are applicable to a broad class of dynamic or transient granular flows. Our results suggest that descriptions of static-in-time granular flows might be extended or modified to describe these dynamic flows. Additionally, we find that accurate grain-grain interactions are not necessary to correctly capture the granular flow in this regime.

Nonlinear force propagation during granular impact

We experimentally study nonlinear force propagation into granular material during impact from an intruder, and we explain our observations in terms of the nonlinear grain-scale force relation. Using high-speed video and photoelastic particles, we determine the speed and spatial structure of the force response just after impact. We show that these quantities depend on a dimensionless parameter, M^{'}=t_{c}v_{0}/d, where v_{0} is the intruder speed at impact, d is the particle diameter, and t_{c} is the collision time for a pair of grains impacting at relative speed v_{0}. The experiments access a large range of M^{'} by using particles of three different materials. When M^{'}≪1, force propagation is chainlike with a speed, v_{f}, satisfying v_{f}∝d/t_{c}. For larger M^{'}, the force response becomes spatially dense and the force propagation speed departs from v_{f}∝d/t_{c}, corresponding to collective stiffening of a strongly compressed packing of grains.

Forces encountered by a sphere during impact into sand

We describe direct measurements of the acceleration of an object impacting on a loosely packed granular bed under various pressures, using an instrumented sphere. The sphere acts as a noninvasive probe that measures and continuously transmits the acceleration as it penetrates into the sand, using a radio signal. The time-resolved acceleration of the sphere reveals the detailed dynamics during the impact that cannot be resolved from the position information alone. Because of the unobstructed penetration, we see a downward acceleration of the sphere at the moment the air cavity collapses. The compressibility of the sand bed is observed through the oscillatory behavior of the acceleration curve for various ambient pressures; it shows the influence of interstitial air on the compaction of the sand as a function of time.

Drag-force regimes in granular impact

We study the penetration dynamics of a projectile incident normally on a substrate comprising of smaller granular particles in three-dimensions using the discrete element method. Scaling of the penetration depth is consistent with experimental observations for small velocity impacts. Our studies are consistent with the observation that the normal or drag force experienced by the penetrating grain obeys the generalized Poncelet law, which has been extensively invoked in understanding the drag force in the recent experimental data. We find that the normal force experienced by the projectile consists of position and kinetic-energy-dependent pieces. Three different penetration regimes are identified in our studies for low-impact velocities. The first two regimes are observed immediately after the impact and in the early penetration stage, respectively, during which the drag force is seen to depend on the kinetic energy. The depth dependence of the drag force becomes significant in the third regime when the projectile is moving slowly and is partially immersed in the substrate. These regimes relate to the different configurations of the bed: the initial loose surface packed state, fluidized bed below the region of impact, and the state after the crater formation commences.

Numerical investigation of the vertical plunging force of a spherical intruder into a prefluidized granular bed

The plunging of a large intruder sphere into a prefluidized granular bed with various constant velocities and various sphere diameters is investigated using a state-of-the-art hybrid discrete particle and immersed boundary method, in which both the gas-induced drag force and the contact force exerted on the intruder can be investigated separately. We investigate low velocities, where velocity dependent effects first begin to appear. The results show a concave-to-convex dependence of the plunging force as a function of intruder depth. In the concave region the force fits to a power law with an exponent around 1.3, which is in good agreement with existing experimental observations. Our simulation results further show that the force exerted on the frontal hemisphere of the intruder is dominant. At larger intruder velocities, friction with the granular medium causes a velocity-dependent drag force. As long as the granular particles have not yet closed the gap behind the intruder, this drag force is independent of the actual intruder depth. In this regime, the drag force experienced by intruders of different diameter moving at different velocities all fall onto a single master curve if plotted against the Reynolds number, using a single value for the effective viscosity of the granular medium. This master curve corresponds well to the Schiller-Naumann correlation for the drag force between a sphere and a Newtonian fluid. After the gap behind the intruder has closed, the drag force increases not only with velocity but also with depth. We attribute this to the effect of increasing hydrostatic particle pressure in the granular medium, leading to an increase in effective viscosity.