Annular shear of cohesionless granular materials: from the inertial to quasistatic regime

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.

Rheology of a 2D granular film

We study experimentally the rheology of a macroscopic particle-laden soap film, designated as a "Granular Film", in the simple shear configuration. Macroscopic particles are dispersed in a soap film, while being large enough that they bridge both fluid interfaces. We simultaneously perform macroscopic rheological measurements with a classical rheometer and investigate interactions at the particle scale with a camera underneath the film. The determination of the velocity field of the grains reveals the presence of an inhomogeneous shear within the granular film. Trying to correlate both measurements unveils the non-locality of the rheology of the granular film: similar to what has been observed in a dry granular material, we find an highly-sheared zone close to the moving wall contrasting with a large quasistatic area. This behavior can be accounted for through extended kinetic theory and correlated with a transition in the dominant component of the stress.

Rheology of granular rafts

Rheology of macroscopic particle-laden interfaces, called "granular rafts," has been experimentally studied in the simple shear configuration. The shear-stress relation obtained from a classical rheometer exhibits the same behavior as a Bingham fluid, and the viscosity diverges with the surface fraction according to evolutions similar to 2D suspensions. The velocity field of the particles that constitute the granular raft has been measured in the stationary state. These measurements reveal nonlocal rheology similar to dry granular materials. Close to the walls of the rheometer cell, one can observe regions of large local shear rate while in the middle of the cell a quasistatic zone exists. This flowing region, characteristic of granular matter, is described in the framework of an extended kinetic theory showing the evolution of the velocity profile with the imposed shear stress. Measuring the probability density functions of the instantaneous local shear rate, we provide evidence of a balance between positive and negative instantaneous local shear rate. This behavior is the signature of a quasistatic region inside the granular raft.

Controlling rheology via boundary conditions in dense granular flows

Boundary shape, particularly roughness, strongly controls the amount of wall slip in dense granular flows. In this paper, we aim to quantify and understand which aspects of a dense granular flow are controlled by the boundary conditions, and to incorporate these observations into a cooperative nonlocal model characterizing slow granular flows. To examine the influence of boundary properties, we perform experiments on a quasi-2D annular shear cell with a rotating inner wall and a fixed outer wall; the latter is selected among 6 walls with various roughnesses, local concavity, and compliance. We find that we can successfully capture the full flow profile using a single set of empirically determined model parameters, with only the wall slip velocity set by direct observation. Through the use of photoelastic particles, we observe how the internal stresses fluctuate more for rougher boundaries, corresponding to a lower wall slip, and connect this observation to the propagation of nonlocal effects originating from the wall. Our measurements indicate a universal relationship between dimensionless fluidity and velocity.

A Discrete Elements Study of the Frictional Behavior of Fault Gouges

A series of discrete elements simulations is presented for the study of fault gouges' frictional response. The gouge is considered to have previously undergone ultra-cataclastic flow and long-time consolidation loading. We explore the effect of different particle characteristics such as size, polydispersity, and also shearing velocities on gouge's response under the conditions met in the seismogenic zone. Monte-Carlo analyses suggest that the local stick-slip events disappear when averaging over a large number of numerical samples. Moreover, the apparent material frictional response remains almost unaffected by the spatial randomness of particles' position and by the particle's size distribution. On the contrary, the mean particle size controls the formation and thickness of the observed shear bands, which appear after the peak friction is met. Furthermore, the apparent friction evolution fits well to an exponential decay law with slip, which involves a particle size dependent critical slip distance. For the studied conditions and depth, the shearing velocity is found to play a secondary role on the apparent frictional response of the gouge, which highlights the importance of analyses involving multiphysics for studying the rheology of fault gouges. Besides improving the understanding of the underlying physics of the problem, the above findings are also useful for deriving pertinent constitutive models in the case of modeling with continuum theories.

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.

The effect of grain shape and material on the nonlocal rheology of dense granular flows

Nonlocal rheologies allow for the modeling of granular flows from the creeping to intermediate flow regimes, using a small number of parameters. In this paper, we report on experiments testing how particle properties affect the model parameters used in the Kamrin & Koval cooperative nonlocal model, using particles of three different shapes (circles, ellipses, and pentagons) and three different materials, including one which allows for the measurement of stresses via photoelasticity. Our experiments are performed on a quasi-2D annular shear cell with a rotating inner wall and a fixed outer wall. Each type of particle is found to exhibit flows which are well-fit by nonlocal rheology, with each particle having a distinct triad of the local, nonlocal, and frictional parameters. While the local parameter b is always approximately unity, the nonlocal parameter A depends sensitively on both the particle shape and material. The critical stress ratio μ_s, above which Coulomb failure occurs, varies for particles with the same material but different shape, indicating that geometric friction can dominate over material friction.

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.

The effect of boundary roughness on dense granular flows

In the field of granular rheology, an important open question is to understand the influence of boundary conditions on granular flows. We perform experiments in a quasi-2D annular shear cell subject to 6 different boundaries with controlled roughness/compliance. We characterize the granular slip at the boundaries to investigate which aspects of a dense granular flow can be controlled by the choice of boundary condition. Photoelastic techniques are implemented to measure the stress fields P(r) and τ(r) throughout the material. A full inverse-analysis of the fringes within each disk provides the vector force at each contact. This allows us to measure the continuum stress field by coarse-graining internal forces. We have observed that boundary roughness and compliance strongly controls the flow profile v(r) and shear rate profile γ˙(r). We also observed that boundary roughness and compliance play a significant role in the pressure profile P(r) and shear stress profile τ(r).

Evidence of a non-local ø(I) response

Granular dilatancy has been previously characterised through a simple linear relationship between the packing fraction and dimensionless shear rate. However, this relationship was developed for granular flows in a simple shear cell geometry. Here we examine inertial volume changes in a shear cell with gravity, a vertical chute, and a pseudo-2D hopper. In so doing, we show that the packing fraction displays both a local and non-local response, analogous to what is typically observed for the stress ratio µ.

Microscopic Origin of Nonlocal Rheology in Dense Granular Materials

We study the microscopic origin of nonlocality in dense granular media. Discrete element simulations reveal that macroscopic shear results from a balance between microscopic elementary rearrangements occurring in opposite directions. The effective macroscopic fluidity of the material is controlled by these velocity fluctuations, which are responsible for nonlocal effects in quasistatic regions. We define a new micromechanically based unified constitutive law describing both quasistatic and inertial regimes, valid for different system configurations.

Nonlocal continuum modeling of dense granular flow in a split-bottom cell with a vane-shaped intruder

Shear flow in one spatial region of a dense granular material-induced, for example, through the motion of a boundary-fluidizes the entire granular material. One consequence is that the yield condition vanishes throughout the granular material-even in regions that are very far from the "primary," boundary-driven shear flow. This phenomenon may be characterized through the mechanics of intruders embedded in the granular medium. When there is no primary flow, a critical load must be exceeded to move the intruder; however, in the presence of a primary flow, intruder motion occurs even when an arbitrarily small external load is applied to an intruder embedded in a region far from the sheared zone. In this paper, we apply the nonlocal granular fluidity (NGF) model-a continuum model that involves higher-order flow gradients-to simulate the specific case of dense flow in a split-bottom cell with a vane-shape intruder. Our simulations quantitatively capture the key features of the experimentally observed phenomena: (1) the vanishing of the yield condition, (2) an exponential-type relationship between the applied torque and the rotation rate, (3) the effect of the distance between the intruder and the primary flow zone, and (4) the direction-dependence of the torque/rotation-rate relation, in which the observed relation changes depending on whether the intruder is forced to rotate along with or counter to the primary flow. Importantly, this represents the first fully three-dimensional validation test for a nonlocal model for dense granular flow in general and for the NGF model in particular.

Power-Law Scaling in Granular Rheology across Flow Geometries

Based on discrete element method simulations, we propose a new form of the constitutive equation for granular flows independent of packing fraction. Rescaling the stress ratio μ by a power of dimensionless temperature Θ makes the data from a wide set of flow geometries collapse to a master curve depending only on the inertial number I. The basic power-law structure appears robust to varying particle properties (e.g., surface friction) in both 2D and 3D systems. We show how this rheology fits and extends frameworks such as kinetic theory and the nonlocal granular fluidity model.

Spreading of a granular droplet under horizontal vibrations

By means of three-dimensional discrete element simulations, we study the spreading of a granular droplet on a horizontally vibrated plate. Apart from a short transient with a parabolic shape, the droplet adopts a triangular profile during the spreading. The dynamics of the spreading is governed by two distinct regimes: a superdiffusive regime in the early stages driven by surface flow followed by a second one which is subdiffusive and governed by bulk flow. The plate bumpiness is found to alter only the spreading rate but plays a minor role on the shape of the granular droplet and on the scaling laws of the spreading. Importantly, we show that in the subdiffusive regime, the effective friction between the plate and the granular droplet can be interpreted in the framework of the μ(I)-rheology.

Size-dependence of the flow threshold in dense granular materials

The flow threshold in dense granular materials is typically modeled by local, stress-based criteria. However, grain-scale cooperativity leads to size effects that cannot be captured with local conditions. In a widely studied example, flows of thin layers of grains down an inclined surface exhibit a size effect whereby thinner layers require more tilt to flow. In this paper, we consider the question of whether the size-dependence of the flow threshold observed in inclined plane flow is configurationally general. Specifically, we consider three different examples of inhomogeneous flow - planar shear flow with gravity, annular shear flow, and vertical chute flow - using two-dimensional discrete-element method calculations and show that the flow threshold is indeed size-dependent in these flow configurations, displaying additional strengthening as the system size is reduced. We then show that the nonlocal granular fluidity model - a nonlocal continuum model for dense granular flow - is capable of quantitatively capturing the observed size-dependent strengthening in all three flow configurations.

Nonlocal rheology of dense granular flow in annular shear experiments

The flow of dense granular materials at low inertial numbers cannot be fully characterized by local rheological models; several nonlocal rheologies have recently been developed to address these shortcomings. To test the efficacy of these models across different packing fractions and shear rates, we perform experiments in a quasi-2D annular shear cell with a fixed outer wall and a rotating inner wall, using photoelastic particles. The apparatus is designed to measure both the stress ratio μ (the ratio of shear to normal stress) and the inertial number I through the use of a torque sensor, laser-cut leaf springs, and particle-tracking. We obtain μ(I) curves for several different packing fractions and rotation rates, and successfully find that a single set of model parameters is able to capture the full range of data collected once we account for frictional drag with the bottom plate. Our measurements confirm the prediction that there is a growing lengthscale at a finite value μs, associated with a frictional yield criterion. Finally, we newly identify the physical mechanism behind this transition at μs by observing that it corresponds to a drop in the susceptibility to force chain fluctuations.

Scaling laws for the mechanics of loose and cohesive granular materials based on Baxter's sticky hard spheres

We have conducted discrete element simulations (pfc3d) of very loose, cohesive, granular assemblies with initial configurations which are drawn from Baxter's sticky hard sphere (SHS) ensemble. The SHS model is employed as a promising auxiliary means to independently control the coordination number z_{c} of cohesive contacts and particle volume fraction ϕ of the initial states. We focus on discerning the role of z_{c} and ϕ for the elastic modulus, failure strength, and the plastic consolidation line under quasistatic, uniaxial compression. We find scaling behavior of the modulus and the strength, which both scale with the cohesive contact density ν_{c}=z_{c}ϕ of the initial state according to a power law. In contrast, the behavior of the plastic consolidation curve is shown to be independent of the initial conditions. Our results show the primary control of the initial contact density on the mechanics of cohesive granular materials for small deformations, which can be conveniently, but not exclusively explored within the SHS-based assembling procedure.

Relaxation-type nonlocal inertial-number rheology for dry granular flows

We propose a constitutive model to describe the nonlocality, hysteresis, and several flow features of dry granular materials. Taking the well-known inertial number I as a measure of sheared-induced local fluidization, we derive a relaxation model for I according to the evolution of microstructure during avalanche and dissipation processes. The model yields a nonmonotonic flow law for a homogeneous flow, accounting for hysteretic solid-fluid transition and intermittency in quasistatic flows. For an inhomogeneous flow, the model predicts a generalized Bagnold shear stress revealing the interplay of two microscopic nonlocal mechanisms: collisions among correlated structures and the diffusion of fluidization within the structures. In describing a uniform flow down an incline, the model reproduces the hysteretic starting and stopping heights and the Pouliquen flow rule for mean velocity. Moreover, a dimensionless parameter reflecting the nonlocal effect on the flow is discovered, which controls the transition between Bagnold and creeping flow dynamics.

General scaling relations for locomotion in granular media

Inspired by dynamic similarity in fluid systems, we have derived a general dimensionless form for locomotion in granular materials, which is validated in experiments and discrete element method (DEM) simulations. The form instructs how to scale size, mass, and driving parameters in order to relate dynamic behaviors of different locomotors in the same granular media. The scaling can be derived by assuming intrusion forces arise from resistive force theory or equivalently by assuming the granular material behaves as a continuum obeying a frictional yield criterion. The scalings are experimentally confirmed using pairs of wheels of various shapes and sizes under many driving conditions in a common sand bed. We discuss why the two models provide such a robust set of scaling laws even though they neglect a number of the complexities of granular rheology. Motivated by potential extraplanetary applications, the dimensionless form also implies a way to predict wheel performance in one ambient gravity based on tests in a different ambient gravity. We confirm this using DEM simulations, which show that scaling relations are satisfied over an array of driving modes even when gravity differs between scaled tests.

Microscopic Description of the Granular Fluidity Field in Nonlocal Flow Modeling

A recent granular rheology based on an implicit "granular fluidity" field has been shown to quantitatively predict many nonlocal phenomena. However, the physical nature of the field has not been identified. Here, the granular fluidity is found to be a kinematic variable given by the velocity fluctuation and packing fraction. This is verified with many discrete element simulations, which show that the operational fluidity definition, solutions of the fluidity model, and the proposed microscopic formula all agree. Kinetic theoretical and Eyring-like explanations shed insight into the obtained form.

Granular avalanches down inclined and vibrated planes

In this article, we study granular avalanches when external mechanical vibrations are applied. We identify conditions of flow arrest and compare with the ones classically observed for nonvibrating granular flows down inclines [Phys. Fluids 11, 542 (1999)PHFLE61070-663110.1063/1.869928]. We propose an empirical law to describe the thickness of the deposits with the inclination angle and the vibration intensity. The link between the surface velocity and the depth of the flow highlights a competition between gravity and vibrations induced flows. We identify two distinct regimes: (a) gravity-driven flows at large angles where vibrations do not modify dynamical properties but the deposits (scaling laws in this regime are in agreement with the literature for nonvibrating granular flows) and (b) vibrations-driven flows at small angles where no flow is possible without applied vibrations (in this last regime, the flow behavior can be properly described by a vibration induced activated process). We show, in this study, that granular flows down inclined planes can be finely tuned by external mechanical vibrations.

Enstrophy cascades in two-dimensional dense granular flows

Employing two-dimensional molecular dynamics simulations of dense granular materials under simple shear deformations, we investigate vortex structures of particle rearrangements. Introducing vorticity fields as a measure of local spinning motions of the particles, we observe their heterogeneous distributions, where statistics of vorticity fields exhibit the highly non-Gaussian behavior and typical domain sizes of vorticity fields significantly increase if the system is yielding under quasistatic deformations. In such dense granular flows, a power-law decay of vorticity spectra can be observed at mesoscopic scale, implying anomalous local structures of kinetic energy dissipation. We explain the power-law decay, or enstrophy cascades in dense granular materials, by a dimensional analysis, where the dependence of vorticity spectra not only on the wave number, but also on the shear rate, is well explained. From our dimensional analyses, the scaling of granular temperature and rotational kinetic energy is also predicted.

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.

Local rheological measurements in the granular flow around an intruder

The rheological properties of granular matter within a two-dimensional flow around a moving disk is investigated experimentally. Using a combination of photoelastic and standard tessellation techniques, the strain and stress tensors are estimated at the grain scale in the time-averaged flow field around a large disk pulled at constant velocity in an assembly of smaller disks. On the one hand, one observes inhomogeneous shear rate and strongly localized shear stress and pressure fields. On the other hand, a significant dilation rate, which has the same magnitude as the shear strain rate, is reported. Significant deviations are observed with local rheology that justify the need of searching for a nonlocal rheology.

Shear-Rate-Independent Diffusion in Granular Flows

We computationally study the behavior of the diffusion coefficient D in granular flows of monodisperse and bidisperse particles spanning regions of relatively high and low shear rate in open and closed laterally confined heaps. Measurements of D at various flow rates, streamwise positions, and depths collapse onto a single curve when plotted as a function of γd2, where d is the local mean particle diameter and γ is the local shear rate. When γ is large, D is proportional to γd2, as in previous studies. However, for γd2 below a critical value, D is independent of γd2. The acceleration due to gravity g and particle stiffness (or, equivalently, the binary collision time t(c)) together determine the transition in D between regimes. This suggests that while shear rate and particle size determine diffusion at relatively high shear rates in surface-driven flows, diffusion at low shear rates is an elastic phenomenon with time and length scales dependent on gravity (sqrt d/g) and particle stiffness (t(c)sqrt(dg), respectively.

Flow of wet granular materials: A numerical study

We simulate dense assemblies of frictional spherical grains in steady shear flow under controlled normal stress P in the presence of a small amount of an interstitial liquid, which gives rise to capillary menisci, assumed isolated (pendular regime), and attractive forces, which are hysteretic: Menisci form at contact, but do not break until grains are separated by a finite rupture distance. The system behavior depends on two dimensionless control parameters, inertial number I and reduced pressure P*=aP/(πΓ), comparing confining forces ∼a2P to meniscus tensile strength F0=πΓa, for grains of diameter a joined by menisci with surface tension Γ. We pay special attention to the quasistatic limit of slow flow and observe systematic, enduring strain localization in some of the cohesion-dominated (P*∼0.1) systems. Homogeneous steady flows are characterized by the dependence of internal friction coefficient μ* and solid fraction Φ on I and P*. We also record normal stress differences, fairly small but not negligible and increasing for decreasing P*. The system rheology is moderately sensitive to saturation within the pendular regime, but would be different in the absence of capillary hysteresis. Capillary forces have a significant effect on the macroscopic behavior of the system, up to P* values of several units, especially for longer force ranges associated with larger menisci. The concept of effective pressure may be used to predict an order of magnitude for the strong increase of μ* as P* decreases but such a crude approach is unable to account for the complex structural changes induced by capillary cohesion, with a significant decrease of Φ and different agglomeration states and anisotropic fabric. Likewise, the Mohr-Coulomb criterion for pressure-dependent critical states is, at best, an approximation valid within a restricted range of pressures, with P*≥1. At small enough P*, large clusters of interacting grains form in slow flows, in which liquid bonds survive shear strains of several units. This affects the anisotropies associated with different interactions and the shape of function μ*(I), which departs more slowly from its quasistatic limit than in cohesionless systems (possibly explaining the shear banding tendency).

Steady shearing flows of deformable, inelastic spheres

We extend models for granular flows based on the kinetic theory beyond the critical volume fraction at which a rate-independent contribution to the stresses develops. This involves the incorporation of a measure of the duration of the particle interaction before and after this volume fraction. At volume fractions less than the critical, the stress components contain contributions from momentum exchanged in collisions that are influenced by the particle elasticity. At volume fractions greater than the critical, the stress components contain both static contributions from particle elasticity and dynamic contributions from the momentum transfer associated with the release of elastic energy by the breaking of force chains. A simple expression for the duration of a collision before and after the critical volume fraction permits a smooth transition between the two regimes and predictions for the components of the stress in steady, homogeneous shearing that are in good agreement with the results of numerical simulations. Application of the theory to steady, inhomogeneous flows reproduces the features of such flows seen in numerical simulations and physical experiments.

Nonlocal modeling of granular flows down inclines

Flows of granular media down a rough inclined plane demonstrate a number of nonlocal phenomena. We apply the recently proposed nonlocal granular fluidity model to this geometry and find that the model captures many of these effects. Utilizing the model's dynamical form, we obtain a formula for the critical stopping height of a layer of grains on an inclined surface. Using an existing parameter calibration for glass beads, the theoretical result compares quantitatively to existing experimental data for glass beads. This provides a stringent test of the model, whose previous validations focused on driven steady-flow problems. For layers thicker than the stopping height, the theoretical flow profiles display a thickness-dependent shape whose features are in agreement with previous discrete particle simulations. We also address the issue of the Froude number of the flows, which has been shown experimentally to collapse as a function of the ratio of layer thickness to stopping height. While the collapse is not obvious, two explanations emerge leading to a revisiting of the history of inertial rheology, which the nonlocal model references for its homogeneous flow response.

Continuum modeling of secondary rheology in dense granular materials

Recent dense granular flow experiments have shown that shear deformation in one region of a granular medium fluidizes its entirety, including regions far from the sheared zone, effectively erasing the yield condition everywhere. This enables slow creep deformation to occur when an external force is applied to a probe in the nominally static regions of the material. The apparent change in rheology induced by far-away motion is termed the "secondary rheology," and a theoretical rationalization of this phenomenon is needed. Recently, a new nonlocal granular rheology was successfully used to predict steady granular flow fields, including grain-size-dependent shear-band widths in a wide variety of flow configurations. We show that the nonlocal fluidity model is also capable of capturing secondary rheology. Specifically, we explore creep of a circular intruder in a two-dimensional annular Couette cell and show that the model captures all salient features observed in experiments, including both the rate-independent nature of creep for sufficiently slow driving rates and the faster-than-linear increase in the creep speed with the force applied to the intruder.

A predictive, size-dependent continuum model for dense granular flows

Dense granular materials display a complicated set of flow properties, which differentiate them from ordinary fluids. Despite their ubiquity, no model has been developed that captures or predicts the complexities of granular flow, posing an obstacle in industrial and geophysical applications. Here we propose a 3D constitutive model for well-developed, dense granular flows aimed at filling this need. The key ingredient of the theory is a grain-size-dependent nonlocal rheology--inspired by efforts for emulsions--in which flow at a point is affected by the local stress as well as the flow in neighboring material. The microscopic physical basis for this approach borrows from recent principles in soft glassy rheology. The size-dependence is captured using a single material parameter, and the resulting model is able to quantitatively describe dense granular flows in an array of different geometries. Of particular importance, it passes the stringent test of capturing all aspects of the highly nontrivial flows observed in split-bottom cells--a geometry that has resisted modeling efforts for nearly a decade. A key benefit of the model is its simple-to-implement and highly predictive final form, as needed for many real-world applications.

Discrete simulation of dense flows of polyhedral grains down a rough inclined plane

The influence of grain angularity on the properties of dense flows down a rough inclined plane are investigated. Three-dimensional numerical simulations using the nonsmooth contact dynamics method are carried out with both spherical (rounded) and polyhedral (angular) grain assemblies. Both sphere and polyhedra assemblies abide by the flow start and stop laws, although much higher tilt angle values are required to trigger polyhedral grain flow. In the dense permanent flow regime, both systems show similarities in the bulk of the material (away from the top free surface and the substrate), such as uniform values of the solid fraction, inertial number and coordination number, or linear dependency of the solid fraction and effective friction coefficient with the inertial number. However, discrepancies are also observed between spherical and polyhedral particle flows. A dead (or nearly arrested) zone appears in polyhedral grain flows close to the rough bottom surface, reflected by locally concave velocity profiles, locally larger coordination number and solid fraction values, smaller inertial number values. This dead zone disappears for smooth bottom surfaces. In addition, unlike sphere assemblies, polyhedral grain assemblies exhibit significant normal stress differences, which increase close to the substrate.

Shear flow of dense granular materials near smooth walls. I. Shear localization and constitutive laws in the boundary region

We report on a numerical study of the shear flow of a simple two-dimensional model of a granular material under controlled normal stress between two parallel smooth frictional walls moving with opposite velocities ± V. Discrete simulations, which are carried out with the contact dynamics method in dense assemblies of disks, reveal that, unlike rough walls made of strands of particles, smooth ones can lead to shear strain localization in the boundary layer. Specifically, we observe, for decreasing V, first a fluidlike regime (A), in which the whole granular layer is sheared, with a homogeneous strain rate except near the walls, then (B) a symmetric velocity profile with a solid block in the middle and strain localized near the walls, and finally (C) a state with broken symmetry in which the shear rate is confined to one boundary layer, while the bulk of the material moves together with the opposite wall. Both transitions are independent of system size and occur for specific values of V. Transient times are discussed. We show that the first transition, between regimes A and B, can be deduced from constitutive laws identified for the bulk material and the boundary layer, while the second one could be associated with an instability in the behavior of the boundary layer. The boundary zone constitutive law, however, is observed to depend on the state of the bulk material nearby.

Shear flow of dense granular materials near smooth walls. II. Block formation and suppression of slip by rolling friction

The role of rotational degrees of freedom and of microscopic contact properties at smooth walls in two dimensional planar shear has been investigated by contact dynamics simulations of round hard frictional particles. Our default system setup consists of smooth frictional walls, giving rise to slip. We show that there exists a critical microscopic friction coefficient at the walls, above which they are able to shear the granular medium. We observe distinctive features at this critical point, which to our knowledge have not been reported before. Activating rolling friction at smooth walls reduces slip, leading to similar shear behavior as for rough walls (with particles glued on their surface). Our simulations with rough walls are in agreement with previous results, provided the roughness is strong enough. In the limit of small roughness amplitude, however, the distinctive features of shearing with smooth walls are confirmed.

Nonlocal constitutive relation for steady granular flow

Extending recent modeling efforts for emulsions, we propose a nonlocal fluidity relation for flowing granular materials, capturing several known finite-size effects observed in steady flow. We express the local Bagnold-type granular flow law in terms of a fluidity ratio and then extend it with a particular Laplacian term that is scaled by the grain size. The resulting model is calibrated against a sequence of existing discrete element method data sets for two-dimensional annular shear, where it is shown that the model correctly describes the divergence from a local rheology due to the grain size as well as the rate-independence phenomenon commonly observed in slowly flowing zones. The same law is then applied in two additional inhomogeneous flow geometries, and the predicted velocity profiles are compared against corresponding discrete element method simulations utilizing the same grain composition as before, yielding favorable agreement in each case.

Quasistatic to inertial transition in granular materials and the role of fluctuations

On the basis of discrete element numerical simulations of a Couette cell, we revisit the rheology of granular materials in the quasistatic and inertial regimes, and discuss the origin of the transition between these two regimes. We show that quasistatic zones are the seat of a creep process whose rate is directly related to the existence and magnitude of velocity fluctuations. The mechanical behavior in the quasistatic regime is characterized by a three-variable constitutive law relating the friction coefficient (normalized stress), the inertial number (normalized shear rate), and the normalized velocity fluctuations. Importantly, this constitutive law appears to remain also valid in the inertial regime, where it can account for the one-to-one relationship observed between the friction coefficient and the inertial number. The abrupt transition between the quasistatic and inertial regimes is then related to the mode of production of the fluctuations within the material, from nonlocal and artificially sustained by the boundary conditions in the quasistatic regime, to purely local and self-sustained in the inertial regime. This quasistatic-to-inertial transition occurs at a critical inertial number or, equivalently, at a critical level of fluctuations.

Rheology of dense granular mixtures: particle-size distributions, boundary conditions, and collisional time scales

We computationally investigate the dependence of the rheology of dense sheared granular mixtures on their particle size distribution. We consider the simplest case of a binary mixture of two different sized particles where the fraction of large particles is varied from one simulation to the next while the total solid mass is kept constant. We find that the variation of the rheology with the particle size distribution depends on the boundary conditions. For example, under constant pressure conditions the effective friction coefficient μ(∗) (the ratio between shear and pressure stresses at the boundary) increases mildly with the average particle size. On the other hand, under constant volume conditions, μ(∗) has a nonmonotonic dependence on the average particle size that is related to the proximity of the system solid fraction to the maximum packing fraction. Somewhat surprisingly, then, μ(∗) scales with a dimensionless shear rate (a generalized inertial number) in the same way for either boundary condition. We show that, for our system of relatively hard spheres, these relationships are governed largely by the ratio between average collision times and mean-free-path times, also independent of boundary conditions.

From frictional to viscous behavior: three-dimensional imaging and rheology of gravitational suspensions

We probe the three-dimensional flow structure and rheology of gravitational (nondensity matched) suspensions for a range of driving rates in a split-bottom geometry. We establish that for sufficiently slow flows, the suspension flows as if it were a dry granular medium, and confirm recent theoretical modeling on the rheology of split-bottom flows. For faster driving, the flow behavior is shown to be consistent with the rheological behavior predicted by the recently developed "inertial number" approaches for suspension flows.