Transition dynamics and magic-number-like behavior of frictional granular clusters

Evolution of force networks during stick-slip motion of an intruder in a granular material: Topological measures extracted from experimental data

In quasi-two-dimensional experiments with photoelastic particles confined to an annular region, an intruder constrained to move in a circular path halfway between the annular walls experiences stick-slip dynamics. We discuss the response of the granular medium to the driven intruder, focusing on the evolution of the force network during sticking periods. Because the available experimental data do not include precise information about individual contact forces, we use an approach developed in our previous work [Basak et al., J. Eng. Mech. 147, 04021100 (2021)0733-939910.1061/(ASCE)EM.1943-7889.0002003] based on networks constructed from measurements of the integrated strain magnitude on each particle. These networks are analyzed using topological measures based on persistence diagrams, revealing that force networks evolve smoothly but in a nontrivial manner throughout each sticking period, even though the intruder and granular particles are stationary. Characteristic features of persistence diagrams show identifiable slip precursors. In particular, the number of generators describing the structure and complexity of force networks increases consistently before slips. Key features of the dynamics are similar for granular materials composed of disks or pentagons, but some details are consistently different. In particular, we find significantly larger fluctuations of the measures computed based on persistence diagrams and, therefore, of the underlying networks, for systems of pentagonal particles.

On intermittency in sheared granular systems

We consider a system of granular particles, modeled by two dimensional frictional soft elastic disks, that is exposed to externally applied time-dependent shear stress in a planar Couette geometry. We concentrate on the external forcing that produces intermittent dynamics of stick-slip type. In this regime, the top wall remains almost at rest until the applied stress becomes sufficiently large, and then it slips. We focus on the evolution of the system as it approaches a slip event. Our main finding is that there are two distinct groups of measures describing system behavior before a slip event. The first group consists of global measures defined as system-wide averages at a fixed time. Typical examples of measures in this group are averages of the normal or tangent forces acting between the particles, system size and number of contacts between the particles. These measures do not seem to be sensitive to an approaching slip event. On average, they tend to increase linearly with the force pulling the spring. The second group consists of the time-dependent measures that quantify the evolution of the system on a micro (particle) or mesoscale. Measures in this group first quantify the temporal differences between two states and only then aggregate them to a single number. For example, Wasserstein distance quantitatively measures the changes of the force network as it evolves in time while the number of broken contacts quantifies the evolution of the contact network. The behavior of the measures in the second group changes dramatically before a slip event starts. They increase rapidly as a slip event approaches, indicating a significant increase in fluctuations of the system before a slip event is triggered.

Lifespan dynamics of cluster conformations in stationary regimes in granular materials

We examine stationary regimes in granular materials from a dynamical systems theory perspective. The aim is to enrich the classical view of the critical state regime in granular materials, and more broadly, to improve the fundamental understanding of the underlying mesoscale mechanisms responsible for macroscopic stationary states in complex systems. This study is based on a series of discrete element method simulations, in which two-dimensional assemblies of nonuniformly sized circular particles are subjected to biaxial compression under constant lateral confining pressure. The lifespan and life expectancy of specific cluster conformations, comprising particles in force chains and grain loops, are tracked and quantified. Results suggest that these conformational clusters reorganize at similar rates in the critical state regime, depending on strain magnitudes and confining pressure levels. We quantified this rate of reorganization and found that the material memory rapidly fades, with an entirely new generation of force chains and grain loops replacing the old within a few percent strain.

Machine learning approach to force reconstruction in photoelastic materials

Photoelastic techniques have a long tradition in both qualitative and quantitative analysis of the stresses in granular materials. Over the last two decades, computational methods for reconstructing forces between particles from their photoelastic response have been developed by many different experimental teams. Unfortunately, all of these methods are computationally expensive. This limits their use for processing extensive data sets that capture the time evolution of granular ensembles consisting of a large number of particles. In this paper, we present a novel approach to this problem that leverages the power of convolutional neural networks to recognize complex spatial patterns. The main drawback of using neural networks is that training them usually requires a large labeled data set which is hard to obtain experimentally. We show that this problem can be successfully circumvented by pretraining the networks on a large synthetic data set and then fine-tuning them on much smaller experimental data sets. Due to our current lack of experimental data, we demonstrate the potential of our method by changing the size of the considered particles which alters the exhibited photoelastic patterns more than typical experimental errors.

Failure of confined granular media due to pullout of an intruder: from force networks to a system wide response

We investigate computationally the pullout of a spherical intruder initially buried at the bottom of a granular column. The intruder starts to move out of the granular bed once the pulling force reaches a critical value, leading to material failure. The failure point is found to depend on the diameter of the granular column, pointing out the importance of particle-wall interactions in determining the material response. Discrete element simulations show that prior to failure, the contact network is essentially static, with only minor rearrangements of the particles. However, the force network, which includes not only the contact information, but also the information about the interaction strength, undergoes nontrivial evolution. An initial insight is obtained by considering the relative magnitudes of normal and tangential forces between the particles, and in particular the proportion of contacts that reach Coulomb threshold. More detailed understanding of the processes leading to failure is reached by the analysis of both spatial and temporal properties of the force network using the tools of persistent homology. We find that the forces between the particles undergo intermittent temporal variations ahead of the failure. In addition to this temporal intermittency, the response of the force network is found to be spatially dependent and influenced by proximity to the intruder. Furthermore, the response is modified significantly by the interaction strength, with the relevant measures describing the response showing differing behaviors for the contacts characterized by large interaction forces.

The physics of jamming for granular materials: a review

Granular materials consist of macroscopic grains, interacting via contact forces, and unaffected by thermal fluctuations. They are one of a class systems that undergo jamming, i.e. a transition between fluid-like and disordered solid-like states. Roughly twenty years ago, proposals by Cates et al for the shear response of colloidal systems and by Liu and Nagel, for a universal jamming diagram in a parameter space of packing fraction, ϕ, shear stress, τ, and temperature, T raised key questions. Contemporaneously, experiments by Howell et al and numerical simulations by Radjai et al and by Luding et al helped provide a starting point to explore key insights into jamming for dry, cohesionless, granular materials. A recent experimental observation by Bi et al is that frictional granular materials have a a re-entrant region in their jamming diagram. In a range of ϕ, applying shear strain, γ, from an initially force/stress free state leads to fragile (in the sense of Cates et al), then anisotropic shear jammed states. Shear jamming at fixed ϕ is presumably conjugate to Reynolds dilatancy, involving dilation under shear against deformable boundaries. Numerical studies by Radjai and Roux showed that Reynolds dilatancy does not occur for frictionless systems. Recent numerical studies by several groups show that shear jamming occurs for finite, but not infinite, systems of frictionless grains. Shear jamming does not lead to known ordering in position space, but Sarkar et al showed that ordering occurs in a space of force tiles. Experimental studies seeking to understand random loose and random close packings (rlp and rcp) and dating back to Bernal have probed granular packings and their response to shear and intruder motion. These studies suggest that rlp's are anisotropic and shear-jammed-like, whereas rcp's are likely isotropically jammed states. Jammed states are inherently static, but the jamming diagram may provide a context for understanding rheology, i.e. dynamic shear in a variety of systems that include granular materials and suspensions.

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.

Scaling properties of force networks for compressed particulate systems

We consider, computationally and experimentally, the scaling properties of force networks in the systems of circular particles exposed to compression in two spatial dimensions. The simulations consider polydisperse and monodisperse particles, both frictional and frictionless, and in experiments we use monodisperse and bidisperse frictional particles. While for some of the considered systems we observe consistent scaling exponents describing the behavior of the force networks, we find that this behavior is not universal. In particular, we find that frictionless systems, independently of whether they partially crystallize under compression or not, show scaling properties that are significantly different compared to the frictional disordered ones. The findings of nonuniversality are confirmed by explicitly computing fractal dimension for the considered systems. The results of the physical experiments are consistent with the results obtained in simulations of frictional disordered systems.

Network flow model of force transmission in unbonded and bonded granular media

An established aspect of force transmission in quasistatic deformation of granular media is the existence of a dual network of strongly versus weakly loaded particles. Despite significant interest, the regulation of strong and weak forces through the contact network remains poorly understood. We examine this aspect of force transmission using data on microstructural fabric from: (I) three-dimensional discrete element models of grain agglomerates of bonded subspheres constructed from in situ synchrotron microtomography images of silica sand grains under unconfined compression and (II) two-dimensional assemblies of unbonded photoelastic circular disks submitted to biaxial compression under constant volume. We model force transmission as a network flow and solve the maximum flow-minimum cost (MFMC) problem, the solution to which yields a percolating subnetwork of contacts that transmits the "maximum flow" (i.e., the highest units of force) at "least cost" (i.e., the dissipated energy from such transmission). We find the MFMC describes a two-tier hierarchical architecture. At the local level, it encapsulates intraconnections between particles in individual force chains and in their conjoined 3-cycles, with the most common configuration having at least one force chain contact experiencing frustrated rotation. At the global level, the MFMC encapsulates interconnections between force chains. The MFMC can be used to predict most of the force chain particles without need for any information on contact forces, thereby suggesting the network flow framework may have potential broad utility in the modeling of force transmission in unbonded and bonded granular media.

Self-assembly in a near-frictionless granular material: conformational structures and transitions in uniaxial cyclic compression of hydrogel spheres

We use a Markov transition matrix-based analysis to explore the structures and structural transitions in a three-dimensional assembly of hydrogel spheres under cyclic uniaxial compression. We apply these methods on experimental data obtained from a packing of nearly frictionless hydrogel balls. This allows an exploration of the emergence and evolution of mesoscale internal structures - a key micromechanical property that governs self-assembly and self-organization in dense granular media. To probe the mesoscopic force network structure, we consider two structural state spaces: (i) a particle and its contacting neighbours, and (ii) a particle's local minimal cycle topology summarized by a cycle vector. In both spaces, our analysis of the transition dynamics reveals which structures and which sets of structures are most prevalent and most likely to transform into each other during the compression/decompression of the material. In compressed states, structures rich in 3-cycle or triangle topologies form in abundance. In contrast, in uncompressed states, transitions comprising poorly connected structures are dominant. An almost-invariant transition set within the cycle vector space is discovered that identifies an intermediate set of structures crucial to the material's transition from weakly jammed to strongly jammed, and vice versa. Preferred transition pathways are also highlighted and discussed with respect to thermo-micro-mechanical constitutive formulations.

Effects of grain shape on the response of a two-dimensional granular material under constant shear rate

We present a study on the effects of particle shape (disks, hexagons, and pentagons) on the macroscopic coefficient of friction of a two-dimensional, monodisperse, single-shaped, granular system, subjected to shear. We found that the mechanism of stress relaxation in disks is based on the sliding of adjacent planes parallel to the applied deformation direction. In hexagons, stress is relaxed through the creation of rigid pivots, which require hexagonal domains to nucleate and are responsible for the large fluctuations in the dilatancy and shear force. In pentagons the stress relaxation mechanism is through the rotation of individual pentagons, which is a consequence of their permanent misalignment, and are responsible for the small but relatively rapid fluctuations in the shear force. We observed that the friction coefficient is larger for polygonal particles than for the rounded ones. A maximum in the friction coefficient is observed in hexagon granulates with an initial width around 6.5 grains caused by the increased frequency in nucleation of rigid pivots. In mixtures of disks and hexagons we observed three different friction coefficient behaviors, which depended on the relative concentration of hexagons; in low concentrations of hexagons, <20%, the friction coefficient corresponds to that obtained in solely disks, at intermediate concentrations, <80%, the coefficient varies linearly with concentration, and at larger concentrations the friction coefficient corresponds to the values obtained for solely hexagons. On the contrary, mixtures of pentagons and hexagons showed two regimes; a low constant friction regime at concentrations lower than 60%, and an increased in friction observed with higher concentrations of hexagons.

Evolution of force networks in dense particulate media

We discuss sets of measures with the goal of describing dynamical properties of force networks in dense particulate systems. The presented approach is based on persistent homology and allows for extracting precise, quantitative measures that describe the evolution of geometric features of the interparticle forces, without necessarily considering the details related to individual contacts between particles. The networks considered emerge from discrete element simulations of two-dimensional particulate systems consisting of compressible frictional circular disks. We quantify the evolution of the networks for slowly compressed systems undergoing jamming transition. The main findings include uncovering significant but localized changes of force networks for unjammed systems, global (systemwide) changes as the systems evolve through jamming, to be followed by significantly less dramatic evolution for the jammed states. We consider both connected components, related in a loose sense to force chains, and loops and find that both measures provide a significant insight into the evolution of force networks. In addition to normal, we consider also tangential forces between the particles and find that they evolve in the consistent manner. Consideration of both frictional and frictionless systems leads us to the conclusion that friction plays a significant role in determining the dynamical properties of the considered networks. We find that the proposed approach describes the considered networks in a precise yet tractable manner, making it possible to identify features which could be difficult or impossible to describe using other approaches.

Stick-slip and force chain evolution in a granular bed in response to a grain intruder

The mechanical response of granular beds under applied stresses is often characterized by repeated cycles of stick-slip. Using the discrete element method, we examine stick-slip from a concentrated force loading-imposed by a single grain that is drawn through a densely packed, periodic granular bed via a stiff virtual spring. Force chains continually form and collapse ahead of the intruder grain. A comprehensive characterization of the birth-death evolution of these load-bearing structures, along with their surrounding contact cycles, reveals a well-defined shear zone of around eight particle diameters from the intruder, encapsulating: (i) long force chains that form buttresses with the fixed bottom wall for support, (ii) a region where the collapse of the most stable, persistent three-cycles preferentially occur to the point where they are essentially depleted by the end of the first cycle of stick-slip, and (iii) an inner core where force chain buckling events concentrate. Dilatancy is greatest in this inner core, and in the region next to the free surface. During slip, secondary force chains briefly form behind the intruder: these transient force chains, most of which comprise only 3 particles, form in the direction that is roughly perpendicular to the intruder motion.

Mesoscale and macroscale kinetic energy fluxes from granular fabric evolution

Recent advances in high-resolution measurements means it is now possible to identify and track the local "fabric" or contact topology of individual grains in a deforming sand throughout loading history. These provide compelling impetus to the development of methods for inferring changes in the contact forces and energies at multiple spatiotemporal scales, using information on grain contacts alone. Here we develop a surrogate measure of the fluctuating kinetic energy based on changes in the local contact topology of individual grains. We demonstrate the method for dense granular materials under quasistatic biaxial shear. In these systems, the initially stable and solidlike response eventually gives way to liquidlike behavior and global failure. This crossover in mechanical behavior, akin to a phase transition, is marked by bursts of kinetic energy and frictional dissipation. Mechanisms underlying this release of energy include the buckling of major load-bearing structures known as force chains. These columns of grains represent major repositories for stored strain energy. Stored energy initially accumulates at all of the contacts along the force chain, but is released collectively when the chain overloads and buckles. The exact quantification of the buildup and release of energy in force chains, and the manner in which force chain buckling propagates in the sample (i.e., diffuse and systemwide versus localized into shear bands), requires detailed knowledge of contact forces. To date, however, the forces at grain contacts continue to elude measurement in natural granular materials like sand. Here, using data from computer simulations, we show that a proxy for the fluctuating kinetic energy in dense granular materials can be suitably constructed solely from the evolving properties of the grain's local contact topology. Our approach directly relates the evolution of fabric to energy flux and makes possible research into the propagation of failure from measurements of grain contacts in real granular materials.

A complex systems analysis of stick-slip dynamics of a laboratory fault

We study the stick-slip behavior of a granular bed of photoelastic disks sheared by a rough slider pulled along the surface. Time series of a proxy for granular friction are examined using complex systems methods to characterize the observed stick-slip dynamics of this laboratory fault. Nonlinear surrogate time series methods show that the stick-slip behavior appears more complex than a periodic dynamics description. Phase space embedding methods show that the dynamics can be locally captured within a four to six dimensional subspace. These slider time series also provide an experimental test for recent complex network methods. Phase space networks, constructed by connecting nearby phase space points, proved useful in capturing the key features of the dynamics. In particular, network communities could be associated to slip events and the ranking of small network subgraphs exhibited a heretofore unreported ordering.

Characterizing chaotic dynamics from simulations of large strain behavior of a granular material under biaxial compression

For a given observed time series, it is still a rather difficult problem to provide a useful and compelling description of the underlying dynamics. The approach we take here, and the general philosophy adopted elsewhere, is to reconstruct the (assumed) attractor from the observed time series. From this attractor, we then use a black-box modelling algorithm to estimate the underlying evolution operator. We assume that what cannot be modeled by this algorithm is best treated as a combination of dynamic and observational noise. As a final step, we apply an ensemble of techniques to quantify the dynamics described in each model and show that certain types of dynamics provide a better match to the original data. Using this approach, we not only build a model but also verify the performance of that model. The methodology is applied to simulations of a granular assembly under compression. In particular, we choose a single time series recording of bulk measurements of the stress ratio in a biaxial compression test of a densely packed granular assembly-observed during the large strain or so-called critical state regime in the presence of a fully developed shear band. We show that the observed behavior may best be modeled by structures capable of exhibiting (hyper-) chaotic dynamics.