Close-packed floating clusters: granular hydrodynamics beyond the freezing point?

Exploring the collision, acoustic and thermal energy dissipation distribution of discrete mass

This research delves into the transfer and loss of energy in a discrete mass when subjected to forced vibration. Using discrete element method (DEM), we analyzed the dynamic behavior of regular spherical granular assemblies and the energy distribution characteristics under different excitation frequencies and reduced accelerations. Moreover, the energy transfer and dissipation process of granular assemblies under different vibration states are studied using an experimental method. The results show that the granular assemblies will produce collision energy dissipation, thermal energy dissipation, acoustic energy dissipation and other forms of energy dissipation in the forced vibration state and the proportion of different energy dissipation under different excitation is given. The collision and friction of granular assemblies are the key to affecting other forms of energy dissipation. When the excitation increases, the energy dissipation forms are generated inside the granular assemblies, and the proportion of collision energy dissipation of the granular assemblies increases. The acoustic energy above 20 kHz occupies the main part of the acoustic energy dissipation. Thermal energy consumption always exists, which takes a long time to play a role. The granular also have other forms of energy loss, which is hard to be measured, including Rayleigh waves generated by granular collision. In this study, the relationship between the forced vibration state of the granular assemblies and the energy loss distribution is established. Various types of energy transfer and conversion distribution which further enriches the energy dissipation of discrete element calculation of the granular assemblies is discussed and provides a reference for the energy loss analysis of the granular assemblies.

Thermal conductivity at the high-density limit and the levitating granular cluster

The granular Leidenfrost state consists of a dense granular cluster levitating above a hot granular gas. The density of particles inside the cluster can be very high and even close to the density of crystalline packing. To describe this state theoretically, one needs to know the density dependence of constitutive relations (pressure, heat losses, thermal conductivity) at these very high densities. However, the accurate expression for the coefficient of thermal conductivity is lacking. In this work, the constitutive relations were measured at high densities in molecular dynamics simulations in three different settings: a uniform freely cooling dense granulate (to measure heat losses), a uniform ensemble of elastically colliding particles (to measure pressure), and a dense granular medium between two thermal walls under gravity (to measure thermal conductivity). Next, the hydrodynamic equations with the resulting expressions were solved to describe the levitating cluster state in various parameter regimes. Separate molecular dynamics simulations were performed to test the theoretical predictions and measure the density and temperature profiles of the granular Leidenfrost state, and a good agreement with theoretical results was observed.

Phase-coexisting patterns, horizontal segregation, and controlled convection in vertically vibrated binary granular mixtures

We report patterns consisting of coexistence of synchronous and asynchronous states [for example, a granular gas co-existing with (i) bouncing bed, (ii) undulatory subharmonic waves, and (iii) Leidenfrost-like states] in experiments on vertically vibrated binary granular mixtures in a Hele-Shaw cell. Most experiments have been carried out with equimolar binary mixtures of glass and steel balls of same diameter by varying the total layer height (F) for a range of shaking acceleration (Γ). All patterns as well as the related phase diagram in the (Γ,F) plane have been reproduced via molecular dynamics simulations of the same system. The segregation of heavier and lighter particles along the horizontal direction is shown to be the progenitor of such phase-coexisting patterns as confirmed in both experiment and simulation. At strong shaking we uncover a partial convection state in which a pair of convection rolls is found to coexist with a Leidenfrost-like state. The crucial role of the relative number density of two species on controlling the buoyancy-driven granular convection is demonstrated. The onset of horizontal segregation can be explained in terms of an anisotropic diffusion tensor.

Granular core phenomenon induced by convection in a vertically vibrated cylindrical container

A mixture of 13X molecular sieve (13XMS) particles and glass particles with identical diameters is placed in a cylindrical container. Under vertical vibration, heavier glass particles tend to cluster and are wrapped inside the convection of 13XMS particles, resulting in the granular core phenomenon. The vibration frequency f strongly influences particle convection and particle cluster modes. By contrast, the effect of the dimensionless acceleration amplitude Γ can be neglected. For different f ranges, the granular core is classified as center-type and ring-type cores. For the center-type core, heavy particles are distributed as an approximate zeroth-order Bessel function of the first kind in the radial direction and an exponential function in the height direction. For the ring-type core, the concentration of heavy particles follows the power-series function in the radial direction. A granular transport model is then established based on heavy-particle movements under steady state to analyze the effect of vibration parameters and granular convection on density segregation.

Noise induces rare events in granular media

The granular Leidenfrost effect [B. Meerson, et al., Phys. Rev. Lett. 91, 024301 (2003)PRLTAO0031-900710.1103/PhysRevLett.91.024301; P. Eshuis et al., Phys. Rev. Lett. 95, 258001 (2005)PRLTAO0031-900710.1103/PhysRevLett.95.258001] is the levitation of a mass of granular matter when a wall below the grains is vibrated, giving rise to a hot granular gas below the cluster. We find by simulation that for a range of parameters the system is bistable: the levitated cluster can occasionally break and give rise to two clusters and a hot granular gas above and below. We use techniques from the theory of rare events to compute the mean transition time for breaking to occur. This requires the introduction of a two-component reaction coordinate.

Coupled Leidenfrost states as a monodisperse granular clock

Using an event-driven molecular dynamics simulation, we show that simple monodisperse granular beads confined in coupled columns may oscillate as a different type of granular clock. To trigger this oscillation, the system needs to be driven against gravity into a density-inverted state, with a high-density clustering phase supported from below by a gaslike low-density phase (Leidenfrost effect) in each column. Our analysis reveals that the density-inverted structure and the relaxation dynamics between the phases can amplify any small asymmetry between the columns, and lead to a giant oscillation. The oscillation occurs only for an intermediate range of the coupling strength, and the corresponding phase diagram can be universally described with a characteristic height of the density-inverted structure. A minimal two-phase model is proposed and a linear stability analysis shows that the triggering mechanism of the oscillation can be explained as a switchable two-parameter Andronov-Hopf bifurcation. Numerical solutions of the model also reproduce similar oscillatory dynamics to the simulation results.

Pattern transition, microstructure, and dynamics in a two-dimensional vibrofluidized granular bed

Experiments are conducted in a two-dimensional monolayer vibrofluidized bed of glass beads, with a goal to understand the transition scenario and the underlying microstructure and dynamics in different patterned states. At small shaking accelerations (Γ=Aω^{2}/g<1, where A and ω=2πf are the amplitude and angular frequency of shaking and g is the gravitational acceleration), the particles remain attached to the base of the vibrating container; this is known as the solid bed (SB). With increasing Γ (at large enough shaking amplitude A/d) and/or with increasing A/d (at large enough Γ), the sequence of transitions/bifurcations unfolds as follows: SB ("solid bed") to BB ("bouncing bed") to LS ("Leidenfrost state") to "2-roll convection" to "1-roll convection" and finally to a gas-like state. For a given length of the container, the coarsening of multiple convection rolls leading to the genesis of a "single-roll" structure (dubbed the multiroll transition) and its subsequent transition to a granular gas are two findings of this work. We show that the critical shaking intensity (Γ_{BB}^{LS}) for the BB→LS transition has a power-law dependence on the particle loading (F=h_{0}/d, where h_{0} is the number of particle layers at rest and d is the particle diameter) and the shaking amplitude (A/d). The characteristics of BB and LS states are studied by calculating (i) the coarse-grained density and temperature profiles and (ii) the pair correlation function. It is shown that while the contact network of particles in the BB state represents a hexagonal-packed structure, the contact network within the "floating cluster" of the LS resembles a liquid-like state. An unsteadiness of the Leidenfrost state has been uncovered wherein the interface (between the floating cluster and the dilute collisional layer underneath) and the top of the bed are found to oscillate sinusoidally, with the oscillation frequency closely matching the frequency of external shaking. Therefore, the granular Leidenfrost state is a period-1 wave as is the case for the BB state.

Self-organized shocks in the sedimentation of a granular gas

A granular gas in gravity heated from below develops a certain stationary density profile. When the heating is switched off, the granular gas collapses. We investigate the process of sedimentation using computational hydrodynamics, based on the Jenkins-Richman theory, and find that the process is significantly more complex than generally acknowledged. In particular, during its evolution, the system passes several stages which reveal distinct spatial regions of inertial (supersonic) and diffusive (subsonic) dynamics. During the supersonic stages, characterized by Mach>1, the system develops supersonic shocks which are followed by a steep front of the hydrodynamic fields of temperature and density, traveling upward.

From the granular Leidenfrost state to buoyancy-driven convection

Grains inside a vertically vibrated box undergo a transition from a density-inverted and horizontally homogeneous state, referred to as the granular Leidenfrost state, to a buoyancy-driven convective state. We perform a simulational study of the precursors of such a transition and quantify their dynamics as the bed of grains is progressively fluidized. The transition is preceded by transient convective states, which increase their correlation time as the transition point is approached. Increasingly correlated convective flows lead to density fluctuations, as quantified by the structure factor, that also shows critical behavior near the transition point. The amplitude of the modulations in the vertical velocity field are seen to be best described by a quintic supercritical amplitude equation with an additive noise term. The validity of such an amplitude equation, and previously observed collective semiperiodic oscillations of the bed of grains, suggests a new interpretation of the transition analogous to a coupled chain of vertically vibrated damped oscillators. Increasing the size of the container shows metastability of convective states, as well as an overall invariant critical behavior close to the transition.

Low-frequency oscillations and convective phenomena in a density-inverted vibrofluidized granular system

Low-frequency oscillations (LFOs) are thought to play an important role in the transition between the Leidenfrost and convective states of a vibrated granular bed. This work details the experimental observation of LFOs, which are found to be consistently present for a range of driving frequencies and amplitudes, with particles of varying material and using containers of differing material properties. The experimentally acquired results show a close qualitative and quantitative agreement with both theory and simulations across the range of parameters tested. Strong agreement between experimental and simulation results was also observed when investigating the influence of sidewall dissipation on LFOs and vertical density profiles. This paper additionally provides evidence of two phenomena present in the Leidenfrost state: a circulatory motion over extended time periods in near-crystalline configurations, and a Leidenfrost-like state in which the dense upper region displays an unusual inverse thermal convection.

Inhomogeneous quasistationary state of dense fluids of inelastic hard spheres

We study closed dense collections of freely cooling hard spheres that collide inelastically with constant coefficient of normal restitution. We find inhomogeneous states (ISs) where the density profile is spatially nonuniform but constant in time. The states are exact solutions of nonlinear partial differential equations that describe the coupled distributions of density and temperature valid when inelastic losses of energy per collision are small. The derivation is performed without modeling the equations' coefficients that are unknown in the dense limit (such as the equation of state) using only their scaling form specific for hard spheres. Thus the IS is the exact state of this dense many-body system. It captures a fundamental property of inelastic collections of particles: the possibility of preserving nonuniform temperature via the interplay of inelastic cooling and heat conduction that generalizes previous results. We perform numerical simulations to demonstrate that arbitrary initial state evolves to the IS in the limit of long times where the container has the geometry of the channel. The evolution is like a gas-liquid transition. The liquid condenses in a vanishing part of the total volume but takes most of the mass of the system. However, the gaseous phase, which mass grows only logarithmically with the system size, is relevant because its fast particles carry most of the energy of the system. Remarkably, the system self-organizes to dissipate no energy: The inelastic decay of energy is a power law [1+t/t(c)](-2), where t(c) diverges in the thermodynamic limit. This is reinforced by observing that for supercritical systems the IS coincide in most of the space with the steady states of granular systems heated at one of the walls. We discuss the relation of our results to the recently proposed finite-time singularity in other container's geometries.

Scaling behavior in the convection-driven Brazil nut effect

The Brazil nut effect is the phenomenon in which a large intruder particle immersed in a vertically shaken bed of smaller particles rises to the top, even when it is much denser. The usual practice while describing these experiments has been to use the dimensionless acceleration Γ = aω(2)/g, where a and ω are, respectively, the amplitude and the angular frequency of vibration and g is the acceleration due to gravity. Considering a vibrated quasi-two-dimensional bed of mustard seeds, we show here that the peak-to-peak velocity of shaking v = aω, rather than Γ, is the relevant parameter in the regime where boundary-driven granular convection is the main driving mechanism. We find that the rise time τ of an intruder is described by the scaling law τ ~ (v-v(c))(-α), where v(c) is identified as the critical vibration velocity for the onset of convective motion of the mustard seeds. This scaling form holds over a wide range of (a,ω), diameter, and density of the intruder.

Dynamics of the wet granular Leidenfrost phenomenon

By event-driven molecular dynamics simulations, we study the Leidenfrost effect for wet granular matter driven from below. In marked contrast to all earlier studies on other fluids, the dense plug hovering on the hot gas cushion undergoes an undamped oscillation. The location of the Hopf bifurcation leading to this oscillation is strongly dependent on the inelasticity of the grain impacts. The vertical separation into a gas phase with a condensed plug hovering above it is particularly pronounced due to the cohesiveness of the granulate. For sufficiently large system sizes, the Rayleigh-Taylor instability terminates the oscillatory state at late times.

Time dependence and density inversion in simulations of vertically oscillated granular layers

We study a layer of grains atop a plate which oscillates sinusoidally in the direction of gravity, using three-dimensional, time-dependent numerical solutions of continuum equations to Navier-Stokes order as well as hard-sphere molecular dynamics simulations. For high accelerational amplitudes of the plate, the layer exhibits a steady-state "density inversion" in which a high-density portion of the layer is supported by a lower-density portion. At low accelerational amplitudes, the layer exhibits oscillatory time dependence that is strongly correlated to the motion of the plate. We show that continuum simulations yield results consistent with molecular dynamics results in both regimes.

Hydrodynamics of a vibrated granular monolayer

We investigate the long-standing puzzle of phase separation in a granular monolayer vibrated from below. Although this system is three dimensional, an interesting dynamics occurs mostly in the horizontal plane, perpendicular to the direction of vibration. Experiments [Olafsen and Urbach, Phys. Rev. Lett. 81, 4369 (1998)] demonstrated that for a high amplitude of vibration the system is in the gaslike phase, but when the amplitude becomes smaller than a certain threshold, a phase separation occurs: A solidlike dense condensate of particles forms in the center of the system, surrounded by particles in the gaslike phase. We explain theoretically the experimentally observed coexistence of dilute and dense phases, employing Navier-Stokes granular hydrodynamics. We show that the phase separation is associated with a negative compressibility of granular gas.

Navier-Stokes hydrodynamics of thermal collapse in a freely cooling granular gas

We show that, in dimension higher than one, heat diffusion and viscosity cannot arrest thermal collapse in a freely evolving dilute granular gas, even in the absence of gravity. Thermal collapse involves a finite-time blowup of the gas density. It was predicted earlier in ideal, Euler hydrodynamics of dilute granular gases in the absence of gravity, and in nonideal, Navier-Stokes granular hydrodynamics in the presence of gravity. We determine, analytically and numerically, the dynamic scaling laws that characterize the gas flow close to collapse. We also investigate bifurcations of a freely evolving dilute granular gas in circular and wedge-shaped containers. Our results imply that, in general, thermal collapse can only be arrested when the gas density becomes comparable with the close-packing density of grains. This provides a natural explanation to the formation of densely packed clusters of particles in a variety of initially dilute granular flows.

Granular Leidenfrost effect in vibrated beds with bumpy surfaces

The effects of subjecting a bed of granular materials to horizontal vibrations by a bumpy oscillating surface have been investigated computationally in this study. The behaviour of the granular bed is determined by the vibration conditions applied which include the vibrating frequency and amplitude as well as the bumpiness of the oscillating surface. Under sufficiently vigorous vibration conditions, the granular Leidenfrost effect whereby the entire granular bed is levitated above the vibrating base by a layer of highly energetic particles may be observed. Granular temperature profiles of systems that exhibit the granular Leidenfrost effect indicate an unequal distribution of energy between particles near the vibrating base and those in the bulk. A bumpy oscillating surface was also observed to be more effective at introducing perturbations and transferring energy into a granular bed. The granular Leidenfrost effect can be induced by the application of larger grain sizes of particles constituting the bumpy vibrating base under vibration conditions that are normally insufficient for the onset of the effect. Lastly, a phase diagram which can be utilized for predicting the behaviours of granular beds that are subjected to oscillations by various types of bumpy surfaces has been constructed based on the simulation results obtained.

Onset of convection in strongly shaken granular matter

Strongly vertically shaken granular matter can display a density inversion: A high-density cluster of beads is elevated by a dilute gaslike layer of fast beads underneath ("granular Leidenfrost effect"). For even stronger shaking the granular Leidenfrost state becomes unstable and granular convection rolls emerge. This transition resembles the classical onset of convection in fluid heated from below at some critical Rayleigh number. The same transition is seen in molecular dynamics (MD) simulations of the shaken granular material. The critical shaking strength for the onset of granular convection can be calculated from a linear stability analysis of a hydrodynamiclike model of the granular flow. Experiment, MD simulations, and theory quantitatively agree.

Exploring the limits of granular hydrodynamics: a horizontal array of inelastic particles

The limits of granular hydrodynamics are explored in the context of the one-dimensional granular system introduced by Du, Li, and Kadanoff [Phys. Rev. Lett. 74, 1268 (1995)]. The density profile of the characteristic steady state, in which a single particle commutes between the driving wall and a dense cluster, is well captured by a hydrodynamic description provided that the finite size of the particles is incorporated. The temperature, however, is not well described: since all energy exchange is located at the border of the cluster, it is precisely for this quantity that the continuum approach breaks down.

Experimental measurements of the collapse of a two-dimensional granular gas under gravity

We experimentally measure the decay of a quasi-two-dimensional granular gas under gravity. A granular gas is created by vibrofluidization, after which the energy input is halted, and the time-dependent statistical properties of the decaying gas are measured with video particle tracking. There are two distinct cooling stages separated by a high temperature settling shock. In the final stage, the temperature of a fluid packet decreases as a power law T proportional, variant(t{c}-t);{alpha} just before the system collapses to a static state. The measured value of alpha ranges from 3.3 to 6.1 depending on the height, significantly higher than the exponent of 2 found in theoretical work on this problem [D. Volfson, B. Meerson, and L. S. Tsimring, Phys Rev. E 73, 61305 (2006)]. We also address the question of whether the collapse occurs simultaneously at different heights in the system.

Visualization of collisional substructure in granular shock waves

We study shock wave formation and propagation in an experimental vertically driven quasi-two-dimensional granular gas. We measure the moments of the single particle velocity distribution as a function of space and time. The space-time fields of the velocity moments show acoustic waves with a serrated substructure on the scale of a particle diameter. We show that this substructure is the result of collisional transport in which sequential collisions each transport momentum and energy by one particle diameter.

Segregation induced by inelasticity in a vibrofluidized granular mixture

We investigate the segregation of a dense binary mixture of granular particles that only differ in their restitution coefficient. The mixture is vertically vibrated in the presence of gravity. We find a partial segregation of the species, where most dissipative particles submerge in the less dissipative ones. The segregation occurs even if one type of the particles is elastic. In order to have a complete description of the system, we study the structure of the fluid at microscopic scale (few particle diameters). The density and temperature pair distribution functions show strong enhancements with respect to the equilibrium ones at the same density. In particular, there is an increase in the probability that the more inelastic particles group together in pairs (microsegregation). Microscopically the segregation is buoyancy driven, by the appearance of a dense and cold region around the more inelastic particles.

Hydrodynamics of fluid-solid coexistence in dense shear granular flow

We consider dense rapid shear flow of inelastically colliding hard disks. Navier-Stokes granular hydrodynamics is applied accounting for the recent finding that shear viscosity diverges at a lower density than the rest of the constitutive relations. New interpolation formulas for constitutive relations between dilute and dense cases are proposed and justified in molecular dynamics (MD) simulations. A linear stability analysis of the uniform shear flow is performed and the full phase diagram is presented. It is shown that when the inelasticity of particle collision becomes large enough, the uniform sheared flow gives way to a two-phase flow, where a dense "solidlike" striped cluster is surrounded by two fluid layers. The results of the analysis are verified in event-driven MD simulations, and a good agreement is observed.

Density inversion in rapid granular flows: the supported regime

This paper presents numerical findings on rapid 2D and 3D granular flows on a bumpy base. In the supported regime studied here, a strongly sheared, dilute and agitated layer spontaneously appears at the base of the flow and supports a compact packing of grains moving as a whole. In this regime, the flow behaves like a sliding block on the bumpy base. In particular, for flows on a horizontal base, the average velocity decreases linearly in time and the average kinetic energy decreases linearly with the travelled distance, those features being characteristic of solid-like friction. This allows us to define and measure an effective friction coefficient, which is independent of the mass and velocity of the flow. This coefficient only loosely depends on the value of the micromechanical friction coefficient whereas the infuence of the bumpiness of the base is strong. We give evidence that this dilute and agitated layer does not result in significantly less friction. Finally, we show that a steady regime of supported flows can exist on inclines whose angle is carefully chosen.

Shear-induced crystallization of a dense rapid granular flow: hydrodynamics beyond the melting point

We investigate shear-induced crystallization in a very dense flow of monodisperse inelastic hard spheres. We consider a steady plane Couette flow under constant pressure and neglect gravity. We assume that the granular density is greater than the melting point of the equilibrium phase diagram of elastic hard spheres. We employ a Navier-Stokes hydrodynamics with constitutive relations all of which (except the shear viscosity) diverge at the crystal-packing density, while the shear viscosity diverges at a smaller density. The phase diagram of the steady flow is described by three parameters: an effective Mach number, a scaled energy loss parameter, and an integer number m: the number of half-oscillations in a mechanical analogy that appears in this problem. In a steady shear flow the viscous heating is balanced by energy dissipation via inelastic collisions. This balance can have different forms, producing either a uniform shear flow or a variety of more complicated, nonlinear density, velocity, and temperature profiles. In particular, the model predicts a variety of multilayer two-phase steady shear flows with sharp interphase boundaries. Such a flow may include a few zero-shear (solidlike) layers, each of which moving as a whole, separated by fluidlike regions. As we are dealing with a hard sphere model, the granulate is fluidized within the "solid" layers: the granular temperature is nonzero there, and there is energy flow through the boundaries of the solid layers. A linear stability analysis of the uniform steady shear flow is performed, and a plausible bifurcation diagram of the system, for a fixed m, is suggested. The problem of selection of m remains open.

Segregation of large granules from close-packed cluster of small granules due to buoyancy

Segregation of large granules in a vibrofluidized granular bed with inhomogeneous granular number density distribution is studied by an event-driven algorithm. Simulation results show that the mean vertical position of large granules decreases with the increase of the density ration of the large granules to the small ones. This conclusion is consistent with the explanation that the net pressure due to the small surrounding particle impacts balances the large granular weight, and indict that the upward movement of the large granules is driven by the buoyancy. The values of temperature, density, and pressure of the systems are also computed by changing the conditions such as heating temperature on the bottom and restitution coefficient of particles. These results indicate that the segregation of large granules also happen in the systems with density inversion or even close-packed cluster of particles floating on a low-density fluid, due to the buoyancy. An equation of state is proposed to explain the buoyancy.

Granular Leidenfrost effect: experiment and theory of floating particle clusters

Granular material is vertically vibrated in a 2D container: above a critical shaking strength, and for a sufficient number of beads, a crystalline cluster is elevated and supported by a dilute gaseous layer of fast beads underneath. We call this phenomenon the granular Leidenfrost effect. The experimental observations are explained by a hydrodynamic model featuring three dimensionless control parameters: the energy input S, the number of particle layers F, and the inelasticity of the particle collisions epsilon. The (S,F) phase diagram, in which the Leidenfrost state lies between the purely solid and gas phases, shows accurate agreement between experiment and theory.

Hydrodynamics of probabilistic ballistic annihilation

We consider a dilute gas of hard spheres in dimension d> or =2 that upon collision either annihilate with probability p or undergo an elastic scattering with probability 1-p . For such a system neither mass, momentum, nor kinetic energy is a conserved quantity. We establish the hydrodynamic equations from the Boltzmann equation description. Within the Chapman-Enskog scheme, we determine the transport coefficients up to Navier-Stokes order, and give the closed set of equations for the hydrodynamic fields chosen for the above coarse-grained description (density, momentum, and kinetic temperature). Linear stability analysis is performed, and the conditions of stability for the local fields are discussed.

Giant fluctuations at a granular phase separation threshold

We investigate a phase separation instability that occurs in a system of nearly elastically colliding hard spheres driven by a thermal wall. If the aspect ratio of the confining box exceeds a threshold value, granular hydrostatics predict phase separation: the formation of a high-density region coexisting with a low-density region along the wall that is opposite to the thermal wall. Event-driven molecular dynamics simulations confirm this prediction. The theoretical bifurcation curve agrees with the simulations quantitatively well below and well above the threshold. However, in a wide region of aspect ratios around the threshold, the system is dominated by fluctuations, and the hydrostatic theory breaks down. Two possible scenarios of the origin of the giant fluctuations are discussed.