Dynamics of a bouncing dimer

Platonic solids bouncing on a vibrating plate

The energy transfer between bouncing particles and rigid boundaries during impacts is crucially influenced not only by restitution coefficients of the material but also by particle shapes. This is particularly important when such particles are mechanically agitated with vibrating plates. Inertial measurement units are able to measure all acceleration and rotational velocity components of an object and store these data for subsequent analysis. We employ them to measure the dynamics of cubes and icosahedra on vibrating plates to study the efficiency of energy transfer into the individual degrees of freedom (DOFs) of the excited object. The rotational DOFs turn out to be much less excited than the vertical translational motion. Most remarkably, there is only little difference between the two Platonic solids in both the absolute energies and the energy partition ratios.

Reversed spin of a ratchet motor on a vibrating water bed

A ratchet gear on a vibrating water bed exhibits a one-way spin. However, the spinning direction is opposite to that of the gear placed on the granular bed. The one-way spin is caused by the surface waves of water. Surface deformation causes transportation of the water element to rotate the gear. The spatial symmetry of the surface wave and gear geometry regulates the rotational torque. In this study, the same ratchet shows reversed motion between the granular and water beds, and the direction is not determined only by the ratchet geometry. The self-organization of the fluid medium caused by small agitation induces a nontrivial inversion of the spinning direction.

Dynamics of a vibration-driven single disk

Granular particles exhibit rich collective behaviors on vibration beds, but the motion of an isolated particle is not well understood even for uniform particles with a simple shape such as disks or spheres. Here we measured the motion of a single disk confined to a quasi-two-dimensional horizontal box on a vertically vibrating stage. The translational displacements obey compressed exponential distributions whose exponent [Formula: see text] increases with the frequency, while the rotational displacements exhibit unimodal distributions at low frequencies and bimodal distributions at high frequencies. During short time intervals, the translational displacements are subdiffusive and negatively correlated, while the rotational displacements are superdiffusive and positively correlated. After prolonged periods, the rotational displacements become diffusive and their correlations decay to zero. Both the rotational and the translational displacements exhibit white noise at low frequencies, and blue noise for translational motions and Brownian noise for rotational motions at high frequencies. The translational kinetic energy obeys Boltzmann distribution while the rotational kinetic energy deviates from it. Most energy is distributed in translational motions at low frequencies and in rotational motions at high frequencies, which violates the equipartition theorem. Translational and rotational motions are not correlated. These experimental results show that the random diffusion of such driven particles is distinct from thermal motion in both the translational and rotational degrees of freedom, which poses new challenges to theory. The results cast new light on the motion of individual particles and the collective motion of driven granular particles.

Horizontal spin of ratchet motor by vertical agitation

The horizontal spin of a ratchet motor by vertical vibration is reported. A macroscopic ratchet gear is placed on a granular bed, where nearly half of the gear is penetrated in the bed. The gear and granular bed are mechanically vibrated. The gear shows a random motion or one-way spin that depend on the diameter of the granules, vibration frequency, and degree of vertical motion allowed for the gear. Even when one-way spin is observed, the spin direction depends on the abovementioned factors. Although the dependency is complicated, it is deterministic because the motion or flows of granular matter determines it. The characteristics observed in the experiments are explained by a simple model that accounts for the statistical variance in the motion of the granular matter. Extraction of systematic motion from small and non-useful motions such as mechanical agitation will be developed into energy harvest technology and may facilitate the science of a spontaneously moving system in a uniform potential field.

Local bifurcation structure of a bouncing ball system with a piecewise polynomial function for table displacement

The system in which a small rigid ball is bouncing repeatedly on a heavy flat table vibrating vertically, so-called the bouncing ball system, has been widely studied. Under the assumption that the table is vibrating with a piecewise polynomial function of time, the bifurcation diagram changes qualitatively depending on the order of the polynomial function. We elucidate the mechanism of the difference in the bifurcation diagrams by focusing on the two-period solution. In addition, we derive the approximate curve of the branch close to the period-doubling bifurcation point in the case of the piecewise cubic function of time for the table vibration. We also performed numerical calculation, and we demonstrate that the approximations well reproduce the numerical results.

Bouncing ball on a vibrating periodic surface

We present an investigation of a partially elastic ball bouncing on a vertically vibrated sinusoidal surface. Following the work of McBennett and Harris [Chaos 26, 093105 (2016)], we begin by demonstrating that simple periodic vertical bouncing at a local minimum of the surface becomes unstable when the local curvature exceeds a critical value. The resulting instability gives rise to a period doubling cascade and results in persistent horizontal motion of the ball. Following this transition to horizontal motion, periodic "walking" states-where the ball bounces one wavelength over each vibration cycle-are possible and manifest for a range of parameters. Furthermore, we show that net horizontal motion in a preferred direction can be induced by breaking the left-right symmetry of the periodic topography.

Collective motion of rod-shaped self-propelled particles through collision

Self-propelled rods, which propel by themselves in the direction from the tail to the head and align nematically through collision, have been well-investigated theoretically. Various phenomena including true long-range ordered phase with the Giant number fluctuations, and the collective motion composed of many vorices were predicted using the minimal mathematical models of self-propelled rods. Using filamentous bacteria and running microtubules, we found that the predicted phenomena by the minimal models occur in the real world. This strongly indicates that there exists the unified description of self-propelled rods independent of the details of the systems. The theoretically predicted phenomena and the experimental results concerning the phenomena are reviewed.

Cooperative standing-horizontal-standing reentrant transition for numerous solid particles under external vibration

We report the collective behavior of numerous plastic bolt-like particles exhibiting one of two distinct states, either standing stationary or horizontal accompanied by tumbling motion, when placed on a horizontal plate undergoing sinusoidal vertical vibration. Experimentally, we prepared an initial state in which all of the particles were standing except for a single particle that was placed at the center of the plate. Under continuous vertical vibration, the initially horizontal particle triggers neighboring particles to fall over into a horizontal state through tumbling-induced collision, and this effect gradually spreads to all of the particles, i.e., the number of horizontal particles is increased. Interestingly, within a certain range of vibration intensity, almost all of the horizontal particles revert back to standing in association with the formation of apparent 2D hexagonal dense-packing. Thus, phase segregation between high and low densities, or crystalline and disperse domains, of standing particles is generated as a result of the reentrant transition. The essential features of such cooperative dynamics through the reentrant transition are elucidated with a simple kinetic model. We also demonstrate that an excitable wave with the reentrant transition is observed when particles are situated in a quasi-one-dimensional confinement on a vibrating plate.

Self-propulsion of a grain-filled dimer in a vertically vibrated channel

Steady dissipation of energy is a crucial property that distinguishes active particles from Brownian particles. However, it is not straightforward to explicitly model the dissipative property of existing active particles driven by a vibrating plate. We present a novel active particle that can be explicitly modeled by Newtonian dynamics of a conservative force field plus two asymmetrical dissipative terms. The particle is a dimer consisting of two ping-pong balls connected by a rigid rod, and its two balls are filled with granular particles of the same total mass but of different grain size. This dimer placed on a vibrating plate exhibits 3 types of motion – by tuning the frequency and the amplitude of the vibration, the dimer undergoes either a directed motion toward the small (or large) grain-filled side or an unbiased random motion. We investigate the various modes of motion both experimentally and numerically and show that the directed motion is a result of the asymmetric damping due to the size difference in the filling grains. Furthermore, the numerical simulation reveals that the dimer’s dynamics in either directed motion mode resembles a limit cycle attractor that is independent of its initial condition.

Mechanical excitation of rodlike particles by a vibrating plate

The experimental realization and investigation of granular gases usually require an initial or permanent excitation of ensembles of particles, either mechanically or electromagnetically. One typical method is the energy supply by a vibrating plate or container wall. We study the efficiency of such an excitation of cylindrical particles by a sinusoidally oscillating wall and characterize the distribution of kinetic energies of excited particles over their degrees of freedom. The influences of excitation frequency and amplitude are analyzed.

Short granular chain under vibration: Spontaneous switching of states

We study experimentally a short chain of N(≤8) loosely connected spheres bouncing against a horizontal surface that vibrates sinusoidally at intensity Γ. Distinct states are identified: a base state of uniform bouncing in-sync with the substrate prevails at low values of Γ, whereas increasing Γ can induce transitions to two excited states with appreciable storage of energy around one or both ends of the chain. We find that, in a transitional window of Γ, the chain can even switch spontaneously among states, resolving the mystery why different modes of motion can be initiated at the same position in our previous work along a gradient of vibration [Phys. Rev. Lett. 112, 058001 (2014)]. Preliminary interpretations on the parametric dependences and the optimal frequency window for seeing these transitions are offered, based on the microscopic and statistical evidence in our experiments up to date.

Pressure of a gas of underdamped active dumbbells

The pressure exerted on a wall by a gas at equilibrium does not depend on the shape of the confining potential defining the walls. In contrast, it has been shown recently [A. P. Solon et al., Nat. Phys. 11, 673 (2015)] that a gas of overdamped active particles exerts on a wall a force that depends on the confining potential, resulting in a net force on an asymmetric wall between two chambers at equal densities. Here, considering a model of underdamped self-propelled dumbbells in two dimensions, we study how the behavior of the pressure depends on the damping coefficient of the dumbbells, thus exploring inertial effects. We find in particular that the force exerted on a moving wall between two chambers at equal density continuously vanishes at low damping coefficient, and exhibits a complex dependence on the damping coefficient at low density, when collisions are scarce. We further show that this behavior of the pressure can to a significant extent be understood in terms of the trajectories of individual particles close to and in contact with the wall.

Mode bifurcation of a bouncing dumbbell with chirality

We studied the behavior of a dumbbell bouncing upon a sinusoidally vibrating plate. By introducing chiral asymmetry to the geometry of the dumbbell, we observed a cascade of bifurcations with an increase in the vibration amplitude: spinning, orbital, and rolling. In contrast, for an achiral dumbbell, bifurcation is generated by a change from random motion to vectorial inchworm motion. A simple model particle was considered in a numerical simulation that reproduced the essential aspects of the experimental observation. The mode bifurcation from directional motion to random motion is interpreted analytically by a simple mechanical discussion.

Experimental study of transport of a dimer on a vertically oscillating plate

It has recently been shown that a dimer, composed of two identical spheres rigidly connected by a rod, under harmonic vertical vibration can exhibit a self-ordered transport behaviour. In this case, the mass centre of the dimer will perform a circular orbit in the horizontal plane, or a straight line if confined between parallel walls. In order to validate the numerical discoveries, we experimentally investigate the temporal evolution of the dimer's motion in both two- and three-dimensional situations. A stereoscopic vision method with a pair of high-speed cameras is adopted to perform omnidirectional measurements. All the cases studied in our experiments are also simulated using an existing numerical model. The combined investigations detail the dimer's dynamics and clearly show that its transport behaviours originate from a series of combinations of different contact states. This series is critical to our understanding of the transport properties in the dimer's motion and related self-ordered phenomena in granular systems.

Dynamics of a grain-filled ball on a vibrating plate

We study experimentally how the bouncing dynamics of a hollow ball on a vibrating plate is modified when it is partially filled with liquid or grains. Whereas empty and liquid-filled balls display a dominant chaotic dynamics, a ball with grains exhibits a rich variety of stationary states, determined by the grain size and filling volume. In the collisional regime, i.e., when the energy injected to the system is mainly dissipated by interparticle collisions, an unexpected period-1 orbit appears independently of the vibration conditions, over a wide range. This is a self-regulated state driven by the formation and collapse of a granular gas within the ball during one cycle. In the frictional regime (dissipation dominated by friction), the grains move collectively and generate different patterns and steady modes: oscillons, waves, period doubling, etc. From a phase diagram and a geometrical analysis, we deduce that these modes are the result of a coupling (synchronization) between the vibrating plate frequency and the trajectory followed by the particles inside the cavity.

Symmetry of interactions rules in incompletely connected random replicator ecosystems

The evolution of an incompletely connected system of species with speciation and extinction is investigated in terms of random replicators. It is found that evolving random replicator systems with speciation do become large and complex, depending on speciation parameters. Antisymmetric interactions result in large systems, whereas systems with symmetric interactions remain small. A co-dominating feature is within-species interaction pressure: large within-species interaction increases species diversity. Average fitness evolves in all systems, however symmetry and connectivity evolve in small systems only. Newcomers get extinct almost immediately in symmetric systems. The distribution in species lifetimes is determined for antisymmetric systems. The replicator systems investigated do not show any sign of self-organized criticality. The generalized Lotka-Volterra system is shown to be a tedious way of implementing the replicator system.

Ratcheting and transitions: short granular chain in a gradient of vibration

We report our experimental work on a one-dimensional gradient of vibration with a short granular chain. The system exhibits transitions of ratcheting dynamics from passive monotonic creeping against the gradient, to rapid stochastic head swinging with a reversed bias in its direction, and to seemingly random fluctuations. The spontaneously emerged spatial pattern reflects bifurcations of the state of the chain. Evidence from counterpart experiments using uniform vibrations confirms a nonmonotonic development of accessible modes behind the transitions, whereas the reversed ratcheting reflects an interesting dialogue between the size of the object and the spatial gradient.

Granular gases of rod-shaped grains in microgravity

Granular gases are convenient model systems to investigate the statistical physics of nonequilibrium systems. In the literature, one finds numerous theoretical predictions, but only few experiments. We study a weakly excited dilute gas of rods, confined in a cuboid container in microgravity during a suborbital rocket flight. With respect to a gas of spherical grains at comparable filling fraction, the mean free path is considerably reduced. This guarantees a dominance of grain-grain collisions over grain-wall collisions. No clustering was observed, unlike in similar experiments with spherical grains. Rod positions and orientations were determined and tracked. Translational and rotational velocity distributions are non-Gaussian. Equipartition of kinetic energy between translations and rotations is violated.

Rebound of a confined granular material: combination of a bouncing ball and a granular damper

A ball dropped over a solid surface bounces several times before a complete stop. The bouncing can be reduced by introducing a liquid into the ball; however, the first rebound remains largely unaffected by the fluid. Granular materials can also work as dampers. We investigated the rebound of a container partially filled with a given mass of grains mi. During the collision, the kinetic energy of the container is partially transferred to the grains, the rebound is damped, and the fast energy dissipation through inter-particle collisions and friction decreases the bouncing time dramatically. For grain-filled cylinders, a completely inelastic collision (zero rebound) is obtained when mi ≥ 1.5εomc, where εo and mc are the coefficient of restitution and mass of the empty container. For grain-filled spheres, the first rebound is almost undamped, but the second collision is completely inelastic if mi ≫ mc. These findings are potentially useful to design new granular damping systems.

Diffusion of granular rods on a rough vibrated substrate

We investigate the effect of shape anisotropy and number density on the dynamics of granular rods on a substrate with experiments using a mono-layer of bead chains in a vibrated container. Statistical measures of the translational and rotational degrees of freedom indicate a dramatic slowing down of dynamics because of steric interactions at a value well below the highest packing fraction of the chains. In particular, the in-plane orientation auto-correlation function decays exponentially with time at low densities, but increasingly slowly as density is increased with a form which is not described by a simple exponential function. While the mean square displacement of the chain center of mass is observed to grow linearly at low densities, it is observed to grow increasingly slowly and non-linearly as number density is increased. Decomposing the displacements parallel and perpendicular to the long axis of the chain, we find that the ratio of diffusion in the parallel and perpendicular direction to their long axis is less than one in the dilute regime. However, as the density of the chains is increased, the ratio rapidly increases above one with a greater value for higher aspect ratios. This anisotropic behavior can be explained by considering a higher effective drag on the rods by the substrate in the perpendicular direction compared with the parallel direction, and by tube-like dynamics at higher densities.

Planar dynamics of a rigid body system with frictional impacts. II. Qualitative analysis and numerical simulations

The objective of this paper is to implement and test the theory presented in a companion paper for the non-smooth dynamics exhibited in a bouncing dimer. Our approach revolves around the use of rigid body dynamics theory combined with constraint equations from the Coulomb's frictional law and the complementarity condition to identify the contact status of each contacting point. A set of impulsive differential equations based on Darboux–Keller shock dynamics is established that can deal with the complex behaviours involved in multiple collisions, such as the frictional effects, the local dissipation of energy at each contact point, and the dispersion of energy among various contact points. The paper will revisit the experimental phenomena found in Dorbolo et al . ( Dorbolo et al . 2005 Phys. Rev. Lett. 95 , 044101), and then present a qualitative analysis based on the theory proposed in part I. The value of the static coefficient of friction between the plate and the dimer is successfully estimated, and found to be responsible for the formation of the drift motion of the bouncing dimer. Plenty of numerical simulations are carried out, and precise agreements are obtained by the comparisons with the experimental results.

Completely inelastic ball

This Rapid Communication presents an analytical study of the bouncing of a completely inelastic ball on a vertically vibrated plate. The interplay of saddle-node and period-doubling bifurcations leads to an intricate structure of the bifurcation diagram with uncommon properties, such as an infinity of bifurcation cascades in a finite range of the control parameter Gamma. A pseudochaotic behavior, consisting in arbitrarily long and complex periodic sequences, is observed through this generic system.

Migration of an asymmetric dimer in oscillatory fluid flow

We describe the motion of an asymmetric dimer across a horizontal surface when exposed to an oscillatory fluid flow. The dimer consists of two spheres of distinct sizes, rigidly attached to each other. The dimer is found to move in a direction perpendicular to the fluid flow, with the smaller sphere foremost. We have determined how the speed depends upon the vibratory conditions, on the fluid viscosity, and on the dimer size and aspect ratio. Computer simulations are used to give an insight into the mechanism responsible for the motion. We use a scaling argument based on the asymmetry of the streaming flow to predict the approximate dependence of the migration speed on the system parameters.

Swarming and swirling in self-propelled polar granular rods

Using experiments with anisotropic vibrated rods and quasi-2D numerical simulations, we show that shape plays an important role in the collective dynamics of self-propelled (SP) particles. We demonstrate that SP rods exhibit local ordering, aggregation at the side walls, and clustering absent in round SP particles. Furthermore, we find that at sufficiently strong excitation SP rods engage in a persistent swirling motion in which the velocity is strongly correlated with particle orientation.

Active elastic dimers: self-propulsion and current reversal on a featureless track

We present a Brownian inchworm model of a self-propelled elastic dimer in the absence of an external potential. Nonequilibrium noise together with a stretch-dependent damping form the propulsion mechanism. Our model connects three key nonequilibrium features -- position-velocity correlations, a nonzero mean internal force, and a drift velocity. Our analytical results, including striking current reversals, compare very well with numerical simulations. The model unifies the propulsion mechanisms of DNA helicases, polar rods on a vibrated surface, crawling keratocytes and Myosin VI. We suggest experimental realizations and tests of the model.

Swirling motion in a system of vibrated elongated particles

Large-scale collective motion emerging in a monolayer of vertically vibrated elongated particles is studied. The motion is characterized by recurring swirls, with the characteristic scale exceeding several times the size of an individual particle. Our experiments identified a small horizontal component of the oscillatory acceleration of the vibrating plate in combination with orientation-dependent bottom friction (with respect to horizontal acceleration) as a source for the swirl formation. We developed a continuum model operating with the velocity field and local alignment tensor, which is in qualitative agreement with the experiment.

Stochastic dynamics of a rod bouncing upon a vibrating surface

We describe the behavior of a rod bouncing upon a horizontal surface which is undergoing sinusoidal vertical vibration. The predictions of computer simulations are compared with experiments in which a stainless-steel rod bounces upon a metal-coated glass surface. We find that, as the dimensionless acceleration parameter Gamma is increased appreciably above unity, the motion of a long rod passes from periodic or near-periodic motion into stochastic dynamics. Within this stochastic regime the statistics of the times between impacts follow distributions with tails of approximately Gaussian form while the probability distributions of the angles at impact have tails that are close to exponential. We determine the dependence of each distribution upon the length of the rod, upon frequency, and on Gamma. The statistics of the total energy and of the translational and rotational components each approximately follow a Boltzmann distribution in their tails, the translational and rotational energy components being strongly correlated. The time-averaged mean vertical translational energy is significantly larger than the mean rotational energy, and both are considerably larger than the energy associated with horizontal motion.