Related papers: A predictive model for fluid-saturated, brittle gr…
Deformable object manipulation presents a unique set of challenges in robotic manipulation by exhibiting high degrees of freedom and severe self-occlusion. State representation for materials that exhibit plastic behavior, like modeling clay…
This paper introduces a new technique for learning probabilistic models of mass and friction distributions of unknown objects, and performing robust sliding actions by using the learned models. The proposed method is executed in two…
According to Shoemaker, the "impact of solid bodies is the most fundamental process that has taken place on the terrestrial planets", as they shape the surfaces of all solar system bodies. A lot of information on this process has been…
The response of an oscillating granular damper to an initial perturbation is studied using experiments performed in microgravity and granular dynamics mulations. High-speed video and image processing techniques are used to extract…
Many soft and biological materials display so-called 'soft glassy' dynamics; their constituents undergo anomalous random motions and complex cooperative rearrangements. A recent simulation model of one soft glassy material, a coarsening…
The control of granular materials, showing up in many industrial applications, is a challenging open research problem. Granular material systems are complex-behavior (as they could have solid-, fluid-, and gas-like behaviors) and…
We investigate the sliding of objects on an inclined granular surface close to the avalanche threshold. Our experiments show that the stability is driven by the surface deformations. Heavy objects generate footprint-like deformations which…
High-density granular active matter is a useful model for dense animal collectives and could be useful for designing reconfigurable materials that can flow or solidify on command. Recent work has demonstrated key similarities and…
When dense granular gases are continuously excited under microgravity conditions, spatial inhomogeneities of the particle number density can emerge. A significant share of particles may collect in strongly overpopulated regions, called…
The mechanical response, serviceability, and load bearing capacity of materials and structural components can be adversely affected due to external stimuli, which include exposure to a corrosive chemical species, high temperatures,…
Modeling collective motion in non-conservative systems, such as granular materials, is difficult since a general microscopic-to-macroscopic approach is not available: there is no Hamiltonian, no known stationary densities in phase space,…
Intracrystalline diffusion is an invaluable tool for estimating timescales of geological events. Diffusion is typically modeled using gradients in chemical potential. However, chemical potential is derived for uniform pressure and…
Granular matter under rapid flow conditions can be modeled as a granular gas, namely, a gas of hard spheres dissipating part of their kinetic energy during binary collisions (inelastic hard spheres, IHS). On the other hand, given that…
Recent experimental results on the static or quasistatic response of granular materials have been interpreted to suggest the inapplicability of the traditional engineering approaches, which are based on elasto-plastic models (which are…
An accurate modeling of reactive flows in fractured porous media is a key ingredient to obtain reliable numerical simulations of several industrial and environmental applications. For some values of the physical parameters we can observe…
When an amorphous material is strained beyond the point of yielding it enters a state of continual reconfiguration via dissipative, avalanche-like slip events that relieve built-up local stress. However, how the statistics of such events…
A model is presented for the characterization of dissipative effects on highly nonlinear waves in one-dimensional dry granular media. The model includes three terms: Hertzian, viscoelastic, and a term proportional to the square of the…
Fluid droplets can be induced to move over rigid or flexible surfaces under external or body forces. We describe the effect of variations in material properties of a flexible substrate as a mechanism for motion. In this paper, we consider a…
The dilatancy angle describes the propensity of a granular medium to dilate under an applied shear. Using a simple spin model (the ``tetris'' model) which accounts for geometrical ``frustration'' effects, we study such a dilatancy angle as…
A simple geometrical model is presented for the gravity-driven motion of a single particle on a rough inclined surface. Adopting a simple restitution law for the collisions between the particle and the surface, we arrive at a model in which…