Related papers: Facilitating a 3D granular flow with an obstructio…
This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for…
Brownian diffusion of rod-like polymers in the presence of randomly distributed spherical obstacles is studied using molecular dynamics (MD) simulations. It is observed that dependence of the reduced diffusion coefficient of these…
Capillary droplets form due to surface tension when two immiscible fluids are mixed. We describe the motion of gravity-driven capillary droplets flowing through narrow constrictions and obstacle arrays in both simulations and experiments.…
Stochastic driven flow along a channel can be modeled by the asymmetric simple exclusion process. We confirm numerically the presence of a dynamic queuing phase transition at a nonzero obstruction strength, and establish its scaling…
We report on the nature of flow events for the gravity-driven discharge of glass beads through a hole that is small enough that the hopper is susceptible to clogging. In particular, we measure the average and standard deviation of the…
Rigid particles in a Stokesian fluid can physically not overlap, as a thin layer of fluid always separates a particle pair, exerting increasingly strong repulsive forces on the bodies for decreasing separations. Numerically, resolving these…
A major challenge in flow through porous media is to better understand the link between microstructure and macroscale flow and transport. For idealised microstructures, the mathematical framework of homogenisation theory can be used for…
We investigate algorithmic control of a large swarm of mobile particles (such as robots, sensors, or building material) that move in a 2D workspace using a global input signal (such as gravity or a magnetic field). We show that a maze of…
Particulate matter in a fluid injected into a porous reservoir impairs its permeability spatio-temporally due to pore clogging. As particle volume fraction increases near the pore throats, inter-particle contact mechanics determine their…
The behavior of cross-linking polymer solutions as they transition from liquid-like to solid-like material in flow determines success or failure in several applications. Dilute polymer solutions flow easily, while concentrated polymers or…
It is shown that a channel flow of a dilute polymer solution between two widely spaced cylinders hindering the flow is an important paradigm of an unbounded flow in the case in which the channel wall is located sufficiently far from the…
It was shown in \cite{bloch2000optimal} that an optimal control formulation for incompressible ideal fluid flow yields Euler's equations. In this paper, we consider a variational obstacle-avoidance formulation for incompressible ideal flows…
We present a generalized form of open boundary conditions, and an associated numerical algorithm, for simulating incompressible flows involving open or outflow boundaries. The generalized form represents a family of open boundary…
We investigate details of the interaction of subaqueous barchans with dune-size obstacles by carrying out numerical simulations where the fluid is solved at the grain scale and the motions of individual grains are computed at all time…
An obstacle representation of a plane graph G is V(G) together with a set of opaque polygonal obstacles such that G is the visibility graph on V(G) determined by the obstacles. We investigate the problem of computing an obstacle…
Bottlenecks occur in a wide range of applications from pedestrian and traffic flow to mineral and food processing. We examine granular flow across a bottleneck using particle-based simulations. Contrary to expectations we find that the…
Granular flows through narrow outlets may be interrupted by the formation of arches or vaults that clog the exit. These clogs may be destroyed by vibrations. A feature which remains elusive is the broad distribution $p(\tau)$ of clog…
The motion of grains in a 2d embankment under periodic horizontal forcing is studied theoretically using Coulomb-type modelling. Periodic conditions are used to determined the inclination of the free surface. It is shown that no periodic…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…