相关论文: Extending Granular Resistive Force Theory to Cohes…

The interaction of intruding objects with deformable materials is a common phenomenon, arising in impact and penetration problems, animal and vehicle locomotion, and various geo-space applications. The dynamics of arbitrary intruders can be…

We analyze the capabilities of various recently developed techniques, namely Resistive Force Theory (RFT) and continuum plasticity implemented with the Material Point Method (MPM), in capturing dynamics of wheel--dry granular media…

For robots to navigate safely and efficiently on soft, granular terrains, it is crucial to gather information about the terrain's mechanical properties, which directly affect locomotion performance. Recent research has developed robotic…

The interactions of solid objects with granular media is countered by a resistance force that stems from frictional forces between the grains and the media's resistance to inertia imposed by the intruder. Earlier theories of granular…

Granular media (GM) present locomotor challenges for terrestrial and extraterrestrial devices because they can flow and solidify in response to localized intrusion of wheels, limbs, and bodies. While the development of airplanes and…

Analyses of impact provide rich insights from the evolution of granular bodies to their structural properties of the surface and subsurface layers of celestial bodies. Although chemical cohesive bonding has been observed in asteroid…

When an intruder strikes a granular material from above, the grains exert a stopping force which decelerates and stops the intruder. Many previous studies have used a macroscopic force law, including a drag force which is quadratic in…

Granular intrusions, such as dynamic impact or wheel locomotion, are complex multiphase phenomena where the grains exhibit solid-like and fluid-like characteristics together with an ejected gas-like phase. Despite decades of modeling…

Intruder mechanics in a granular aggregate is a common subject in engineering and geotechnical applications. However, most studies are limited to spherical intruders or small displacement regimes up to the point of failure. In this work we…

We measure the quasi-static friction force acting on intruders moving downwards into a granular medium. By utilizing different intruder geometries, we demonstrate that the force acts locally normal to the intruder surface. By altering the…

Characterizing forces on deformable objects intruding into sand and soil requires understanding the solid and fluid-like responses of such substrates and their effect on the state of the object. The most detailed studies of intrusion in dry…

The penetration of projectiles into granular materials has been mainly studied using spherical intruders. Here we explore the dynamics of rods penetrating vertically in a two-dimensional granular bed composed of expanded polystyrene…

In this paper, we present an approach to study the behavior of compliant plates in granular media and optimize the performance of a robot that utilizes this technique for mobility. From previous work and fundamental tests on thin plate…

This work summarizes a series of studies on two-dimensional granular impact, where an intruding object strikes a granular material at high speed. Many previous studies on granular impact have used a macroscopic force law, which is dominated…

Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable new paradigms for structure formation. Aleatory…

Granular materials are involved in most industrial and environmental processes, as well as many civil engineering applications. Although significant advances have been made in understanding the statics and dynamics of cohesionless grains…

Multi-phase flows encountered in nature or in industry, exhibit non trivial rheological properties, that can be understood better thanks to model materials and appropriate rheometers. Here, we use model unsaturated granular materials:…

Self-burrowing robots navigating through granular media benefit from airflow-assisted burrowing, which reduces penetration resistance. However, the mechanisms underlying airflow-granular interactions remain poorly understood. To address…

Most studies on granular physics have focused on dry granular media, with no liquids between the grains. However, in geology and many real world applications (e.g., food processing, pharmaceuticals, ceramics, civil engineering,…

The structure and mechanical properties of a simple two-dimensional model of a cohesive powder are investigated by molecular dynamics simulations. Micromechanical ingredients involve elasticity, friction, a short range attraction and,…