This paper presents a micromechanical study on the behavior of granular materials under confined shear using a three-dimensional Discrete Element Method （DEM）. We consider rotational resistance among spherical parti...This paper presents a micromechanical study on the behavior of granular materials under confined shear using a three-dimensional Discrete Element Method （DEM）. We consider rotational resistance among spherical particles in the DEM code as an approximate way to account for the effect of particle shape. Under undrained shear, it is found rotational resistance may help to increase the shear strength of a granular system and to enhance its resistance to liquefaction. The evolution of internal structure and anisotropy in granular systems with different initial conditions depict a clear bimodal character which distinguishes two contact subnetworks. In the presence of rotational resistance, a good correlation is found between an analytical stress-force-fabric relation and the DEM results, in which the normal force anisotropy plays a dominant role. The unique properties of critical state and liquefaction state in relation to granular anisotropy are also explored and discussed.展开更多
This study presents a method for the inverse analysis of fluid flow problems.The focus is put on accurately determining boundary conditions and characterizing the physical properties of granular media,such as permeabi...This study presents a method for the inverse analysis of fluid flow problems.The focus is put on accurately determining boundary conditions and characterizing the physical properties of granular media,such as permeability,and fluid components,like viscosity.The primary aim is to deduce either constant pressure head or pressure profiles,given the known velocity field at a steady-state flow through a conduit containing obstacles,including walls,spheres,and grains.The lattice Boltzmann method(LBM)combined with automatic differentiation(AD)(AD-LBM)is employed,with the help of the GPU-capable Taichi programming language.A lightweight tape is used to generate gradients for the entire LBM simulation,enabling end-to-end backpropagation.Our AD-LBM approach accurately estimates the boundary conditions for complex flow paths in porous media,leading to observed steady-state velocity fields and deriving macro-scale permeability and fluid viscosity.The method demonstrates significant advantages in terms of prediction accuracy and computational efficiency,making it a powerful tool for solving inverse fluid flow problems in various applications.展开更多
The microstructure of granular media, including grain's shape- and size-polydispersities, orientation, and area fraction can potentially affect its permeability. However, few studies consider the coupling effects ...The microstructure of granular media, including grain's shape- and size-polydispersities, orientation, and area fraction can potentially affect its permeability. However, few studies consider the coupling effects of these features. This work employs geometrical probability and stereology to establish quantitative relationships between the above microstructural features and the geometric tortuosity of the two-dimensional granular media containing superellipse, superoval, and polygon grains. Then the lattice Boltzmann method (LBM) is used to determine the permeabilities of these granular media. By combining the tortuosity model and the LBM-derived permeabilities, modified K–C equations are formulated to predict the permeability and the shape factor, considering the grain's shape- and size-polydispersities, orientation, and area fraction. The reliability of these methods can be verified by comparing them with both our simulations and available experimental, theoretical, and numerical data reported in the literature. The findings implicate that the tortuosity and permeability of the granular media are strongly correlated with the grain's shape, orientation, and area fraction but unaffected by the size polydispersity and spatial arrangement of grains. Only circularity is not enough to derive a unified formula for considering the impact of grain shape on tortuosity and permeability, other shape parameters need to be explored in the future.展开更多
Generating efficient locomotion in granular media is important,although it is difficult for robots.Inspired by the fact that sand vipers usually have saw-like scales,in this study,we design a soft undulation robot wit...Generating efficient locomotion in granular media is important,although it is difficult for robots.Inspired by the fact that sand vipers usually have saw-like scales,in this study,we design a soft undulation robot with tangential anisotropic friction to enhance the undulation performance of soft robots in granular media.A mathematical model was derived and numerical simulations were conducted accordingly to investigate the effectiveness of tangential friction anisotropy for undulation gait generation in granular media.In particular,we introduce a pseudo-rigid-body dynamics model consisting of links and joints while simulating the pneumatic actuation method to more closely approximate the response of soft robots.Moreover,a soft snake-like robot was fabricated,and its forward and reverse undulations were compared in two sets of controlled experiments.The consistency between the experimental results and the numerical simulations confirms that tangential anisotropic friction induces a propulsive effect in undulation,thereby increasing the robot's locomotion speed.This discovery provides new insights into the design of undulation robots in granular environments.2024 The Author(s).Published by Elsevier B.V.on behalf of Shandong University.This is an open access articleunder the CCBY license(http://creativecommons.org/licenses/by/4.0/).展开更多
The pore structure images of ore particles located at different heights of leaching column were scanned with X-ray computerized tomography (CT) scanner, the porosity and pore size distribution were calculated and the ...The pore structure images of ore particles located at different heights of leaching column were scanned with X-ray computerized tomography (CT) scanner, the porosity and pore size distribution were calculated and the geometrical shape and connectivity of pores were analyzed based on image process method, and the three dimensional reconstruction of pore structure images was realized. The results show that the porosity of ore particles bed in leaching column is 42.92%, 41.72%, 39.34% at top, middle and bottom zone, respectively. Obviously it has spatial variability and decreases appreciably along the height of the column. The overall average porosity obtained by image processing is 41.33% while the porosity gotten from general measurement method in laboratory is 42.77% showing the results of both methods are consistent well. The pore structure of ore granular media is characterized as a dynamical space network composed of interconnected pore bodies and pore throats. The ratio of throats with equivalent diameter less than 1.91 mm to the total pores is 29.31%, and that of the large pores with equivalent diameter more than 5.73 mm is 2.90%.展开更多
基金supported by the Research Grants Council of Hong Kong through GRF 622910
文摘This paper presents a micromechanical study on the behavior of granular materials under confined shear using a three-dimensional Discrete Element Method （DEM）. We consider rotational resistance among spherical particles in the DEM code as an approximate way to account for the effect of particle shape. Under undrained shear, it is found rotational resistance may help to increase the shear strength of a granular system and to enhance its resistance to liquefaction. The evolution of internal structure and anisotropy in granular systems with different initial conditions depict a clear bimodal character which distinguishes two contact subnetworks. In the presence of rotational resistance, a good correlation is found between an analytical stress-force-fabric relation and the DEM results, in which the normal force anisotropy plays a dominant role. The unique properties of critical state and liquefaction state in relation to granular anisotropy are also explored and discussed.
文摘This study presents a method for the inverse analysis of fluid flow problems.The focus is put on accurately determining boundary conditions and characterizing the physical properties of granular media,such as permeability,and fluid components,like viscosity.The primary aim is to deduce either constant pressure head or pressure profiles,given the known velocity field at a steady-state flow through a conduit containing obstacles,including walls,spheres,and grains.The lattice Boltzmann method(LBM)combined with automatic differentiation(AD)(AD-LBM)is employed,with the help of the GPU-capable Taichi programming language.A lightweight tape is used to generate gradients for the entire LBM simulation,enabling end-to-end backpropagation.Our AD-LBM approach accurately estimates the boundary conditions for complex flow paths in porous media,leading to observed steady-state velocity fields and deriving macro-scale permeability and fluid viscosity.The method demonstrates significant advantages in terms of prediction accuracy and computational efficiency,making it a powerful tool for solving inverse fluid flow problems in various applications.
基金extend their appreciation to Researcher Supporting Project number(RSPD2024R692),King Saud University,Riyadh,Kingdomof SaudiArabia.
文摘The microstructure of granular media, including grain's shape- and size-polydispersities, orientation, and area fraction can potentially affect its permeability. However, few studies consider the coupling effects of these features. This work employs geometrical probability and stereology to establish quantitative relationships between the above microstructural features and the geometric tortuosity of the two-dimensional granular media containing superellipse, superoval, and polygon grains. Then the lattice Boltzmann method (LBM) is used to determine the permeabilities of these granular media. By combining the tortuosity model and the LBM-derived permeabilities, modified K–C equations are formulated to predict the permeability and the shape factor, considering the grain's shape- and size-polydispersities, orientation, and area fraction. The reliability of these methods can be verified by comparing them with both our simulations and available experimental, theoretical, and numerical data reported in the literature. The findings implicate that the tortuosity and permeability of the granular media are strongly correlated with the grain's shape, orientation, and area fraction but unaffected by the size polydispersity and spatial arrangement of grains. Only circularity is not enough to derive a unified formula for considering the impact of grain shape on tortuosity and permeability, other shape parameters need to be explored in the future.
基金supported by Fundamental Research Funds for the Central Universities,China(ZY2301,BH2316,buctrc202215)the National Natural Science Foundation of China(62273340)the Natural Science Foundation of China Liaoning Province(2021-MS-031).
文摘Generating efficient locomotion in granular media is important,although it is difficult for robots.Inspired by the fact that sand vipers usually have saw-like scales,in this study,we design a soft undulation robot with tangential anisotropic friction to enhance the undulation performance of soft robots in granular media.A mathematical model was derived and numerical simulations were conducted accordingly to investigate the effectiveness of tangential friction anisotropy for undulation gait generation in granular media.In particular,we introduce a pseudo-rigid-body dynamics model consisting of links and joints while simulating the pneumatic actuation method to more closely approximate the response of soft robots.Moreover,a soft snake-like robot was fabricated,and its forward and reverse undulations were compared in two sets of controlled experiments.The consistency between the experimental results and the numerical simulations confirms that tangential anisotropic friction induces a propulsive effect in undulation,thereby increasing the robot's locomotion speed.This discovery provides new insights into the design of undulation robots in granular environments.2024 The Author(s).Published by Elsevier B.V.on behalf of Shandong University.This is an open access articleunder the CCBY license(http://creativecommons.org/licenses/by/4.0/).
基金Project(2004CB619205) supported by the National Key Fundamental Research and Development Program of ChinaProject(50325415) supported by the National Science Fund for Distinguished Young ScholarsProject(50574099) supported by the National Natural Science Foundation of China
文摘The pore structure images of ore particles located at different heights of leaching column were scanned with X-ray computerized tomography (CT) scanner, the porosity and pore size distribution were calculated and the geometrical shape and connectivity of pores were analyzed based on image process method, and the three dimensional reconstruction of pore structure images was realized. The results show that the porosity of ore particles bed in leaching column is 42.92%, 41.72%, 39.34% at top, middle and bottom zone, respectively. Obviously it has spatial variability and decreases appreciably along the height of the column. The overall average porosity obtained by image processing is 41.33% while the porosity gotten from general measurement method in laboratory is 42.77% showing the results of both methods are consistent well. The pore structure of ore granular media is characterized as a dynamical space network composed of interconnected pore bodies and pore throats. The ratio of throats with equivalent diameter less than 1.91 mm to the total pores is 29.31%, and that of the large pores with equivalent diameter more than 5.73 mm is 2.90%.
