Modeling of the interaction of rigid wheels with dry granular media

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 interactions. We compare results to more conventionally accepted methods of modeling wheel locomotion. While RFT is an empirical force model for arbitrarily-shaped bodies moving through granular media, MPM-based continuum modeling allows the simulation of full granular flow and stress fields. RFT allows for rapid evaluation of interaction forces on arbitrary shaped intruders based on a local surface stress formulation depending on depth, orientation, and movement of surface elements. We perform forced-slip experiments for three different wheel types and three different granular materials, and results are compared with RFT, continuum modeling, and a traditional terramechanics semi-empirical method. Results show that for the range of inputs considered, RFT can be reliably used to predict rigid wheel granular media interactions with accuracy exceeding that of traditional terramechanics methodology in several circumstances. Results also indicate that plasticity-based continuum modeling provides an accurate tool for wheel-soil interaction while providing more information to study the physical processes giving rise to resistive stresses in granular media

Pore-scale modeling of fluid-particles interaction and emerging poromechanical effects

A micro-hydromechanical model for granular materials is presented. It combines the discrete element method (DEM) for the modeling of the solid phase and a pore-scale finite volume (PFV) formulation for the flow of an incompressible pore fluid. The coupling equations are derived and contrasted against the equations of conventional poroelasticity. An analogy is found between the DEM-PFV coupling and Biot's theory in the limit case of incompressible phases. The simulation of an oedometer test validates the coupling scheme and demonstrates the ability of the model to capture strong poromechanical effects. A detailed analysis of microscale strain and stress confirms the analogy with poroelasticity. An immersed deposition problem is finally simulated and shows the potential of the method to handle phase transitions.Comment: accepted in Int. Journal for Numerical and Analytical Methods in Geomechanic

Surprising simplicity in the modeling of dynamic granular intrusion

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 efforts, a unified description of the physics in such intrusions is as yet unknown. Here we show that a continuum model based on the simple notions of frictional flow and tension-free separation describes complex granular intrusions near free surfaces. This model captures dynamics in a variety of experiments including wheel locomotion, plate intrusions, and running legged robots. The model reveals that three effects (a static contribution and two dynamic ones) primarily give rise to intrusion forces in such scenarios. Identification of these effects enables the development of a further reduced-order technique (Dynamic Resistive Force Theory) for rapid modeling of granular locomotion of arbitrarily shaped intruders. The continuum-motivated strategy we propose for identifying physical mechanisms and corresponding reduced-order relations has potential use for a variety of other materials.Comment: 41 pages including supplementary document, 10 figures, and 8 vide

A semi-implicit discrete-continuum coupling method for porous media based on the effective stress principle at finite strain

Abstract: A finite strain multiscale hydro-mechanical model is established via an extended Hill–Mandel condition for two-phase porous media. By assuming that the effective stress principle holds at unit cell scale, we established a micro-to-macro transition that links the micromechanical responses at grain scale to the macroscopic effective stress responses, while modeling the fluid phase only at the macroscopic continuum level. We propose a dual-scale semi-implicit scheme, which treats macroscopic responses implicitly and microscopic responses explicitly. The dual-scale model is shown to have good convergence rate, and is stable and robust. By inferring effective stress measure and poro-plasticity parameters, such as porosity, Biot’s coefficient and Biot’s modulus from micro-scale simulations, the multiscale model is able to predict effective poro-elasto-plastic responses without introducing additional phenomenological laws. The performance of the proposed framework is demonstrated via a collection of representative numerical examples. Fabric tensors of the representative elementary volumes are computed and analyzed via the anisotropic critical state theory when strain localization occurs. Keywords: Multiscale poromechanics; Semi-implicit scheme; Homogenization; Discrete-continuum coupling; DEM–FEM; Anisotropic critical stat