The main objective of the project was to develop a model for the motion of granular media under vibration in a tub vibrator. For such a system, it was decided that a discrete element method (DEM) was the most appropriate tool to model bulk velocity and circulation of media. In the first phase of the work, a vibratory finisher was modified to introduce planar vibration into a single layer of particles. The motion of the tub was measured using accelerometers and the corresponding granular media behavior was determined by video recording. A discrete element model, based on Cundall’s approach to contact, was developed to model granular flow in different vibratory beds, and the results were compared with experimental measurements of bulk flow velocity and bed expansion for the tub finisher. The sensitivity of the model predictions to the contact parameters was considered and the parameters were optimized with respect to the experimental results. After optimization, the difference between the model predictions of the bulk flow velocity and the measurements was less than 20% at four locations in media beds of two depths. The average bulk density of the vibrating beds was also predicted to be within 20% of the measured values. In the next phase, a two-dimensional discrete element model was developed to model single-cell circulation in vibratory beds that had both vertical and horizontal components of motion. The model predictions were compared with experimental measurements of the onset and growth of circulation in beds of steel and glass spheres as a function of bed depth, inter-particle and wall friction coefficients, and the amplitude of vibration. While the values from the DEM showed an error of up to 50% in the predicted circulation strength, depending on the type of the media and system conditions, the trends predicted by the model closely matched those in the experiments. Finally, a physical model was developed to describe the relationship between the onset and direction of circulation with the vibration of the container. A similar model was used to describe the experimental results as well as the transition in circulation patterns in terms of the resultant shear forces at the vibrating container walls and the interlocking of media close to the container walls. It was also demonstrated that a two-dimensional DEM could model a granular flow in which the media had three-dimensional contact and freedom of movement, but that was driven by vibrations in a plane. In summary, it was found that the linear optimization procedure for the contact parameters is an efficient way to improve the results from DEM. Additionally, the circulation in a tub-vibrator increased with the depth of the particulate media in the container, and with the magnitude of the wall-particle and particle-particle friction coefficients. The strength of circulation also increased with the amplitude of vibration. A strong correlation existed between the total shear force along the vibrating container walls and the circulation behavior. Bulk circulation increased sharply when increasing bed depth increased the pressure and the shear forces at the walls and between particle layers. It was also concluded that dimensionless bed depth (the ratio of bed depth to particle diameter) was not a proper dimensionless group when discussing the circulation behavior and it should act in conjunction with other parameters.

The main objective of the project was to develop a model for the motion of granular media under vibration in a tub vibrator. For such a system, it was decided that a discrete element method (DEM) was the most appropriate tool to model bulk velocity and circulation of media. In the first phase of the work, a vibratory finisher was modified to introduce planar vibration into a single layer of particles. The motion of the tub was measured using accelerometers and the corresponding granular media behavior was determined by video recording. A discrete element model, based on Cundall’s approach to contact, was developed to model granular flow in different vibratory beds, and the results were compared with experimental measurements of bulk flow velocity and bed expansion for the tub finisher. The sensitivity of the model predictions to the contact parameters was considered and the parameters were optimized with respect to the experimental results. After optimization, the difference between the model predictions of the bulk flow velocity and the measurements was less than 20% at four locations in media beds of two depths. The average bulk density of the vibrating beds was also predicted to be within 20% of the measured values. In the next phase, a two-dimensional discrete element model was developed to model single-cell circulation in vibratory beds that had both vertical and horizontal components of motion. The model predictions were compared with experimental measurements of the onset and growth of circulation in beds of steel and glass spheres as a function of bed depth, inter-particle and wall friction coefficients, and the amplitude of vibration. While the values from the DEM showed an error of up to 50% in the predicted circulation strength, depending on the type of the media and system conditions, the trends predicted by the model closely matched those in the experiments. Finally, a physical model was developed to describe the relationship between the onset and direction of circulation with the vibration of the container. A similar model was used to describe the experimental results as well as the transition in circulation patterns in terms of the resultant shear forces at the vibrating container walls and the interlocking of media close to the container walls. It was also demonstrated that a two-dimensional DEM could model a granular flow in which the media had three-dimensional contact and freedom of movement, but that was driven by vibrations in a plane. In summary, it was found that the linear optimization procedure for the contact parameters is an efficient way to improve the results from DEM. Additionally, the circulation in a tub-vibrator increased with the depth of the particulate media in the container, and with the magnitude of the wall-particle and particle-particle friction coefficients. The strength of circulation also increased with the amplitude of vibration. A strong correlation existed between the total shear force along the vibrating container walls and the circulation behavior. Bulk circulation increased sharply when increasing bed depth increased the pressure and the shear forces at the walls and between particle layers. It was also concluded that dimensionless bed depth (the ratio of bed depth to particle diameter) was not a proper dimensionless group when discussing the circulation behavior and it should act in conjunction with other parameters.

The term “granular material” describes any assembly of macroscopic particles. This broad definition encompasses a wide variety of everyday materials, for example sand, cereals, gravel and powders. However, despite their commonplace nature, to date no universally accepted set of constitutive equations exists to describe the behaviour of these materials. Thermomechanics and micromechanics are two modelling methodologies previously employed in separate efforts to represent granular behaviour. In this thesis, the two theories are integrated to develop new models of idealised granular materials. (For complete abstract open document)

abstract: Existing robotic excavation research has been primarily focused on lunar mining missions or simple traffic control in confined tunnels, however little work attempts to bring collective excavation into the realm of human infrastructure. This thesis explores a decentralized approach to excavation processes, where traffic laws are borrowed from swarms of fire ants (Solenopsis invicta) or termites (Coptotermes formosanus) to create decision rules for a swarm of robots working together and organizing effectively to create a desired final excavated pattern. First, a literature review of the behavioral rules of different types of insect colonies and the resulting structural patterns over the course of excavation was conducted. After identifying pertinent excavation laws, three different finite state machines were generated that relate to construction, search and rescue operations, and extraterrestrial exploration. After analyzing these finite state machines, it became apparent that they all shared a common controller. Then, agent-based NetLogo software was used to simulate a swarm of agents that run this controller, and a model for excavating behaviors and patterns was fit to the simulation data. This model predicts the tunnel shapes formed in the simulation as a function of the swarm size and a time delay, called the critical waiting period, in one of the state transitions. Thus, by controlling the individual agents' behavior, it was possible to control the structural outcomes of collective excavation in simulation. To create an experimental testbed that could be used to physically implement the controller, a small foldable robotic platform was developed, and it's capabilities were tested in granular media. In order to characterize the granular media, force experiments were conducted and parameters were measured for resistive forces during an excavation cycle. The final experiment verified the robot's ability to engage in excavation and deposition, and to determine whether or not to begin the critical waiting period. This testbed can be expanded with multiple robots to conduct small-scale experiments on collective excavation, such as further exploring the effects of the critical waiting period on the resulting excavation pattern. In addition, investigating other factors like tuning digging efficiency or deposition proximity could help to transition the proposed bio-inspired swarm excavation controllers to implementation in real-world applications. / Dissertation/Thesis / Masters Thesis Mechanical Engineering 2018

The present work investigates the dynamics and stability of shock waves in granular gases. The problem was modelled for a piston propagating into a system of disks that can undergo inelastic collisions if an impact threshold is exceeded. The model was addressed numerically at the microscopic and macroscopic levels. The molecular dynamics methodology employed the Event-Driven Molecular Dynamics method, and the continuum model was formulated using the Navier-Stokes equations for granular gases with the transport terms of Jenkins and Richman and a modified cooling rate term. The inviscid steady state shock structure was derived and analyzed. The results indicated that a relaxing shock structure is expected for sufficiently strong shock waves. Beyond this limit the structure was shown to be independent of the initial energy, a finding similar to the strong shock approximation in molecular gases. One-dimensional simulations demonstrated that the molecular dynamics and continuum models yield similar evolutions and structures of the shock wave, validating the continuum description of this study. Two-dimensional results showed that sufficiently strong shock waves can exhibit multi-dimensional instability with high density non-uniformities and convective rolls within the structure, with the size of instabilities shown to scale with the relaxation length of the shock structure. Instabilities were observed with the continuum description only with the inclusion of statistical fluctuations to density mimicking the molecular model. The cases that were unstable were shown to be in a regime whereby statistical fluctuations can become important, following the description for this regime by Bird. Based on these findings, it is proposed that unstable shock behaviour can be observed for highly dissipative shock waves that yield short relaxation length scales, where fluctuations become important. The current work may shed light on unstable shock behaviour observed in dissipative gases, having implications for both granular media and molecular gases.

abstract: Vehicles traverse granular media through complex reactions with large numbers of small particles. Many approaches rely on empirical trends derived from wheeled vehicles in well-characterized media. However, the environments of numerous bodies such as Mars or the moon are primarily composed of fines called regolith which require different design considerations. This dissertation discusses research aimed at understanding the role and function of empirical, computational, and theoretical granular physics approaches as they apply to helical geometries, their envelope of applicability, and the development of new laws. First, a static Archimedes screw submerged in granular material (glass beads) is analyzed using two methods: Granular Resistive Force Theory (RFT), an empirically derived set of equations based on fluid dynamic superposition principles, and Discrete element method (DEM) simulations, a particle modeling software. Dynamic experiments further confirm the computational method with multi-body dynamics (MBD)-DEM co-simulations. Granular Scaling Laws (GSL), a set of physics relationships based on non-dimensional analysis, are utilized for the gravity-modified environments. A testing chamber to contain a lunar analogue, BP-1, is developed and built. An investigation of straight and helical grousered wheels in both silica sand and BP-1 is performed to examine general GSL applicability for lunar purposes. Mechanical power draw and velocity prediction by GSL show non-trivial but predictable deviation. BP-1 properties are characterized and applied to an MBD-DEM environment for the first time. MBD-DEM simulation results between Earth gravity and lunar gravity show good agreement with theoretical predictions for both power and velocity. The experimental deviation is further investigated and found to have a mass-dependant component driven by granular sinkage and engagement. Finally, a robust set of helical granular scaling laws (HGSL) are derived. The granular dynamics scaling of three-dimensional screw-driven mobility is reduced to a similar theory as wheeled scaling laws, provided the screw is radially continuous. The new laws are validated in BP-1 with results showing very close agreement to predictions. A gravity-variant version of these laws is validated with MBD-DEM simulations. The results of the dissertation suggest GSL, HGSL, and MBD-DEM give reasonable approximations for use in lunar environments to predict rover mobility given adequate granular engagement. / Dissertation/Thesis / Doctoral Dissertation Mechanical Engineering 2019

Biological treatment forms an integral part of wastewater treatment. Biological aerated filters (BAFs) are submerged attached growth bioreactors which provide biological treatment as well as filtration in a single unit. The packing media used in BAFs plays an important role in the system performance and determines the ability of the system to meet treatment objectives. The performance of upflow BAFs was compared using North American clay media and Severn Trent monomedia at low organic and hydraulic loads (0.18 kg tCOD/m3d – 0.6 kg tCOD/m3d and 0.1 m/hr – 0.38 m/hr, respectively). Two identical, two stage, bench scale, upflow BAFs were constructed using PVC pipes with an internal diameter of 0.11 m. The system was operated at the Peppers Ferry Wastewater Treatment facility for two months and was fed with effluent from the primary clarifier. Grab samples of influent and effluent from the BAFs were collected thrice a week to evaluate carbon oxidation, solids removal and nitrification. In order to evaluate system recovery when BAFs are operated intermittently, a drying cycle of eleven days was introduced. Both media performed satisfactorily with respect to carbon oxidation and nitrification. On average, total COD and total suspended solids (TSS) removal rates were, respectively greater than 80% and 55%. Conversion of ammonia to nitrate was greater than 90% throughout the study. It was concluded that additional factors like media properties and economic factors need to be considered in selection of the media. / Master of Science

Running on land is fraught with challenges. Changes in topography, material properties, and the general heterogeneity of terrain necessitate the ability to sense, process, and compensate for changes quickly and repeatedly. Failure to do so successfully has potentially fatal consequences on an animal’s survival. I used lizards as an experimental model to examine how animals move successfully across complex terrain, because they are found in a vast range of habitat types and have a foot shape conserved across many families. I found that sprawled running appears to confer surprising robustness against large surface drops without any decrease in running speed, through the interplay between changes in body and limb posture. Increased combinations of foot placement and positioning result in more stable solutions than are otherwise possible among animals with erect limb postures. Using high-speed x-ray to visualize subsurface foot motion while running on sand, I discovered that lizards often found on fine sand spread their toes to distances known to maximize particle-particle interactions for force production on sand. Finally, I used a hopping robot outfitted with 3-D printed bio-inspired feet to show that the toe spacing pattern used by sand specialist lizards increases jump height for both stiff and flexible foot models. In summary, this work illuminates how adaptations for complex terrain may not be largely driven by selection for foot shape, but rather through modifications of behavior and functional morphology which likely confer robustness during locomotion across a variety of terrain. / Biology

No / Clinkers of high alumina cements are separated into three granular formulations with particle sizes in the range 0.6-0.71 mm, 0.71-1.18 mm and greater than 1.18 mm. These are used to manufacture consolidated samples of porous concrete in an autoclave. The acoustic and microscopic properties of loose and consolidated porous samples of concrete are investigated using both experimental methods and mathematical modelling. Values of porosity, flow resistivity, tortuosity and parameters of the pore size distribution are determined and used to predict closely the sound speed, acoustic attenuation and normal incidence absorption coefficient of these materials. It is shown that high alumina cements do not require additional binders for consolidation and that the structural bonds in these cements are developed quickly between individual clinkers in the presence of water. The hydration product build-up during the consolidation process is insignificant which ensures good acoustic performance of the consolidated samples resulting from a sufficient proportion of the open pores. The value of porosity in the consolidated samples was found to be around 40%, which is close to that measured in some commercial acoustic absorbers. This work provides a foundation for the development of acoustically efficient and structurally robust materials, which can be integrated in environmentally sustainable concrete and masonry structures.

Dans les études expérimentales de la micromécanique des matériaux granulaires, la mesure des forces de contact entre particules est de nos jours toujours un challenge en comparaison avec les outils et techniques bien mieux établis pour la caractérisation cinématique à l'échelle des particules. Cette thèse de doctorat s'attaque à cet ambitieux problème. L'approche proposée implique deux aspects : (i) la caractérisation expérimentale du réseau de contact et de la cinématique à l'échelle des particules, qui peut être réalisée avec des techniques d'imagerie standards ; (ii) une approche numérique capable d'exploiter ces mesures afin de déduire les forces de contact.L'une des contraintes qu'on s'était imposée était de ne s'appuyer que sur la connaissance de la géométrie des particules ainsi que du réseau de contacts pour réaliser la déduction des forces de contact. Trois techniques numériques différentes ont été proposées à cet effet : une méthode basée sur l'élasticité des contacts (CEM), une méthode basée sur la dynamique de contact (CDM) et une méthode basée sur l'équilibre élasto-plastique de l'assemblage granulaire (QSM). Chacune de ces techniques repose sur une approche de la famille des méthodes en éléments discrets ; il s'agit respectivement de le DEM de type Cundall, la dynamique des contacts non régulière, et une approche de calcul statique élastoplastique. La non-unicité de la solution est le principal problème avec les techniques choisies, et elles sont étroitement liées à l’indétermination des forces dans le système.Les trois méthodes sont d'abord présentées et validées en les appliquant à l'estimation des forces dans les systèmes granulaires 2D générés au moyen de simulations DEM explicites. Nous prenons ces simulations comme des expériences "idéales" dans le sens où elles fournissent des données similaires à celles extraites des expériences, mais dépourvues d'erreurs de mesure. Un avantage évident de cette stratégie est d’obtenir des ensembles de forces faisant office de référence faisant foi. Sur cette base, les principaux aspects affectant la détermination des forces peuvent être étudiés. En particulier, le rôle crucial de l'histoire du chargement est mis en évidence et certaines solutions pour les prendre en compte dans la détermination des forces ont été prospectées. Une évaluation de l'influence de l'erreur de mesure a également été réalisée pour prédire l'applicabilité de chaque méthode à des expériences réelles. Une brève analyse de la variabilité des solutions est également fournie.Finalement, des tentatives ont été faites pour déduire des forces issues d’expériences effectuées dans le dispositif 1gamma2epsilon. La cinématique des particules et la connectivité ont été évaluées au moyen de la technique de corrélation d'image numérique. Les avantages et inconvénients des trois méthodes ont été éclaircis. Ils nous conduisent à envisager une utilisation combinée des trois méthodes pour tirer parti de leurs atouts respectifs. À l'avenir, il conviendra de réfléchir à la prise en compte de la stabilité de la solution -- dans l'algorithme de convergence vers une solution -- avec l'espoir de limiter la variabilité des solutions. / In the experimental study of the micro-mechanics of granular materials, measuring inter-particle contact forces is still a challenging task, if compared to the well-established tools and techniques for the kinematic characterisation at particle scale. This doctoral thesis addresses this problem. The proposed approach consists of two parts: an experimental characterisation of the granular network geometry and of particle-scale kinematics, which can be carried out with common imaging techniques such as Digital Image Correlation; a numerical approach aiming to exploit these measurements for the estimation of forces.One imposed constraint was to only make use of the rigid motions of particles, together with the knowledge of the contact network, to infer contact forces. Three different numerical techniques have been proposed to this purpose, referred to as Contact Elasticity Method (CEM), Contact Dynamics-based Method (CDM) and Quasi-Static Method (QSM). Each of these techniques is based on the formulation of common approaches in the family of Discrete Element Methods, respectively the classical Cundall-like DEM, the Non Smooth Contact Dynamics and a quasi-static approach accounting for both contact elasticity and plasticity. It is shown that memory of the history of the packing is the main concern with all the chosen techniques.The three methods are first presented and validated by applying them to the estimation of forces in 2D granular systems generated by means of explicit-time DEM simulations. We refer to these simulations as "ideal" experiments since they are meant to provide the same information that can be extracted from experiments, but without any measurement error. An obvious benefit of this strategy is to get reference force sets that are taken as ground truth. Based on this, the main aspects that affect the determination of forces can be investigated. In particular, the crucial role of history is emphasised here, and some solutions to take it into account in the force inference have been investigated.An assessment of the influence of measurement error has also been carried out, to predict the applicability of each method to real experiments. A short analysis of the variability of the solutions is also provided.Finally, some attempts have been made to infer forces from experiments carried out in the 1gamma2epsilon device. Particle kinematics and connectivity have been assessed by means of the Digital Image Correlation technique.The benefits and drawbacks of the three methods have been demonstrated. They conduct us to envision a combined usage of the three methods. In the future, studying the stability of equilibrium might help reducing the variability of the solutions.