Cette thèse porte sur la force de résistance au mouvement à faible vitesse d'un objet (sphère, cylindre ou disque) dans un empilement de grains dense et sec. Des expériences ont été menées sur deux dispositifs permettant un mouvement à vitesse contrôlée, en s’intéressant à l’influence des tailles des objets et des grains, des conditions aux limites de l’empilement, de la gravité, et d’une éventuelle vibration de l’empilement. Dans un premier dispositif expérimental permettant un mouvement vertical, nous avons consacré une partie importante de ce travail à l'étude de la forte asymétrie de la force lors de cycles de pénétration/extraction d’un cylindre horizontal et d’une sphère. Pour tenter de comprendre l'origine de cette asymétrie, différentes conditions aux limites ont été considérées : parois rigides ou souples sur les côtés ou au fond de l’empilement, surface libre ou surmontée d’un couvercle plus ou moins chargé en haut de l’empilement. La longueur caractéristique issue du champ de vitesse des grains autour d'un cylindre a été montrée comme la longueur pertinente à considérer pour le confinement latéral, ainsi que pour les déformations de la surface libre telles que la formation d’un cratère consécutif à la pénétration ou d’une bosse lors de l’extraction. Ces déformations peuvent être retrouvées par intégration d’un modèle de champ de vitesse autour de l’objet. La présence d'un couvercle chargé a par ailleurs permis de mettre en évidence une riche et complexe variété de comportements, notamment en extraction où la force ne diminue plus avec la profondeur de l’objet. Dans un second dispositif permettant le mouvement horizontal d’un gros disque intrus à l’intérieur d’une couche de petits disques photoélastiques vibrés ou non, nous avons mesuré la force globale sur l’intrus et visualisé les distributions de contraintes au sein du milieu granulaire. Au-delà des importantes fluctuations spatio-temporelles, des valeurs moyennes de force sur l’intrus et des tenseurs locaux de contraintes et taux de déformations autour de l’intrus ont pu être obtenus, dans la perspective d’établir une loi de comportement locale pour le milieu. La vibration de la couche de grains a été montré pouvoir changer considérablement la dépendance de la force avec la vitesse de l’intrus, avec un effet de fluidification du milieu. / This thesis focuses on the force of resistance to the slow motion of an object (sphere, cylinder or disk) in a dense and dry granular medium. Experiments were conducted using two devices that permitted movement at constant velocity, with the aim of studying the influence of the object size, the grain size, the boundary conditions, and vibration of the grains. Using the first device in which the object moved vertically, we studied in detail the strong asymmetry of the resistance force during cycles of penetration/withdrawal of a horizontal cylinder and a sphere. In an attempt to understand the origin of this asymmetry, we implemented different boundary conditions: rigid and deformable walls on the sides and/or the bottom of the device, and free and quasi-rigid (loaded cover) conditions at the top. Previous work has shown that the characteristic length scale of the velocity field around a moving cylinder is the relevant length for both the lateral confinement and the deformation of the free surface, such as the formation of a crater during penetration or a mound during withdrawal. These deformation fields can be found by integrating a model of the velocity field around the object. Our use of a loaded-cover boundary condition has also revealed a variety of complex behaviors, including a force that no longer decreases with the depth of the object during the withdrawal phase. The second device allows the horizontal movement of a large hard intruder into a monolayer of small photoelastic disks which could be vibrated or not. Using this, we measured the overall force on the intruder and visualized the stress distribution in the granular medium. We were able to measure not only the large spatio-temporal velocity fluctuations, but also average values of the force on the intruder and the local stress and strain rate tensors around it, which allowed us to determine a local constitutive law for the medium. Finally, we have shown that vibration of the grains significantly changes the dependence of the force on the intruder speed, indicating a fluidization effect.

Understanding animal locomotion requires modeling the interaction of the organism with its environment. Locomotion within granular media like sand, soil, and debris that display both solid and fluid-like behavior in response to stress is less studied than locomotion within fluids or on solid ground. To begin to reveal the secrets of movement in sand, I developed models to explain the subsurface locomotion of the sand-swimming sandfish lizard. I developed a resistive force theory (RFT) with empirical force laws to explain the swimming speed observed in animal experiments. By varying the amplitude of the undulation in the RFT, I found that the range of amplitude used by the animal predicted the optimal swimming speed. I developed a numerical model of the sandfish coupled to a discrete element method simulation of the granular medium to test assumptions in the RFT and to study more detailed mechanics of sand-swimming. Inspired by the shovel-shaped head of the sandfish lizard, I used the simulation to study lift forces in granular media: I found that when a submerged intruder moved at a constant speed within a granular medium it experienced a lift force whose sign and magnitude depended on the intruder shape. The principles learned from the models guided the development of a biologically inspired robot that swam within granular media with similar performance to the lizard.

The current study addresses the stability of shock waves propagating through dissipative media, analogous to both granular media and molecular gases undergoing endothermic reactions. In order to investigate the stability, a simple molecular dynamics model was developed to observe shock waves and their structures with the inclusion of energy dissipation. For this, an Event Driven Molecular Dynamics model was implemented in a 2D environment, where a molecule is represented by a disk. The simulations addressed the formation of a shock wave in a gas by the sudden acceleration of a piston. Inelastic collisions were assumed to occur only if an impact velocity threshold is surpassed, representing the activation energy of the dissipative reactions. Parametric studies were conducted for this molecular model, by varying the strength of the shock wave, the activation threshold and the degree of inelasticity in the collisions. The resulting simulations showed that a shock structure does indeed become unstable with the presence of dissipative collisions. This instability manifests itself in the form of distinctive high density non-uniformities behind the shock wave, which take the form of convective rolls. The spacing and size of this ``finger-like" unstable pattern was shown to be dependent on the degree of inelasticity, the activation energy, and the strength of the driving piston. The mechanism responsible for the instability was addressed by studying the time evolution of the material undergoing the shock wave compression and further relaxation. It is found that the gas develops the instability on the same time scales as the clustering instability in homogeneous gases, first observed by Goldhirsch and Zanetti in granular gases. This confirmed that the clustering instability is the dominant mechanism.

Locomotion of animals, whether by running, flying, swimming or crawling, is crucial to their survival. The natural environments they encounter are complex containing fluid, solid or yielding substrates. These environments are often uneven and inclined, which can lead to slipping during footsteps presenting great locomotor challenges. Many animals have specialized appendages for locomotion allowing them to adapt to their environmental conditions. Aquatically adapted animals have fins and flippers to swim through the water, however, some species use their paddle-like appendages to walk on yielding terrestrial substrates like the beach. Beach sand, a granular medium, behaves like a solid or a fluid when stress is applied. Principles of legged locomotion on yielding substrates remain poorly understood, largely due to the lack of fundamental understanding of the complex interactions of body/limbs with these substrates on the level of the Navier-Stokes Equations for fluids. Understanding of the limb-ground interactions of aquatic animals that utilize terrestrial environments can be applied to the ecology and conservation of these species, as well as enhance construction of man-made devices. In this dissertation, we studied the locomotion of hatchling loggerhead sea turtles on granular media integrating biological, robotic, and physics studies to discover principles that govern fin and flipper locomotion on flowing/yielding media. Hatchlings in the field modified their limb use depending on substrate compaction. On soft sand they bent their wrist to utilize the solid features of sand, whereas on hard ground they used a rigid flipper and claw to clasp asperities during forward motion. A sea turtle inspired physical model in the laboratory was used to test detailed kinematics of fin and flipper locomotion on granular media. Coupling of adequate step distance, body lift and thrust generation allowed the robot to move successfully forward avoiding previously disturbed ground. A flat paddle intruder was used to imitate the animal's flipper in physics drag experiments to measure the forces during intrusion and thrust generation.

The use of sunlight for water disinfection has been practiced since ancient times. Only in the last three decades has solar disinfection become widely recognized as a viable means of providing safe drinking water to the disadvantaged portion of the world’s population. The World Health Organization estimates that 1.6 million people die every year because of waterborne diseases. <br/><br/> The Swiss Federal Institute of Environmental Science and Technology and their Department of Water and Sanitation in Developing Countries have been instrumental in propagating the solar water disinfection (SODIS) process in developing countries. The reason for this technology being widely used and accepted is its ease of use and effectiveness: water is placed in clear plastic bottles and exposed to direct sunlight for approximately six hours. The microorganisms in the water absorb the sunlight and it, in turn at sufficient UV dosages, causes mutations to their genetic material, inhibiting reproduction. Although some pathogens may still be viable they are no longer infective. The result is microbiologically safe water. <br/><br/> Research to date has explored everything from which colour and size the SODIS containers should be to whether adding catalysts to the water before exposure improves disinfection. Apart from a few studies that examined the effect of shaking the bottles (to entrain air) before exposure, there has been limited research on pretreatments for enhancing solar disinfection. <br/><br/> The focus of this project was to explore two pretreatments for SODIS and determine how they affect the efficiency of the process. The first stage was to examine one of the currently used pretreatments: cleaning the water containers before use. The second stage was to develop an accessible, low-cost filtration technique to remove particles from the water before exposure to sunlight. Particles in the water disperse the light and protect the microorganisms from being inactivated, so it is important to have as few particles as possible; the recommended upper limit is 30 NTU for solar disinfection. In many instances, surface water with high turbidity (greater than 200 NTU) serves as the only source for drinking water in developing areas. <br/><br/> The first series of experiments in the current research evaluated if cleaning the bottles was necessary and if so, which cleaning agents would be most effective and available. The agents selected were 70% isopropyl alcohol, a soap-water mixture, and lime juice. The experiments demonstrated that cleaning with 70% isopropyl alcohol did not affect the process in any way. Cleaning with the soap-water mixture did have a slightly negative effect on the process; there was substantial microbial recovery when bottles were kept in the dark overnight. In the case of the lime juice, it actually inhibited the disinfection process. It is necessary to remove any debris that might exist within the containers before using them, but using a chemical cleaning agent or mechanically scrubbing can decrease the amount of disinfection that occurs during SODIS. Thus, it is suggested that using a chemical pretreatment is not necessary and has the potential to inhibit disinfection, especially without proper training or technical knowledge. <br/><br/> The second series of experiments identified the optimal design for a low-cost roughing filter that could be used to remove particles from water before exposure to sunlight. The roughing filter that was built from the same plastic pop bottles used for solar disinfection, as well as gravel and sand. It was constructed with three centimetres of gravel on the bottom of the pop bottle and then 17 cm of coarse sand was added on top to make the total filter height 20 cm. A 0.6 mm hole was made at approximately 1.5 cm from the bottom of the bottle using a standard sewing needle. Each filter run consisted of 10 L of water at approximately 200 NTU. Experimental results indicated that 95% removal of turbidity could be achieved. These roughing filters can be constructed from readily available and affordable materials in developing countries and produce an effluent water quality of less than 30 NTU when initial turbidities are greater than 200 NTU. <br/><br/> Finally, the third series of experiments focused on testing the newly developed roughing filter in series with SODIS to evaluate the system as a whole. The results confirmed that using the roughing filter, as a pretreatment to SODIS, is a highly effective means of improving the disinfection potential of the process. These roughing filters produce an effluent water quality of less than 30 NTU, which is required for SODIS, making them a viable pretreatment for turbid water intended for SODIS use.

The use of sunlight for water disinfection has been practiced since ancient times. Only in the last three decades has solar disinfection become widely recognized as a viable means of providing safe drinking water to the disadvantaged portion of the world’s population. The World Health Organization estimates that 1.6 million people die every year because of waterborne diseases. <br/><br/> The Swiss Federal Institute of Environmental Science and Technology and their Department of Water and Sanitation in Developing Countries have been instrumental in propagating the solar water disinfection (SODIS) process in developing countries. The reason for this technology being widely used and accepted is its ease of use and effectiveness: water is placed in clear plastic bottles and exposed to direct sunlight for approximately six hours. The microorganisms in the water absorb the sunlight and it, in turn at sufficient UV dosages, causes mutations to their genetic material, inhibiting reproduction. Although some pathogens may still be viable they are no longer infective. The result is microbiologically safe water. <br/><br/> Research to date has explored everything from which colour and size the SODIS containers should be to whether adding catalysts to the water before exposure improves disinfection. Apart from a few studies that examined the effect of shaking the bottles (to entrain air) before exposure, there has been limited research on pretreatments for enhancing solar disinfection. <br/><br/> The focus of this project was to explore two pretreatments for SODIS and determine how they affect the efficiency of the process. The first stage was to examine one of the currently used pretreatments: cleaning the water containers before use. The second stage was to develop an accessible, low-cost filtration technique to remove particles from the water before exposure to sunlight. Particles in the water disperse the light and protect the microorganisms from being inactivated, so it is important to have as few particles as possible; the recommended upper limit is 30 NTU for solar disinfection. In many instances, surface water with high turbidity (greater than 200 NTU) serves as the only source for drinking water in developing areas. <br/><br/> The first series of experiments in the current research evaluated if cleaning the bottles was necessary and if so, which cleaning agents would be most effective and available. The agents selected were 70% isopropyl alcohol, a soap-water mixture, and lime juice. The experiments demonstrated that cleaning with 70% isopropyl alcohol did not affect the process in any way. Cleaning with the soap-water mixture did have a slightly negative effect on the process; there was substantial microbial recovery when bottles were kept in the dark overnight. In the case of the lime juice, it actually inhibited the disinfection process. It is necessary to remove any debris that might exist within the containers before using them, but using a chemical cleaning agent or mechanically scrubbing can decrease the amount of disinfection that occurs during SODIS. Thus, it is suggested that using a chemical pretreatment is not necessary and has the potential to inhibit disinfection, especially without proper training or technical knowledge. <br/><br/> The second series of experiments identified the optimal design for a low-cost roughing filter that could be used to remove particles from water before exposure to sunlight. The roughing filter that was built from the same plastic pop bottles used for solar disinfection, as well as gravel and sand. It was constructed with three centimetres of gravel on the bottom of the pop bottle and then 17 cm of coarse sand was added on top to make the total filter height 20 cm. A 0.6 mm hole was made at approximately 1.5 cm from the bottom of the bottle using a standard sewing needle. Each filter run consisted of 10 L of water at approximately 200 NTU. Experimental results indicated that 95% removal of turbidity could be achieved. These roughing filters can be constructed from readily available and affordable materials in developing countries and produce an effluent water quality of less than 30 NTU when initial turbidities are greater than 200 NTU. <br/><br/> Finally, the third series of experiments focused on testing the newly developed roughing filter in series with SODIS to evaluate the system as a whole. The results confirmed that using the roughing filter, as a pretreatment to SODIS, is a highly effective means of improving the disinfection potential of the process. These roughing filters produce an effluent water quality of less than 30 NTU, which is required for SODIS, making them a viable pretreatment for turbid water intended for SODIS use.

The locomotion of organisms whether by running, flying, or swimming is the result of multiple degree-of-freedom nervous and musculoskeletal systems interacting with an environment that often flows and deforms in response to movement. A major challenge in biology is to understand the locomotion of organisms that crawl or burrow within terrestrial substrates like sand, soil, and muddy sediments that display both solid and fluid-like behavior. In such materials, validated theories such as the Navier-Stokes equations for fluids do not exist, and visualization techniques (such as particle image velocimetry in fluids) are nearly nonexistent. In this dissertation we integrated biological experiment, numerical simulation, and a physical robot model to reveal principles of undulatory locomotion in granular media. First, we used high speed x-ray imaging techniques to reveal how a desert dwelling lizard, the sandfish, swims within dry granular media without limb use by propagating a single period sinusoidal traveling wave along its body, resulting in a wave efficiency, the ratio of its average forward speed to wave speed, of approximately 0.5. The wave efficiency was independent of the media preparation (loosely and tightly packed). We compared this observation against two complementary modeling approaches: a numerical model of the sandfish coupled to a discrete particle simulation of the granular medium, and an undulatory robot which was designed to swim within granular media. We used these mechanical models to vary the ratio of undulation amplitude (A) to wavelength (λ) and demonstrated that an optimal condition for sand-swimming exists which results from competition between A and λ. The animal simulation and robot model, predicted that for a single period sinusoidal wave, maximal speed occurs for A/ λ = 0.2, the same kinematics used by the sandfish. Inspired by the tapered head shape of the sandfish lizard, we showed that the lift forces and hence vertical position of the robot as it moves forward within granular media can be varied by designing an appropriate head shape and controlling its angle of attack, in a similar way to flaps or wings moving in fluids. These results support the biological hypotheses which propose that morphological adaptations of desert dwelling organisms aid in their subsurface locomotion. This work also demonstrates that the discovery of biological principles of high performance locomotion within sand can help create the next generation of biophysically inspired robots that could explore potentially hazardous complex flowing environments.

A diversity of animals move on and bury within dry and wet granular media, such as dry desert sand or rainforest soils. Little is known about the biomechanics and neural control strategies used to move within these complex terrains. Burial and subsurface locomotion provides a particularly interesting behavior in which to study principles of interaction because the entire body becomes surrounded by the granular environment. In this dissertation, we used three model organisms to elucidate control principles of movement within granular substrates: the sand-specialist sandfish lizard which dives into dry sand using limb-ground interactions, and swims subsurface using body undulations; the long-slender shovel-nosed snake which undulates subsurface in dry sand with low slip; and the ocellated skink, a desert generalist which buries into both wet and dry substrates. Using muscle activation measurements we discovered that the sandfish targeted optimal kinematics which maximized forward speed and minimized the mechanical cost of transport. The simplicity of the sandfish body and kinematics coupled with a fluid-like model of the granular media revealed the fundamental mechanism responsible for neuromechanical phase lags, a general timing phenomenon between muscle activation and curvature along the body that has been observed in all undulatory animals that move in a variety of environments. Kinematic experiments revealed that the snake moved subsurface using a similar locomotion strategy as the sandfish, but its long body and low skin friction enabled higher performance (lower slip). The ocellated skink used a different locomotor pattern than observed in the sandfish and snake but that was sufficient for burial into both wet and dry media. Furthermore, the ocellated skink could only reach shallow burial depths in wet compared to dry granular media. We attribute this difference to the higher resistance forces in wet media and hypothesize that the burial efficacy is force-limited. These studies reveal basic locomotor principles of burial and subsurface movement in granular media and demonstrate the impact of environmental interaction in locomotor behavior.

The current study addresses the stability of shock waves propagating through dissipative media, analogous to both granular media and molecular gases undergoing endothermic reactions. In order to investigate the stability, a simple molecular dynamics model was developed to observe shock waves and their structures with the inclusion of energy dissipation. For this, an Event Driven Molecular Dynamics model was implemented in a 2D environment, where a molecule is represented by a disk. The simulations addressed the formation of a shock wave in a gas by the sudden acceleration of a piston. Inelastic collisions were assumed to occur only if an impact velocity threshold is surpassed, representing the activation energy of the dissipative reactions. Parametric studies were conducted for this molecular model, by varying the strength of the shock wave, the activation threshold and the degree of inelasticity in the collisions. The resulting simulations showed that a shock structure does indeed become unstable with the presence of dissipative collisions. This instability manifests itself in the form of distinctive high density non-uniformities behind the shock wave, which take the form of convective rolls. The spacing and size of this ``finger-like" unstable pattern was shown to be dependent on the degree of inelasticity, the activation energy, and the strength of the driving piston. The mechanism responsible for the instability was addressed by studying the time evolution of the material undergoing the shock wave compression and further relaxation. It is found that the gas develops the instability on the same time scales as the clustering instability in homogeneous gases, first observed by Goldhirsch and Zanetti in granular gases. This confirmed that the clustering instability is the dominant mechanism.

The rise velocity of injected air phase from the injection point toward the vadose zone is a critical factor in in-situ air sparging operations. It has been reported in the literature that air injected into saturated gravel rises as discrete air bubbles in bubbly flow of air phase. The objective of this study is to develop a quantitative technique to estimate the rise velocity of an air bubble in coarse porous media. The model is based on the macroscopic balance equation for forces acting on a bubble rising in a porous medium. The governing equation incorporates inertial force, added mass force, buoyant force, surface tension and drag force that results from the momentum transfer between the phases. The momentum transfer terms take into account the viscous as well as the kinetic energy losses at high velocities. Analytical solutions are obtained for steady, quasi-steady, and accelerated bubble rise velocities. Results show that air bubbles moving up through a porous medium equilibrate after a short travel time and very iv short distances of rise. It is determined that the terminal rise velocity of a single air bubble in an otherwise water saturated porous medium cannot exceed 18.5 cm/sec. The theoretical model results compared favorably with the experimental data reported in the literature. A dimensional analysis conducted to study the effect of individual forces indicates that the buoyant force is largely balanced by the drag force for bubbles with an equivalent radius of 0.2-0.5 cm. With increasing bubble radius, the dimensionless number representing the effect of the surface tension force decreases rapidly. Since the total inertial force is quite small, the accelerated bubble rise velocity can be approximated by the terminal velocity.