arXiv subjects

Heinrich M. Jaeger

Publications and source records attributed to Heinrich M. Jaeger.

At least 37 records · Page 2Linked to original sources

arXiv2024

Acoustic manipulation of multi-body structures and dynamics

Sound can exert forces on objects of any material and shape. This has made the contactless manipulation of objects by intense ultrasound a fascinating area of research with wide-ranging applications. While much is understood for acoustic forcing of individual objects, sound-mediated interactions among multiple objects at close range gives rise to a rich set of structures and dynamics that are less explored and have been emerging as a frontier for research. We introduce the basic mechanisms giving rise to sound-mediated interactions among rigid as well as deformable particles, focusing on the regime where the particles' size and spacing are much smaller than the sound wavelength. The interplay of secondary acoustic scattering, Bjerknes forces, and micro-streaming is discussed and the role of particle shape is highlighted. Furthermore, we present recent advances in characterizing non-conservative and non-pairwise additive contributions to the particle interactions, along with instabilities and active fluctuations. These excitations emerge at sufficiently strong sound energy density and can act as an effective temperature in otherwise athermal systems.

cond-mat.soft↗

arXiv2023

A self-organizing robotic aggregate using solid and liquid-like collective states

Designing robotic systems that can change their physical form factor as well as their compliance to adapt to environmental constraints remains a major conceptual and technical challenge. To address this, we introduce the Granulobot, a modular system that blurs the distinction between soft, modular, and swarm robotics. The system consists of gear-like units that each contain a single actuator such that units can self-assemble into larger, granular aggregates using magnetic coupling. These aggregates can reconfigure dynamically and also split up into subsystems that might later recombine. Aggregates can self-organize into collective states with solid- and liquid-like properties, thus displaying widely differing compliances. These states can be perturbed locally via actuators or externally via mechanical feedback from the environment to produce adaptive shape shifting in a decentralized manner. This in turn can generate locomotion strategies adapted to different conditions. Aggregates can move over obstacles without using external sensors or coordinate to maintain a steady gait over different surfaces without electronic communication among units. The modular design highlights a physical, morphological form of control that advances the development of resilient robotic systems with the ability to morph and adapt to different functions and conditions.

cs.RO↗

arXiv2022

Hydrodynamic Coupling Melts Acoustically Levitated Crystalline Rafts

The acoustic levitation of small particles provides a versatile platform to investigate the collective dynamical properties of self-assembled many-body systems in the presence of hydrodynamic coupling. However, acoustic scattering forces can only generate attractive interactions at close range in the levitation plane, limiting self-assembly to rafts where particles come into direct, dissipative, contact. Here, we overcome this limitation by using particles small enough that the viscosity of air establishes a repulsive streaming flow at close range. By tuning the size of particles relative to the characteristic length scale of the viscous flow, we control the interplay between attractive and repulsive forces. In this novel granular raft, particles form an open lattice with tunable spacing. Hydrodynamic coupling between particles gives rise to spontaneous excitations in the lattice, in turn driving intermittent particle rearrangements. Under the action of these fluctuations, the raft transitions from a predominantly quiescent, crystalline structure, to a two-dimensional liquid-like state. We show that this transition is characterized by dynamic heterogeneity and intermittency, as well as cooperative particle movements, that produce an effectively `cageless' crystal. These findings shed light on fluid-coupling driven excitations that are difficult to isolate and control in many other hydrodynamic systems.

cond-mat.soft↗

arXiv2022

Acoustically levitated lock and key grains

We present a scheme for generating shape-dependent, specific bonds between millimeter scale particles, using acoustic levitation. We levitate particles in an ultrasonic standing wave, allowing for substrate-free assembly. Secondary scattering generates shape-dependent attractive forces between particles, while driving the acoustic trap above its resonance frequency produces active fluctuations that mimic an effective temperature. We 3D print planar particles, and show that the local curvature of their binding sites controls the selectivity for attaching a matching particle. We find that the bound-state probability and bound-state lifetime can be independently tuned via the binding site depth and height respectively. Finally, we show that these principles can be used to design particles that assemble into complex structures.

cond-mat.soft↗

arXiv2022

Designing Stress-Adaptive Dense Suspensions using Dynamic Covalent Chemistry

The non-Newtonian behaviors of dense suspensions are central to their use in technological and industrial applications and arise from a network of particle-particle contacts that dynamically adapts to imposed shear. Reported herein are studies aimed at explor-ing how dynamic covalent chemistry between particles and the polymeric solvent can be used to tailor such stress-adaptive contact networks leading to their unusual rheological behaviors. Specifically, a room temperature dynamic thia-Michael bond is employed to rationally tune the equilibrium constant (Keq) of the polymeric solvent to the particle interface. It is demonstrated that low Keq leads to shear thinning while high Keq produces antithixotropy, a rare phenomenon where the viscosity increases with shearing time. It is proposed that an increase in Keq increases the polymer graft density at the particle surface and that antithixotropy primar-ily arises from partial debonding of the polymeric graft/solvent from the particle surface and the formation of polymer bridges between particles. Thus, the implementation of dynamic covalent chemistry provides a new molecular handle with which to tailor the macroscopic rheology of suspensions by introducing programable time dependence. These studies open the door to energy absorbing materials that not only sense mechanical inputs and adjust their dissipation as a function of time or shear rate but can switch between these two modalities on demand.

cond-mat.soft↗

arXiv2022

Mechanical properties of acoustically levitated granular rafts

We investigate a model system for the rotational dynamics of inertial many-particle clustering, in which sub-millimeter objects are acoustically levitated in air. Driven by scattered sound, levitated grains self-assemble into a monolayer of particles, forming mesoscopic granular rafts with both an acoustic binding energy and a bending rigidity. Detuning the acoustic trap can give rise to stochastic forces and torques that impart angular momentum to levitated objects. As the angular momentum of a quasi-two-dimensional granular raft is increased, the raft deforms from a disk to an ellipse, eventually pinching off into multiple separate rafts, in a mechanism that resembles the break-up of a liquid drop. We extract the raft effective surface tension and elastic modulus, and show that non-pairwise acoustic forces give rise to effective elastic moduli that scale with the raft size. We also show that the raft size controls the microstructural basis of plastic deformation, resulting in a transition from fracture to ductile failure.

cond-mat.soft↗

arXiv2021

Stress-activated Constraints in Dense Suspension Rheology

Dispersing small particles in a liquid can produce surprising behaviors when the solids fraction becomes large: rapid shearing drives these systems out of equilibrium and can lead to dramatic increases in viscosity (shear-thickening) or even solidification (shear jamming). These phenomena occur above a characteristic onset stress when particles are forced into frictional contact. Here we show via simulations how this can be understood within a framework that abstracts details of the forces acting at particle-particle contacts into general stress-activated constraints on relative particle movement. We find that focusing on just two constraints, affecting sliding and rolling at contact, can reproduce the experimentally observed shear thickening behavior quantitatively, despite widely different particle properties, surface chemistries, and suspending fluids. Within this framework parameters such as coefficients of sliding and rolling friction can each be viewed as a proxy for one or more forces of different physical or chemical origin, while the parameter magnitudes indicate the relative importance of the associated constraint. In this way, a new link is established that connects features observable in macroscale rheological measurements to classes of constraints arising from micro- or nano-scale properties.

cond-mat.soft↗

arXiv2020

Effect of two parallel intruders on net work during granular penetrations

The impact of single passive intruders into granular particles has been studied in detail. However, the impact force produced by multiple intruders separated at a distance from one another, and hence the effect of their presence in close proximity to one another, is largely unexplored. Here, we use numerical simulations and laboratory experiments to study the force response of two parallel rods intruding vertically into granular media while varying the gap spacing between them. We also explored the effect of variations in friction, intruder size, and particle size on the force response. The net work ($W$) of the two rods over the depth of intrusion was measured, and the instantaneous velocities of particles over the duration of intrusion were calculated by simulations. We found that the work done by the intruders changes with distance between them. We observed a peak in $W$ at a gap spacing of $\sim$3 particle diameters, which was up to 25% greater than $W$ at large separation (\textgreater 11 particle diameters), beyond which the net work plateaued. This peak was likely due to less particle flow between intruders as we found a larger number of strong forces---identified as force chains---in the particle domain at gaps surrounding the peak force. Although higher friction caused greater force generation during intrusion, the gap spacing between the intruders at which the peak work was generated remained unchanged. Larger intruder sizes resulted in greater net work with the peak in $W$ occurring at slightly larger intruder separations. Taken together, our results show that peak work done by two parallel intruders remained within a narrow range, remaining robust to most other tested parameters.

cond-mat.soft↗

arXiv2020

Shape induced segregation and anomalous particle transport under spherical confinement

Colloid or nanoparticle mobility under confinement is of central importance to a wide range of physical and biological processes. Here, we introduce a minimal model of particles in a hydrodynamic continuum to examine how particle shape and concentration affect the transport of particles in spherical confinement. Specifically, an immersed boundary-General geometry Ewald-like approach is adopted to simulate the dynamics of spheres and cylinders under the influence of short-and long-range fluctuating hydrodynamic interactions with appropriate non-slip conditions at the confining walls. An efficient $\it{O(N)}$ parallel finite element algorithm is used, thereby allowing simulations at high concentrations, while a Chebyshev polynomial approximation is implemented in order to satisfy the fluctuation-dissipation theorem. A concentration-dependent anomalous diffusion is observed for suspended particles. It is found that introducing cylinders in a background of spheres, i.e. particles with a simple degree of anisotropy, has a pronounced influence on the structure and dynamics of the particles. First, increasing the fraction of cylinders induces a particle segregation effect, where spheres are pushed towards the wall and cylinders remain near the center of the cavity. This segregation leads to lower mobility for the spheres relative to that encountered in a system of pure spheres at the same volume fraction. Second, the diffusive-to-anomalous transition and the degree of anomaly--quantified by the power-law exponent in the mean square displacement vs. time relation-both increase as the fraction of cylinders becomes larger. These findings are of relevance for studies of diffusion in the cytoplasm, where proteins exhibit a distribution of size and shapes that could lead to some of the effects identified in the simulations reported here.

cond-mat.soft↗

arXiv2020

Conforming nanoparticle sheets to surfaces with Gaussian curvature

Nanoparticle monolayer sheets are ultrathin inorganic-organic hybrid materials that combine highly controllable optical and electrical properties with mechanical flexibility and remarkable strength. Like other thin sheets, their low bending rigidity allows them to easily roll into or conform to cylindrical geometries. Nanoparticle monolayers not only can bend, but also cope with strain through local particle rearrangement and plastic deformation. This means that, unlike thin sheets such as paper or graphene, nanoparticle sheets can much more easily conform to surfaces with complex topography characterized by non-zero Gaussian curvature, like spherical caps or saddles. Here, we investigate the limits of nanoparticle monolayers' ability to conform to substrates with Gaussian curvature by stamping nanoparticle sheets onto lattices of larger polystyrene spheres. Tuning the local Gaussian curvature by increasing the size of the substrate spheres, we find that the stamped sheet morphology evolves through three characteristic stages: from full substrate coverage, where the sheet extends over the interstices in the lattice, to coverage in the form of caps that conform tightly to the top portion of each sphere and fracture at larger polar angles, to caps that exhibit radial folds. Through analysis of the nanoparticle positions, obtained from scanning electron micrographs, we extract the local strain tensor and track the onset of strain-induced dislocations in the particle arrangement. By considering the interplay of energies for elastic and plastic deformations and adhesion, we construct arguments that capture the observed changes in sheet morphology as Gaussian curvature is tuned over two orders of magnitude.

cond-mat.mes-hall↗

arXiv2019

Memory in nonmonotonic stress relaxation of a granular system

We demonstrate experimentally that a granular packing of glass spheres is capable of storing memory of multiple strain states in the dynamic process of stress relaxation. Modeling the system as a non-interacting population of relaxing elements, we find that the functional form of the predicted relaxation requires a quantitative correction which grows in severity with each additional memory and is suggestive of interactions between elements. Our findings have implications for the broad class of soft matter systems that display memory and anomalous relaxation.

cond-mat.soft↗

arXiv2019

Dynamic and programmable cellular-scale granules enable tissue-like materials

Tissue-like materials are required in many robotic systems to improve human-machine interactions. However, the mechanical properties of living tissues are difficult to replicate. Synthetic materials are not usually capable of simultaneously displaying the behaviors of the cellular ensemble and the extracellular matrix. A particular challenge is identification of a cell-like synthetic component which is tightly integrated with its matrix and also responsive to external stimuli at the population level. Here, we demonstrate that cellular-scale hydrated starch granules, an underexplored component in materials science, can turn conventional hydrogels into tissue-like materials when composites are formed. Using several synchrotron-based X-ray techniques, we reveal the mechanically-induced motion and training dynamics of the starch granules in the hydrogel matrix. These dynamic behaviors enable multiple tissue-like properties such as strain-stiffening, anisotropy, mechanical heterogeneity, programmability, mechanochemistry, impact absorption, and self-healability. The starch-hydrogel composites can be processed as robotic skins that maintain these tissue-like characteristics.

cond-mat.soft↗

arXiv2019

Intrusion into granular media beyond the quasi-static regime

The drag force exerted on an object intruding into granular media can depend on the object's velocity as well as the depth penetrated. We report on intrusion experiments at constant speed over four orders in magnitude together with systematic molecular dynamics simulations well beyond the quasi-static regime. We find that velocity dependence crosses over to depth dependence at a characteristic time after initial impact. This crossover time scale, which depends on penetration speed, depth, gravity and intruder geometry, challenges current models that assume additive contributions to the drag.

cond-mat.soft↗

arXiv2019

Stress fluctuations and shear thickening in dense granular suspensions

We experimentally investigate the rheology and stress fluctuations of granules densely suspended in silicone oil. We find that both thickening strength and stress fluctuations significantly weaken with oil viscosity $η_0$. Comparison of our rheological results to the Wyart-Cates model for describing different dynamic jamming states suggests a transition from frictional contacts to lubrication interactions as $η_0$ increases. To clarify the contribution from viscous interactions to the rheology, we systematically measure stress fluctuations in various flow states. Reduction of stress fluctuations with $η_0$ indicates that a strong lubrication layer greatly inhibits force correlations among particles. Measuring stress fluctuations in the strong shear thickening regime, we observe a crossover from asymmetric Gamma to symmetric Gaussian distributions and associated with it a decrease of lateral (radial) correlation length $ξ$ with increasing shear rate.

cond-mat.soft↗

arXiv2019

Precision measurement of tribocharging in acoustically levitated sub-millimeter grains

Contact electrification of dielectric grains forms the basis for a myriad of physical phenomena. However, even the basic aspects of collisional charging between grains are still unclear. Here we develop a new experimental method, based on acoustic levitation, which allows us to controllably and repeatedly collide two sub-millimeter grains and measure the evolution of their electric charges. This is therefore the first tribocharging experiment to provide complete electric isolation for the grain-grain system from its surroundings. We use this method to measure collisional charging rates between pairs of grains for three different material combinations: polyethylene-polyethylene, polystyrene-polystyrene, and polystyrene-sulfonated polystyrene. The ability to directly and noninvasively collide particles of different constituent materials, chemical functionality, size, and shape opens the door to detailed studies of collisional charging in granular materials.

cond-mat.soft↗

arXiv2019

The intertwined roles of particle shape and surface roughness in controlling the shear strength of a granular material

Both the shape of individual particles and their surface properties contribute to the strength of a granular material under shear. Here we show the degree to which these two aspects can be intertwined. In experiments on assemblies of 3D printed, convex lens-shaped particles, we measure the stress-strain response under repeated compressive loading and find that the aggregate's shear strength falls rapidly when compared to other particle shapes. We probe the granular material at mm-scales with X-ray computed tomography and $μ$m-scales with high-resolution surface metrology to look for the cause of the degradation. We find that wear due to accumulated deformation smooths out the lens surfaces in a controlled and systematic manner that correlates with a significant loss of shear strength observed for the assembly as a whole. The sensitivity of lenses to changes in surface properties contrasts with results for assemblies of 3D printed tetrahedra and spheres, which under the same load cycling are found to exhibit only minor degradation in strength. This case study provides insight into the relationship between particle shape, surface wear, and the overall material response, and suggests new strategies when designing a granular material with desired evolution of properties under repeated deformation.

cond-mat.soft↗

arXiv2019

Edges control clustering in levitated granular matter

The properties of small clusters depend dramatically on the interactions between their constituent particles. However, it remains challenging to design and tune the interactions between macroscopic particles, such as in a granular material. Here, we use acoustic levitation to trap macroscopic grains and induce forces between them. Our main results show that particles levitated in an acoustic field prefer to make contact along sharp edges. The radius of curvature of the edges directly controls the magnitude of these forces. These highly directional interactions, combined with local contact forces, give rise to a diverse array of cluster shapes. Our results open up new possibilities for the design of specific forces between macroscopic particles, directing their assembly, and actuating their motion.

cond-mat.soft↗

arXiv2019

Temperature Dependence of Nylon and PTFE Triboelectrification

Contact electrification, or tribocharging, is pertinent to a broad range of industrial and natural processes involving dielectric materials. However, the basic mechanism by which charge is transferred between insulators is still unclear. Here, we use a simple apparatus that brings two macroscopic surfaces into repeated contact and measures the charge on the surfaces after each contact. We vary the temperature of the surfaces, and find that increasing temperature leads to a decrease in the magnitude of charge transfer. When paired with a Monte-Carlo simulation and TGA measurements, our results support a mechanism where adsorbed surface water is crucial for charge exchange. Our setup is easily extendable to a variety of industrially relevant materials.

physics.app-ph↗