arXiv subjects

Paul B. Umbanhowar

Publications and source records attributed to Paul B. Umbanhowar.

At least 37 records · Page 2Linked to original sources

arXiv2019

Towards a terramechanics for bio-inspired locomotion in granular environments

Granular media (GM) present locomotor challenges for terrestrial and extraterrestrial devices because they can flow and solidify in response to localized intrusion of wheels, limbs, and bodies. While the development of airplanes and submarines is aided by understanding of hydrodynamics, fundamental theory does not yet exist to describe the complex interactions of locomotors with GM. In this paper, we use experimental, computational, and theoretical approaches to develop a terramechanics for bio-inspired locomotion in granular environments. We use a fluidized bed to prepare GM with a desired global packing fraction, and use empirical force measurements and the Discrete Element Method (DEM) to elucidate interaction mechanics during locomotion-relevant intrusions in GM such as vertical penetration and horizontal drag. We develop a resistive force theory (RFT) to account for more complex intrusions. We use these force models to understand the locomotor performance of two bio-inspired robots moving on and within GM.

physics.bio-ph↗

arXiv2019

Identifying Invariant Ergodic Subsets and Barriers to Mixing by Cutting and Shuffling: Study in a Bi-rotated Hemisphere

Mixing by cutting-and-shuffling can be mathematically described by the dynamics of piecewise isometries (PWIs), higher dimensional analogs of one-dimensional interval exchange transformations. In a two-dimensional domain under a PWI, the exceptional set, $\bar{E}$, which is created by the accumulation of cutting lines (the union of all iterates of cutting lines and all points that pass arbitrarily close to a cutting line), defines where mixing is possible but not guaranteed. There is structure within $\bar{E}$ that directly influences the mixing potential of the PWI. Here we provide new computational and analytical formalisms for examining this structure by way of measuring the density and connectivity of $\varepsilon$-fattened cutting lines that form an approximation of $\bar{E}$. For the example of a PWI on a hemispherical shell studied here, this approach reveals the subtle mixing behaviors and barriers to mixing formed by invariant ergodic subsets (confined orbits) within the fractal structure of the exceptional set. Some PWIs on the shell have provably non-ergodic exceptional sets, which prevent mixing, while others have potentially ergodic exceptional sets where mixing is possible since ergodic exceptional sets have uniform cutting line density. For these latter exceptional sets, we show the connectivity of orbits in the PWI map through direct examination of orbit position and shape and through a two-dimensional return plot to explain the necessity of orbit connectivity for mixing.

math.DS↗

arXiv2019

The Soft Landing Problem: Minimizing Energy Loss by a Legged Robot Impacting Yielding Terrain

Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain presents additional challenges such as permanent ground deformation which dissipates energy. In this paper, we examine the soft landing problem: given some impact momentum, bring the robot to rest while minimizing foot penetration depth. To gain insight into properties of penetration depth-minimizing control policies, we formulate a constrained optimal control problem and obtain a bang-bang open-loop force profile. Motivated by examples from biology and recent advances in legged robotics, we also examine impedance-control solutions to the dimensionless soft landing problem. Through simulations, we find that optimal impedance reduces penetration depth nearly as much as the open-loop force profile, while remaining robust to model uncertainty. Through simulations and experiments, we find that the solution space is rich, exhibiting qualitatively different relationships between impact velocity and the optimal impedance for small and large dimensionless impact velocities. Lastly, we discuss the relevance of this work to minimum-cost-of-transport locomotion for several actuator design choices.

cs.RO↗

arXiv2019

Modified Archimedes' principle predicts rising and sinking of intruders in sheared granular flows

We computationally determine the force on single spherical intruder particles in sheared granular flows as a function of particle size, particle density, shear rate, overburden pressure, and gravitational acceleration. The force scales similarly to, but deviates from, the buoyancy force predicted by Archimedes' principle. The deviation depends only on the intruder to bed particle size ratio, but not the density ratio or flow conditions. We propose a simple force model that successfully predicts whether intruders rise or sink, knowing only the size and density ratios, for a variety of flow configurations in physical experiments.

cond-mat.soft↗

arXiv2019

Cutting and shuffling a hemisphere: non-orthogonal axes

We examine the dynamics of cutting-and-shuffling a hemispherical shell driven by alternate rotation about two horizontal axes using the framework of piecewise isometry (PWI) theory. Previous restrictions on how the domain is cut-and-shuffled are relaxed to allow for non-orthogonal rotation axes, adding a new degree of freedom to the PWI. A new computational method for efficiently executing the cutting-and-shuffling using parallel processing allows for extensive parameter sweeps and investigations of mixing protocols that produce a low degree of mixing. Non-orthogonal rotation axes break some of the symmetries that produce poor mixing with orthogonal axes and increase the overall degree of mixing on average. Arnold tongues arising from rational ratios of rotation angles and their intersections, as in the orthogonal axes case, are responsible for many protocols with low degrees of mixing in the non-orthogonal-axes parameter space. Arnold tongue intersections along a fundamental symmetry plane of the system reveal a new and unexpected class of protocols whose dynamics are periodic, with exceptional sets forming polygonal tilings of the hemispherical shell.

math.DS↗

arXiv2019

Pattern formation in a fully-3D segregating granular flow

Segregation patterns of size-bidisperse particle mixtures in a fully-three-dimensional flow produced by alternately rotating a spherical tumbler about two perpendicular axes are studied over a range of particle sizes and volume ratios using both experiments and a continuum model. Pattern formation results from the interaction of size segregation with chaotic regions and non-mixing islands of the flow. Specifically, large particles in the flowing surface layer are preferentially deposited in non-mixing islands despite the effects of collisional diffusion and chaotic transport. The protocol-dependent structure of the unstable manifolds of the flow surrounding the non-mixing islands provides further insight into why certain segregation patterns are more robust than others.

cond-mat.soft↗

arXiv2018

Diffusion, mixing, and segregation in confined granular flows

Discrete element method simulations of confined bidisperse granular shear flows elucidate the balance between diffusion and segregation that can lead to either mixed or segregated states, depending on confining pressure. Results indicate that the collisional diffusion is essentially independent of overburden pressure. Because the rate of segregation diminishes with overburden pressure, the tendency for particles to segregate weakens relative to the re-mixing of particles due to collisional diffusion as the overburden pressure increases. Using a continuum approach that includes a pressure dependent segregation velocity and a pressure independent diffusion coefficient, the interplay between diffusion and segregation is accurately predicted for both size and density bidisperse mixtures over a wide range of flow conditions when compared to simulation results. Additional simulations with initially segregated conditions demonstrate that applying a high enough overburden pressure can suppress segregation to the point that collisional diffusion mixes the segregated particles.

cond-mat.soft↗

arXiv2018

Asymmetric concentration dependence of segregation fluxes in granular flows

We characterize the local concentration dependence of segregation velocity and segregation flux in both size and density bidisperse gravity-driven free-surface granular flows as a function of the particle size ratio and density ratio, respectively, using discrete element method (DEM) simulations. For a range of particle size ratios and inlet volume flow rates in size-bidisperse flows, the maximum segregation flux occurs at a small particle concentration less than 0.5, which decreases with increasing particle size ratio. The segregation flux increases up to a size ratio of 2.4 but plateaus from there to a size ratio of 3. In density bidisperse flows, the segregation flux is greatest at a heavy particle concentration less than 0.5 which decreases with increasing particle density ratio. The segregation flux increases with increasing density ratio for the extent of density ratios studied, up to 10. We further demonstrate that the simulation results for size driven segregation are in accord with the predictions of the kinetic sieving segregation model of Savage and Lun.

physics.flu-dyn↗

arXiv2018

Unsteady flows and inhomogeneous packing in damp granular heap flows

We experimentally study the transition from steady flow to unsteady flow in a quasi-2D granular heap when small amounts of water are added to monodisperse glass spheres. Particles flow uniformly down both sides of the heap for low water content, but unsteady flow occurs as the water content increases. The unsteady flow mode consists of a non-depositing downslope avalanche and an upslope propagating granular jump. The transition from steady to unsteady flow occurs when the slope exceeds a critical angle as a result of water-induced cohesion. Under unsteady flow conditions, the deposited heap consists of loosely packed and densely packed layers, the formation of which is closely related to the unsteady flow dynamics.

cond-mat.soft↗

arXiv2018

Optimized mixing by cutting-and-shuffling

Mixing by cutting-and-shuffling can be understood and predicted using dynamical systems based tools and techniques. In existing studies, mixing is generated by maps that repeat the same cut-and-shuffle process at every iteration, in a "fixed" manner. However, mixing can be greatly improved by varying the cut-and-shuffle parameters at each step, using a "variable" approach. To demonstrate this approach, we show how to optimize mixing by cutting-and-shuffling on the one-dimensional line interval, known as an interval exchange transformation (IET). Mixing can be significantly improved by optimizing variable protocols, especially for initial conditions more complex than just a simple two-color line interval. While we show that optimal variable IETs can be found analytically for arbitrary numbers of iterations, for more complex cutting-and-shuffling systems, computationally expensive numerical optimization methods would be required. Furthermore, the number of control parameters grows linearly with the number of iterations in variable systems. Therefore, optimizing over large numbers of iterations is generally computationally prohibitive. We demonstrate an ad hoc approach to cutting-and-shuffling that is computationally inexpensive and guarantees the mixing metric is within a constant factor of the optimum. This ad hoc approach yields significantly better mixing than fixed IETs which are known to produce weak-mixing, because cut pieces never reconnect. The heuristic principles of this method can be applied to more general cutting-and-shuffling systems.

math.DS↗

arXiv2017

Mixing and transport from combined stretching-and-folding and cutting-and-shuffling

While structures and bifurcations controlling tracer particle transport and mixing have been studied extensively for systems with only stretching-and-folding, and to a lesser extent for systems with only cutting-and-shuffling, few studies have considered systems with a combination of both. We demonstrate two bifurcations for non-mixing islands associated with elliptic periodic points that only occur in systems with combined cutting-and-shuffling and stretching-and-folding, using as an example a map approximating biaxial rotation of a less-than-half-full spherical granular tumbler. First, we characterize a bifurcation of elliptic island containment, from containment by manifolds associated with hyperbolic periodic points to containment by cutting line tangency. As a result, the maximum size of the non-mixing region occurs when the island is at the bifurcation point. We also demonstrate a bifurcation where periodic points are annihilated by the cutting-and-shuffling action. Chains of elliptic and hyperbolic periodic points that arise when invariant tori surrounding an elliptic point break up [according to Kolmogorov-Arnold-Moser (KAM) theory] can annihilate when they meet a cutting line. Consequently, the Poincaré index (a topological invariant of smooth systems) is not preserved.

nlin.CD↗

arXiv2017

Transient response in granular quasi-2D bounded heap flow

We study the transition between steady flows of non-cohesive granular materials in quasi-2D bounded heaps by suddenly changing the feed rate. In both experiments and simulations, the primary feature of the transition is a wedge of flowing particles that propagates downstream over the rising free surface with a wedge front velocity inversely proportional to the square root of time. An additional longer duration transient process continues after the wedge front reaches the downstream wall. The entire transition is well modeled as a moving boundary problem with a diffusion-like equation derived from local mass balance and a local relation between the flux and the surface slope.

physics.flu-dyn↗

arXiv2017

Persistent structures in a 3D dynamical system with solid and fluid regions

Remarkably persistent mixing and non-mixing regions (islands) are observed to coexist in a three-dimensional dynamical system where randomness is expected. The track of an x-ray opaque particle in a spherical shell half-filled with dry non-cohesive particles and periodically rotated about two axes reveals interspersed structures that are spatially complex and vary non-trivially with the rotation angles. The geometric skeleton of the structures forms from the subtle interplay between fluid-like mixing by stretching-and-folding, and solids mixing by cutting-and-shuffling, which is described by the mathematics of piecewise isometries. In the physical system, larger islands predicted by the cutting-and-shuffling model alone can persist despite the presence of stretching-and-folding flows and particle-collision-driven diffusion, while predicted smaller islands are not observed. By uncovering the synergy of simultaneous fluid and solid mixing, we point the way to a more fundamental understanding of advection driven mixing in materials with both solid and flowing regions.

cond-mat.soft↗

arXiv2016

A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems

In this review we argue for the creation of a physics of moving systems -- a locomotion "robophysics" -- which we define as the pursuit of the discovery of principles of self generated motion. Robophysics can provide an important intellectual complement to the discipline of robotics, largely the domain of researchers from engineering and computer science. The essential idea is that we must complement study of complex robots in complex situations with systematic study of simplified robophysical devices in controlled laboratory settings and simplified theoretical models. We must thus use the methods of physics to examine successful and failed locomotion in simplified (abstracted) devices using parameter space exploration, systematic control, and techniques from dynamical systems. Using examples from our and other's research, we will discuss how such robophysical studies have begun to aid engineers in the creation of devices that begin to achieve life-like locomotor abilities on and within complex environments, have inspired interesting physics questions in low dimensional dynamical systems, geometric mechanics and soft matter physics, and have been useful to develop models for biological locomotion in complex terrain. The rapidly decreasing cost of constructing sophisticated robot models with easy access to significant computational power bodes well for scientists and engineers to engage in a discipline which can readily integrate experiment, theory and computation.

cs.RO↗

arXiv2014

Modeling size segregation of granular materials: the roles of segregation, advection and diffusion

Predicting segregation of granular materials composed of different-sized particles is a challenging problem. In this paper, we develop and implement a theoretical model that captures the interplay between advection, segregation, and diffusion in size bidisperse granular materials. The fluxes associated with these three driving factors depend on the underlying kinematics, whose characteristics play key roles in determining particle segregation configurations. Unlike previous models for segregation, our model uses parameters based on kinematic measures from discrete element method simulations instead of arbitrarily adjustable fitting parameters, and it achieves excellent quantitative agreement with both experimental and simulation results when applied to quasi-two-dimensional bounded heaps. The model yields two dimensionless control parameters, both of which are only functions of physically control parameters (feed rate, particle sizes, and system size) and kinematic parameters (diffusion coefficient, flowing layer depth, and percolation velocity). The Péclet number, $Pe$, captures the interplay of advection and diffusion, and the second dimensionless parameter, $Λ$, describes the interplay between segregation and advection. A parametric study of $Λ$ and $Pe$ demonstrates how the particle segregation configuration depends on the interplay of advection, segregation, and diffusion. The model can be readily adapted to other flow geometries.

physics.flu-dyn↗

arXiv2013

Slow axial drift in three-dimensional granular tumbler flow

Models of monodisperse particle flow in partially filled three-dimensional tumblers often assume that flow along the axis of rotation is negligible. We test this assumption, for spherical and double cone tumblers, using experiments and discrete element method simulations. Cross sections through the particle bed of a spherical tumbler show that, after a few rotations, a colored band of particles initially perpendicular to the axis of rotation deforms: particles near the surface drift toward the pole, while particles deeper in the flowing layer drift toward the equator. Tracking of mm-sized surface particles in tumblers with diameters of 8-14 cm shows particle axial displacements of one to two particle diameters, corresponding to axial drift that is 1-3% of the tumbler diameter, per pass through the flowing layer. The surface axial drift in both double cone and spherical tumblers is zero at the equator, increases moving away from the equator, and then decreases near the poles. Comparing results for the two tumbler geometries shows that wall slope causes axial drift, while drift speed increases with equatorial diameter. The dependence of axial drift on axial position for each tumbler geometry is similar when both are normalized by their respective maximum values.

cond-mat.soft↗

arXiv2013

The effect of limb kinematics on the speed of a legged robot on granular media

Achieving effective locomotion on diverse terrestrial substrates can require subtle changes of limb kinematics. Biologically inspired legged robots (physical models of organisms) have shown impressive mobility on hard ground but suffer performance loss on unconsolidated granular materials like sand. Because comprehensive limb-ground interaction models are lacking, optimal gaits on complex yielding terrain have been determined empirically. To develop predictive models for legged devices and to provide hypotheses for biological locomotors, we systematically study the performance of SandBot, a small legged robot, on granular media as a function of gait parameters. High performance occurs only in a small region of parameter space. A previously introduced kinematic model of the robot combined with a new anisotropic granular penetration force law predicts the speed. Performance on granular media is maximized when gait parameters minimize body acceleration and limb interference, and utilize solidification features of granular media.

physics.bio-ph↗

arXiv2012

Stratification, segregation and mixing of granular materials in quasi-2D bounded heaps

Segregation and mixing of granular mixtures during heap formation have important consequences in industry and agriculture. This research investigates three different final particle configurations of bi-disperse granular mixtures -- stratified, segregated and mixed -- during filling of quasi-two dimensional silos. We consider a larger number and relatively wider range of control parameters than previous studies, including particle size ratio, flow rate, system size and heap rise velocity. The boundary between stratified and unstratified states is primarily controlled by the two-dimensional flow rate, with the critical flow rate for the transition depending weakly on particle size ratio and flowing layer length. In contrast, the transition from segregated to mixed states is controlled by the rise velocity of the heap, a control parameter not previously considered. The critical rise velocity for the transition depends strongly on the particle size ratio.

cond-mat.soft↗