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We present an experimental study on the collective behavior of macroscopic self-propelled particles that are externally excited by light. This property allows testing the system response to the excitation intensity in a very versatile manner. We discover that for low excitation intensities, clustering at the boundaries is always present, even when this is prevented by implementing flower-shaped confining walls. For high excitation intensities, however, clusters are dissolved more or less easily depending on their size. Then, a thorough analysis of the cluster dynamics allows us to depict a phase diagram depending on the number of agents in the arena and the excitation intensity. To explain this, we introduce a simple kinetic model where cluster evolution is governed by a balance between adsorption and desorption processes. Interestingly, this simple model is able to reproduce the phase space observed experimentally.

We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free flow to congested traffic as the density of the system increases. In the latter scenario we also observe the characteristic stop-and-go waves. The unique advantages of this novel system, such as experimental stability and repeatability, allow for extended experimental runs, facilitating a comprehensive statistical analysis of the global dynamics. Above a certain density, we observe a divergence of the average jam duration and the average number of robots involved in it. This discovery enables us to precisely identify another transition: from congested intermittent flow (for intermediate densities) to a totally congested scenario for high densities. Beyond this finding, the present work demonstrates the suitability of robot swarms to model complex behaviors in many particle systems., Comment: 5 pages, 4 figures plus supplemental material

The flow of elliptical particles out of a 2-dimensional silo when extracted with a conveyor belt is analyzed experimentally. The conveyor belt - placed directly below the silo outlet - reduces the flow rate, increases the size of the stagnant zone, and it has a very strong influence on the relative velocity fluctuations as they strongly increase everywhere in the silo with decreasing belt speed. In other words, instead of slower but smooth flow, flow reduction by belt leads to intermittent flow. Interestingly, we show that this intermittency correlates with a strong reduction of the orientational order of the particles at the orifice region. Moreover, we observe that the average orientation of the grains passing through the outlet is modified when they are extracted with the belt, a feature that becomes more evident for large orifices., Comment: 11 pages, 11 figures, final version published in Phys. Rev. E

Self-organisation is the spontaneous emergence of spatio-temporal structures and patterns from the interaction of smaller individual units. Examples are found across many scales in very different systems and scientific disciplines, from physics, materials science and robotics to biology, geophysics and astronomy. Recent research has highlighted how self-organisation can be both mediated and controlled by confinement. Confinement occurs through interactions with boundaries, and can function as either a catalyst or inhibitor of self-organisation. It can then become a means to actively steer the emergence or suppression of collective phenomena in space and time. Here, to provide a common framework for future research, we examine the role of confinement in self-organisation and identify overarching scientific challenges across disciplines that need to be addressed to harness its full scientific and technological potential. This framework will not only accelerate the generation of a common deeper understanding of self-organisation but also trigger the development of innovative strategies to steer it through confinement, with impact, e.g., on the design of smarter materials, tissue engineering for biomedicine and crowd management.

When suspended particles are pushed by liquid flow through a constricted channel they might either pass the bottleneck without trouble or encounter a permanent clog that will stop them forever. However, they may also flow intermittently with great sensitivity to the neck-to-particle size ratio D/d. In this work, we experimentally explore the limits of the intermittent regime for a dense suspension through a single bottleneck as a function of this parameter. To this end, we make use of high time- and space-resolution experiments to obtain the distributions of arrest times T between successive bursts, which display power-law tails with characteristic exponents. These exponents compare well with the ones found for as disparate situations as the evacuation of pedestrians from a room, the entry of a flock of sheep into a shed or the discharge of particles from a silo. Nevertheless, the intrinsic properties of our system i.e. channel geometry, driving and interaction forces, particle size distribution seem to introduce a sharp transition from a clogged state to a continuous flow, where clogs do not develop at all. This contrasts with the results obtained in other systems where intermittent flow, with power-law exponents above two, were obtained., Comment: 6 pages, 4 figures. Accepted for publication in Phys. Rev. E rapids

Granular flows through narrow outlets may be interrupted by the formation of arches or vaults that clog the exit. These clogs may be destroyed by vibrations. A feature which remains elusive is the broad distribution $p(\tau)$ of clog lifetimes $\tau$ measured under constant vibrations. Here, we propose a simple model for arch-breaking, in which the vibrations are formally equivalent to thermal fluctuations in a Langevin equation; the rupture of an arch corresponds to the escape from an energy trap. We infer the distribution of trap depths from experiments and, using this distribution, we show that the model captures the empirically observed heavy tails in $p(\tau)$. These heavy tails flatten at large $\tau$, consistently with experimental observations under weak vibrations, but this flattening is found to be systematic, thus questioning the ability of gentle vibrations to restore a finite outflow forever. The trap model also replicates recent results on the effect of increasing gravity on the statistics of clog formation in a static silo. Therefore, the proposed framework points to a common physical underpinning to the processes of clogging and unclogging, despite their different statistics.

The "faster-is-slower" (FIS) effect was first predicted by computer simulations of the egress of pedestrians through a narrow exit [Helbing D, Farkas I J, Vicsek T, Nature 407:487-490 (2000)]. FIS refers to the finding that, under certain conditions, an excess of the individuals' vigor in the attempt to exit causes a decrease in the flow rate. In general, this effect is identified by the appearance of a minimum when plotting the total evacuation time of a crowd as a function of the pedestrian desired velocity. Here, we experimentally show that the FIS effect indeed occurs in three different systems of discrete particles flowing through a constriction: (a) humans evacuating a room, (b) a herd of sheep entering a barn and (c) grains flowing out a 2D hopper over a vibrated incline. This finding suggests that FIS is a universal phenomenon for active matter passing through a narrowing.

During the past decades, notable improvements have been achieved in the understanding of static and dynamic properties of granular materials, giving rise to appealing new concepts like jamming, force chains, non-local rheology or the inertial number. The `saltcellar' can be seen as a canonical example of the characteristic features displayed by granular materials: an apparently smooth flow is interrupted by the formation of a mesoscopic structure (arch) above the outlet that causes a quick dissipation of all the kinetic energy within the system. In this manuscript, I will give an overview of this field paying special attention to the features of statistical distributions appearing in the clogging and unclogging processes. These distributions are essential to understand the problem and allow subsequent study of topics such as the influence of particle shape, the structure of the clogging arches and the possible existence of a critical outlet size above which the outpouring will never stop. I shall finally offer some hints about general ideas that can be explored in the next few years., Comment: 13 pages, 7 figures

We use the first Betti number of a complex to characterize the morphological structure of granular samples in mechanical equilibrium. We analyze two-dimensional granular packings after a tapping process by means of both simulations and experiments. States with equal packing fraction obtained with different tapping intensities are distinguished after the introduction of a filtration parameter which determines the particles (nodes in the network) that are joined by an edge. We first use numerical simulations to characterize the effect of the precision in the particles localization by artificially adding different levels of noise in this magnitude. The outcomes obtained for the simulations are then compared with the experimental results allowing a clear distinction of experimental packings that have the same density. This is accomplished by just using the position of the particles and no other information about the possible contacts, or magnitude of forces., Comment: 10 pages, 9 figures

In a recent paper [Zuriguel et al., Phys. Rev. Lett. 107, 278001 (2011)] it has been shown that the presence of an obstacle above the outlet can significatively reduce the clogging probability of granular matter pouring from a silo. The amount of this reduction strongly depends on the obstacle position. In this work, we present new measurements to analyze different outlet sizes, extending foregoing results and revealing that the effect of the obstacle is enhanced as the outlet size is increased. In addition, the effect of the obstacle position on the flow rate properties and in the geometrical features of arches is studied. These results reinforce previous evidence of the pressure reduction induced by the obstacle. In addition, it is shown how the mean avalanche size and the average flow rate are not necessarily linked. On the other hand, a close relationship is suggested between the mean avalanche size and the flow rate fluctuations.

We present experimental results about the stability of arches against external vibrations. Two dimensional strings of mutually stabilizing grains are geometrically analyzed and subsequently submitted to a periodic forcing at fixed frequency and increasing amplitude. The main factor that determines the granular arch resistance against vibrations is the maximum angle among those formed between any particle of the arch and its two neighbors: the higher the maximum angle is, the easier to break the arch. Based in an analysis of the forces, a simple explanation is given for this dependence. From this, interesting information can be extracted about the expected magnitudes of normal forces and friction coefficients of the particles conforming the arches.

We present experimental data corresponding to a two dimensional dense granular flow, namely, the gravity-driven discharge of grains from a small opening in a silo. We study the microscopic velocity field with the help of particle tracking techniques. From these data, the velocity profiles can be obtained and the validity of some long-standing approaches can be assessed. Moreover, the fluctuations of the velocities are taken into consideration in order to characterize the features of the advective motion (due to the gravity force) and the diffusive motion, which shows nontrivial behaviour.

We prepare static granular beds under gravity in different stationary states by tapping the system with pulsed excitations of controlled amplitude and duration. The macroscopic state---defined by the ensemble of static configurations explored by the system tap after tap---for a given tap intensity and duration is studied in terms of volume, V, and force moment tensor, \Sigma. In a previous paper [Pugnaloni et al., Phys. Rev. E 82, 050301(R) (2010)], we reported evidence supporting that such macroscopic states cannot be fully described by using only V or \Sigma, apart from the number of particles N. In this work, we present an analysis of the fluctuations of these variables that indicates that V and \Sigma may be sufficient to define the macroscopic states. Moreover, we show that only one of the invariants of \Sigma is necessary, since each component of \Sigma falls onto a master curve when plotted as a function of Tr(\Sigma). This implies that these granular assemblies have a common shape for the stress tensor, even though it does not correspond to the hydrostatic type. Although most results are obtained by molecular dynamics simulations, we present supporting experimental results., Comment: 13 pages, 14 figures

We present experimental results on the shape of arches that block the outlet of a two dimensional silo. For a range of outlet sizes, we measure some properties of the arches such as the number of particles involved, the span, the aspect ratio, and the angles between mutually stabilizing particles. These measurements shed light on the role of frictional tangential forces in arching. In addition, we find that arches tend to adopt an aspect ratio (the quotient between height and half the span) close to one, suggesting an isotropic load. The comparison of the experimental results with data from numerical models of the arches formed in the bulk of a granular column reveals the similarities of both, as well as some limitations in the few existing models., Comment: 8 pages; submitted to Physical Review E

We analyze, experimentally and numerically, the steady states, obtained by tapping, of a 2D granular layer. Contrary to the usual assumption, we show that the reversible (steady state branch) of the density--acceleration curve is nonmonotonous. Accordingly, steady states with the same mean volume can be reached by tapping the system with very different intensities. Simulations of dissipative frictional disks show that equal volume steady states have different values of the force moment tensor. Additionally, we find that steady states of equal stress can be obtained by changing the duration of the taps; however, these states present distinct mean volumes. These results confirm previous speculations that the volume and the force moment tensor are both needed to describe univocally equilibrium states in static granular assemblies., Comment: 5 pages, 3 figures

We present experimental results of the jamming of non-cohesive particles discharged from a flat bottomed silo subjected to vertical vibration. When the exit orifice is only a few grain diameter wide, the flow can be arrested due to the formation of blocking arches. Hence, an external excitation is needed to resume the flow. The use of a continuous gentle vibration is a usual technique to ease the flow in such situations. Even though jamming is less frequent, it is still an issue in vibrated silos. There are, in principle, two possible mechanisms through which vibrations may facilitate the flow: (i) a decrease in the probability of the formation of blocking arches, and (ii) the breakage of blocking arches once they have been formed. By measuring the time intervals inside an avalanche during which no particles flow through the outlet, we are able to estimate the probability of breaking a blocking arch by vibrations. The result agrees with the prediction of a bivariate probabilistic model in which the formation of blocking arches is equally probable in vibrated and non-vibrated silos. This indicates that the second aforementioned mechanism is the main responsible for improving the flowability in gently vibrated silos.

The force networks of different granular ensembles are defined and their topological properties studied using the tools of complex networks. In particular, for each set of grains compressed in a square box, it is introduced a force threshold that determines which contacts conform the network. Hence, the topological characteristics of the network are analyzed as a function of this parameter. The characterization of the structural features thus obtained, may be useful in the understanding of the macroscopic physical behavior exhibited by this class of media., Comment: 14 pages, 10 figures. Talk presented at Net-Works (Aranjuez 10-11 september 2007)

In this work we present an experimental study of the jamming that stops the free flow of grains from a silo discharging by gravity. When the outlet size is not much bigger than the beads, granular material jams the outlet of the container due to the formation of an arch. Statistical data from the number of grains fallen between consecutive jams are presented. The information that they provide can help to understand the jamming phenomenon. As the ratio between the size of the orifice and the size of the beads is increased, the probability that an arch blocks the outlet decreases. We show here that there is a power law divergence of the mean avalanche size for a finite critical radius. Beyond this critical radius no jamming can occur and the flow is never stopped. The dependence of the arch formation on the shape and the material of the grains has been explored. It has been found that the material properties of the grains do not affect the arch formation probability. On the contrary, the shape of the grains deeply influences it. A simple model to interpret the results is also discussed., Comment: Submitted to Phys. Rev. E

We have looked into an experiment that has been termed the ``canonical example'' of jamming: granular material, clogging the outlet of a container as it is discharged by gravity. We present quantitative data of such an experiment. The experimental control parameter is the ratio between the radius of the orifice and the radius of the beads. As this parameter is increased, the jamming probability decreases. However, in the range of parameters explored, no evidence of criticality --in the sense of a jamming probability that becomes infinitely small for a finite radius-- has been found. We draw instead a comparison with a simple model that captures the main features of the phenomenon, namely, percolation in one dimension. The model gives indeed a phase transition, albeit a special one.