Person:

Goldman, Daniel I.

Permanent Link

https://hdl.handle.net/1853/71298

Associated Organization(s)

Organizational Unit

School of Physics

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Now showing 1 - 10 of 13

Signatures of glass formation in a fluidized bed of hard spheres

(Georgia Institute of Technology, 2006-04-14) Goldman, Daniel I. ; Swinney, Harry L.

We demonstrate that a fluidized bed of hard spheres during defluidization displays properties associated with formation of a glass. The final state is rate dependent, and as this state is approached, the bed exhibits heterogeneity with increasing time and length scales. The formation of a glass results in the arrest of macroscopic particle motion and thus the loss of fluidization. Microscopic motion persists in this state, but the bed can be jammed by application of a small increase in flow rate. Thus a fluidized bed can serve as a test system for studies of glass formation and jamming.
Toward a dynamic climbing robot

(Georgia Institute of Technology, 2006) Clark, Jonathan E. ; Goldman, Daniel I. ; Chen, Tao S. ; Full, Robert J. ; Koditschek, Daniel E.

Simple mathematical models or ‘templates’ of locomotion have been effective tools in understanding how animals move and have inspired and guided the design of robots that emulate those behaviors. This paper describes a recently proposed biologically-based template for dynamic vertical climbing, and evaluates the feasibility of adapting it to build a vertical ‘running’ robot. We present the results a simulation study suggesting that appropriate mechanical and control alterations to the template result in fast stable climbing that preserves the characteristic body motions and foot forces found in the template model and in animals. These design changes should also allow the robot to operate with commercially available actuators and in the same power to weight range as other running and climbing robots.
The RiSE Climbing Robot: Body and Leg Design

(Georgia Institute of Technology, 2006) Saunders, Aaron ; Goldman, Daniel I. ; Full, Robert J. ; Buehler, Martin

The RiSE robot is a biologically inspired, six legged climbing robot, designed for general mobility in scansorial (vertical walls, horizontal ledges, ground level) environments. It exhibits ground reaction forces that are similar to animal climbers and does not rely on suction, magnets or other surface-dependent specializations to achieve adhesion and shear force. We describe RiSE’s body and leg design as well as its electromechanical, communications and computational infrastructure. We review design iterations that enable RiSE to climb 90o carpeted, cork covered and (a growing range of) stucco surfaces in the quasi-static regime.
Stationary state volume fluctuations in a granular medium

(Georgia Institute of Technology, 2005-03-30) Schroeter, Matthias ; Goldman, Daniel I. ; Swinney, Harry L.

A statistical description of static granular material requires ergodic sampling of the phase space spanned by the different configurations of the particles. We periodically fluidize a column of glass beads and find that the sequence of volume fractions ϕ of postfluidized states is history independent and Gaussian distributed about a stationary state. The standard deviation of ϕ exhibits, as a function of ϕ, a minimum corresponding to a maximum in the number of statistically independent regions. Measurements of the fluctuations enable us to determine the compactivity X, a temperaturelike state variable introduced in the statistical theory of Edwards and Oakeshott [Physica A 157, 1080 (1989)].
Robotics in Scansorial Environments

(Georgia Institute of Technology, 2005) Autumn, Kellar ; Buehler, Martin ; Cutkosky, Mark ; Fearing, Ronald S. ; Full, Robert J. ; Goldman, Daniel I. ; Groff, Richard ; Provancher, William ; Rizzi, Alfred E. ; Saranli, Uluc ; Saunders, Aaron ; Koditschek, Daniel E.
Mach cone in a shallow granular fluid

(Georgia Institute of Technology, 2004-12-23) Heil, Patrick ; Rericha, Erin C. ; Goldman, Daniel I. ; Swinney, Harry L.

We study the V-shaped wake (Mach cone) formed by a cylindrical rod moving through a thin, vertically vibrated granular layer. The wake, analogous to a shock (hydraulic jump) in shallow water, appears for rod velocities vR greater than a critical velocity c. We measure the half angle u of the wake as a function of vR and layer depth h. The angle satisfies the Mach relation, sin u =c/vR, where c=Îgh, even for h as small as one-particle diameter.
Crucial role of sidewalls in velocity distributions in quasi-two-dimensional granular gases

(Georgia Institute of Technology, 2004-10-19) van Zon, J. S. ; Kreft, J. ; Goldman, Daniel I. ; Miracle, D. ; Swift, J. B. ; Swinney, Harry L.

Our experiments and three-dimensional molecular dynamics simulations of particles confined to a vertical monolayer by closely spaced frictional walls (sidewalls) yield velocity distributions with non-Gaussian tails and a peak near zero velocity. Simulations with frictionless sidewalls are not peaked. Thus interactions between particles and their containers are an important determinant of the shape of the distribution and should be considered when evaluating experiments on a constrained monolayer of particles.
Dynamics of drag and force distributions for projectile impact in a granular medium

(Georgia Institute of Technology, 2004-05-14) Ciamarra, Massimo Pica ; Lara, Antonio H. ; Lee, Andrew T. ; Goldman, Daniel I. ; Vishik, Inna ; Swinney, Harry L.

Our experiments and molecular dynamics simulations on a projectile penetrating a two-dimensional granular medium reveal that the mean deceleration of the projectile is constant and proportional to the impact velocity. Thus, the time taken for a projectile to decelerate to a stop is independent of its impact velocity. The simulations show that the probability distribution function of forces on grains is time independent during a projectile’s deceleration in the medium. At all times the force distribution function decreases exponentially for large forces.
Persistent holes in a fluid

(Georgia Institute of Technology, 2004-05-07) Merkt, Florian S. ; Deegan, Robert D. ; Goldman, Daniel I. ; Rericha, Erin C. ; Swinney, Harry L.

We observe stable holes in a vertically oscillated 0.5 cm deep aqueous suspension of cornstarch. Holes appear only if a finite perturbation is applied to the layer for accelerations α above 10g. Holes are circular and approximately 0.5 cm wide, and can persist for more than 10⁶ cycles. Above α ≃ 17g the rim of the hole becomes unstable, producing fingerlike protrusions or hole division. At higher acceleration, the hole delocalizes, growing to cover the entire surface with erratic undulations. We find similar behavior in an aqueous suspension of glass microspheres.
Noise, coherent fluctuations, and the onset of order in an oscillated granular fluid

(Georgia Institute of Technology, 2004-04-30) Goldman, Daniel I. ; Swift, J. B. ; Swinney, Harry L.

We study fluctuations in a vertically oscillated layer of grains below the critical acceleration for the onset of ordered standing waves. As onset is approached, transient disordered waves with a characteristic length scale emerge and increase in power and coherence. The scaling behavior and the shift in the onset of order agrees with the Swift-Hohenberg theory for convection in fluids. However, the noise in the granular system is an order of magnitude larger than the thermal noise in the most sensitive convecting fluid experiments to date; the effect of the granular noise is observable 20% below the onset of order.