A new SPH-based approach to simulation of granular flows using viscous damping and stress regularisation

The smoothed particle hydrodynamics (SPH) method was recently extended to simulate granular materials by the authors and demonstrated to be a powerful continuum numerical method to deal with the post-flow behaviour of granular materials. However, most existing SPH simulations of granular flows suffer from significant stress oscillation during the post-failure process, despite the use of an artificial viscosity to damp out stress fluctuation. In this paper, a new SPH approach combining viscous damping with stress/strain regularisation is proposed for simulations of granular flows. It is shown that the proposed SPH algorithm can improve the overall accuracy of the SPH performance by accurately predicting the smooth stress distribution during the post-failure process. It can also effectively remove the stress oscillation issue in the standard SPH model without having to use the standard SPH artificial viscosity that requires unphysical parameters. The predictions by the proposed SPH approach show very good agreement with experimental and numerical results reported in the literature. This suggests that the proposed method could be considered as a promising continuum alternative for simulations of granular flows.     

Simulation of debris flow on an instrumented test slope using an updated Lagrangian continuum particle method

We present an updated Lagrangian continuum particle method based on smoothed particle hydrodynamics (SPH) for simulating debris flow on an instrumented test slope. The site is a deforested area near the village of Ruedlingen, a community in the canton of Schaffhausen in Switzerland. Artificial rainfall experiments were conducted on the slope that led to failure of the sediment in the form of a debris flow. We develop a 3D mechanistic model for this test slope and conduct numerical simulations of the flow kinematics using an SPH formulation that captures large deformation, material nonlinearity, and the complex post-failure movement of the sediment. Two main simulations explore the impact of changes in the mechanical properties of the sediment on the ensuing kinematics of the flow. The first simulation models the sediment as a granular homogeneous material, while the second simulation models the sediment as a heterogeneous material with spatially varying cohesion. The variable cohesion is meant to represent the effects of root reinforcement from vegetation. By comparing the numerical solutions with the observed failure surfaces and final free-surface geometries of the debris deposit, as well as with the observed flow velocity, flow duration, and hot spots of strain concentration, we provide insights into the accuracy and robustness of the SPH framework for modeling debris flows.

     

An approach to calculating large strain accumulation for discrete element simulations of granular media

For research on granular materials, establishing a method to calculate continuum strain from particle displacements is necessary for understanding the material behaviour at macro-level and developing continuum constitutive models. Existing methods are generally based on constructing a mesh or background grid to calculate strain from particle motions. These methods offer rigorous ways to measure strain for granular materials; however, they suffer from several problems such as mesh distortion and lacking grid-to-particle strain mapping procedure, which hinders their capability of calculating strain accumulation during large deformation processes of granular media. To address this issue, this study proposes a new strain calculation method for discrete element simulations of granular materials. This method describes a particle assembly as an equivalent continuum system of material points, each of which corresponds to a particle centre and represents a continuous region with its initial volume/area presumably equal to the volume/area of Voronoi cells generated in accordance with the particle assembly configuration. Smooth Particle Hydrodynamics (SPH) interpolation functions are then employed to calculate strain for these material points. This SPH-based method does not require any mesh or background grid for computation, leading to advantages in calculating strain accumulation under large deformation. Simulations of granular materials in both uniform and heterogeneous gradations were carried out, and strain results obtained by the proposed method indicate good agreements with analytical and numerical solutions. This demonstrates its potential for strain calculations in discrete element simulations of granular materials involving large deformations and/or large displacements.     

An improved SPH method for saturated soils and its application to investigate the mechanisms of embankment failure: Case of hydrostatic pore‐water pressure

The method of smoothed particle hydrodynamics (SPH) has recently been applied to computational geomechanics and has been shown to be a powerful alternative to the standard numerical method, that is, the finite element method, for handling large deformation and post‐failure of geomaterials. However, very few studies apply the SPH method to model saturated or submerged soil problems. Our recent studies of this matter revealed that significant errors may be made if the gradient of the pore‐water pressure is handled using the standard SPH formulation. To overcome this problem and to enhance the SPH applications to computational geomechanics, this article proposes a general SPH formulation, which can be applied straightforwardly to dry and saturated soils. For simplicity, the current work assumes hydrostatic pore‐water pressure. It is shown that the proposed formulation can remove the numerical error mentioned earlier. Moreover, this formulation automatically satisfies the dynamic boundary conditions at a submerged ground surface, thereby saving computational cost. Discussions on the applications of the standard and new SPH formulations are also given through some numerical tests. Furthermore, techniques to obtain the correct SPH solution are also proposed and discussed throughout. As an application of the proposed method, the effect of the dilatancy angle on the failure mechanism of a two‐sided embankment subjected to a high groundwater table is presented and compared with that of other solutions. Finally, the proposed formulation can be considered a basic formulation for further developments of SPH for saturated soils. Copyright © 2011 John Wiley & Sons, Ltd.     

Stable axisymmetric SPH formulation with no axis singularity

The axisymmetric formulation of the governing equations for geomechanics in the framework of smoothed particle hydrodynamics (SPH) is presented in this study. Two forms of SPH discretization for the motion equations, which are labeled as form I and form II, are proposed, and the methods to compute the hoop stress and strain terms including hoop strain rate and the acceleration introduced by the hoop stress are compared. To avoid possible singularity problem near the axis of symmetry, a perfectly smooth contact along with ghost particles are applied to prevent the real particles from overly approaching the axis of symmetry to remove this potential singularity. In addition, the Mohr–Coulomb constitutive model is implemented into the SPH formulation in describing soil behavior. Four numerical tests are carried out to validate and compare the accuracy and stability of the proposed algorithms, and their results are compared with analytical solutions and results from FEM analysis. The performance in these comparisons suggests that SPH II with hoop terms computed through direct hoop method is more stable than the others, and the adoption of contact for the symmetric axis is efficient in eliminating the singularity problem. Copyright © 2015 John Wiley & Sons, Ltd.     

Numerical simulation of flow processes in liquefied soils using a soil–water-coupled smoothed particle hydrodynamics method

Liquefaction can result in the damage or collapse of structures during an earthquake and can therefore be a great threat to life and property. Many site investigations of liquefaction disasters are needed to study the large-scale deformation and flow mechanisms of liquefied soils that can be used for performance assessments and infrastructure improvement. To overcome the disadvantages of traditional flow analysis methods for liquefied soils, a soil–water-coupled smoothed particle hydrodynamics (SPH) modeling method was developed to analyze flow in liquefied soils. In the proposed SPH method, water and soil were simulated as different layers, while permeability, porosity, and interaction forces could be combined to model water-saturated porous media. A simple shear test was simulated using the SPH method with an elastic model to verify its application to solid phase materials. Subsequently, the applicability of the proposed SPH modeling method to the simulation of interaction forces between water and soil was verified by a falling-head permeability test. The coupled SPH method produced good simulations for both the simple shear and falling-head permeability tests. Using a fit-for-purpose experimental apparatus, a physical flow model test of liquefied sand has been designed and conducted. To complement the physical test, a numerical simulation has been undertaken based on the soil–water-coupled SPH method. The numerical results correspond well with the physical model test results in observed configurations and velocity vectors. An embankment failure in northern Sweden was selected so that the application of the soil–water-coupled SPH method could be extended to an actual example of liquefaction. The coupled SPH method simulated the embankment failure with the site investigation well. They have also estimated horizontal displacements and velocities, which can be used to greatly improve the seismic safety of structures.     

Unified modelling of granular media with Smoothed Particle Hydrodynamics

In this paper, we present a unified numerical framework for granular modelling. A constitutive model capable of describing both quasi-static and dynamic behaviours of granular material is developed. Two types of particle interactions controlling the mechanical responses, frictional contact and collision, are considered by a hypoplastic model and a Bagnold-type rheology relation, respectively. The model makes no use of concepts like yield stress or flow initiation criterion. A smooth transition between the solid-like and fluid-like behaviour is achieved. The Smoothed Particle Hydrodynamics method is employed as the unified numerical tool for both solid and fluid regimes. The numerical model is validated by simulating element tests under both quasi-static and flowing conditions. We further proceed to study three boundary value problems, i.e. collapse of a granular pile on a flat plane, and granular flows on an inclined plane and in a rotating drum.     

Smoothed particle hydrodynamics and its applications for multiphase flow and reactive transport in porous media

Smoothed particle hydrodynamics (SPH) is a Lagrangian method based on a meshless discretization of partial differential equations. In this review, we present SPH discretization of the Navier-Stokes and advection-diffusion-reaction equations, implementation of various boundary conditions, and time integration of the SPH equations, and we discuss applications of the SPH method for modeling pore-scale multiphase flows and reactive transport in porous and fractured media.     

Modeling Strain Rate Effect of Heterogeneous Materials Using SPH Method

The strain rate effect on the dynamic compressive failure of heterogeneous material based on the smoothed particle hydrodynamics (SPH) method is studied. The SPH method employs a rate-insensitive elasto-plastic damage model incorporated with a Weibull distribution law to reflect the mechanical behavior of heterogeneous rock-like materials. A series of simulations are performed for heterogeneous specimens by applying axial velocity conditions, which induce different strain-rate loadings to the specimen. A detailed failure process of the specimens in terms of microscopic crack-activities and the macro-mechanical response are discussed. Failure mechanisms between the low and high strain rate cases are compared. The result shows that the strain-rate effects on the rock strength are mainly caused by the changing internal pressure due to the inertial effects as well as the material heterogeneity. It also demonstrates that the inertial effect becomes significant only when the induced strain rate exceeds a threshold, below which, the dynamic strength enhancement can be explained due to the heterogeneities in the material. It also shows that the dynamic strength is affected more significantly for a relatively more heterogeneous specimen, which coincides with the experimental results showing that the poor quality specimen had a relatively larger increase in the dynamic strength.     

A kinematic hardening constitutive model for sands: the multiaxial formulation

This paper explores the possibility of using well-accepted concepts—Mohr-Coulomb-like strength criterion, critical state, existence of a small strain elastic region, hyperbolic relationship for representing global plastic stress–strain behaviour, dependence of strength on state parameter and flow rules derived from the Cam-Clay Model—to represent the general multiaxial stress–strain behaviour of granular materials over the full range of void ratios and stress level (neglecting grain crushing). The result is a simple model based on bounding surface and kinematic hardening plasticity, which is based on a single set of constitutive parameters, namely two for the elastic behaviour plus eight for the plastic behaviour, which all have a clear and easily understandable physical meaning. In order to assist the convenience of the numerical implementation, the model is defined in a ‘normalized’ stress space in which the stress–strain behaviour does not undergo any strain softening and so certain potential numerical difficulties are avoided. In the first part the multiaxial formulation of the model is described in detail, using appropriate mixed invariants, which rationally combine stress history and stress. The model simulations are compared with some experimental results for tests on granular soils along stress paths lying outside the triaxial plane over a wide range of densities and mean stresses, using constitutive parameters calibrated using triaxial tests. Furthermore, the study is extended to the analysis of the effects induced by the different shapes of the yield and bounding surfaces, revealing the different role played by the size and the curvature of the bounding surface on the simulated behaviour of completely stress- and partly strain-driven tests. Copyright © 1999 John Wiley & Sons, Ltd.     

Study of the interaction between dry granular flows and rigid barriers with an SPH model

This study uses an incompressible smoothed‐particle hydrodynamics model to investigate the interaction between dry granular material flows and rigid barriers. The primary aim is to summarise some practical guidelines for the design of debris‐resisting barriers. The granular materials are modelled as a rigid‐perfectly plastic material where the plastic flow corresponds to the critical state. The coupled continuity equation and momentum equation are solved by a semi‐implicit algorithm. Compared with flows in controlled flume experiments, the model adequately reproduces both the kinetic of the flows and the impact force under various conditions. Then the numerical simulations are used to study the detailed interaction process. It is illustrated quantitatively that the interaction force consists of two parts, ie, the earth pressure force caused by the weight of the soil and a dynamic force caused by the internal deformation (flowing mass on top of a dead zone). For the estimation of impact load, this study suggests that an increased earth pressure coefficient depending on the Froude number should be incorporated into the hydrostatic model.     

Simulation of earthquake‐induced slope deformation using SPH method

This paper presents the development, calibration, and validation of a smoothed particle hydrodynamics (SPH) model for the simulation of seismically induced slope deformation under undrained condition. A constitutive model that combines the isotropic strain softening viscoplasticity and the modified Kondner and Zelasko rule is developed and implemented into SPH formulations. The developed SPH model accounts for the effects of wave propagation in the sliding mass, cyclic nonlinear behavior of soil, and progressive reduction in shear strength during sliding, which are not explicitly considered in various Newmark‐type analyses widely used in the current research and practice in geotechnical earthquake engineering. Soil parameters needed for the developed model can be calibrated using typical laboratory shear strength tests, and experimental or empirical shear modulus reduction curve and damping curve. The strain‐rate effects on soil strength are considered. The developed SPH model is validated against a readily available and well‐documented model slope test on a shaking table. The model simulated slope failure mode, acceleration response spectra, and slope deformations are in excellent agreement with the experimental data. It is thus suggested that the developed SPH model may be utilized to reliably simulate earthquake‐induced slope deformations. This paper also indicates that if implemented with appropriate constitutive models, SPH method can be used to model large‐deformation problems with high fidelity. Copyright © 2013 John Wiley & Sons, Ltd.     

On the weak turbulent motions of an isothermal dry granular dense flow with incompressible grains: part II. Complete closure models and numerical simulations

The complete thermodynamically consistent turbulent closure models of isochoric and isothermal dry granular dense flows with incompressible grains and weak turbulent intensity are established on the basis of a linearized theory with respect to the granular coldness for the dynamic responses of the closure conditions. The models are applied to study a gravity-driven stationary turbulent flow down an inclined moving plane, and the numerical simulations are compared with the experimental outcomes. It shows that while the mean velocity decreases monotonically from its boundary value on the moving plane toward the free surface, the mean porosity and granular coldness display more “exponential-like” increasing/decreasing tendencies. Of particular interest is that the granular coldness evolves from its maximum value on the moving plane toward its minimum value on the free surface, leading to the turbulent dissipation evolving in a similar manner, while the turbulent kinetic energy demonstrate a reverse tendency. The obtained results show good agreements to the experimental outcomes and are similar to the characteristics of conventional Newtonian fluids in turbulent shear flows.     

Lagrangian meshfree particles method (SPH) for large deformation and failure flows of geomaterial using elastic–plastic soil constitutive model

Simulation of large deformation and post‐failure of geomaterial in the framework of smoothed particle hydrodynamics (SPH) are presented in this study. The Drucker–Prager model with associated and non‐associated plastic flow rules is implemented into the SPH code to describe elastic–plastic soil behavior. In contrast to previous work on SPH for solids, where the hydrostatic pressure is often estimated from density by an equation of state, this study proposes to calculate the hydrostatic pressure of soil directly from constitutive models. Results obtained in this paper show that the original SPH method, which has been successfully applied to a vast range of problems, is unable to directly solve elastic–plastic flows of soil because of the so‐called SPH tensile instability. This numerical instability may result in unrealistic fracture and particles clustering in SPH simulation. For non‐cohesive soil, the instability is not serious and can be completely removed by using a tension cracking treatment from soil constitutive model and thereby give realistic soil behavior. However, the serious tensile instability that is found in SPH application for cohesive soil requires a special treatment to overcome this problem. In this paper, an artificial stress method is applied to remove the SPH numerical instability in cohesive soil. A number of numerical tests are carried out to check the capability of SPH in the current application. Numerical results are then compared with experimental and finite element method solutions. The good agreement obtained from these comparisons suggests that SPH can be extended to general geotechnical problems. Copyright © 2008 John Wiley & Sons, Ltd.     

Run-out analysis of flow-like landslides triggered by the Ms 8.0 2008 Wenchuan earthquake using smoothed particle hydrodynamics

Flow-like landslides have caused significant damage and casualties worldwide. However, studying such phenomena with traditional simulation methods is made difficult by their complex fluidization characteristics. In this paper, we use smoothed-particle hydrodynamics (SPH) for the run-out analysis of flow-like landslides. Compared with conventional methods, the proposed SPH modeling technique is the combination of a Bingham flow model and Navier?CStokes equations in the framework of computational fluid dynamics. At first, two benchmark problems of dam break and granular flow are simulated and verified to evaluate the accuracy of the SPH model. Then, run-out analyses are performed for flow-like landslides triggered by the Ms 8.0 Wenchuan earthquake that occurred on 12 May 2008 in Sichuan Province, China. Run-out analyses of the Tangjiashan, Wangjiayan, and Donghekou landslides are conducted by the application of SPH models to real flow-like landslides. All simulations show good agreement with characteristics of flow-like landslides observed in the field. We have found that numerical modeling can capture the fundamental dynamic behavior of these flow-like landslides and produce preliminary results for hazard assessment and site selection for reconstruction in earthquake-prone areas.     

A micromorphic elastoplastic model and finite element simulation on failure behaviors of granular materials

One of the purposes in this study is to develop a modified micromorphic continuum model for granular materials on the basis of a micromechanics approach. A symmetric curvature tensor is proposed in this model, and a symmetric couple stress tensor is derived conjugating the symmetric curvature tensor. In addition, a correct derivation is presented to obtain the symmetric stress tensor conjugated with the symmetric strain tensor. The modified model provides a complete deformation mode for granular materials by considering the decomposition for motions (displacement and rotation) of particles. Consequently, the macroscopic constitutive relationships and constitutive moduli are derived in expressions of the microstructural information. Furthermore, the balance equations and boundary conditions are obtained for the modified micromorphic model. By considering the extended Drucker-Prager yield criterion, the micromorphic elastoplastic model is developed. Another purpose of this study is to derive the finite element formulation for the developed micromorphic elastoplastic model. Based on the ABAQUS user element (UEL) interface, numerical simulations investigated the load-displacement relationship and the strain localization behavior of granular materials and investigated the influence of microscopic parameters in the micromorphic model on these macroscopic mechanical responses. Numerical results illustrate the presented model's capability of simulating the strain-softening and strain localization behaviors, and the capability of considering the influence of microstructural information on the macroscopic mechanical behaviors of granular materials.     

Numerical analysis on seepage failures of dike due to water level-up and rainfall using a water–soil-coupled smoothed particle hydrodynamics model

For seepage failures of dike due to water level-up and rainfall, surface infiltration and strength change induced by suction reduction are important factors; thus, numerical analysis should consider the coupling of water and soil, as well as the effect of saturation to obtain more precise failure mechanism. Based on the advanced smoothed particle hydrodynamics (SPH) method, this work proposed a two-phase-coupled SPH model in coordination with a novel constitutive model for unsaturated soils. Then, a triaxial compression test is simulated to check the applicability of the SPH method on the soil phase. After that, the failure test of a dike due to water level-up is discretized and simulated, from which the seepage process, the distribution of maximum shear strain, the slip surface, and pore water pressure are obtained. The two-phase-coupled SPH model is also applied to a slope failure test of heavy rainfall, and the results are compared to the model test. Finally, a dike failure test due to rainfall is analyzed using the proposed SPH model to reproduce the surface infiltration and suction reduction. The proposed SPH model provides several insights of seepage failures and can be a helpful tool for the analysis of dike failures induced by water level-up and rainfall.     

A SPH framework for dynamic interaction between soil and rigid body system with hybrid contact method

A smoothed particle hydrodynamics (SPH) framework for three-dimensional dynamic soil-multibody interaction modeling is presented, where both soils and rigid bodies are discretized using SPH particles. In the framework, soils are modeled using the Drucker-Prager model, while rigid bodies are considered with a multibody dynamics solver. A hybrid contact method suitable for three-dimensional simulations is developed to model the soil-body and body-body frictionless and frictional contacts, where contact forces are calculated based on ideal plastic collision and the unit normal/tangential vectors of the actual surface. Owing to its simplicity in contact detection and accuracy in contact force calculation, the hybrid contact method can be easily incorporated into SPH. Furthermore, graphics processing unit (GPU) parallelization is utilized to improve efficiency. The presented numerical framework and the hybrid contact method are validated using several examples. Numerical results are compared with analytical solutions and results from the literature. Furthermore, two three-dimensional simulations involving dynamic soil-multibody interaction are included to demonstrate the application.     

SPH-based numerical investigation of mudflow and other complex fluid flow interactions with structures

The understanding of mudflow–structure interactions and debris–flow structure interactions is of paramount importance for the rational design of technical countermeasures. However, to date, only a limited number of studies have investigated this subject. We propose here a numerical approach to this topic using a 2D vertical numerical model based on the smoothed particle hydrodynamics (SPH) method. First, we will test the capacity of the model to simulate unsteady free-surface flows of water and viscoplastic fluid in comparison to laboratory experiments. Then, we will use it prospectively, based on a series of simulations of Bingham fluid free-surface propagations, to determine the momentum reduction resulting from the presence of a simple obstacle perpendicular to the direction of propagation and to determine the characteristics of stresses applied to this obstacle in terms of peak pressure and evolution over time.     

DEM simulation of collapse behaviours of unsaturated granular materials under general stress states

In this study, a numerical simulation of true triaxial tests was conducted using the three-dimensional distinct element method (DEM) in order to examine how unsaturated granular materials collapse under general stress states. The collapse process was simulated by reducing the intergranular adhesive forces corresponding to the effect of the capillary suction during the isotropic compression and the shearing processes under general stress states. Based on the relationship between the void ratio and the mean principal stress after collapsing, it was found that the initially soaked compression line obtained with an inundation test may be used to predict the collapse of granular materials under a general stress state. From the analysis for the fabric tensor in the particle aggregate after collapsing, the skeleton structures became identical to those in which no intergranular adhesive force was applied. Furthermore, even though the collapse process was simulated under a plane strain condition, the shear band inside the sample did not occur clearly, and the slippage between particles was instead induced randomly during collapsing.