Dense shearing flows of soft, frictional cylinders.

We perform discrete numerical simulations at a constant volume of dense, steady, homogeneous flows of true cylinders interacting Hertzian contacts, with and without friction, in the absence of preferential alignment. We determine the critical values of the solid volume fraction and the average number of contacts per particle above which rate-independent components of the stresses develop, along with a sharp increase in the fluctuations of angular velocity. We show that kinetic theory, extended to account for a velocity correlation at solid volume fractions larger than 0.49, can quantitatively predict the measured fluctuations of translational velocity, at least for sufficiently rigid cylinders, for any value of the cylinder aspect ratio and friction investigated here. The measured pressure above and below the critical solid volume fraction is in agreement with a recent theory originally intended for spheres that conjugates extended kinetic theory, the finite duration of collisions between soft particles and the development of an elastic network of long-lasting contacts responsible for the rate-independency of the flows in the supercritical regime. Finally, we find that, for sufficiently rigid cylinders, the ratio of shear stress to pressure in the subcritical regime is a linear function of the ratio of the shear rate to a suitable measure of the fluctuations of translational velocity, in qualitative accordance with kinetic theory, with an intercept that increases with friction. A decrease in the particle stiffness gives rise to nonlinear effects that greatly diminishes the stress ratio.