Chrono::GPU: An Open-Source Simulation Package for Granular Dynamics Using the Discrete Element Method

• Published in: Processes Vol. 9; no. 10; p. 1813
• Main Authors: Fang, Luning, Zhang, Ruochun, Vanden Heuvel, Colin, Serban, Radu, Negrut, Dan
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 13.10.2021
• Subjects: Contact force; Curiosity (Mars rover); Discrete element method; Granular materials; Graphics processing units; Mars rovers; Mindlin plates; Sand & gravel; Shear tests; Simulation; Source code; Triangles; Wave propagation
• ISSN: 2227-9717; 2227-9717
• DOI: 10.3390/pr9101813

We report on an open-source, publicly available C++ software module called Chrono::GPU, which uses the Discrete Element Method (DEM) to simulate large granular systems on Graphics Processing Unit (GPU) cards. The solver supports the integration of granular material with geometries defined by triangle meshes, as well as co-simulation with the multi-physics simulation engine Chrono. Chrono::GPU adopts a smooth contact formulation and implements various common contact force models, such as the Hertzian model for normal force and the Mindlin friction force model, which takes into account the history of tangential displacement, rolling frictional torques, and cohesion. We report on the code structure and highlight its use of mixed data types for reducing the memory footprint and increasing simulation speed. We discuss several validation tests (wave propagation, rotating drum, direct shear test, crater test) that compare the simulation results against experimental data or results reported in the literature. In another benchmark test, we demonstrate linear scaling with a problem size up to the GPU memory capacity; specifically, for systems with 130 million DEM elements. The simulation infrastructure is demonstrated in conjunction with simulations of the NASA Curiosity rover, which is currently active on Mars.