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_
V
t
ij
e
ij
dV
Each term in eq. [2] is a time rate of change: the first
term is the rate of the kinetic energy of a material volume,
the second is the rate of total work done by the body force
acting on a material volume, the third represents the total
work done by the forces acting on the surface of a material
volume, and the fourth represents the rate of energy dissipa-
tion due to deformation of a material volume. The deforma-
tion work includes two parts: the work due to volume
expansion and the work due to irreversible deformation. For
an incompressible fluid, the work due to volume expansion
is zero and the deformation work represents irreversible ki-
netic energy dissipation. Thus, the term
_
V
t
ij
e
ij
dV repre-
sents a rate of loss of kinetic energy and a gain of internal
energy due to deformation of the volume.
The body force can be represented as the gradient of a
scalar potential. The rate of work done by body forces can
be taken to the left-hand side of eq. [2] and can be inter-
preted as a change in the potential energy. For an incom-
pressible fluid and debris, r is constant and the mass within
a material volume can be determined from
3 m
_
V
r dV
and eq. [2] can be rewritten as
4
d
dt
1
2
m u
2
i
mgz
W
_ _
_
A
u
i
t
ij
dA
j
_
V
t
ij
e
ij
dV
where u
i
is the average velocity component of a material vo-
lume, g is gravitational acceleration, z
W
is the elevation of
the center of gravity of the sliding mass, and A
j
is the com-
ponent of the surface area vector. The left-hand side of
eq. [4] thus represents the rate of change of mechanical en-
ergy (the sum of kinetic energy and potential energy).
Derivation of governing equations based on the
conservation of energy
The sliding mass is divided into a series of contiguous sli-
ces, as shown in Fig. 1. Forces acting on a typical slice of
width b and height h are shown in Fig. 2. In the figures, b
is the width of the slice, h is the height of the slice, N is
the normal force, subscript n is the slice number, P is the
interslice force, T is the shear force acting along the base of
the slice, u is the mean velocity of the slice along the base
of the slice, W is the weight of the slice, q is the inclination
of the base of the slice with respect to the horizontal, and
subscripts L and R denote properties on the left and right
sides, respectively, of a slice.
As indicated in Figs. 1 and 2, the derivation of governing
equations is based on the deformation in the flow direction.
Effects of side-wall deformation perpendicular to the flow
direction are not included in the formulation. With the as-
sumption that the interslice shear forces in the vertical direc-
tion are negligible, the rate of total work done by the surface
forces in eq. [4] is given by
5
_
A
u
i
t
ij
dA
j
P
L
u
L
cosq
L
P
R
u
R
cosq
R
T u
where q
L
and q
R
are inclinations between velocities and cor-
responding interslice forces acting on the left and right
sides, respectively, of the boundary.
The rate of change of the total potential energy of a slice
in eq. [4] can be expressed as the sum of the rate of poten-
tial energy changes due to the displacement and deformation
of the slice, as shown in Fig. 2
6
d
dt
mgz
w
d
dt
mgz
w1
d
dt
mgz
w2
7 m rbh
where (d/dt)(mgz
w1
) represents the rate of change of poten-
tial energy due to displacement of the center of the gravity,
(d/dt)(mgz
w2
) represents the rate of change of the potential
energy due to deformation of the slice, and r is the mean
density of the sliding mass. Thus
8
d
dt
mgz
W1
mg u sinq
9
d
dt
mgz
W2
1
2
mgh e
zz
where e
zz
is the mean vertical strain rate of a slice defined in
Fig. 3.
Using eqs. [5] to [9], eq. [4] becomes
10
d
dt
1
2
m u
2
_ _
mg u sinq
1
2
mgh e
zz
P
L
u
L
cosq
L
P
R
u
R
cosq
R
T u
_
V
t
ij
e
ij
dV
1404 Can. Geotech. J. Vol. 47, 2010
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A
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o
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o
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s
o
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a
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u
s
e
o
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y
.
Summing both sides of eq. [10] for all slices (k = 0 to n
in Fig. 4) gives the rate of change of the kinetic energy of
the overall sliding mass:
11
d
dt
n
k0
1
2
m
k
u
2
k
_ _
n
k0
m
k
g u
k
sinq
k
1
2
h e
zz
k
_ _
n
k0
T
k
u
k
n
k0
_
V
k
t
ij
e
ij
dV
k
It is obvious that the rates of work done by interslice forces
cancel each other in the preceding derivation. Equation [11]
states that the rate of the change of kinetic energy of a sliding
mass is equal to the sum of the rate of potential energy
change, the rate of work done by resistance force along the
base of the sliding mass, and the rate of deformation work.
Numerical scheme for the analytical model
based on energy considerations
Depth-averaged governing equations can be solved using
either a Lagrangian or Eulerian scheme. Two finite difference
Fig. 3. Uniform deformation assumed in the slice-based model. e
xx
, mean horizontal strain rate.
Fig. 2. Forces on a typical slice.
Fig. 1. Representative slice in the slice-based model.
Wang et al. 1405
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A
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methods one Lagrangian the other Eulerian have been
tested against flume experiments on dry granular flows
(Savage and Hutter 1989). Simulations indicated that the Eu-
lerian scheme based on the upwind flux correction method
gave poor predictions of experimental avalanches with gen-
eral initial profiles. The Lagrangian finite difference approach
(Savage and Hutter 1989, 1991) is simple, efficient, and reli-
able for the granular rapid flow problem that involves a free
surface, dry bottom, and moving boundaries. The approach is
based on a Lagrangian, moving mesh, finite difference
scheme in which the flowing material is divided into quadri-
lateral cells in two dimensions or triangular prisms in three
dimensions. Boundary locations are determined for each time
step. The depth of a cell is calculated from the cell volume
and boundary locations. Numerical simulations of the flume
experiments on dry granular flows showed very good agree-
ment between theoretical predictions and experimental data
(Savage and Hutter 1989, 1991; Wieland et al. 1999).
Numerical methods proposed by Hungr (1995), Tinti et al.
(1997), Miao et al. (2001), and Kwan and Sun (2006) for
solving the governing equations of fast-moving landslides
have many similarities. These numerical methods are based
on the Lagrangian finite difference scheme similar to that
formulated by Savage and Hutter (1989).
Following the procedures of Savage and Hutter (1989), the
Lagrangian finite difference scheme is presented here for solv-
ing the equations of the slice-based model with internal energy
dissipation. In the Lagrangian scheme, the sliding mass is dis-
cretized into a number of slices, as shown in Fig. 4. In Fig. 4,
(h
c
)
k
denotes the average height of the center of slice k and
(x
c
)
k
, (x
b
)
k
, and (x
b
)
k+1
denote the locations of the center (sub-
script c) and boundaries (subscript b) of slice k. Mass conser-
vation of slice k during the landslide motion indicates
12
d
dt
V
k
0
where V
k
is the volume of slice k. The mean height of a
slice at time t can thus be determined from
13 h
c
t
k
V
k
x
b
t
k1
x
b
t
k
Solving the governing equations of rapid landslides re-
quires determination of the positions of the boundaries of
each slice at time t. The numerical scheme assumes that all
the variables involved in the calculation at t + Dt are known
from the previous time t, where Dt is the time step interval.
In the framework of the Lagrangian finite difference
scheme, the governing eq. [10] can be written as
14
E
tDt
k
E
t
k
Dt
_
W
t
k
15 E
k
1
2
m
k
u
2
k
16
_
W
k
m
k
g u
k
sinq
k
1
2
m
k
gh
k
e
zz
k
P
L
u
L
cosq
L
k
P
R
u
R
cosq
R
k
T
k
u
k
_
V
k
t
ij
e
ij
dV
where E
k
is the kinetic energy of slice k, and
_
W
k
is the sum
of the rate of the work done by body force, surface force,
and energy dissipation due to deformation of slice k. E
k
and
_
W
k
are determined from eqs. [15] and [16], respectively.
The constitutive law and assumptions regarding the inter-
slice forces and deformation work are required for calculat-
ing the rate of work in eq. [16]. The basal shear resistance
can be determined based on the constitutive laws for materi-
als. For MohrCoulomb materials, the basal resistance along
the base of the slice can be expressed as
17 T
k
tA
k
c s tanf
b
A
k
cA
k
N
k
tanf
b
where T
k
and N
k
are shear resistance and normal force acting
on the base of slice k, t is shear stress, A
k
is basal area of
slice k, c is cohesion, s is normal stress, and f
b
is basal fric-
tion angle.
Equation [17] is a generalized form of the MohrCoulomb
equation. In dense granular flow simulations, either a
purely cohesive or a frictional model is generally used as
a constitutive law in back-analyses of liquefaction flow
slides or debris flows. It is evident that if the friction angle
is equal to 0 (f
b
= 0), eq. [17] reduces to the purely cohe-
sive model; if the cohesive strength is equal to 0 (c = 0),
eq. [17] reduces to the frictional model. Wang (2008)
back-analyzed case histories of liquefaction flow slides us-
ing the cohesive and friction models. The effects of con-
stitutive models on the dynamic analyses were discussed
by comparing model predictions with field observations in
terms of runout distance, deposit distribution, and velocity
profiles.
In granular flow simulations, lateral pressure can be ap-
proximated as a product of hydrostatic pressure and the co-
efficient of lateral pressure, if the frictional model is used as
a constitutive law. By neglecting interslice shear forces in
the vertical direction, the lateral pressure can be written as
18 P
L
k
K
L
k
gh
b
2
k
2
19 P
R
k
K
R
k
gh
b
2
k1
2
where (K
L
)
k
and (K
R
)
k
are the lateral earth pressure coeffi-
cients on the left and right sides, respectively, of slice k;
g = rg is the unit weight of the sliding mass; and (h
b
)
k
and
(h
b
)
k+1
are flow depths on the left and right sides of slice k
(Fig. 4), respectively. The lateral stress coefficient can be
active, passive or hydrostatic (coefficient of lateral stress
equal to 1) based on the local strain rate (velocity gradient)
of a slice in the longitudinal direction.
Equations proposed by Savage and Hutter (1989) have
been commonly used for calculating the coefficients of lat-
eral earth pressure in the analysis of dense granular flows.
The derivation of the SavageHutter equations for the lateral
stresses assumes that Coulomb failure occurs simultaneously
along the bed and within the sliding mass. Therefore, the
definition of the SavageHutter coefficients is often as-
sumed to be more representative than those of Rankine lat-
eral earth pressure coefficients used in classical soil
mechanics. Examination of the SavageHutter equations in-
dicates that the coefficient of lateral earth pressure would be
1406 Can. Geotech. J. Vol. 47, 2010
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greater than unity even as a slice is expanding, i.e., in an ac-
tive state, if the value of the basal friction angle is close to
that of the internal friction angle (Fig. 5). This is physically
inadmissible and inconsistent with the assumptions for the
model presented here. In the model developed in this paper,
the active or passive state of stress on the left side of a slice
is dependent on whether the slice is expanding or contract-
ing. It is also assumed that the contribution to the magnitude
of lateral stress from internal deformations is more signifi-
cant than that from the materials of the thin shear zone
along the bed. The values of the lateral stress coefficients
are calculated for a frictional material using the Rankine
equation
20 K
L
k
1 sinf
1 sinf
tan
2
45
f
2
_ _
@u
@x
_ _
k
> 0
1
@u
@x
_ _
k
0
1 sinf
1 sinf
tan
2
45
f
2
_ _
@u
@x
_ _
k
< 0
_
_
Fig. 5. Coefficients of lateral earth pressure based on the SavageHutter (Savage and Hutter 1989, 1991) definition.
Fig. 4. Notations used for the slice-based model. h, height of the slice; b, width of the slice; subscript c, center; subscript b, boundary.
Wang et al. 1407
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where f is the internal friction angle.
For a purely cohesive material, the internal friction angle
is equal to 0 and the total lateral forces calculated using the
Rankine theory are
21 P
L
k
1
2
gh
b
2
k
2ch
b
k
@u
@x
_ _
k
> 0
1
2
gh
b
2
k
@u
@x
_ _
k
0
1
2
gh
b
2
k
2ch
b
k
@u
@x
_ _
k
< 0
_
_
According to eq. [21], the calculated horizontal force is
negative when a slice is in the active state and (hb)
k
< (4c/g).
Because tensile stresses occur rarely in soils, eq. [21] is
modified as follows:
22 P
L
k
1
2
gh
b
2
k
@u
@x
_ _
k
! 0
1
2
gh
b
2
k
2ch
b
k
@u
@x
_ _
k
< 0
_
_
Deformation of the slice is simplified as a pure shear de-
formation, as shown in Fig. 3. The deformation work rate is
approximated by
23
_
V
k
t
ij
e
ij
dV t
xx
e
xx
t
zz
e
zz
k
b
k
h
c
k
where
e
xx
k
@=@xu cosq
k
u
R
cosq
R
u
L
cosq
L
k
=b
k
is the mean horizontal strain rate and t
xx
and t
zz
are mean
horizontal and vertical stresses, respectively. Following the
conventions of stress and strain representation usually
adopted in geotechnical engineering, negative signs have
been introduced so that compressive stresses and compres-
sive strains are positive quantities.
For an incompressible fluid
24 e
xx
e
zz
0
25 t
zz
k
gh
c
k
2
Fig. 6. Comparison between analytical and numerical solutions of a dam break over a horizontal plane with a 08 basal friction angle.
1408 Can. Geotech. J. Vol. 47, 2010
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For a frictional material, lateral stresses are computed from
26 t
xx
k
K
k
t
zz
k
where K
k
is calculated by averaging the coefficients of lat-
eral stress on left and right sides of the slice
27 K
k
K
L
k
K
R
k
2
For a purely cohesive material, the coefficient of lateral
earth pressure is equal to 1 and the average lateral stresses
inside slice k can be calculated by
28 t
xx
k
t
zz
k
@u
@x
_ _
k
! 0
t
zz
k
2c
@u
@x
_ _
k
< 0
_
_
Using eqs. [18] to [28], the kinetic energy of slice k at
time t + Dt can be determined from
29 E
tDt
k
E
t
k
_
W
t
k
Dt
The center velocity of a slice at time t + Dt is
30 u
c
tDt
k
2E
tDt
k
m
k
tDt
k
u
c
tDt
k1
u
c
tDt
k
2
Displacement of the slice boundary is
32 x
b
tDt
k
x
b
t
k
u
b
t
k
cosq
t
k
u
b
tDt
k
cosq
tDt
k
2
Dt
where x
b
t
k
and x
b
tDt
k
are x coordinates of boundaries of
slice k at time t and t + Dt, respectively.
The height of slice k at t + Dt is computed by
33
h
c
tDt
k
V
k
x
b
tDt
k1
x
b
tDt
k
h
b
tDt
k
h
c
tDt
k1
h
c
tDt
k
2
34 h
b
tDt
0
0; h
b
tDt
n
0
Fig. 7. Comparison between analytical and numerical solutions of a dam break over a 308 slope with a 08 basal friction angle.
Wang et al. 1409
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s
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.
where V
k
is the volume of slice k, h
b
tDt
k
is the height of
the left boundary of slice k at t + Dt, and h
c
tDt
k
is the cen-
tral height of slice k at t + Dt.
At time t = 0, the velocities and kinetic energy of the sli-
ces are equal to zero. The initial movement of slice k can be
determined from momentum conservation
35 m
k
d u
k
dt
m
k
g sinq
k
T
k
P
L
P
R
k
cosq
k
The velocities and displacements of slices during the first
time step can be calculated as long as accelerations are ob-
tained from eq. [35]. The motion of each slice can then be
determined using equations of energy conservation with the
Lagrangian difference scheme presented above. The compu-
tation proceeds until the maximum slice velocity is under
the velocity threshold specified. It is worthwhile to note
that the dynamic model based on energy consideration as-
sumes that lateral pressure and basal resistance on individual
slices are known and defined by the Rankine and Mohr
Coulomb equations. The momentum equilibrium of the
overall sliding mass is not examined during the calculation
and assumptions about the forces do not satisfy statics. As a
consequence, the dynamic analysis using the new analytical
model cannot converge to the static case because kinematics
are not being considered in the formulation and the internal
force distribution implicit as calculated in the static case dif-
fers from that assumed in the model. The threshold velocity
plays a key role in terminating the calculation process.
Based on the classification of flow-like landslides (Hungr et
al. 2001), a value of 0.05 m/s can be used as a velocity
threshold in the analyses of case histories of flow slides and
debris flows, which are among the extremely rapid class.
Model verification and numerical
experiments
Performance of the slice-based model and numerical
scheme presented in previous sections has been tested by
comparing model predictions with analytical solutions of
one-dimensional granular flows and experimental observa-
tions of granular slumping on a horizontal plane.
Comparison between model predictions and analytical
solutions
Mangeney et al. (2000) presented an analytical solution
for a one-dimensional granular avalanche over an inclined
plane. The analytical solution describes the motion of a
flow front of the dam-break granular flow over an infinite,
uniform slope with a Coulomb-type friction acting at the
base of the flow. It should be noted that the analytical solu-
tion of Mangeney et al. (2000) can only be applied to an
idealized flow where (i) lateral earth pressure is assumed to
be hydrostatic, (ii) the basal friction angle is not greater than
the slope angle, and (iii) the flow never stops on the slope.
Fig. 8. Comparison between analytical and numerical solutions of a dam break over a 308 slope with 108 basal friction angle.
1410 Can. Geotech. J. Vol. 47, 2010
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Figures 6 to 9 present a comparison between the analyti-
cal and numerical solutions of dam break scenarios on hori-
zontal and inclined planes. Numerical analyses were carried
out using the model developed in this paper. An internal
friction angle of zero has been used to provide the hydro-
static lateral pressure distribution in all the simulations. Fig-
ure 6 shows the result of the dram break scenarios over a
horizontal plane with zero basal friction. Figures 7 to 9
present comparisons between analytical solutions and nu-
merical predictions for dam break scenarios on a 308 slope
with and without the basal frictional resistance applied. It is
observed that numerical simulations provide a good repre-
sentation of the dam breakinduced granular flows over hor-
izontal and inclined planes.
Simulation of granular slumping on a horizontal plane
Granular flows induced by the collapse of initially static
columns of sand over a horizontal surface were investigated
experimentally by Lajeunesse et al. (2005). Effects of the in-
itial column geometry on the flow runout behavior and in-
ternal flow structure were explored in the experiments.
Granular materials used in the experiments were glass beads
1.15 or 3 mm in diameter. Granular materials were initially
contained within a cylindrical or rectangular tank. Axisym-
metric or two-dimensional granular flows were created by
quickly raising the cylinder or removing the gate. Experi-
mental observation demonstrated that the flow dynamics
and final deposit depends on the initial aspect ratio of the
granular column, which is defined as the ratio of the initial
height to horizontal extent of the column.
Numerical simulations of the spreading of granular col-
umns on a horizontal plane have been conducted using the
dynamic model formulated based on energy conservation.
The value of the internal and basal friction angles used in
the analysis is 258, which is the average of values reported
by Lajeunesse et al. (2005). Figure 10 presents the normal-
ized final profiles of numerical simulations and experimental
observations of the spreading of columns with the same ini-
tial aspect ratio, but witha different initial basal length.
Comparison of theoretical and experimental final profiles in
Fig. 10 indicates that the dynamic analysis provides a rea-
sonable prediction of the runout distance for flows induced
by the collapse of granular columns over a horizontal plane.
It should be noted, as shown in Fig. 11, that when the
SavageHutter equations for the coefficients of the lateral
stresses are used in the governing equations based on energy
conservation, the fit is not as good either in terms of runout
distance or shape.
It has been observed that granular slumping involves the
following two processes: (i) collapse and fall of the column
and (ii) spreading of the granular mass on a horizontal plane
until it comes to rest. During these processes, the initial po-
tential energy in the tall column is converted into kinetic en-
ergy and is also dissipated because of internal deformation
Fig. 9. Comparison between analytical and numerical solutions of a dam break over a 308 slope with 208 basal friction angle.
Wang et al. 1411
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and basal friction. The complexity of the collective dynam-
ics of momentum transfer and energy dissipation involved in
granular slumping highlights the difficulties in modeling this
class of problems within the framework of classical shallow
water equations. To simulate the slumping of the granular
mass, it appears that a model should be capable of account-
ing for vertical momentum transfer associated with the fall
of the column and also capturing the features of the subse-
quent horizontal spreading. It is possible to apply a depth-
averaged model to modeling sideways flow of a granular
mass. Unfortunately, the initial vertical column collapse and
momentum transfer intrinsically violate the shallow water
assumptions and cannot be accounted for by shallow water
approaches. It is evident that the theoretical predictions are
far from describing the whole process of granular slumping
and there are still many issues to be resolved. However, it
has been observed surprisingly that the simulations carried
out by using the new analytical model are able to reproduce
many features of the spreading of a granular mass. The
model based on energy considerations provides new insights
into the approaches used for investigating granular flows.
The model has been used in modeling a number of debris
flow cases (Wang 2008).
Discussion
Flow slides and debris flows generally exhibit pervasive,
fluid-like deformation. Morgenstern (1978) investigated mo-
bile flows in a wide variety of geological and geomorpho-
logical settings and concluded with the observations that
characterization of mobile soil and rock flows and the de-
sign of protective structures should proceed using principles
of fluid mechanics. The fundamental equations of flow dy-
namics are based on three universal laws of conservation:
conservation of mass, conservation of momentum, and con-
servation of energy. During the last three decades, conserva-
tion laws of mass and momentum have been widely applied
in the formulation of numerical models for granular flow
simulations (Savage and Hutter 1989; Hungr 1995; Iverson
1997; Denlinger and Iverson 2001, 2004; Iverson and Den-
linger 2001; Iverson et al. 2004). However, energy conserva-
tion has not been explicitly accounted for in the granular
flow simulations.
Morgenstern (1978) pointed out that large volumes of soil
or rock can become fluidized by virtue of energy transfer
mechanisms following instability. Iverson et al. (1997) pro-
vided an extended discussion on mobilization of debris
Fig. 10. Nondimensional final deposit of granular slumps with the same initial aspect ratio of 3.2 (simulation using Rankine coefficient of
lateral earth pressure).
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flows from landslides and noted that three processes are in-
volved in the mobilization:
(1) Widespread Coulomb failure within the sediment mass.
(2) Partial or complete soil liquefaction by high pore-fluid
pressure.
(3) Conversion of landslide translational energy to internal
vibrational energy.
These three processes operate simultaneously and synerg-
istically in many circumstances and the change of pore-fluid
pressures and conversion of energy are crucial components
in flow slide and debris flow mobilization and evolution.
Formulation of the governing equation (eq. [10]) is based
on energy considerations and idealization of complex energy
transfer mechanisms involved in mobilization, motion, and
deposition of flow slides and debris flows. Within the
framework of the universal energy conservation law, energy
dissipation due to internal deformation is integrated into
geotechnical analysis of granular flows explicitly. Based on
conservation laws of mass and energy, the analytical model
developed in this paper provides new insights into quantita-
tive analysis of granular flows in geotechnical settings.
Generally speaking, the momentum conservation and en-
ergy conservation principles provide identical results when
applied to certain flow problems. However, it has long been
realized that particle interactions, such as intergrain collision
and sliding, dissipate energy in granular flows (Jaeger and
Nagel 1992; de Gennes 1999). The internal forces in granu-
lar flows are much more complicated than the assumptions
in the existing depth-averaged continuum models. Formula-
tion of governing equations for granular flows within the
framework of energy conservation offers a simpler and
clearer explanation based on granular flow physics and lends
itself to the incorporation of other phenomena, such as those
related to particle breakdown.
Conclusions
A slice-based model is proposed to simulate debris flows,
flow slides, and other types of rapid landslides from a geo-
technical perspective. The model is formulated based on
universal conservation laws of mass and energy. Effects of
deformation work and internal energy dissipation on debris
flow dynamics are accounted for explicitly in the proposed
model.
A Lagrangian finite difference method has been presented
to solve the governing equations for the granular flow simu-
lations. The terms due to deformation work in granular
flows are incorporated into the solution to account for the
effects of internal energy dissipation. Simulations of simple
granular flows have been undertaken to examine the plausi-
bility of the model and applicability of the numerical
Fig. 11. Nondimensional final deposit of granular slumps with the same initial aspect ratio of 3.2 (simulation using SavageHutter coeffi-
cient of lateral earth pressure).
Wang et al. 1413
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scheme. The results of granular flow simulations provide
evidence that the model based on the energy conservation
law is robust.
Acknowledgements
The authors would like to thank Professor P. Steffler at
the University of Alberta for contributions to the formula-
tion of the analytical model and numerical solution pre-
sented in the paper. The authors also benefitted from
discussions with Professor O. Hungr at The University of
British Columbia and Professor S.M. Olson at the University
of Illinois at UrbanaChampaign.
This research has been sponsored by the Natural Sciences
and Engineering Research Council of Canada.
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