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Plant root growth is often accompanied by circumnutative motion consisting of downward helical movement of the root tip. Previous studies indicate that circumnutations allow roots to avoid obstacles that would impede root growth, while other studies show that circumnutations can reduce the penetration resistance mobilised during root growth. Discrete-element modelling (DEM) simulations were performed on probes that employ circumnutation-inspired motion (CIM) to penetrate granular assemblies at shallow depths to evaluate the reduction in penetration resistance. These simulations investigate the effect of the ratio of tangential to vertical velocity of the circumnutative motion (i.e. relative velocity) and of the probe geometry (i.e. tip tilt angle and length). The results indicate that CIM penetration reduces the penetration force and work relative to non-rotational penetration (NRP) by changing the soil fabric and diffusing the force chains around the probe tip. However, the circumnutative motion leads to an increase in torque and associated rotational work. An optimal relative velocity and probe geometry exist for the simulated CIM probes, resulting in a smaller total work than that required for NRP. CIM penetration also mobilises smaller penetration forces and work than rotational penetration (i.e. with a straight tip), particularly at smaller relative velocities. The reduction in penetration forces induced by CIM could facilitate site investigation and monitoring activities. 

Probes that penetrate soil are used in fields such as geotechnical engineering, agriculture, and ecology to classify soils and characterize their propertiesin situ. Conventional tools such as the Cone Penetration Test (CPT) often face challenges due to the lack of reaction force needed to penetrate stiff or dense soil layers, necessitating the use of large drill rigs. This paper investigates more efficient means of penetrating soil by taking inspiration from a plant-root motion known as circumnutation. Experimental penetration tests on sands are performed with circumnutation-inspired (CI) probes that advance at a constant vertical velocity ( $v$) while simultaneously rotating at a constant angular velocity ( $\omega$). These probes have bent tips with a given bent angle ( $\alpha$) and bent length ( $L_1$). The variation of the mobilized vertical force ( $F_z$), torque ( $T_z$.), and the mechanical work components with the ratio of tangential to vertical velocity (ωR/ν, whereRis the distance of the tip of the probe from the vertical axis of rotation) is investigated along with the effects of probe geometry, vertical velocity, and soil relative density ( $D_R$). The results show that the soil penetration resistance does not vary with $v$, but it increases as $\alpha$, $L_1$, and $D_R$are increased. $F_z$decays exponentially with increasing $\omega R/v$, $T_z$initially increases and then plateaus, while total work ( $W_T$) shows little magnitude changes initially but later increases monotonically. The mechanisms leading to these trends are identified as the changes in the probe projected areas and mobilized normal stresses due to differences in probe geometry and the effects of $\omega R/v$on the resultant force direction and soil disturbance. The results show that CI penetration within a specific range of $\omega R/v$leads to small increases in $W_T$(i.e., $\text{⩽}$25%), yet mobilizes $F_z$magnitudes that are 50%–80% lower than that mobilized during non-rotational penetration (i.e., CPT). This indicates that CI penetration can be adopted forin situcharacterization or sensor placement with smaller vertical forces, allowing for use of lighter rigs. 

The cone penetration test (CPT) is one of the most popular in situ soil characterization tools. However, the test is often difficult to conduct in soils with high penetration resistance. To resolve the problem, a rotary CPT device has recently been adopted in practice by rotating the rod to increase the penetrability, particularly in deep dense sand. This study investigates the underlying mechanism of the rotation effects from a micromechanical perspective using models based on the discrete element method. With rotation, the cone penetration resistance ( q_c) decreases by up to 50%, while the cone torque resistance ( t_c) increases gradually. These results are also used to successfully assess existing theoretical solutions. The mechanical work required during penetration is observed to keep rising as the rotational velocity increases. Microscopic variables including particle displacement and velocity field show that rotation reduces the volume of disturbed soil during penetration and drives particles to rotate horizontally, while contact force chain and contact fabric indicate that rotation increases the number of radial and tangential contacts and the corresponding contact forces, forming a lateral stable structure around the shaft, which can reduce the force transmitted to the particles below the cone, thus decreasing the vertical penetration resistance. 

Site investigation (SI) and subsurface exploration are vital for characterizing soil properties. However, a common challenge is the lack of sufficient reaction force to penetrate through stiff crusts or deep layers, leading to refusal. To address this issue, rigs typically have large sizes that can make mobility and accessibility challenging and increase the carbon footprint of SI activities. This paper experimentally investigates a plant root-inspired strategy called circumnutation-inspired motion (CIM) to reduce the vertical penetration forces (F_z) in comparison to quasi-static penetration used for example for Cone Penetration Testing (CPT). The CIM probes have a bent tip end and are rotated at a constant angular velocity (ω) while they are advanced at a constant vertical velocity (v) in uniform specimens of clay and sand. F_z for both soils decay exponentially by factors as high as 10 with increasing relative velocity, defined as the ratio of the tangential to the vertical velocity of the probe tip (ωR\/v). Torques for both soils increase with initial increases in ωR\/v which stabilize at higher velocities. While the cumulative total work, calculated for both clay and sand from the measured forces and torques, increases less than 25% for initial increases in ωR\/v between 0 and 0.3π, the F_z can be reduced by around 50%. Thus, CIM penetration can produce significant reductions in F_z in comparison to CPTs while limiting the additional energy consumed. CIM could be implemented to perform site investigation activities, such as obtaining samples or installing sensors, using smaller-sized, light-weight rigs. 

Equipment used for site investigation activities like drill rigs are typically large and heavy to provide sufficient reaction mass to overcome the soil’s penetration resistance. The need for large and heavy equipment creates challenges for performing site investigations at sites with limited accessibility, such as urban centres, vegetated areas, locations with height restrictions and surficial soft soils, and steep slopes. Also, mobilization of large equipment to the project site is responsible for a significant portion of the carbon footprint of site investigations. Successful development of self-burrowing technology can have enormous implications for geotechnical site investigation, ranging from performance of in-situ tests to installation of instrumentation without the need of heavy equipment. During the last decade there has been an acceleration of research in the field of bio-inspired geotechnics, whose premise is that certain animals and plants have developed efficient strategies to interact with geomaterials in ways that are analogous to those in geotechnical engineering. This paper provides a synthesis of advances in bio-inspired site investigation related to the (i) reduction of penetration resistance by means of modifying the tip shape, expanding a shaft section near the probe tip, applying motions to the tip like rotation and oscillation, and injecting fluids and (ii) generation of reaction forces with temporary anchors that enable self-burrowing. Examples of prototypes that have been tested experimentally are highlighted. However, there are important research gaps associated with testing in a broader range of conditions, interpretation of results, and development of hardware that need to be addressed to develop field-ready equipment that can provide useful data for geotechnical design. 

Abstract Development of self-burrowing probes that can penetrate soils without the aid of external reaction force from drill rigs and trucks would facilitate site characterization activities and deployment of sensors underneath existing structures and in locations with limited access (e.g., toe of dams, extraterrestrial bodies). Successful deployment of self-burrowing probes in the field will require several cycles of expansion, penetration, and contraction motions due to the geometric constraints and the increase in soil strength with depth. This study explores the multi-cycle performance of a dual-anchor self-burrowing probe in granular assemblies of varying density using discrete element modeling simulations. The simulated probe consists of an expandable top shaft, expandable bottom shaft, and a conical tip. The expansion of the shafts are force-controlled, the shaft contraction and tip advancement are displacement-controlled, and the horizontal tip oscillation is employed to reduce the penetration resistance. The performance of the self-burrowing probe in terms of self-burrowing distance is greater in the medium dense specimen than in the dense and loose specimens due to the high magnitude of anchorage force in comparison with penetration resistance. For all three soil densities, most of the mechanical work is done by tip oscillation; however, this accounts for a greater percentage of the total work in the denser specimen. Additionally, while tip oscillation aids in enabling self-burrowing to greater depths, it also produces a greater work demand. The results presented here can help evaluate the effects of soil density on probe prototypes and estimate the work requited for self-burrowing.