We measure the drag encountered by a vertically oriented rod moving across a sedimented granular bed immersed in a fluid under steady-state conditions. At low rod speeds, the presence of the fluid leads to a lower drag because of buoyancy, whereas a
significantly higher drag is observed with increasing speeds. The drag as a function of depth is observed to decrease from being quadratic at low speeds to appearing more linear at higher speeds. By scaling the drag with the average weight of the grains acting on the rod, we obtain the effective friction $mu_e$ encountered over six orders of magnitude of speeds. While a constant $mu_e$ is found when the grain size, rod depth and fluid viscosity are varied at low speeds, a systematic increase is observed as the speed is increased. We analyze $mu_e$ in terms of the inertial number $I$ and viscous number $J$ to understand the relative importance of inertia and viscous forces, respectively. For sufficiently large fluid viscosities, we find that the effect of varying the speed, depth, and viscosity can be described by the empirical function $mu_e = mu_o + k J^n$, where $mu_o$ is the effective friction measured in the quasi-static limit, and $k$ and $n$ are material constants. The drag is then analyzed in terms of the effective viscosity $eta_e$ and found to decrease systematically as a function of $J$. We further show that $eta_e$ as a function of $J$ is directly proportional to the fluid viscosity and the $mu_e$ encountered by the rod.
We show that a freshly sedimented granular bed settles and creeps forward over extended periods of time under an applied hydrodynamic shear stress, which is below the critical value for bedload transport. The rearrangements are found to last over a t
ime scale which is millions of times the sedimentation time scale of a grain in the fluid. Compaction occurs uniformly throughout the bed, but creep is observed to decay exponentially with depth, and decreases over time. The granular volume fraction in the bed is found to increase logarithmically, saturating at the random close packing value $phi_{rcp} approx 0.64$, while the surface roughness is observed to remain essentially unchanged. We demonstrate that an increasingly higher shear stress is required to erode the bed after a sub-critical shear is applied which results in an increase in its volume fraction. Thus, we find that bed armoring occurs due to a deep shear-induced relaxation of the bed towards the volume fraction associated with the glass transition.
