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Slow drag in two-dimensional granular media, and . Physical Review E (Statistical, Nonlinear, and Soft Matter Physics), 71 (1): 011302 (2005)Predictability and granular materials, , , , and . Physica D, (1999)Jamming Transition in Granular Systems, , , and . Physical Review Letters, 98 (5): 058001+ (January 2007)Granular Solids, Liquis and Gases, , and . Rev.~Mod.~Phys., (1996)