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A thematic introduction to the modern theory of continuum mechanics and thermodynamics is presented from the viewpoint of granular and porous materials. In the approach taken here, granular and porous media are treated as continuous macroscopic systems of which the overall response is significantly influenced and determined by microstructural effects. In the continuum mechanical modeling, those microscale effects are captured by the introduction of so-called internal variables which account for geometric and material inhomogeneities or the multiphase nature of granular mixtures. Describing...