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By Milind Chikhale, Yogesh Reja, Keshav Tyagi

"Using computer models for process design is a well-established practice in the mineral industry. In recent years, there has been emphasis on modeling of processing plant as a whole. This paper covers development of a model for iron ore processing plant. Basic purpose of this model is to use simulation for efficient plant design and help in minimizing risk at the very initial stage of project. Feed to the plant is Hematite iron ore from a deposit located in Eastern India. Major processes in plant include multi-stage crushing, screening, grinding, classification, gravity and magnetic separation. Models for different process equipment were developed using METSIM and Bruno simulation software. Customized black box models and known mathematical models were used for predicting behaviour of processes. Data needed was identified based on the model type. The required data was arranged as per project requirement and processed for development and validation of model. Equipment models were developed and validated on the basis of process design basis, theoretical and empirical data from technical references, and bench scale and pilot scale testwork results. Validated process circuits were assembled to simulate and represent the entire plant process. The result shows expected variation in plant output as a result of variation in the feed. Study concludes by discussing potential applications of the model in plant design."

Jan 1, 2014

By B. Friedrich, A. Weyhe, H. Heegn

"Nickel-metal hydride batteries (Ni-MH) are storers of electrochemical energy, which have a higher specific storage capacity than lead or nickel-cadmium batteries. The demand for Nickel-metal hydride batteries is increasing rapidly since their market launch in the early 1990’s. Today there is no suitable and sustainable recycling process to recover nickel, cobalt and rare-earth metals. The discarded batteries are used today in the steel industry as alloy material because they contain nickel. Cobalt and rare-earth metals (RE) are lost; they are non-recycleable.In a German governmental funded research project, IME Aachen, ACCUREC Mühlheim and UVR-FIA Freiberg are cooperating in processing as well as in creating a feasibility study. The target of this project is the development of a new recycling process for metal recovery from Ni-MH-batteries. The proposed process described in this paper consists of a combination of mechanical, pyrometallurgical and hydrometallurgical processing steps. This process is capable of treating all types of Ni-MH-batteries. After comminution steel and organics are separated. The separated Ni-MH is smelted in an electric arc furnace. The products are a nickel-cobalt alloy and a slag phase enriched with rare-earth oxides for further treatment to ‘mischmetal’. Both the Nickel-Cobalt alloy and the ‘mischmetal’ will be directly used in battery production."

Jan 1, 2003

By C. Çelik

Nowadays the optical sorting of industrial minerals is one of the most important processing methods which has cost efficient production possibilities. This method is used for industrial and raw materials that have different colour and brightness features. Initially this technology is used for sorting of foodstuffs and recovered glass, but for a long time also as physical mineral processing method for both industrial minerals like: limestone, marble, talc, basalt, flint, quartz and secondary raw materials like: building rubble, refractory materials, glass, plastic and household waste. In this study via optical sorting the separation of quartz out of a flint mix, which consists of the particles with different colors and brightness, is aimed. Experiments are performed on an optical sorting machine named CombiSense® 1200 at the institute of ?Aufbereitung mineralischer Rohs-toffe? RWTH Aachen. This automatic picking device was developed by the company ?Separation Systems Engineering (SSE), Wedel?. Hand picking method is used for product analysis and the efficiency tables are prepared on every step accordingly. This process enables to reach quartz products with purity up to 100%.

Jan 1, 2014

By J. Gong

Fine mineral particles pose two challenging problems in froth flotation, i.e., ineffective recovery of fine hydrophobic particles and mechanical entrainment of fine hydrophilic particles. The first problem has attracted much research effort while the second problem has received much less attention. We have recently proposed a method to deal with mechanical entrainment, i.e., utilizing the flocculating power of polymeric depressants to flocculate fine gangue particles and making the flocs big enough so that the mechanical entrainment of these particles can be reduced or eliminated. In this paper, we report results on the use of polyethylene oxide (PEO) in controlling quartz gangue in the flotation of sulphide ores. PEO was found to flocculate fine quartz and lower its entrainment. It was also found to modify air/water interfacial properties and acted as a frother, which could increase gangue entrainment. Nevertheless, when used at starvation dosages, PEO was found to significantly improve the grades of the floated sulphide concentrates.

Jan 1, 2014

By Graeme J. Jameson

"When mineral particles are floated in a mechanical flotation cell, it is found that the rate constant, after reaching a maximum value, starts to decline as particle size increases. It had been thought that the reduction in rate constant had been due to the increased prevalence of composite particles in natural ores, for larger particles. However, Jameson (2012) showed that the rate constant for composites is certainly a function of the surface liberation, but the reduction in flotation rate is independent of particle size. Thus all particles are equally affected by reduced surface liberation, independently of their size. He further argued that the classical peak observed in the rate constant with increasing particle size, is a function of machine hydrodynamics. Thus in mechanical cells, the peak may be due to the high energy dissipation rate and its effects on the detachment of particles from bubbles (Goel and Jameson, 2012). Consequently, in a different flotation environment, it may be possible to float large composite particles that cannot be floated in mechanical cells. This paper describes the flotation of large composite particles in a fluidized bed flotation cell. The particles to be floated are fed to a column in which there is a continuous upflow of liquid. A conventional froth layer of controlled depth is formed at the top of the vessel. A fluidized bed of particles is established which provides a gentle environment for the contacting of large particles with bubbles. An example is given where a porphyry copper ore was prepared at a top size of 710 µm, and floated with conventional collector (PAX) and frother (MIBC). The concentrate was separated into size fractions and examined by photography. Composites were observed at all size fractions, but above 400 µm, all particles were composites. The implications for future flotation circuits will be described."

Jan 1, 2014

By John Ralston, Stephen Grano, Yongjun Peng, Daniel Fornasiero

"A specially designed mill which allowed the control of pH throughout grinding was used to study the effect of grinding conditions on galena flotation and galena separation from pyrite. The changes occurring on the mineral surface during grinding were investigated by EDTA extraction and ToF-SIMS measurements.Galena flotation and galena separation from pyrite were strongly dependent on the type and amount of oxidation species produced on galena and pyrite surfaces under different grinding conditions. Iron oxidation species depressed both galena and pyrite flotation, whilst lead oxidation species activated pyrite flotation but had little effect on galena flotation. Optimum galena flotation and galena selectivity against pyrite were achieved by selecting grinding conditions that enabled lead and iron oxidation production to be controlled.Grinding conditions had a large effect on the flotation of the galena particles of different sizes. Flotation of fine galena particles (-10 µm) was depressed by iron oxidation species derived from the grinding media. Chromium grinding medium decreased the production of iron oxidation species and therefore increased the flotation of fine galena particles."

Jan 1, 2003

The ever increasing demand for energy and the progressive depletion of crude oil resources, have renewed interest in oil shale as an alternative fuel resource. Weathered oil shale samples were assembled from El-Nakheil phosphate mine in Quseir area, Eastern desert, Egypt. The oil shale samples were prepared and analyzed by XRD (X-ray diffraction), XRF (X-ray fluorescence spectrometry), and optical microscopic techniques. Rock-Eval pyrolysis and total organic carbon were used to study shale hydrocarbon potential. A leaching procedure using inorganic and organic acids was used to selectively dissolve the oil shale associated ash forming minerals. XRD results showed that calcite is the dominant carbonate mineral, whereas primary silicate minerals are quartz and montmorillonite. SEM (Scanning Electron Microscopy) observations indicated that the organic matter is dispersed throughout the rock matrix. The acid soluble fraction upon leaching was determined to be 37.59 and 42.74 wt% by using 5% HCl and 10% HCl, respectively. The TOC was increased from 20.78 to 29.88 and 34.09 wt% by using 5% HCl and 10% HCl, respectively. Keywords: el nakheil oil shale, characterization, xrd, xrf, sem, elemental analysis, proximate analysis, ultimate analysis, thin section, rock eval pyrolysis, acid leaching

Sep 1, 2012

By Axel Pankewitz, Andrew Smith, Mathias Stender, Christian Behrens

"Particle size measurement is one of the most important factors in obtaining peak performance of the mineral processing plant in order to ensure efficient milling and flotation circuit operation. Off-line particle distribution analysis technologies only allow an infrequent check of the ore slurry size and hence do not allow for timely process monitoring or intervention. Most existing on-line particle size analysers suffer from a variety of disabilities such as poor statistics, non-representative sampling or mechanically complex setup. This paper will describe an Ultrasonic Extinction based method which overcomes many limitations of existing online analysers and has proven its performance for mineral applications over many years. Installation examples will be given. Since new technologies usually raise e questions about comparability and agreement to common particle size analytical methods e.g. sieving or laser diffraction analysis, extensive studies were performed comparing these different technologies to quantify the quality of results as well as its mathematical robustness."

Jan 1, 2014

By B. Csoke

To improve the efficiency of the crushing/screening plant of Bazalt-Középko Kobányák Ltd. (Hungary), the implementation of computer aided quality control is planned. In the current phase, the R & D work aims at the solution of high-priority tasks: 1) Developing the process models, validation of the models by means of industrial measurements. 2) Developing the algorithm for the process control of the crushing/sizing plant. 3) Developing the suitable computer program. To develop the mathematical models of crushing (breakage and probability functions) and to determine the model parameters, the experimental industrial trials were carried out on hydrocone crushers of types Svedala H 4800 EF and H 4800 F, changing the gap size and crushing relatively narrow grain size fractions. Additionally, the parameters of the separation function for the screens operating in the system were determined. It was established that the crushing probability depends on the grain size of the feed (Y) and the gap size (s), so the breakage probability S, for each cone crusher, can be well characterised by the function formed using the ratio of these two parameters: SfYsf==. The distribution of the broken grains can be described reliably using the relative grain size distribution function B(? = x/Y) (usually Schuhmann-Gaudin- or Rosin-Rammler-shaped function). For the screens, the probability function ()2()111/NTx = xd ???---???? is suitable for cha-racterising the separation (where x? grain size, ?-open-area ratio, d ? rectangular screen aperture size, N ? number of appearance of the particle on a screen surface). Using these functions, the comminution circuits were described by means of vector/matrix equations. The calculations and measurements verified the reliability of the developed models and algorithms.

Jan 1, 2014

By John O. Marsden

"Technology development and innovation has played a crucial role in the copper industry throughout history. The effective development and implementation of new technologies allows mankind to produce copper at progressively lower cost of production at a given feed grade and mineral type. This progress serves to counteract cost inflation/escalation over time and, depending on the magnitude of the cost benefit, allows ore cut off grades to be reduced thereby improving the availability, accessibility and utilization of resources. Two broad categories of technology development and innovation play a key role in this process: (i) incremental improvements and optimization of existing technology provide benefits in the near- to medium-term, and (ii) step change technologies provide value over the longer term. A key issue for potential developers and implementers of new step change technology is how to justify resource allocation and expenditures for such initiatives. This paper examines this issue with reference to specific case studies in the copper industry. INTRODUCTION AND BACKGROUND Technology development and innovation has played a crucial role in the commodity minerals industry throughout history, and none more important than the copper industry. As new, cost-efficient technologies are commercialized, the cost of production in real terms at a given ore feed grade and mineral type decreases. This progress enables ore cut off grades to be reduced allowing lower grade material to be processed economically, which in turn increases the availability and supply of the metal or mineral of interest. Cost inflation/escalation works in the opposite direction, squeezing margins for operations utilizing incumbent technology to process material from a given ore deposit. A prior review by the author considered the issue of technology development and sustainable competitive advantage. This review concluded that first movers and fast followers can achieve competitive advantage for periods of 10-15 years through effective deployment of new technologies (Marsden, 2004). A new, more comprehensive study and evaluation was completed in 2014. This paper presents a portion of the results from the 2014 study."

Jan 1, 2018

By Jihoe Kwon, Daeyang Lee, Mario Fujimura-Kashiwagui, Heechan Cho

"Calcium carbonate is one of the most widely used mineral in today's industries such as plastic, paper and pigment. There are many essential physicochemical properties required by each industry field but the most common requisite is size. One way to achieve appropriate size is grinding. Grinding is typically an energy intensive process, consuming about 40% of total energy cost in mineral process. Due to that reason, optimization of grinding process is a critical element to achieve price competitiveness. Two different type of grinding apparatus were hired to find out optimum condition in terms of energy efficiency. Utilizing samples containing 10, 20, 30 and 40% solids concentrations, a 1l batch type attrition mill was operated as the first grinding step at various operating speed with 1? to 5? grinding media in order to study the optimum operating conditions to reach submicron particles. Next, a 0.15l vertical beads mill was tested as next step with 100? to 500? grinding media to study the optimum conditions in the submicron range. Net energy and the specific energy input was measured to reach stated size ranges. Also, using a back-calculation based on the population balance model further operating conditions were studied. There were several competitive combinations which showed significant energy efficiency improvement when compared with the single step grinding."

Jan 1, 2014

By M. Guo

Coal-based Direct Reduction in Interior-combustion Shaft Kiln (CDR/ISK) is a brand-new technique. Compared with the traditional Coal-based Direct Reduction (CDR) technique, its main character is to use Interior-combustion Shaft Kiln (ISK) as the reactor of direct reduction. After being crushed and grinded, iron ore is made into green pellet, which will be surface-coated by coal fines. Then, the surface-coated green pellet can be directly reduced in ISK. The pellet should not be too dry and should be charged from the top of ISK. Oxygen-contained air should be blasted into ISK to keep the temperature in it higher than 1000 degrees centigrade, at which iron oxide will start direct reduction. The reduced pellet will be discharged from the bottom of ISK and after de-surface-coated, spherical Direct Reduced Iron (DRI) can be gained. The volume of carbon monoxide in the off-gas discharged from ISK is less than one per cent. By using this technique to get one tonne DRI, the consumption of coal is about 300kg of fixed carbon, which is much lower than the energy consumption by using other CDR techniques. There is a lot of complex refractory iron ore in China, which remains unexploited. The iron-bearing minerals in this kind of the iron ore can not be beneficiated economically by present technique of gravity, magnetic, flotation or magnetic roasting because the iron minerals are too very finely disseminated to be liberated, or, the iron minerals are too similar to gangue to be separated each other. By using CDR/ISK, complex refractory iron ore can be directly reduced in lower temperature and all kinds of iron mineral can be turned into iron metal. As the grains of iron metal growing larger during direct reduction, magnetic separation can be used to separate iron metal from gangue mineral, thus high-grade iron metal fines can be gained. According to the experiments, the grade of iron metal fines is above 90 percent and the recovery of iron is higher than 90 percent. The consumption of coal to process one tonne of complex refractory iron ore is only about 90kg of fixed carbon.

Jan 1, 2014

By Y. Q. He

The methodology of active pulsing air separation is a new method for dry material classification. Especially, it is suitable to electronic scraps disposal and re-utilization. By studying the difference of drag coefficients of the particles moving through areas of varying Reynolds numbers, and considering the extra-mass forces acting on the particles in the active pulsing air field, models of the dynamic motion which particles follow were developed. A computer simulation was prepared that showed the traces of particles with different densities and/or diameters, but similar aerodynamic characteristics, as they moved through the turbulent flow, to modify and define the parameters of the models. The simulation was found to predict the observed results with artificial tracing spheres being separated by the laboratory equipment. The separation performance, as being affected by the particles, nature, the air velocity, the pulsing frequency and the air pattern, is discussed. In general, lower density particles are more responsive to variations in airflow velocity. In addition, an industrial scale active pulsing air separator was designed, and it provides a new and efficient method for resource re-utilization in China.

Jan 1, 2014

By S. Narra

The importance of bio-products production is enhanced with the abundance and renewability of ligno- cellulosic biomass in comparison to the depleting fossil fuels especially in producing environment friendly energy. Lignin is obtained as a sludge residue from the pulp and paper industries as well as from the bio- ethanol /bio-gas production plants. Lignin is a renewable fuel with a high heating value equivalent to anthracite coal, low ash content and hydrophobic properties. The extracted lignin in paper and pulp mills is usually burnt at the mill directly to cover the energy production costs of the mill. The efficient utilization of lignin can reduce the percentage of lignin sludge used for energy production in comparison to the present situation. Presently the lignin is burnt /incinerated as sludge with minimum of 30 to 50 % moisture content. This high moisture content reduces the energy efficiency and simultaneously utilizes more amount of lignin sludge in producing the required energy. This paper explains a possibility of integrating sludge-pelleting techniques in paper and pulp mills. The integrated sludge-pelleting techniques would lead to an optimal utilization of lignin for energy and would simultaneously save the lignin resource for material utilization. The sludge pelleting process solves also the problem of handling, storage and explosion risks of lignin when compared to the present situation.

Sep 1, 2012

By T. Wajima

We tried to convert paper sludge ash (PSA) into zeolitic product with high cation exchange capacity (CEC) through acid leaching. Typically, PSA from incineration of paper sludge contains a high percentage of calcium in the form of anorthite (CaAl2Si2O8) and gehlenite (Ca2Al2SiO7). It is difficult to convert the ash with a high Ca content into zeolites, or at least into more desirable zeolite phases. Acid leaching with HCl was applied to reduce the Ca content to synthesize zeolitic product with high CEC. The raw ash was treated with 1 M, 3 M, and 5 M HCl solution for 0.5~24 hours (the ratio of the ash to volume of HCl solution was 1/4), and then zeolitic product was synthesized from leached ash through the reaction with 2.5 M NaOH solution at 80 oC for 24 hours. During acid leaching, gehlenite is readily dissolved in a lower HCl concentration solution than anorthite. With increasing HCl concentration, the amounts of Ca, Mg, Si, Al, Fe and Ti extracted from the ash increased. Ca and Mg contents were easily extracted from ash than other elements. The contents of Ca and Mg extracted rapidly at initial stage, and then levelled off. The saturation times of Mg and Ca are almost 0.5 h using all concentrations of HCl solutions. After the synthesis from leached ashes, zeolite-A and -P were synthesized from ash leached in 1 M HCl solution, and 3 M and 5 M HCl solutions, respectively, regardless of leaching time. With in-creasing HCl concentration, the Ca content eluted from the product decreased, due to the removal of Ca via acid leaching before the synthesis, while the Na content eluted from the product increased to 3 M HCl and then decreased, which was almost similar to the CEC of the product, due to the ion exchange of Na-type zeolitic phase in the product. The change of zeolite phases in the product and the CEC of the product depend on the concentrations of Si and Al in the solution during the synthesis. The highest CEC of the product is about 220 cmol/ kg, which was synthesized from the ash leached in 3 M HCl solution.

Jan 1, 2014

By Q. X. Li

The state discharge standard for arsenic-containing wastewater which is the first kind of pollution is less than 0.5 mg/L. In fact, in a certain company, the acidic arsenic-containing wastewater in non-ferrous smelting was as high as 860 mg/L, which is far beyond the state discharge standard. Obviously, the direct release of this wastewater without further treatment would result in great hazards to the ecological environment. To aim directly at the characteristics of acidic arsenic-containing wastewater, in this study, two steps of treatment including oxidation-flocculation and removal fluoride by mixing alkaline neutralization were suggested. Through analyzing various influencing factors in treatment effects, the optimum technical conditions were obtained. The sediments after treating were recyclable and the secondary pollutions can be avoided. Moreover, the results also show that, all indexes of the effluent after treating are lower than the First Grade Standard of Integrated Wastewater Discharge (GB 8978-1996). This novel method has advantages of short flow sheet, easy operation and low cost.

Jan 1, 2014

By W. Rubarth

The kaolin losses in hydrocyclone classification are determined by the fines, which are discharged together with the water to the underflow. This paper presents an improved technique of water injection to the conical part of the cyclone applied especially for small cyclones in kaolin preparation. In small hydrocyclones water, injection is a sensitive process. Therefore, the process was stabilized by controlled water injection dependent on the measurement of the underflow shape. Three applications of this innovation are presented. In the first case, the water injection is applied for the separation stage in dilute suspension where the final product is produced in the overflow of a 50mm hydrocyclone. The underflow contains sand and residual kaolin. For a higher kaolin recovery, the underflow is usually treated downstream in washing cyclones. The wash water injection results in a 45 ? 50% - reduction of the kaolin fraction <25µm in the underflow. Thus, water injection to the classifying cyclone leads to a separation comparable with a downstream washing stage. An additional hydrocyclone stage can be deleted. The second application refers to a classification in dense suspension. Here, the underflow of the last hydrocyclone stage was directed to a washing in a 50mm hydrocyclone. The additional injection of 3L/min water in to the conical part of the cyclone reduced the kaolin losses by half.The third application was executed in the washing stage equipped with 75mm hydrocyclones where the underflow is directed to flotation. Using the water injection the kaolin recovery in this stage was increased by approximately 20%. Keywords: hydrocyclone, classification, kaolin beneficiation, water injection, underflow washing

Sep 1, 2012

By D. Vega, P. R. Brito-Parada

"Small diameter (10 mm) hydrocyclones have been applied successfully for the separation of particle suspensions in the micron size range. These hydrocyclones are attractive because they show a bypass fraction larger that the water recovery, resulting in a high particle recovery to the underflow as well as low water recovery. However, this is a disadvantage when the purpose of the hydrocyclone is classification because of the large amount of fine particles that are misplaced in the underflow. The aim of this study is to explore, experimentally and computationally, the influence of design parameters on the classification process. In this work, a full factorial experimental design was defined to carry out comprehensive experimental tests using glass beads (0-20 µm) as the particulate system. We show that the dimensions of spigot and vortex finder diameter can be effectively manipulated to change the separation performance of the system and the energy consumption. A CFD model was developed that is able to predict particle size distribution. The numerical results for the partition curves showed very good agreement with the experimental data. INTRODUCTION Small diameter hydrocyclones are a very attractive separation technology for fine particle suspensions. Since the hydrocyclone diameter is directly proportional to the cutsize that can be achieved, 10mm hydrocyclones have been shown to be very effective in collecting particles in the micron-size range. In addition, while in large hydrocyclones the bypass, i.e. the fraction of particles that report to the underflow without classification, is similar to the water recovery, in 10mm hydrocyclones the bypass fraction is considerably larger than the water recovery. Its high particle recovery and low water recovery makes small hydrocyclones ideal for ultrafine particle classification and dewatering applications in mineral processing. The separation of mineral suspensions achieved using small hydrocyclones has been the focus of various studies. Pasquier and Cilliers (2000) derived a general classification model from experimental data of fine silica concentration in 10mm hydrocyclones; the model was able to describe the fish-hook partition curve. The effect of operating conditions has also received some attention in the literature. Cilliers et al. (2004) showed that an increase in temperature positively effects the recovery of fine silica particles in small hydrocyclones, by increasing the bypass and decreasing the cutsize. Neese et al. (2015) showed that the cutsize in 10mm hydrocyclones can be further decreased by operating at higher pressure, which also trebled the throughput."

Jan 1, 2018

By Janusz S. Laskowski

The flotation-related properties of hexanol derivatives and mono-alkyl ethers of propylene oxide, which include many important flotation frothers (e.g. MIBC, DF-200, DF-250, DF-1012, etc.) have been studied. The obtained results show that the DFI (Dynamic Foamability Index) - CCC (Critical Coalescence Concentration) plot can be used to classify flotation frothers. The frothers characterized by low CCC and high DFI values have properties of strong flotation frothers, while those with high CCC and low DFI values are more selective. The proposed frother classification system, based on simple CCC and DFI measurements, provides, for the first time, a solid ground-work for characterization of the flotation frothers.

Jan 1, 2003

By J. X. Zhang, F. S. Niu

"In order to accurately detect whether the collision occurs between particle and bubble in flotation process, a collision detection method of particle and bubble, which based on morphological image processing and Otsu method, is presented. First of all, it utilizes image pre-processing to optimize images, the target area and the background area are segmented by Otsu method. Then, particle and bubble are fitted to a circle combined with the least-square method. It’s convenient to obtain the coordinate information and radius. Finally, the position of all particles is extracted to an image, which achieves the particle tracking and avoids the complexity of the continuous frame image tracking.Experimental analysis shows that the relationship between the two ordinate difference d and the bubble radius r has a certain influence on the collision detection when the dripping particles are close to the bubble, when d>r, the detection accuracy is 92%;When d=1/2r, the detection accuracy is 97%;When d=0, the detection accuracy is 100%. The result indicates that this algorithm can detect the collision between particle and bubble quickly, and the working hours of manual test are saved effectively ,the best position of dripping particles close to the bubble which is taken with a CCD camera should be in the range of the particle and bubble’s ordinate difference less than half of the bubble radius.INTRODUCTIONFlotation is an important technical means to separate useful minerals from ores. The flotation process of ores and materials in the world is treated by flotation technology up to billions of tons every year, so the study of flotation process is particularly important. Raising the collision probability between mineral particles and bubbles in flotation process is one of the key factors to improve flotation separation efficiency[1]. The study indicates that[2-4] the collision probability between particles and bubbles is influenced by many factors, such as particle density, particle size bubble size, etc. The analysis of these influential factors requires a lot of experiments. Therefore, it is of great significance to design an accurate collision detection method for the research of this field."

Jan 1, 2018