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By R. C. Hubli

A chemical model has been developed to investigate the dissolution of sulphide minerals in brine solutions containing copper and iron chlorides. The model has been employed to study the dissolution .of synthetic NiS using different initial concentrations of Cu(II), Cu(I), Fe(III) and temperature. The speciation of copper with particular reference to the formation of hydroxy-chlorides as a function of total chloride and H+ has been computed. The model predictions are in agreement with experimental results. It has been found that addition of Fe(III) results in the maintenance of a high Cu(II)/Cu(I) ratio leading to enhanced rates of dissolution and suppresses the loss of Cu(II) due to the formation of hydroxyl-complexes.

Jan 1, 1997

By Edgar Stanfield

Since April, 1923, the Scientific & Industrial Research Council of Alberta has had an analyst, Mr. W. P. Campbell, steadily employed analyzing coal samples taken by the provincial Mine Inspectors. Mr. Campbell has also analyzed a number of coal samples taken by one of the Council's Geological Survey parties. We have thus, at the time of writing, over four hundred analyses of Alberta coal, made by the same analyst, and strictly comparable. These samples come from widely distributed points, some 88 townships being represented. The stream of samples is still flowing in, and it is hoped by the end of this year that the number of townships represented will be increased at least fifty percent. The time has arrived to publish some of the data collected; but it must be clearly understood that this is merely a progress report, subject to revision as further information is obtained. Three hundred and fifty-three coal mines in the province were operated during 1923. The production per mine varied from 5 up to 500,000 tons. With this number of mines to examine (and fresh mines are being opened every year) it is a large task to make even a proximate analysis of representative samples from every mine. Any chemist will appreciate the fact that to make ultimate analyses representative of even the larger mines will be a long and tedious task. It has seemed better to make a comprehensive survey by proximate analysis and determination of calorific value before beginning the more thorough survey by ultimate analysis. This paper, therefore, deals only with proximate analyses and calorific values; and, owing to limitations of time and space, does not deal with other chemical and physical characteristics of coal, such as storage quality and fusibility of ash, important though these are.

Jan 1, 1925

By A. Hayatdavoudi, K. G. Sawant, F. Boukadi

"In this work, we found that contact between shale and water results in development of micro fractures. Based on results of experiments on Pierre shale, we conclude that appearance of micro fractures begin with saturation of capillaries, ionic and diffusive transport of water into the shale clays and once capillaries are saturated, the cause of micro fracture propagation is the conversion of ionic activity/exchange to excess pressure that did not exist before fracking. Based on these findings, the spread of micro fractures appear to be a time-dependent phenomenon which has not been addressed in the existing macro/micro fracture models.INTRODUCTIONShale has often been involved as a hazard in drilling operations. This hazard can be defined as “destabilization” of shale. When contacted with water-based drilling fluids, some shales readily swell and sometimes, cause the wellbore to cave-in, slough, wash-out, close, and pack-off, impeding the drilling by sticking the drill-pipe. However, once drilling reaches the desired depth or length, the casing is set, cemented, and perforated, and then actually we wish to initiate fractures and destabilize the shale formation, using hydraulic fracturing.Clays constitute a major portion of minerals in shale. These clays contain a large amount of free energy which is the main factor for “slick” water adsorption/absorption. In fact, the reason for using “surfactants” in hydraulic fracturing fluids is to make the penetration of the fluid into the capillaries much easier, thus water meets with less resistance to enter the small capillaries. Also, the result of high capillary suction pressure is due to small Angstrom size capillaries, smaller pores and presence of ions and hydrateable metal atoms. The free energy is thus, related to all the above mentioned and other affects. Capillary pressure, osmotic pressure and other pressures are responsible for creating the micro-fractures in shale, thus, increasing the network of micro-fractures which leads to more gas production. The objective of this study is to evaluate the pressures of the individual ions which are released by the diffusing “slick” water into shale. These pressures would be added to the above mentioned capillary pressure, osmotic pressure, bacterially-induced pressures, chemically-induced reaction pressure, pressure due to exchangeable ion-transport, pressure due to release of free energy of solvation and eventually to the pore pressure as suggested by Terzaghi’s equation."

Jan 1, 2015

By R C. A Minnitt

This paper illustrates the use of variography and moving average plots as an aid to analysing variations in the process that can be used to direct the improvement efforts. The hydrometallurgical processes used in manganese metal production consist of sequential unit operations that include milling and reduction of manganese ores. Leaching of the reduced ore, is followed by solid-liquid separation, residue disposal, solution purification and electrowinning of manganese metal completes the process. The nearly 250 integrated process control loops rely on reports of pH, flow pressure, level, temperature and chemical analyses. Metallurgical accounting, reconciliation and process control is achieved through monitoring of the chemical and mass balances within the manganese reduction plant, requiring approximately 50 000 analyses of solids, powders and liquids each month. The largest numbers of samples are taken in the cell house. Changes and variations monitored by sample statistics ensure that the manganese products comply with predetermined specification limits. Optimising the information-value of the approximately 50 000 samples in the manganese plant is carried out in tandem with ongoing process optimisation. Variographic analysis of daily sampling data suggests that the cyclical behaviour evident in the moving average plots is only a reflection of random residual variability and not a reflection of true underlying variability related to cyclical phenomena. Low resolution in the variogram of daily sampling data masks the short-range variability that emerges when hourly data are analysed. Hourly samples collected over a 39-day period (giving 941 sample data), helped identify short-range cycles in the process. The relative distribution of variability for daily sample intervals, indicate that 57 per cent arises from V[0], 18 per cent from V[process] and 16 per cent from random residual variation. V[0] includes all the uncontrolled sampling error arising from a poor sampling protocol, the fundamental error (FE), the grouping and segregation errors (GSE), the delimitation error (DE), the extraction error (EE), etc. This confirms the suspicions regarding the suboptimality of the sampling protocol and the way it is implemented. The absence of long-term trends in the leach suggests that short-term variation (less than one day) dominates the process. While the control charts indicate that the overall processes are maintained above the lower specification limits and the target values, there is nevertheless a considerable amount of variability in the system that overhangs the processes and threatens to impact them negatively. Although the variability in the leach is above the prescribed limits, the volatility is a matter of concern because it seems to be uncontrolled. The comparison of the various sources of variability in data collected on an hourly basis suggests that the short-term random variability (V[0]) accounts for almost 50 per cent of the variability in the process. The main source of this variability is due to errors in the sampling protocol and is probably related to the size of the fundamental error (FE), the grouping and segregation errors (GSE), the delimitation error (DE), the extraction error (EE), etc. Remediation of FE and GSE will probably lead to a reduction in V[0], whereas V[process] could be mitigated by reducing the biases associated with DE and EE in particular.

Jan 1, 2008

By S. H. Brown

In our work as health physicists*, we do a lot of public speaking and interaction with the public on issues related to development of uranium mining and milling (?uranium recovery?) in the US. Understandingly, the public has important concerns about this. Accordingly, this paper is presented in a ?question and answer? format in which we have tried to capture what are some of the most common concerns we hear from citizens and address them. We have attempted to do so based on the best scientific information we have, representing information well documented in peer-reviewed scientific literature and consensus positions from both national and international scientific standard setting bodies and related committees. We have included some of the more important of these scientifically-based references to support the information provided. Practical space limitations prevent completeness in this regard in some cases. Visit the Health Physics Society?s web site or feel free to contact me directly for additional references, information or detail ? Steve Brown. The health physicist?s primary objective is to manage the beneficial uses of ionizing radiation while protecting workers and the public from potential hazards. For more information on what a health physicist is and on the Health Physics Society, visit the Society?s web site at www.hps.org.

Feb 23, 2014

By Marco Figoni

The increased interest on deep water minerals resources is a challenge for both mining and oil industry. The exploration and production of oceans minerals require a synergy between of different technologies. While mining industry is leading the dredging and processing part of the system, oil industry is contributing through development of ore lifting technology based on existing subsea knowledge. The paper presents an overview, based on published projects around the world, of different approaches to marine mining. Several exploration techniques and offshore production systems were already designed and assessed, all of them with apparently positive results. Exploration phase is well advanced and in continuous expansion allowing the discovery of increasing resources around the world of different nature but production can be considered to be in an early stage. Different from onshore mining, subsea operations require a closer cooperation with international and local authorities to preserve as much as possible the environment. There are still many uncertainties at respect and all the exploration process must be carefully evaluated to allow subsea mining to develop in a sustainable manner. Technically, mining at seabed was already demonstrated and the process is based on three main components, namely seafloor mining tools, riser and lifting system and production vessel support. This layout is based on the concept that ore must be disaggregated at seafloor first, transported to surface in form of slurry that must be dewatered before loading to be transported to processing plants onshore. The challenges are rising because the environment and safety must be taken into consideration as a priority when evaluating the efficiency of the system. The most critical challenges regarding the production operations, especially in deep water are the deep-sea excavation process, the transport of large slurry volumes, the slurry abrasivity, the power supply management and the subsea

Sep 14, 2011

By Zhou Aiping, Lv Guozhi, Niu Liping, Wang Wenbo, Zhang Ting’an, Jiang Xiaoli

The current method used to produce sponge titanium utilizes a process cycle of magnesium metal and chlorine gas via the electrolysis of magnesium chloride. The primary issues are the high capital cost of the electrolysis process and the environmental regulations limiting high chloride concentrations. Thus, the authors have developed a conceptual method involving theelectrolysis of magnesium chloride as well as a reduction process which allows for a cycle of magnesium and chloride. In the new method, MgCl2 which was distilled during the titanium extracting process as raw material was directly pyrolyzed at elevated temperatures yielding high purity magnesium oxide and chlorine. The resulting magnesium oxide can be used in the production of magnesium metal. This work examines and compares the energy consumption and economic benefits of the Kroll method as well as the new proposed method. The results from the study demonstrated that in comparison to the traditional Kroll method, the new method provided considerable economic and environmental benefits.

Jan 1, 2014

By V. Herman, B. Knorr, D. Whalen

"Edge effect is a condition widely observed in High Pressure Grinding Roll (HPGR) operations that gives rise to reduced comminution at the edges of the roll surfaces. This effect is caused by a reduction in the local crushing pressure at the edges of the rolls resulting from the sliding friction between the static cheek plates and HPGR feed material. Practically, this has an impact on equipment sizing, as the edge effect leads to coarser particles reporting to downstream equipment in open-circuit operations and increased circulating load and diminished HPGR circuit capacity in closed-circuit operations.To address this, Metso's HRC™ HPGR incorporates an Arch-frame to maintain a parallel relationship between the rolls and allow for the use of a flanged roll design. We conducted a series of pilot-plant tests with a 750 mm by 400 mm HRC HPGR to compare the performance of the flanged roll design against that of a traditional cheek plate arrangement under similar operating conditions. The edge effect was found to be significantly reduced with the flanged roll design. Based on the pilot-plant results, the implications for circuit design, energy efficiency and overall plant performance in a full-scale application were investigated and discussed.IntroductionGlobal trends such as lower ore grades and rising operating costs are driving the market toward more energy-efficient mineral processing solutions, most notably in comminution circuit design. High pressure grinding rolls (HPGRs) have been recognized as an energy-efficient solution relative to more conventional circuit designs. The basic operating principle of HPGRs, in which a fairly uniform pressure is applied to a bed of material in the compression zone, lends itself to this improved energy efficiency (Morley, 2006). Studies have estimated that savings of 10-15 percent are possible when comparing an HPGR circuit with a traditional SABC circuit (Rosario and Hall, 2008). While HPGRs offer a more energy-efficient solution than tumbling mills, there is still room for improvement in many aspects of the design. Edge effect, in particular, is one such aspect that limits the effectiveness of the machines. Edge effect is the impaired performance at the edge of the rolls due to a reduction in crushing pressure (Morley, 2010; van der Meer, 2010). As described in our prior work (Knorr, Herman and Whalen, 2013), edge effect is caused by the interaction between the ore entering the crusher and the relatively static cheek plates positioned at the edges of the rolls. As the material is drawn into the crushing zone, the sliding friction between the ore and the cheek plates inhibits the ability of material to be effectively drawn into the compression zone at the edges of the rolls. This reduces the crushing force in those edge regions relative to the center of the roll where material is being drawn into the compression zone at a higher rate. In addition, the cheek plates of a traditional HPGR design are held in place by spring-loaded brackets that are adjustable to manage the clearance. This spring-loaded cheek plate design prevents full compression of the material in the edge regions of the roll as there is relief at the outer edges."

Jan 1, 2016

By Hung-Ming Chen

This paper presents a Cloud-based system framework for providing a web-based building information model (BIM) service. Cloud computing technologies were used to develop a BIM data center, which can handle the big data of massive BIMs using multiple servers in a distributed manner. In addition, the system allows multiple users to access the BIM data center online to submit and review BIMs concurrently. In this study, the advanced technologies/tools of web development and Cloud computing were applied and incorporated to develop a prototype system, named CloudBIM. On the client side, this study applied WebGL and HTML5 in the web-based interface development to achieve the 3D display of BIMs and the dynamic interaction with viewers through browsers. Users can access the services of CloudBIM by using PCs, laptops and tablets anytime anywhere to view the 3D model via browsers, which support WebGL. On the server side, this study used Apache Hadoop, an open-sourced distributed file system based on Google?s technologies, to establish a BIM data center. The Hadoop Distributed File System (HDFS) can utilize multiple servers to provide mass storage spaces in a distributed manner. Based on the use of Apache HBase, which provides Bigtable-like structured storage for HDFS, this study proposes database schema for storing the information from massive BIMs in two bigtables, named Object table and Property table respectively. In addition, Hadoop MapReduce, a Hadoop component for the parallel processing of large data sets, is utilized for model data acquisition by parsing the IFC files of uploaded models in parallel.

Aug 1, 2013

By J. O. Stephens

During the late 1940's and early 1950?s, the Westinghouse Combustion Turbine Division built and demonstrated a residual oil-burning locomotive on six eastern railroads. Plans were made to convert to burning pulverized coal, and a single combustor was operated at a full-pressure condition in the laboratory for about two years. During the mid-1960's to mid-1970's, there was considerable interest in coal-burning MHD and a combustor was developed which would also be applicable to combustion turbines. In the early 19801s, the BCR National Laboratory (BCRNL) became affiliated with the University of Pittsburgh, and a program was begun, supported by the Stare of Pennsylvania, to develop an all-purpose combustor for use with industrial and utility boilers and eventually with combustion turbines. In this paper, we review the work of almost 40 years, indicate our present position, and propose steps to be taken leading to efficient and environmentally acceptable power generation from coal, and specifically to coal-burning locomotives.

Jan 1, 1986

By Thad J. Bydlon

Uncertainty of future energy supplies has forced industrial nations to diversify both their energy mix and their energy sources of supply. As a result, U.S. coal exports have grown substantially during the past several years. Projected long-term worldwide economic growth suggests that a well-established trend has been set for increased foreign demand for U.S. coal. As export volumes increase the need for careful planning to prevent bottlenecks and to provide for the uninterrupted flow of coal increases. It also will place increased emphasis on identifying the most economic transportation alternatives. These planning and evaluation functions are greatly facilitated if a systematic method is available for modeling the complex interactions of a coal export system. One such model, developed by the Anaconda Minerals Company, is the Coal Export model.

Jan 1, 1982

By A. P. Cook

Methane Rating has been developed from a need, in South Africa, for quick and simple measurement of coal face methane characteristics. It employs proven existing direct measurement methods, adapted specifically for rapidly advancing coal face conditions, to deal with the short term high release rates encountered during continuous miner coal cutting. The Rating is a comparative value, relative to the normal or average conditions encountered within a maintained data base. The seam gas content and the initial emission rate are plotted against each other on a graph, where they are compared with the average conditions to obtain the rating. The higher the seam gas content, and the higher the initial methane release rate, then the higher the Methane Rating, on a scale of 1 to 4. Methane being released from a newly mined coal sample is measured once underground, from a sealed gas-tight canister. The sample is returned, still sealed, to surface and milled to rapidly release the remaining methane. It is later intended that the milling process is also completed underground. Applications include the identification of changing methane conditions, outburst prone conditions, methane emission against advance, and mining in devolatilised coal.

Jan 1, 1998

By Carel Robinson

THE little coal mine at Otsego, in the Winding Gulf field of southern West Virginia was dying. In the history of coal mining thousands of mines have been successful at first, but usually a change occurred and profits ceased. Often be change was so gradual and extended over such a length of time that the fundamental causes did not stand out in sharp relief and their significance was not realized. Studies often reveal that the cause for failure was in the arteries that connect the producing places with the mine entrance. Profits continued so long as the working places were close to the tipple and while the thrill of newness aid ease of access resulted in effective supervision from day to day. The air- way and haulageway, the wire line and manway, may have been sufficient when the distance from the entrance was a few hundred feet, but were inadequate when this was extended for thousands of feet.

Jan 1, 1937

THE Joint Committee appointed to consider a Code of Ethics for Engineers recommends, after delib-erate consideration, that each participating Insti-tute or Society adopt the short simple Code of Ethics following this report. The Committee further recommends that the following method of interpreting and administering the Code be adopted by each participating Institute or Society after any necessary provisions have been, made in the Constitution and By-laws of the Organization. The President of each Society or Institute shall appoint a Standing Committee on Professional. Conduct, to administer the Code of Ethics. The duties of such a Committee shall be to interpret the Code and to render opinions on any cases of ques-tionable conduct on the part of members that may be submitted to the Committee. These interpretations shall be reported to the Executive Board of the Institute or Society who may approve these interpretations, or take such other action as may seem just and necessary. The reports of the Committee on Professional Conduct, when approved by the Executive Board, shall be printed in abstract and in anonymous form in the Institute's or Society's monthly journal for the instruction and guidance of fellow members. This Committee on Professional Conduct shall be appointed in each Institute or Society by the President holding office at the time of the adoption of this Code and shall consist of five member one appointed for five years, one for four years, a third for three years, a fourth for two years and a fifth member for one year only. Thereafter, the President then holding office shall appoint one member annually to serve for five years, and shall also fill any vacancies that may occur for the unexpired term of the member who has withdrawn. These appointments shall he made from among the older members of the Institute or. Society, so that advantage may be taken of their mature experi-ence and judgment. The Committee after appointment shall elect its own chairman and secretary. The Committee shall have power to secure evidence or other information in any particular case not only from the organization's own members, but if it should seem desirable, from men in other professions. The Committee may also appoint sub-committees to consider certain cases when deemed necessary.

Jan 3, 1922

By Konrad J. Banaszak

At least for the time being, these seems to be general but not universal agreement that Mississippi Valley type ore deposits formed entirely or in major proportion from heated connate brines (e.g. 1) Even with that agreement, major questions remain. I will present a coherent geochemical model and look at alternative views in the context of that model. The pattern of the following discussion is 1) the general geochemistry of the ore fluid, 2) the density-temperature relations and possible mechanisms of flow of those fluids, 3) the mechanisms of transportation and deposition of the ore minerals, and 4) a summary of a coherent model of genesis. The data equivocally define much about the deposits. The answer is still elusive.

Jan 1, 1979

By S Döpp

Commencing with early experiences in iron ore beneficiation made at Beeshoek Mine, the paper follows through the process of extensive mineralogical and metallurgical investigations carried out during feasibility study. The paper will discuss the design process and logic followed over the last years, the challenges and decisions the design team faced in order to draw the conclusions that ultimately resulted in today’s value add approach at Assmang’s Khumani Operations.As integral part of the benefi ciation concept, a focus is set on the jigs, explaining the plant concepts, planned expansions and their contribution to the overall value add approach at the mine.The case study is intended to describe the outcomes of the design versus the actual achieved and the further value add projects to be implemented. As for future prospect, the incorporation of Wet High Intensity Magnetic Separation (WHIMS) demonstrates Assmang Khumani’s pursuit to maximise productivity and overall recovery.DMS was evaluated as an alternative to jigging within a comparative test work study, but in conclusion the option had to be excluded due to its inability to achieve the high density cut point required to achieve the sales specifi cations. In contrast, the investigation on producing an additional middlings fraction on the lumpy ore jigs prove to be an adequate option for further improvements of overall mass yield. With further liberation, a saleable product will be achieved by secondary beneficiation on Fines Jigs and WHIMS.Concluding, jigs are considered the most viable and cost effective benefi ciation process for off-grade ore +0.8 - 32 mm at Beeshoek as well as at Khumani, while WHIMS is the process under consideration for super fines recovery.

Jul 11, 2011

By Morris J. D, Baldwin Z., Wiltcher P. M

21 Moorfields is an oversite development in central London spanning Moorgate tube station. It required the installation of both the highest loaded bearing piles and the highest top loaded static pile test ever undertaken in the UK, at 50.5MN (5,680 tons). The 17-storey building is founded on only 15 large diameter bored piles installed through the roof of the live station. The piles are located in two parallel rows 50 m (164 ft) apart, bridging the underlying train lines and the Crossrail tunnel below. This unique project required a diverse cross-section of skills and experience from the Project Team as we not only pushed the boundaries of design but also those of construction practices. Our team therefore needed to be made up of members from multiple businesses and disciplines. The team worked together, in a highly collaborative environment, for around two years before any work started on site. A key challenge for this project was that there was only one opportunity to construct each pile. If a position had to be abandoned there were no alternative locations and the impact on the project would have been catastrophic. It was therefore vital that all events that may have led to the abandonment of a pile were investigated ahead of commencement on site. Risk elimination and mitigation strategies were developed for all eventualities whether they be associated with the design or construction processes. The successful pile load test, coupled with all contract piles being fully instrumented with state-of-theart fiber optic (CemOptic) cable along their full length, has improved our understanding of the performance of such large and heavily loaded piles. The works piles will all be monitored during the construction of the new building, providing new insight into their real-world performance. Such groundbreaking work has never been undertaken before in the UK and has the potential to significantly influence the industry’s understanding of pile behavior, and design, in the future. This paper will discuss the challenges the team encountered during the design and construction of this highly complex urban project, particularly when adopting, by necessity, a pioneering approach.

By S W. Houlding

The Certificate in Mining Studies program at the University of British Columbia, Vancouver, Canada is a collaborative initiative between mining schools and industry to provide accessible, cost-effective, accredited continuing education and training, designed to address the future needs of the global mining community. Content is provided by industry specialists and delivered through an integration of online learning, short courses and interactive webcasts. Accreditation is provided by a network of mining schools. In 2011, the program will deliver close to 100 short courses and interactive webcasts and provide 24/7 access to more than 130 online courses in six mining streams, to participants from as far afield as Tanzania, Argentina and Mongolia. The program is proving adaptable to corporate and mine site engineer-in-training and graduate-development programs, as well as providing accessible professional development opportunities for individuals. It also provides opportunities for cross-training from other disciplines and integration with mining school curricula.

Nov 22, 2011

By Jr. Watts

The American Mining Congress and the U.S. Bureau of Mines have formed a collaborative research team to develop, implement, and evaluate a comprehensive control strategy to reduce diesel particulate matter concentrations without degrading other air quality parameters at an underground noncoal mine. Other participating organizations include Caterpillar, Inc., the Mine Safety and Health Administration, and the University of Minnesota. After extensive baseline information and air quality data are collected, available control strategies to reduce diesel particulate matter exposures will be implemented, individually or in combination, and evaluated. This paper discusses the objectives and protocol of the collaborative effort to evaluate diesel particulate control technology.

Jan 1, 1995

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