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1. Introduction to DEM
2. Physical models in Rocky
2.1. Contact force models
2.1.1. Normal force models
2.1.1.1. Hysteretic linear spring model
2.1.1.2. Linear spring-dashpot model
2.1.1.3. Hertzian spring-dashpot model
2.1.2. Tangential force models
2.1.2.1. Linear spring Coulomb limit model
2.1.2.2. Coulomb limit model
2.1.2.3. Mindlin-Deresiewicz model
2.2. Adhesive force models
2.2.1. Constant adhesive force model
2.2.2. Linear adhesive force model
2.2.3. JKR adhesive force model
2.3. Rolling resistance models
2.3.1. Type A: constant moment
2.3.2. Type C: linear spring rolling limit
2.4. Breakage models
2.4.1. Impact Energy model
2.4.2. Ab-T10 breakage model
2.4.3. Tavares breakage model
2.4.4. Breakage for large deformations
2.4.5. Fragment size distribution models
2.4.5.1. Gaudin-Schumann
2.4.5.2. Incomplete beta function
2.5. Wear model
2.6. Thermal model
2.6.1. Contact heat transfer rate
2.6.2. Joint heat transfer rate
2.6.3. Thermal conduction correction models
2.7. Coarse-grain model
2.7.1. Contact frictional forces
2.7.2. Adhesive forces
2.7.3. Contact heat transfer
2.7.4. Radl et al. kinetic energy dissipation model
3. Flexible particles in Rocky
3.1. Flexible particle types
3.1.1. Flexible fibers
3.1.2. Flexible shells
3.1.3. Flexible solid particles
3.2. Joint models
3.2.1. Linear elastic model
3.2.2. Joint damping model
3.2.3. Bilinear elastoplastic model
3.2.3.1. Cycle with failure
3.3. Element damping
3.4. Joint breakage models
3.4.1. Tensile stress criterion
3.4.2. Shear stress criterion
3.4.3. Tensile or shear stress criterion
3.4.4. Von Mises stress criterion
3.4.5. Griffith surface energy
4. Statistics modules in Rocky
4.1. Statistics types in Rocky
4.1.1. Event-based statistics
4.1.2. Integral-based statistics
4.1.2.1. Works
4.1.2.2. Impulses
4.1.2.3. Frequency
4.2. Collision statistics modules
4.2.1. Boundary collision statistics
4.2.1.1. Corrections when CGM is enabled
4.2.1.2. Curves
4.2.2. Intra-particle collision statistics
4.2.3. Inter-particle collision statistics
4.2.4. Inter-group collision statistics
4.3. CFD coupling particle statistics
4.4. Energy spectra modules
4.4.1. Contacts energy spectra
4.4.2. Particles energy spectra
5. Miscellaneous Topics
5.1. Contact detection
5.2. Timestep calculations
5.2.1. Timestep for the hysteretic linear spring model
5.2.2. Timestep for the linear spring-dashpot model
5.2.3. Timestep for the Hertzian spring-dashpot model
5.2.4. Numerical softening factor
5.3. Sieve size calculation
5.4. Particle orientation
Bibliography