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A novel technique (“bioshrouding”) for safeguarding highly reactive sulfidic mineral tailings deposits is proposed. In this, freshly milled wastes are colonised with ferric iron-reducing heterotrophic acidophilic bacteria that form biofilms on reactive mineral surfaces, thereby preventing or minimising colonisation by iron sulfide-oxidising chemolithotrophs(More)
Aiming at path planning for the complex mobile entity in a strait environment, based on hull searching algorithm, a set of folding linear path candidates were found out, in order to enhance the success rate of path planned, the folding linear paths were transformed to the arcs by utilizing subsection arc algorithm. After the motion trace of the mobile(More)
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