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Experimental Thermal and Fluid Science 25 (2002) 503±510

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Analysis of impact of droplets on horizontal surfaces


 Sikalo
S.  a
, M. Marengo b, C. Tropea c, E.N. Ganic a,*

a
Faculty of Mechanical Engineering, University of Sarajevo, Vilsonovo setaliste 9, 71000 Sarajevo Bosnia & Hercegovina
b
Faculty of Engineering, University of Bergamo, via Marconi 5, 24044 Dalmine, Italy
c
SLA, Technische Universitat Darmstadt, Petersenstraûe 30, 64287 Darmstadt, Germany

Received 2 May 2001; received in revised form 31 August 2001; accepted 2 October 2001

Abstract

This paper presents the results of an experimental investigation of droplets impacting on horizontal surfaces. The e€ects of the
impact parameters on the droplet impingement are studied. The results are presented for di€erent droplet Weber numbers, ranging
from 50 to 1080 and for three liquids: water, isopropanol and glycerin. Four kinds of surfaces were used with characteristic wet-
tability (given in terms of the contact angle): smooth glass, PVC, wax and rough glass. We studied in some detail the kinematics of
the moving contact line during the spreading process. Particularly we are interested in the e€ects of the wettability of the wall by the
liquid. The surface wettability has been observed to have a strong in¯uence on the spreading of droplet in the later stages of the
process. The results are presented in the form of charts describing the spreading diameter and apex height of droplets in terms of
time. Ó 2002 Published by Elsevier Science Inc.

Keywords: Droplets; Wettability

1. Introduction fects of impact parameters on the maximum spreading


and rebound, and presented a rebound model of a
When a droplet falls onto a dry surface, in general, droplet upon impact. Zhang and Basaran [10] reported a
two outcomes of the post-impact process are possible. detailed experimental study that focused on the e€ect of
At small impact velocities the droplet may deposit on surfactants on the spread and rebound of a droplet.
the surface and form a liquid ®lm or at higher impact The previous studies have shown that the relevant
velocities, the droplet can splash and secondary droplets dimensionless parameters governing the droplet±wall
are formed. interaction are the Reynolds number (Re ˆ quD=l),
The droplet impact hydrodynamics has been investi- Weber number (We ˆ qu2 D=r) and average surface
gated theoretically, numerically and experimentally. The roughness Ra . Here u is the impact velocity, D is the
theoretical approach applies mass and energy conser- droplet diameter or volume equivalent diameter, q is the
vation to calculate the maximum spreading diameter. ¯uid density, r is the surface tension and l is the dy-
Examples are the work of Chandra and Avedisian [1], namic viscosity. Wettability has yet to be accounted for
and Pasandideh-Fard et al. [2]. The numerical approach in a non-dimensional representation.
simulates the transient ¯ow ®eld during droplet It appears, that a general correlation does not yet
spreading using computational ¯uid dynamics codes. exist to describe the time evolution of the droplet
Examples are the work of Trapaga and Szekely [3], spreading process. Experimental information about the
Fukai et al. [4,5], Bussmann et al. [6,7] and Geldorp et al. e€ects of impact parameters is however essential for
[8]. Most experimental studies of droplet impact and droplet±wall interaction models.
spreading have been performed using a high-speed The purpose of the present study is to provide such
camera. Mao et al. [9] examined experimentally the ef- information in a form suitable to formulate empirical
models of the droplet±wall interaction. The kinematics
*
Corresponding author. Tel.: +387-33-617205; fax: +387-33-617205. of droplet spreading is measured for cold and dry sur-
E-mail address: ejup_ganic@hotmail.com (E.N. Ganic). faces. A CCD camera has been employed to visualize the

0894-1777/01/$ - see front matter Ó 2002 Published by Elsevier Science Inc.


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504  Sikalo
S.  et al. / Experimental Thermal and Fluid Science 25 (2002) 503±510

Nomenclature l dynamic viscosity of the liquid,


d spreading diameter, m kg=m s
D droplet diameter before impact, m q density of the liquid, kg=m3
Ra average surface roughness, lm r surface tension of the liquid, N=m
Re Reynolds number, Re ˆ quD=l Subscripts
t time after impact, s adv. advancing
u impact velocity, m=s con. contact line
We Weber number, We ˆ u2 D=r h horizontal
y apex height, m lam. lamella
Symbols rec. receding
h static contact angle, deg v vertical

process. In the present paper, experimental data on


droplet spreading on the surfaces are presented for a
range of Weber numbers (We ˆ 50 to 1080) based on
droplet velocity and the liquid density. Three liquids
were selected for their characteristic liquid properties,
water, isopropanol and glycerin, to study the e€ect of
liquid surface tension and viscosity. Four kinds of plates
were selected for characteristic surface properties,
smooth glass, wax, PVC, and rough glass to study the
e€ect of liquid contact angle and roughness. The droplet
spreading process is discussed on the basis of these ex-
perimental results.

2. Experimental techniques and apparatus

A schematic of the set-up used in the experiment of


impact of single droplets on the dry surfaces is shown in
Fig. 1. The equipment used in the experiments is de-
scribed in previous papers by Marengo et al. [11,12].
From an elevated reservoir a feed line leads through a
valve to a syringe, and droplets are formed and fall onto
the target surface. The droplet is enclosed in a vertical 32 Fig. 1. Experimental set-up.
mm i.d. Plexiglass tube to protect it from air ¯ow dis-
turbances. The droplet passes a light barrier that acti-
vates an electronic delay circuit and thus triggers a CCD
camera and a stroboscope. The camera takes a single
image of the drop impact event at the speci®ed delay
time. In other cases, up to 10 images of a single impact
can be recorded on a single frame with a time delay up
to 1 ms between individual exposures, as shown in Fig. 2.
The exposure was set between 1 and 5 ls to insure sharp
pictures. Using the multiple exposure features, the Fig. 2. Multi-exposure images of an isopropanol droplet. The time
interval between the ®rst and the second frame is 1 ms and the interval
droplet impact velocity and the spreading diameter upon
between the second and the third is 5 ms (D ˆ 3:3 mm, We ˆ 287).
impact could be precisely determined. The CCD camera
(Sensicam PCO) has a shutter speed of 100 ns with a
maximum dynamic range of 12 bits (4096 gray levels) using a calibration scale. The magni®cation was ma-
and a resolution of 1280  1024 pixels. Using a special nipulated so that the image could accommodate the
lens system (COSMICAR), di€erent magni®cations (M) maximum spread of the droplet.
from 0.7 to 4.5 can be obtained. The spatial resolution Images were taken using the camera internal shutter,
(number of pixels per mm) is given by the relation triggered on the initial pulse generated by the light
M  70 pixel=mm. The spatial resolution was calibrated barrier, with the pre-set initial time delay and the time
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S.  et al. / Experimental Thermal and Fluid Science 25 (2002) 503±510 505

delay between exposures. For illumination, a projector Table 1


Properties of the liquids and wettability of the surfaces
with a glass di€user was used in order to produce a
uniform, bright, di€used light source. The short illumi- Liquid Water Isopropanol Glycerin
nation time used for the multi-exposure images lead to a r, N/m 0.073 0.021 0.063
low signal/noise ratio. For single image shots, a high l, MPa s 1.0 2.4 116
light intensity stroboscope (CERMAX) with a Xenon q, kg=m3 996 786 1220
lamp and a 2-ls ¯ash duration was used, which resulted Smooth glass
in a very high contour de®nition. hadv: hrec: 10° 6° 0° 17° 13°
The camera was positioned on a support with three- Rough glass
hadv: hrec: 78° 16° 0° 62° 12°
dimensional translation and rotation. The focus of the Smooth wax
camera was adjusted using this translation stage. hadv: hrec: 105° 95° 0° 97° 90°
The camera was aligned horizontally, and thus parallel Smooth PVC
to the impact surface, in all the experiments. hadv: hrec: 83° 53° 0° 64° 46°
The diameter of a droplet was measured from the
droplet image just before impact. The droplet was not
perfectly spherical. Both horizontal and vertical diame- between 3264 and 14 800, two isopropanol droplets of
ters were measured. The equivalent droplet diameter diameter 3.3 mm with a Reynolds number between 700
D ˆ …D2h Dv †1=3 , where Dh is the horizontal diameter and and 3656, a 1.8-mm droplet with a Reynolds number
Dv is the vertical diameter, was calculated assuming that from 511 to 1450 and a glycerin droplet of diameter 2.45
the droplet is rotationally symmetric with respect to the mm with Reynolds number from 27 to 122.5 were used
vertical axis. in this study.
Typically, the percentage di€erence between Dh and Varying the height from which the droplets fall
Dv was 0.4% at We ˆ 50 and 4.2% at We ˆ 1060 for a changed the droplet velocity. Two target surfaces of
2.45-mm glycerin droplet; less than 6.4% for a 2.7 mm glass; one ``smooth'' (with roughness of Ra ˆ 0:003 lm
water droplet; 22% at We ˆ 50 and 2.5% at We ˆ 544 for amplitude) and one ``rough'' (Ra ˆ 3:6 lm), a surface of
a 3.3-mm isopropanol droplet; and less than 2.5% for a smooth wax (Ra ˆ 0:3 lm), and a ``smooth'' PVC plate
1.8-mm isopropanol droplet. The droplet velocity just (Ra ˆ 0:3 lm) were used. The impact process is adia-
before impact was calculated from a distance measure- batic, i.e., there is no heat exchange between the surface
ment and a pre-set time delay between two subsequent and the droplet.
exposures. The impact velocity was derived with an ac- Table 1 presents the properties of the liquids and the
curacy of 0:02 m=s (95% con®dence) at Weber numbers wettability of the surfaces as advancing (hadv: ) and re-
of 50 and 0:06 m=s at Weber numbers of 1070. Con- ceding (hrec: ) static contact angles for the cases studied.
sidering also the 6 lm uncertainty in the droplet di- The measurement of the contact angle of isopropanol on
ameter determination, the uncertainty in the calculated the di€erent surfaces was dicult because of the fast
Weber number ranged from 2 at Weber numbers of 50 spreading and the high evaporation rate. A value of zero
and 40 at Weber numbers of 1070. has been given in Table 1.
The experiment was highly reproducible. The preci-
sion of timing and spatial measurement of deformation 3.2. E€ect of surface material
determines the experimental reproducibility. A maxi-
mum error of 3 pixels for the estimation of the droplet The results on the following ®gures comprise pri-
contour was achieved. The time accuracy is mainly de- marily the spread factor …d=D† and apex height …y=D† of
®ned by the uncertainties of de®ning the moment of a droplet as functions of time from impact, expressed in
impact (t ˆ 0). In the worst case, an accuracy of 1 pixel a dimensionless form, as tu=D. Fig. 3 shows the e€ect of
corresponds typically to a time error of 5 ls. the substrate surface on the impact process of a 2.7-mm
water droplet, the impact velocity was 1:17 m=s with an
associated droplet Weber number of We ˆ 50 and a
3. Results and discussion Reynolds number of Re ˆ 3264. In the ®rst stage of
spreading for dimensionless time tu=D from 0.0 to 0.5,
3.1. Experimental conditions the surface has no e€ect on the spreading velocity. In the
following stage up to the maximum spread, the e€ect of
The spread of a single droplet is studied for dry sur- the surface is, however, important. The maximum
faces. Three liquids, water, 2-isopropanol …C3 H8 O†, and spread of a water droplet on the smooth glass surface is
glycerin were used. The Weber number based on the larger than that on the wax, PVC and rough glass. The
liquid droplet density and droplet diameter was varied maximum spread increases with decreasing contact an-
between 50 and 1080 for all of the liquids. The water gle. This is in agreement with the observation of Ford
droplet of diameter 2.7 mm with a Reynolds number and Furmidge [13]. The contact angle of a water droplet
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S.  et al. / Experimental Thermal and Fluid Science 25 (2002) 503±510

Fig. 3. E€ect of surface on the spread of a water droplet, D ˆ 2:7 mm, Fig. 5. E€ect of surface on the apex height of a water droplet,
u ˆ 1:17 m=s, We ˆ 50. D ˆ 2:7 mm, u ˆ 1:54 m=s, We ˆ 90.

on the rough glass is larger than that on the smooth This is in agreement with the observation of Mao et al.
glass, as shown in Table 1. The e€ect of the surface [9].
material (contact angle) on the maximum spread de- The maximum spread of droplets on rough glass is
creases with increase of the impact velocity (Fig. 4). smaller than that on the smooth glass and approxi-
For the wax surface with high static contact angles, mately equal to that on smooth wax, as shown in Fig. 3.
the drop begins to recoil once the maximum spreading The smaller maximum spread and smaller spreading
diameter has been reached. No signi®cant recoil is velocity are an e€ect of the larger advancing contact
observed for the glass surface, at a Weber number of angle on rough surfaces than that on smooth surfaces, as
We ˆ 50 (Fig. 3). A signi®cant recoil is observed for shown in Table 1. The low receding contact angle sup-
the glass surface, at a Weber number of We ˆ 763 presses the recoil as for a smooth glass. The area of
(Fig. 4). The recoil can result in a partial or complete liquid±solid contact decreases slower on the rough glass
bounce of the droplet away from the surface, de- than on the smooth glass. On the other hand, on the
pending on the receding contact angle and di€erence rough glass a water droplet splashes at considerably
between the maximum spread and ®nal spread. The lower Weber number. In this case splash occurred at
higher impact Weber number leads to a larger maxi- about We ˆ 390. For rough glass, the splashing occurs
mum spread. under the in¯uence of the roughness on the lamella (the
Fig. 5 compares the apex height of a water droplet on sheet of ¯uid that jets radially outward under a
the glass and wax, which shows that the surface does not spreading droplet shortly after impact) instability at an
a€ect the apex height up to the minimum apex (maxi- early stage of lamella formation.
mum spread). Its e€ect dominates only the recoil phase.
The rebound of a water droplet on the wax is strong and 3.3. E€ect of impact velocity
increases with increasing impact velocity. The droplet
reaches a ®nal state (equilibrium) after its excess energy The in¯uence of the impact velocity (expressed here
is completely dissipated. It takes longer to reach a ®nal by the Weber number) on the spread of a water droplet
state on the wax surface than on the glass surface. on wax is shown in Fig. 6. The maximum spread and

Fig. 4. E€ect of surface on the spread of a water droplet, D ˆ 2:7 mm, Fig. 6. E€ect of impact velocity on maximum spread and recoil of a
u ˆ 4:52 m=s, We ˆ 763. water droplet on wax, D ˆ 2:7 mm.
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S.  et al. / Experimental Thermal and Fluid Science 25 (2002) 503±510 507

Fig. 7. E€ect of impact velocity on the apex height of a water droplet Fig. 8. E€ect of liquid viscosity on spread and recoil of a water droplet
on wax, D ˆ 2:7 mm D ˆ 2:7 mm, u ˆ 1:54 m=s, Re ˆ 4200, isopropanol droplet D ˆ
1:8 mm, u ˆ 0:88 m=s, Re ˆ 691 and glycerin droplet D ˆ 2:45 mm,
u ˆ 1:41 m=s, Re ˆ 36:3 upon impact on the wax at the same Weber
spreading velocity increases with increasing impact ve- numbers (about 92).
locity. The e€ect of the impact velocity on the apex
height of a water droplet on a wax surface is illustrated
in Fig. 7, which shows that velocity does not signi®-
cantly e€ect the change of the apex height in terms of
dimensionless time tu=D, for the spreading phase. The
time of recoil and apex height in the phase of rebound
increases with increasing impact velocity. At low impact
velocity (We ˆ 50) a water droplet bounced o€ without
break-up, while at larger impact velocities (We > 90) the
water droplet breaks up in three or four secondary
droplets.

3.4. E€ect of viscosity


Fig. 9. E€ect of liquid viscosity on apex height of a water droplet
The spread factor and apex height of droplets of D ˆ 2:7 mm, u ˆ 1:54 m=s, Re ˆ 4200, isopropanol droplet D ˆ
di€erent liquids are compared to examine the e€ect of 1:8 mm, u ˆ 0:88 m=s, Re ˆ 691 and glycerin droplet D ˆ 2:45 mm,
u ˆ 1:41 m=s, Re ˆ 36:3 upon impact on the wax at the same Weber
droplet viscosity. Three di€erent runs, characterized by numbers (about 92).
nearly the same Weber numbers (about 92) and Rey-
nolds numbers of 4200, 691 and 36.3 for water, iso-
propanol and glycerin droplets, respectively, are shown
in Figs. 8 and 9. Two runs characterised by approxi-
mately equal Weber numbers (We ˆ 763 and 802) and
Reynolds numbers of 12 300 and 107 for water and
glycerin droplets, respectively, are illustrated in Figs. 10
and 11. In both cases the targets surface of wax was
used.
No signi®cant di€erence is seen in the initial stage of
spreading (tu=D < 0:04), because the e€ect of inertial
forces of impact dominates the process. The maximum
spread of the glycerin droplet is much less than that for
the water droplet. The recoil time of the glycerin
droplet is very long compared with the time for a water Fig. 10. E€ect of liquid viscosity on spread and recoil of a water
droplet D ˆ 2:7 mm, u ˆ 4:54 m=s, Re ˆ 12 300 and glycerin droplet
droplet, as shown in Figs. 8±11. After tu=D ˆ 0:7, the
D ˆ 2:45 mm, u ˆ 4:1 m=s, Re ˆ 107 upon impact on the wax.
apex height decreases slowly and the minimal apex
height is larger for the glycerin droplet than that for
the water and isopropanol droplets, due to higher 3.5. E€ect of surface tension
viscous dissipation, as shown in Fig. 9. No rebound
was observed for the glycerin droplet on the wax sur- Droplet surface tension is an important variable af-
face. fecting the impact process. The surface tension is em-
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S.  et al. / Experimental Thermal and Fluid Science 25 (2002) 503±510

Fig. 11. E€ect of liquid viscosity on apex height of a water droplet Fig. 13. Contact line and lamella spread factor of an isopropanol
D ˆ 2:7 mm, u ˆ 4:54 m=s, Re ˆ 12 300 and glycerin droplet D ˆ droplet D ˆ 3:3 mm upon impact on the smooth glass, We ˆ 391.
2:45 mm, u ˆ 4:1 m=s, Re ˆ 107 upon impact on the wax.

bedded in the Weber number. The e€ect of the surface 3.6. E€ect of droplet size
tension is studied through a comparison between results
for a water droplet and an isopropanol droplet. The experimental data for two isopropanol droplet,
Although the di€erence in viscosity of these two liquids D ˆ 3:3 mm and D ˆ 1:8 mm were compared to in-
also has an e€ect on the process, the e€ect of surface vestigate the e€ect of droplet size on the impact pro-
tension still remains obvious. The detachment of the cess. The droplet diameter is embedded in both the
lamella and formation of the crown for a dry, Weber number and Reynolds number, which directly
smooth surface was observed with an isopropanol relate to spread and apex height. Fig. 14 shows the
droplet at a Weber number of about 300, as shown in time variation of the spread radius for the two drop-
Fig. 12(a). lets.
At this Weber number the detached lamella simply The lower values of d=D for the smaller droplet,
falls and adheres to the surface. At larger values of the suggest that viscosity e€ects (lower Re) are relatively
Weber number the di€erence between the contact di- more important to the smaller droplet, therefore, the
ameter and the detached lamella diameter increases up dimensionless spread remains consistently lower than
to the time of break-up (splash) of the lamella, as indi- that of the larger droplet in time. The same behaviour is
cated in Fig. 12(b). The lamella diameter is taken here as observed with the maximum spread. The droplet size has
diameter of the expanding sheet before the splash. The no e€ect on the apex height, as shown in Fig. 15. The
splash occurs due to instability of lamella, after it e€ect of the Weber number is shown in Fig. 16. The
reaches a certain diameter, as shown in Fig. 13. No lower values of d=D for the smaller droplet, suggest that
splash was observed for a water droplet on a smooth surface tension e€ects are relatively more important to
surface for Weber numbers up to 1080, the maximum the larger droplet (lower We) in the ®rst phase of the
value considered in the present experiment. spread.

Fig. 12. Impact of an isopropanol droplet on dry smooth glass: Fig. 14. Spread factor of two isopropanol droplets D ˆ 3:3 mm,
(a) crown formation (t ˆ 0:254 ms), (b) splash (t ˆ 1:235 ms): Re ˆ 942 and D ˆ 1:8 mm, Re ˆ 691 upon impact on smooth glass at
D ˆ 3:3 mm, We ˆ 544. the same Weber number (We ˆ 93).
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S.  et al. / Experimental Thermal and Fluid Science 25 (2002) 503±510 509

Future research should deal with following top-


ics:
1. Analysis of droplet impact on inclined surfaces.
Normal impacts of a droplet are rare in practice.
A few studies considered impact with inclined sur-
faces. When a droplet impacts on inclined surface,
the shape of the droplet distorts, exhibiting an
asymmetric shape at the point of impact. A droplet
on an inclined low wettable surface can slip and
slide.
2. The dynamic contact angle is required as a boundary
condition for numerical calculation in capillary hy-
drodynamics. However, there is no general correla-
Fig. 15. Apex height of two isopropanol droplets D ˆ 3:3 mm,
Re ˆ 942 and D ˆ 1:8 mm, Re ˆ 691 upon impact on the smooth glass tion of the dynamic contact angle as a function of
at the same Weber number (We ˆ 93). the surface characteristics, droplet ¯uid and diameter
and impact velocity.

5. Conclusions

This paper presented an experimental study of the


impact of liquid droplets on horizontal surfaces. Em-
phasis was placed upon understanding the spread,
recoil/rebound and splash of a liquid droplet after
collision with surfaces. According to the foregoing
results, the maximum spread increases with increasing
Reynolds number and Weber number. The e€ect of
the contact angle has importance on the spread at
small Reynolds numbers and Weber numbers, and
Fig. 16. Spread factor of two isopropanol droplets D ˆ 3:3 mm, with increasing Reynolds number and Weber number
We ˆ 93 and D ˆ 1:8 mm, We ˆ 175, upon impact on the smooth glass the e€ect of the contact angle is less important on
at approximately equal Reynolds numbers (Re ˆ 942 and 956).
maximum spread. However, a large maximum spread
increases surface energy available for recoil and re-
bound in case of a high contact angle. A droplet with
4. Practical signi®cance and future research needs low surface tension (here an isopropanol droplet)
splashes at smaller Weber numbers than a droplet
The present investigations provide experimental data with higher surface tension (a water droplet) on the
that extend the knowledge about impact process of a same smooth plate. The lamella splashing occurs in
droplet on dry surfaces. The data allow further insight the Weber number range above the critical one in the
into the transport mechanisms of momentum important spreading process. The critical Weber number de-
in modeling spray coating and painting, surface cooling creases with decreasing surface tension. However, the
and liquid spreading (ink-jet printing, pesticides aerosol Weber number alone is not able to discern the impact
spreading), heat transfer in dispersed ¯ows where the outcome, since an isopropanol droplet splashes on the
dispersed stream is in direct contact with the wall, as in smooth glass at a Weber number of about 300, while
post dry-out regimes, etc. The results of this experiment a water droplet does not splash on the smooth glass
are important for formulating empirical models of im- at a Weber number of 1080. The surface roughness
pacting droplet±surface interaction. They are also useful e€ect lowers the critical Weber number. A water
for numerical prediction codes that require the input of droplet splashes at a Weber number of about 390 on
either the dynamic contact angle models or the kine- rough glass. Also, surface roughness a€ects the max-
matics of the moving contact line during contact imum and ®nal spreading diameters of a droplet. A
spreading. The high-resolution CCD camera itself to- droplet with higher viscosity produces a smaller
gether with the image processing software represent an maximum spread, because the higher viscous dissipa-
important data analyzing system for liquid spreading. tion decreases the rate of spread. Moreover, a viscous
The system may be used in investigation of dynamic droplet approaches its maximum spread in a shorter
contact angle. time.
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S.  et al. / Experimental Thermal and Fluid Science 25 (2002) 503±510

Acknowledgements [6] M. Bussmann, J. Mostaghimi, S. Chandra, On a three-dimen-


sional volume tracking model of droplet impact, Phys. Fluids 11
(6) (1999) 1406±1417.
The authors wish to thank the DAAD (Deutsche [7] M. Bussmann, S. Chandra, J. Mostaghimi, Modeling the splash of
Akademische Austauschdienst) for supporting a droplet impacting a solid surface, Phys. Fluids 12 (12) (2000)

Sefko 
Sikalo through a research scholarship and the 3121±3132.
DFG (Deutsche Forschungsgemeinschaft) for support [8] W.I. Geldorp, R. Rioboo, S. Jakirlic, S. Muzaferija, C. Tropea,
through the projects Tr194/10 and Tr194/12. Numerical and experimental drop impact on solid dry surfaces, in:
M. Archambault, G. Smallwood (Eds.), Proceedings of the 8th
International Conference on Liquid Atom. and Spray Systems,
Pasadena, CA, July, 2000, pp. 16±20.
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