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A dynamic model for predicting DC arc behavior and critical flashover voltage of ice-covered insulating surfaces is presented. The model takes into consideration insulating geometry, pre-contamination level, and characteristics of ice layers. Assuming arc behavior as a time dependant impedance, it is possible to determine various arc characteristics such as time histories of leakage currents, potential gradient, channel radius, trajectory, propagation velocity and the energy injected into the zones free of ice (also called air gaps). The simulated results provided by the model are in agreement with those obtained experimentally using a simplified ice-covered cylinder as well as a short string of five IEEE standard porcelain suspension units covered with artificial ice.