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By G. R. Heckman, H. J. Murphy, C. T. Sims

An incestigation has been made of the effects of heat treatment and alloy composition on the long-time stress-rupture properties and structural stability of the similar nickel-base alloys Udimet-500, Lrdimet-520, and Udimet-700. Rupture test data are presented at stresses ranging from 4 to 50 ksi at temperatures from 1450° to 1900°F for times up to 14,000 hr. Ductility response is emphasized. Optical and electron tnicroscopy were complemented by X-ray diffraction analyses of extracted phases to relate microstructural stability to the observed rupture properties. Particular attention is paid to Udimet-520 since structural characteristics of this alloy appear to vary somewhat from its sister alloys. Both cast and wrought performance of Lrdimet-500 are discussed. The computerized PHACOMP calculational technique, based on electron-vacuncy theory, is discussed and related to structural stability where appropriate. Electron microscopy and microprobe techniques were used to conduct evaluation of the oxidation characteristics of Udimet-500 exposed in air for 16,100 hr. The steady advance in strength and reliability of nickel-base superalloys continues to be one of the high points of modern metallurgy. The stress capability of these materials has increased steadily, allowing higher and higher operating temperatures in the highly sophisticated aircraft and industrial gas turbines now on the market. The attendant increase in efficiency, of course, means greatly improved power output. Gas turbines for industrial and marine use have long been designed with these objectives paramount the usual design requirements in terms of time of service being 100,000 hr. High-efficiency, long-life aircraft such as the supersonic transport require superalloy engine materials with high-strength and long-time structural stability. Thus, materials studied for and operating experience from industrial gas turbines provide a good reservoir from which technology of high value to the SST program can be drawn. This study is one such case. Three prominent nickel-base super alloys—Udimet 500, Udimet 520, and Udimet 700 were extensively evaluated for industrial gas turbine bucket use. Particular attention was directed toward structural stability as a requisite property. Within the present context, structural stability is defined as freedom from the propensity to form strength-robbing or embrittling phases such as u,p,x,or Laves, and the ability to maintain useful rupture strength and ductility throughout design life. MATERIALS The three alloys, cast Udimet 500 (U-500C), Udimet 520, and Udimet 700, were chosen for detailed evaluation based on preliminary studies which indicated that U-500C and U-520 possessed comparable rupture strength capabilities, and that U -700 had a greater strength capability but somewhat poorer ductility than wrought U-500. The nominal compositions of the three alloys, along with the compositions of the heats investigated, are presented in Table I. PROCEDURE Dimensionally rejected U-520 buckets from Special Metals Corp. heat 63370 were heat-treated using the four cycles delineated in Table 11. Cycle A was investigated to determine the effects of a shortened 1700°F primary age. Cycle B was considered a "standard" treatment. Cycle C investigated a higher solution temperature in combination with a shortened primary age, while cycle D assessed the effect of the higher solution temperature alone. These heat treatments were designed to produce optimum combinations of rupture strength and ductility through maximum y' development, the development of a y' grain boundary cushion, promotion of MC carbide degeneration reactions, and agglomeration of resultant M23CB. Since one of the premises of the evaluation of U-520 was that rupture strength would be equivalent to U-500, forged U-500 buckets from Special Metals Corp. heat 62916 were heat-treated with cycles A, B, and C to provide comparison. The heat-treated structures of U-520 and U-500 are illustrated in the 8700 times electron micrographs of Fig. l. The U-700 tested was all from 3-in.-diam hot-rolled and centerless-ground rod from Special Metals Corp. heat 2-1426. Two heat-treatment cycles were employed, E and F of Table 11. Cycle E is a standard four-step, triple-age treatment intended to provide an optimum match of strength and ductility through well-developed matrix and grain boundary y', as recommended by U-700 vendors. Treatment F is a shortened , single-age cycle which could provide a significant processing cost reduction should adequate strength and ductility be maintained. Following heat treatment, rupture specimens of U-500 and U-520 were machined from the buckets and tested. Standard rupture bars of U -700 were machined from the heat-treated rod and rupture-tested. Failed and withdrawn rupture bars were prepared and examined by optical and electron microscopy. Select specimens were electrolytically digested, and the residues analyzed for carbide and topologically close-packed phases using CrKa or CoKo radiation. Of the six different U-500C heats evaluated, five were cast by Misco Precision Casting Co. and one was cast by Haynes Stellite Co. Cast-to-size rupture bars

Jan 1, 1968

By R. M. Barker

The historic Getchell property is currently being mined from the Getchell Main Underground workings, a foot wall extension of the Getchell open pit deposits along the Getchell fault. Drift-and-fill techniques are used to extract the ore through a ramp access. The adjacent Turquoise Ridge deposit is currently under development via two vertical shafts. Together, the two mines will continue to provide feed to the Getchell's 3,200 tpd mill/autoclave circuit, taking Getchell Gold from its current production rate of 200,000 ounces (Au) per annum, to over 400,000 ounces (Au) per annum by 1999.

Jan 1, 1997

By Kris Shukla

Noise and vibration produced by blasting generate curiosity and concern from neighbors. Experiments conducted in Sweden, Canada and U.S.A. have established that fine cracks in the plaster--the weakest part of building components--appear at a particle velocity of 4.0" per second or more. Taking into account the margin of safety, the safe zone criteria of 2.0" per second has been established.

Jan 1, 1978

By Joseph N. Harstead

This Bureau of Mines report provides information on the first 49 water-flood projects (or units) in Nebraska. All injection was in the ?D? or "J" Cretaceous sands of western Nebraska. Specific data presented include location, map, discovery and development, water supply and injection, oil and water production, estimates of oil in place, primary and secondary recoveries. The 49 projects studied) including four dual-zone projects, should recover about 126.5 million barrels of oil. Eighty-six percent of the estimated oil had been recovered by the end of 1966. Abundant water was found near most projects.

Jan 1, 1967

By Walter Estrada, Fernando Valencia, Jaime Luyo

La gasificación por plasma es un proceso térmico a alta temperatura en el que los desechos se descomponen en elementos fundamentales y compuestos simples en un entorno anaeróbico. El sistema presentado en este artículo actúa como un digestor al transformar las moléculas de carbono y otras sustancias en compuestos menos contaminantes. Se utilizó una mezcla de cianuro disuelto en agua como muestra de ensayo —procedente de aguas de una mina—, que se sometió al componente radiante de plasma, y se estudió la energía generada actuando sobre la purificación y transformación de las muestras.

Sep 30, 2019

By R Thompson, D Tulloch

"Wet-weather or 24×7 wet-trafficability is a commendable design objective for unpaved mine haul roads, but practically often difficult to achieve, due both to the road sheeting material selected, and also its breakdown under the action of traffic and environment. Accidents allied to wet-trafficability issues, either due to rain or often more commonly, over-watering of mine roads, is increasing and especially the loss of control or uncontrolled vehicle movements categorisation. The dominant system failure is that once vehicle control is lost, control cannot be regained.The friction supply, or ‘skid resistance’ of a mine haul road sheeting is critical to the safe operation of the road and data has to be collated concerning the variation of friction supply with sheeting material engineering or indicator properties. In the light of the paucity of data existing in this field, this paper presents the contributory research that informs the development of improved and validated unpaved mine road friction supply estimates, based on a number of mine site evaluations across a range of sheeting material types and characteristic parameters, leading to improved predictive models of friction supply.Results from this preliminary review will enable operators to assess their road sheeting materials, improve and validate unpaved mine road friction supply estimates. This will contribute to improved road design, management and 24×7 operability decisions and contribute to a reduction in heavy vehicle loss of control incidents on gravel-surfaced mine haulage roads.Citation:Thompson, R and Tulloch, D, 2016. What's Stopping You? The Role of Sheeting Material Selection in Safe Haulage Operations, in Proceedings Ninth AusIMM Open Pit Operators' Conference 2016, pp 253–264 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Nov 15, 2016

By T. M. Nasiatka

This report sterns from a study undertaken by the Federal Bureau of Mines to determine the possibility of reducing filter-cake moisture by applying radiant heat. Suitable laboratory equipment was set up to study the effect of heat, heating time, proximity of the heater to the filter cake, cake thickness, and other variables related to the final filter-cake moisture. A minus-48-mesh coal slurry and application of heat for 60 seconds resulted in filter-cake moistures 5.6 to 13.2 percentage points lower than could be accomplished by filtration alone at 24 inches of Hg for 1-1/4-and 1 1/2-inch cake thickness, respectively. The moisture reduction can be attributed to the combined effect of lower fluid viscosity and evaporation.

Jan 1, 1959

By M. Cohen, D. J. Blickwede

Quantitative observations concerning the carbide phases in high speed steel are of importance for two general reasons: (1) the carbides, being inevitable constituents of the final structure, exert a direct influence on the properties of the steel; and (2) a substantial proportion of the total alloy content is tied-up in the carbides, and hence the extent of their solution on austenitizing governs the composition of the steel matrix. The latter relationship has a vital bearing on the response of the steel to tempering as well as on its performance in subsequent service. Accordingly, in the course of a long-term study of the behavior of high speed steels, the authors were confronted with the problem of securing quantitative data on the carbide phases. The obvious method for acquiring such information is to isolate the car-bides from the steel and subject them to chemical, X ray diffraction and other measurements. There are well-known extraction techniques which involve the chemical or electrolytic solution of the less noble matrix (ferrite, marten-site or austenite), thus leaving a residue of the carbide phases. However, the results obtained must be scrutinized carefully1,2 since the carbides may be affected by the chemical or electrolytic action. It is the purpose of the present paper to describe the experiments leading to an electrolytic-extraction technique for quantitatively isolating the carbides from both I and hardened high speed steel. Particular attention is paid to the amount, as well as the composition, of the carbides so that the matrix analysis becomes ascertainable by subtraction from the overall steel composition. Illustrative results are given for the M-2 grade of tungsten-molybdenum steel. Review of the Literature The chemical method of dissolving the matrix selectively with respect to the carbides makes use of dilute non- oxidizing reagents such as hydrochloric or sulphuric acid. Although this simple procedure has led to the determination of the cementite composition,3,4 it achieved only limited success because of the interaction between the acid and the carbide residue. Some of the carbides may not only be destroyed in this way, but the hydrogen released is likely to remove part of their carbon as hydrocarbon gases. The electrolytic technique of isolating carbides has the advantage of rapidly dissolving the specimen (anode) in the presence of less reactive solutions than are practicable with the chemical method. This reduces the possibility of chemical attack on the carbides, and furthermore, the hydrogen evolved during the electrolysis is released at the cathode which is not in close proximity to the carbides. The common electrolytes adopted for this purpose are hydrochloric and sulphuric acids.5-l1 Aqueous solutions of ferrous salts have also been used.12,13 A considerable advance in experimental technique was introduced by Treje and Benedicks14 who developed a double-compartment cell for electrolytic extraction, the anode and cathode chambers being separated by a porous diaphragm. A solution of 15 pct sodium citrate, 2 pct potassium bromide and 1 pct potassium iodide was selected for the anolyte, while the catholyte consisted of a 10 pct solution of copper sulphate, with copper serving as the cathode. This type of cell has a number of desirable characteristics: 1. The anolyte has a pH value close to 7, at least at the beginning of the run. 2. The iron that dissolves from the anode-specimen forms a water-soluble complex ion with the citrate, thereby preventing the precipitation of iron hydroxide (which would contaminate the carbide residue) despite the neutrality of the solution. 3. Copper deposition instead of hydrogen evolution occurs at the cathode, and this avoids an increasing concentration of hy-droxyl ions which (in an otherwise neutral solution) might cause the precipitation of insoluble hydroxides. 4. Contamination of the anode chamber by copper sulphate is inhibited by the porous diaphragm. Houdremont and coworkers15 applied the above method (with the further refinement of excluding oxygen during the electrolysis, washing and drying) to the extraction of carbides from a series of plain carbon steels after various heat treatments. They had quantitative success only with specimens in the annealed condition, and concluded that the size and shape of the carbide particles play an important role in the isolation process, with large spheroids exhibiting the least tendency to decompose during the electrolysis. Up to the present time, the citrate double-cell has not been used to any extent for isolating the carbides of high alloy steels, apparently on the grounds that the complex carbides are more resistant than cementite to attack in the simpler acid electrolytes. In particular, Bain and Grossmann7 and Gulyaev10.10a have employed the hydrochloric acid cell for their investigations of the carbides in high speed steel.* It will be demonstrated here that this type of cell is capable of yielding quantitative results in the case of high speed steel, and actually has certain advantages over the more complicated double cell. However, in order to provide a rigorous test of the quanti-tativeness of electrolytic procedures for the problem at hand, both methods were studied in considerable detail.

Jan 1, 1950

By Arthur Zentner

The electrolytic zinc plant of today is foreshadowed in the patents issued to Léon Létrange of Paris in 1881 and 1883l. He proposed roasting zinc blende to make the zinc soluble in water or sulphuric acid, thus obtaining a sulphate solution. His purification was apparently that used in the lithopone work of the day. For electrolyzing he proposed anodes of carbon or lead, for cathodes zinc, copper or brass. Numerous patents by other workers were taken out in the first 10 years, most of which dealt with sulphate solutions. It is easy to presume that the formation of chlorine gas in zinc chloride electrolysis caused early emphasis on sulphate work. Lack of success with this invited further work with chloride solutions. Efficient and cheaper oxidizing agents for use in the chloride processes were more generally available. Carbon anodes could be used instead of lead anodes, which were blamed for much of the early electrolyzing troubles and remained in disfavor for many years. Carl Hoepfner received his first zinc patents in 18902. He was the most persistent of those who worked with chloride solutions and met with the largest measure of success. Hc built three plants, only one of which remained in operation. This was built in 1896 at the plant of Brunner, Mond & Co., Winnington, England, now part of Imperial Chemical Industries Ltd. It leached with by-product calcium chloride from the company's Solvay alkali plant and returned to it the chlorine formed in electrolyzing. The zinc plant had a capacity of 5 long tons of zinc, said to have been doubled later, and remained in operation until 1924. No commercial plant using chloride solutions has operated since then. E. A. Ashcroft experimented in the middle nineties with chloride, alkaline and sulphate solutions on materials from Broken Hill, Australia. He built a plant with a rated capacity of 10 long tons of zinc per day, at Cockle Creek, New South Wales, in 1898. This figure was never approached nor was cyclical operation achieved. The work in the plant appears to have been largely with sulphate solutions. The plant suffered from a multitude of troubles: poor roasting, gclatinous silica, liberal use of live steam in solutions to combat the gclatinous silica with considerable

Jan 1, 1937

The value of processed materials of mineral origin was estimated to have exceeded $297 billion in 1991. U.S. raw non fuel minerals production in 1991 was estimated at $30.8 billion, a 5.8% decline from that in 1990. This estimate was based on data for the first quarter of 1991 (in some cases two quarters) for most of the 21 minerals that for many years have accounted for more than 95% of the industry's production value. The value of minerals production has increased in all but 4 of the last 30 years. The metals component of production value has fluctuated much more than the industrial minerals component, reflecting the greater volatility of metal prices. Employment in metal mining rose slightly in 1991, but this gain was more than offset by a decline in employment in industrial mineral mining, resulting in an overall decline of 3.0% to 164,600 workers in 1991. Prices of several major metals declined during 1991, reflecting weakness in the economy, causing some metal mines to shut down or reduce operations.

Jan 1, 1992

J. J. MCLELLAN, Webb City, Mo.-The Media mill, at the time it was built, was the largest mill that had been designed in the Joplin district. It was put up in a hurry, to take advantage of the high prices for zinc ore in 1915, by the owners of an adjacent plant, which had been very profitable. They owned a compound Corliss engine, and to take advantage of a single-unit drive it was necessary to build the mill in the form chosen, which involved making the hopper feed directly through the breakers and rolls, the undersize from the screen passing at once to the jigs, the oversize going through the rolls and returning to the original trommels. The mill was built in fairly good proportion; crushing was done by jaw breakers, Webb City pattern,' and three sets of 42-in. (106.7-cm.) Cornish rolls for reducing the oversize. The jigs were larger than the usual practice. The roughers were two six-cell jigs, with 42 by 48-in. cells. The cleaner jig was the largest ever constructed in the district up to that time, having seven 36 by 48-in. cells, for treating the rougher jigs. There was also a chat rougher. "Smittem," as used in our district, is the partly concentrated product from the rougher, which is finished on the cleaner jigs. "Chats" are the middlings proper, that is, they are the grains of chert with included particles of sulphide; the very low-grade smittem is sometimes included among the chats. When drawing chats from a jig, we also draw about ten times greater quantity of barren chert in order to insure complete recovery of mineral. This mixture of middlings and tailings is taken to a set of 30-in. rolls, the crushed product then going to a chat rougher, a comparatively small jig, with 26 by 36-in. cells. The principal departure of the Media mill from the usual practice was to build a hopper sufficiently high to give gravity feed to the jigs, without using elevators. The sludge plant, for table treatment of sand and slime, also contained several innovations in the manner of distributing the feed. The tables were arranged in two rows and the feed ran around the outside in a launder having two or three cone classifiers

Jan 1, 1918

By D. K. Crampton

THE object of this work was to obtain and correlate information on effect of internal stress in variously drawn tubes on several properties. Also, a simple approximate method of comparing types of stress distribution in such variously drawn tubes was sought. There is also included some work on comparison of single and polycrystalline materials and effect of different types of operation and preferred orientation. PREPARATION OF MATERIAL A series of tubes was drawn to study the effect of the type and degree of final reduction on various physical properties and the approximate distribution of stress intensity across the tube wall. The material used all came from a single heat of 70-30 brass melted in a regular production Ajax-Wyatt induction furnace. The analysis of the metal as cast was: copper, 70.36 per cent; lead, 0.04; iron, 0.02; zinc, balance. The material was cast in "shells" with 4 in. outside diameter and 3/4 in. wall thickness. It was drawn part way down according to the usual standard mill schedule and then by suitable individual schedules to finish by a variety of types and degrees of drawing to the same final cases in every instance; namely, 0.750 in. outside diameter by 0.080 in. wall thickness. The exact final draws, together with the percentage area reductions, diameter reductions and gage reductions are given in Table 1.

Jan 1, 1932

By G Milligan

This paper describes how water is being planned, managed and used in Queensland as both a precious natural resource, vital for healthy ecosystems, and as a valuable tradeable commodity, necessary to secure economic prosperity. Queensland has been progressively implementing a planned package of water industry improvements agreed by the Council of Australia Governments in 1994. The Water Act 2000 provides the legislative basis for implementing the COAG water reform framework in Queensland and sets out statutory water planning processes. A Water Resource Plan (WRP) is a strategic document that specifies water sharing and environmental flow outcomes across a whole catchment over a period of up to ten years. A Resource Operations Plan (ROP) sets out the details of implementing a WRP, including environmental flow rules, establishment of tradeable water allocations that are separate from land, rules for water trading, rules for operating water infrastructure, arrangements for the release of any unallocated water identified in the WRP, and requirements for monitoring and reporting. Water Resource Planning and Resource Operations Planning are progressing in priority catchments and aquifers across the State. Ways to obtain a water entitlement now depend on whether a WRP and/or a ROP exist in a particular catchment. Water trading provides for the buying and selling of water entitlements on a permanent basis where permitted under a ROP. Details of tradeable water allocations are securely registered on the Water Allocations Register, which is similar to a land titles register. Leasing and temporary transfers of water entitlements are also possible. Water brokers are emerging to facilitate water trading which aims to improve water use efficiency and move water to higher value uses. Queensland is leading the way in the implementation of the COAG water reform framework and the pursuit of sustainable water resource management. The StateÆs progress in this regard is increasing certainty for water users, while ensuring that considerations of equity amongst existing and future users and amongst various uses, as well as considerations of ecological sustainability and the wider community, are all taken into account. The mining sector stands to benefit substantially from these new approaches to planning, managing and using this precious resource.

Jan 1, 2003

By Barrett D

The paper discusses the justification for the Open Pit Mining Operation at Central Norseman Gold Corporation Limited's North Royal facility.Open pit mining history is outlined together with production statistics and associated costs. Underground mining practice is discussed together with an outline of the problems with mining in oxidised ground.

Jan 1, 1984

By Abraham Lindo

Panama’s current economical growth demands an increase in electric power supply; projected energy supply for 2012 exceeds the demand by as little as 2%. In an effort to comply with the demand, several different hydroelectric projects, promoted by the government, are currently under construction and each of them vary in generating capacity, construction design and complexity.

Jan 1, 2013

By Abhishek Lahiri, Animesh Jha

"A new technique for the selective separation of rare earths and impurities from lower grade titaniferous ores has been developed which will reduce the overall reduction in the energy costs, and therefore the CO2 generation by at least an order of magnitude during the chlorination and waste handling stages of TiO2 to TiCl4 reaction. The process includes roasting the ilmenite ore with alkali followed by water washing step, which removes nearly 80% of oxides of lanthanide and actinide elements present in lower grades of titaniferous minerals. In the context of preferential separation of rare- 3+ + earth and actinide oxides, we have examined the roles of Al and K ions on the lattice structures of ilmenite and complex titanate as the product layer forms during the roasting in air in the presence of potash. The composition of the mixtures of oxides derived from the separation process shows that the mixture of rare-earth oxides m ay be a high-value co-product of the overall beneficiation process.IntroductionWorldwide the production of synthetic rutile is carried out either by the sulphate or the slag-making followed by fluidised bed chlorination of TiO2 enriched slag granules. The chlorinated gas is then re-oxidized to make white pigment grade TiO2. The waste generated by the sulphate process is predominantly iron sulphate, which has limited use in the water treatment plant. The remaining wastes from the sulphate process undergo further treatment using filtration followed by evaporation and thermal decomposition after which it is disposed into deep sea. On the other hand the chloride waste is extremely hazardous and requires special case by neutralisation, followed by impoundment in a managed pond, where it is monitored for long-term for potential contamination to the soil and ground water. Rare-earth and prelanthanide wastes often end up in the pond where they are diluted and irretrievably lost for further use or recycle. Certain parts of the world the chloride process wastes are pumped via deep boreholes into porous geological strata. The present techniques of disposal are not only expensive but also pose continued threat groundwater and soil and marine life in case of sulphate waste [1, 2]."

Jan 1, 2009

By M. L. Odenbaugh

The viscosity reduction effect of varied concentrations of leonardite (a naturally oxidized form of lignite) and leonardite-caustic on the rheological properties of a standard bentonite drilling fluid was studied and evaluated. The minimum plastic viscosity was found to occur at application rates of 4 lb of leonardite and 1.33 lb of caustic per barrel of drilling fluid. Leonardite-caustic treatment was not beneficial in treatment of salt-contaminated drilling fluids. Although filter loss rate was reduced; both yield values and gel strength were increased. Compared with other viscosity control agents) including quebracho) ligno-sulfonate) humic acids extracted from leonardite) as well as other reaction products of lignite) leonardite is less effective at low application rates but is an effective treating agent at rates of 2 Ib/bbl or more. Considering the comparable merits of the substance tested) the major factor in determining which agent to use should be based on cost consideration.

Jan 1, 1967

By B. R. Queneau

[ ] B. R. QUENEAU-One of the difficulties in metallurgy has always been a lack of precision in measurement, and I think the authors are to be congratulated on developing a method which will give us an accurate and dependable quantitative estimate of the amount of retained austenite. O. ZMESKAL*-As Chairman Queneau said, this is indeed an ingenious and needed determination. We have seen figures presented of 1/2 pct retained austenite determined, and I would like to ask the authors the lower limits of this method. How far down do they feel they can go in improving the technique still more?

Jan 1, 1948

By Newell Hamilton

Some years ago, in the manufacture of seamless tubing from an alloy steel containing 0.07 per cent maximum carbon, 18 per cent chromium and 8 per cent nickel, at the plant of The Babcock & Wilcox Tube Co., a peculiar type of piercing defect was noticed. This defect was definitely associated with certain heats of the alloy and was independent of any of the variables of mill operation and billet-heating condition. A thorough analysis of the defective material yielded but one clue to the reason for its abnormal behavior in piercing and that was its oxygen content as determined by the vacuum fusion method. The oxygen content of the defective 18-8 alloy was found to be from two to three times that of the material that had pierced satisfactorily, and this incited an active interest in the vacuum fusion method for the analysis of alloy steels. After a critical survey of the literature on this subject, and considerable experimentation, an apparatus and technique were evolved that gave a fairly rapid, simple and reliable method of analysis. Samples selected from six years of tube production of 18-8 and other corrosion-resistant alloys were analyzed by this method. This paper describes the procedure and gives a correlation of the oxygen, hydrogen and nitrogen contents of a number of alloy steel samples representative of good and bad tube-piercing quality. The Apparatus Basically the apparatus used in this work was that of Jordan and Eckman,' employing a high-frequency induction furnace and the gravimetric method of analyzing the evolved gases, nitrogen being excluded from the determination. In addition, a magazine-type cap and a large-

Jan 1, 1934

By D. Holz

In this work we present a novel level set-based model for the real-time simulation of soil deformations. A level set defined by a signed distance function and sampled in a regular 3D grid represents and tracks the soil volume under deformation. Moving away from classical 2.5D heightfield representations of soil to a full 3D volume representation allows for improved tracking of cutting tool operations and the simulation of near-vertical or vertical soil faces. The proposed level set representation furthermore provides a versatile mathematical platform for modeling additional effects such as soil slip, and does not suffer from the sampling limitations of commonly used heightfields. Cutting forces applied to the tool are simulated via a formulation based on the Fundamental Equation of Earthmoving, modified to support inclined soil surfaces and transient states of tool motion. Discretisation of this 2D cutting force model with respect to the tool surface allows capturing the effects of irregular 3D terrain shapes on blades and buckets. The surcharge created during cutting operations is tracked in the form of particles and included in the soil failure force computation. We make use of an adaptive, hybrid level set-based and particle-based soil deformation scheme, which allows the soil deformation to be simulated in real-time.

Aug 1, 2013