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By M. Salimov, J. Sattarvand

The conventional visualisation method of remote equipment is through the installation of one or more cameras on the machine, and sending a live feed to the operator’s flat display. However, the performance of the teleoperation can be enhanced using better visualisation through virtual reality (VR). This paper presents the process of the design and manufacturing of a robotic platform that will be used in the next phase of the project for a VR-assisted teleoperated excavator. The robot consists of a loading boom and arm arrangement installed on the undercarriage of a CAT300-9D. All hydraulic cylinders are replaced with electric actuators, and crawling motors are substituted by electric motors. The pieces of the boom and the arm, as well as the bucket were designed in Autodesk Inventor, and manufactured from aluminium sheets using a desktop and CNC machine. Parts are joined by pins and welding as needed. An Arduino-based control system is developed for the robot, and motor controllers are used to convert the power commands from the microcontroller to the high-amperage actuators. The control system is capable of communicating with a wireless Play Station controller to operate remotely. The manufactured robotic excavator is planned to be utilised in multiple autonomy research projects.

Sep 1, 2021

By Markus Reuter, Antoinette van Schaik

In this paper the link between process metallurgy, classical minerals processing, product centric recycling and urban/landfill mining is discussed. The depth that has to be achieved in urban mining and recycling must glean from the wealth of theoretical knowledge and insight that have been developed in the past in minerals and metallurgical processing. This background learns that recycling demands a product centric approach, which considers simultaneously the multi-material interactions in man-made complex ‘minerals’. Fast innovation in recycling and urban mining can be achieved by further evolving from this well developed basis, evolving the techniques and tools that have been developed over the years. This basis has already been used for many years to design, operate and control industrial plants for metal production. This has been the basis for Design for Recycling rules for End-of-Life products. Using, among others, the UNEP Metal Recycling report as a basis (authors are respectively Lead and Main authors of report), it is demonstrated that a common theoretical basis as developed in metallurgy and minerals processing can help much to level the playing field between primary processing, secondary processing, recycling, and urban/landfill mining and product design hence enhancing resource efficiency. Thus various scales of detail link product design with metallurgical process design and its fundamentals.

Jan 1, 2014

By Christopher B. Kapes

To reduce concentrate dewatering and drying costs, the Concentrator Division at Phelps Dodge Morenci, Inc. investigated available filtration technologies. Numerous methods were explored, including: drum, disk, belt, pressure, hyperbaric, and ceramic media filtration. An economic evaluation of the individual filtration technologies indicated the advantages of ceramic media filtration for Morenci concentrates. This paper discusses the technological development culminating in the first full scale application of ceramic media disk filters in North America. Low moisture contents are obtained at high production rates and greatly reduced operating costs.

Jan 1, 1994

R. W. Raymond, New York, N. Y,:—Since the presentation of my note on this subject at the New York Meeting, Professor Louis has pointed out an error in my statement of his conception of " pitch "—namely, he understands the pitch, in the restricted sense which he proposes, to be the angle of inclination of the axis of an ore-body, measured on the vertical plane drawn through the body; whereas, I represented him as proposing to define " pitch " as the angle of inclination of an oblique body, measured on the plane of the dip, in the direction of the strike. The difference will appear upon consideration of the accompanying isometric projection, Fig. 1, in which ABCD represents the plane of the inclosing ore-deposit (vein or bed), and AC the axis of the oblique ore-shoot. ABE is the angle of the dip, as universally understood; and ACE

Jan 1, 1909

By Christine Hansen

?Kiss my Asteroid? Unofficial Title Human life is tied to minerals It?s worth noting that: The living human body consumes minerals. The minerals we take in multivitamins show the close linkage between human beings and mineral resources. Unlike tourism or specialized manufacturing, a human being could not live without mineral consumption. Minerals and their consumption is a tangible part of human life.

May 1, 2013

By Paul T. Allsman, William H. King

This paper describes the mineral deposits and discusses mining and milling methods and related operating conditions in an important gold , silver , lead , and zinc producing area in Ouray , San Juan , and San Miguel Counties , Colo . , embracing 250 square miles . The area is extremely rigged , ranging in altitude from 8,000 to 14,000 feet . White men first penetrated the area in 1860 , when a group known as "Baker's party " reached the Animas River at the present site of Silverton . Difficulty with the Ute Indians and severe winter conditions forced the group to leave and discouraged prospecting until 1870 when a second party reached the area and succeeded in producing 27 tons of ore yielding $ 150 a ton in gold . In 1874 , a treaty with the Indians opened the way for settlement , and mining was established . The total production of recovered gold , silver , copper , lead , and zinc from 1873 to 1947 in the three counties is valued at $347,057,047 . The greatest amount of the total production of metals has come from quartz veins in a series of volcanic flows and tuffs covering the area and comprising a blanket 4,000 to 6,000 feet thick . The igneous rocks were laid down upon an old , erosion surface and are underlain by Paleozoic and Mesozoic sedimentary rocks and pre - Cambrian metamorphic rocks . The entire series has been intruded in late Tertiary time by volcanic dikes and larger intrusive masses . Because of the great differences in relief generally , mining is con-" ducted through long adits to a depth of nearly 3,000 feet below surface in places . Walls of the veins generally stand well , and shrinkage stoping is the most common method of mining . As virtually all of the ore is sulfide below the zone of oxidation , flotation is the common method of milling . Generally , where gold is important , provision is made for its removal by jigs . Bulk concentration of the sulfides is practiced at smaller mills , but the larger operations make a selective lead and zinc concentrate or a lead , zinc , and copper . concentrate . ·

Mar 1, 1950

By S. Y. Tshipeng, A. T. Kaniki

"RÉSUMÉ La lixiviation acide d’un minerai oxydé cupro-cobaltifère en milieu non réducteur et en milieu réducteur en utilisant le Fe2+ et le métabisulfite de sodium (SMBS) a été étudiée et les résultats ont été comparés. Les tests de lixiviation ont été effectués à température ambiante, dans une pulpe à 30 % solide, avec une vitesse d’agitation de 600 tr/min, un potentiel redox de 350 mV pour les tests en milieu réducteur, et un pH de 1,8. Les tests de lixiviation avec usage du SMBS comme réducteur ont donné la meilleure cinétique de lixiviation du cuivre. Pour le cobalt, c’est l’usage du Fe2+ qui a donné la meilleure cinétique de lixiviation. L’augmentation de la dose du fer dans la solution au-delà de 5 g/L a influencé négativement les rendements de lixiviation du cuivre et du cobalt. ABSTRACT Acid leaching of a copper-cobaltiferous oxide ore in a non-reducing environment and in a reducing environment using Fe2+ and sodium metabisulfite (SMBS) was studied and the results compa¬red. The leaching tests were performed at room temperature, in a 30% solids pulp, with a shaking speed of 600 rpm, a redox potential of 350 mV for the tests performed in the reducing environment, and a pH of 1.8. The leaching tests using the SMBS as a reducing agent produced the best copper leaching kinetics. As for cobalt, the best leaching kinetics was achieved using Fe2+. An increase in the amount of iron in the solution above 5 g/L negatively influenced copper and cobalt leaching yields. INTRODUCTION La République Démocratique du Congo (RDC) est un pays reconnu dans le monde pour son sous-sol qui regorge d’énormes quantités de cuivre et de cobalt (USGS, 2014; Palisade Research, 2016). La technique qui semble être la plus recommandée pour extraire à la fois le cuivre et le cobalt des minerais oxydés cupro-cobaltifères est la lixivia-tion acide en milieu réducteur. Cette technique est appliquée par la majorité des sociétés minières qui exploitent ces minerais dans l’ex-province du Katanga en RDC, à savoir: Tenke Fungurume Mining, Mutanda Mining, Kamoto Cop¬per Company, Sicomines, Gécamines, Boss Mining, Chemaf, Ruashi Mining et Somika. L’usage d’un agent réducteur est indispensable pour l’obtention d’un bon rendement de lixiviation du cobalt. En effet, plusieurs chercheurs s’accordent sur le fait que le cobalt trivalent de l’hétérogénite (CoO·2Co2O3·6H2O) est insoluble à l’action de l’acide seul; il ne devient soluble qu’après réduction en cobalt bivalent (Mwema, Mpoyo, & Kafumbila, 2002; Mulaba-Bafubiandi, Ndalamo, & Mamba, 2007; Ferron, 2008; Seo, Choi, Kim, & Tran, 2013; Stuurnam, Ndlovu, & Sibanda, 2014)."

Jan 1, 2018

By Raymond B. Ladoo

Talc is a hydrous magnesium silicate having the chemical formula H2Mg3 (SiO8 ) 4 ; it is often called steatite, soapstone or potstorie, and by the trade names talc clay, agalite, asbestine, and verdolite. The term talc may be used to include all forms of the pure mineral, whereas steatite denotes particularly the massive, compact variety, and soapstone the impure, massive form that often contains only 50 per cent of talc. Merrill 1 says: The name soapstone is given to dark-gray and greenish talcose rocks, which are soft enough to be readily cut with a knife, and which have a pronounced soapy or greasy feeling; hence the name. Such rocks are commonly stated in textbooks to be compact forms .of steatite, or talc, but as the writer has elsewhere pointed out, and as shown by the analyses here given, few of them are even approximately pure forms of this mineral, but all contain varying proportions of chlorite, mica, and tremolite, together with perhaps unaltered residuals of pyroxene, granules of iron ore, iron pyrites, quartz, and, in seams and veins, calcite and magnesian carbonates. When pure, talc is soft, having a hardness of 1, but when impure or when it grades into its varieties, the hardness increases to 3 or 4. Talc ranges in color from pure white and silvery white through gray, green, apple green, gray green to dark green, nlso yellow, brown, or reddish when impure. It is rarely, if ever, found in wellformed crystals, but often occurs in foliated plates or in fibrous aggregates. It is commonly compact or massive or in fine granular aggregates. Several analyses of talc from different regions ·are given in Table 1. Talc has several varieties, the most important of which is Rensselaerite. This variety, found in a small area near Gouverneur, St. La.wrence County, N. Y., is a hard, fibrous, -waxlike mineral having the same chemical composition as talc, but lacking its softness and its peculiar greasy feel. Its hardness and its peculiar fibrous form, even when ground, have made its grinding and separation a separate problem. In addition to the varieties of talc and soapstone, the mineral pyrophyllite or agalmatolite, a hydrous silicate of alumina, with the formula H2Al2 (Si08 ), is also mined and sold as talc. It resembles talc in color, feel, luster, and structure, and may be successfully substituted for true talc for most uses. In this paper it will be considered as one of the commercial forms of talc.

Jan 1, 1923

By L. D. Smith

Net Present Value Impact of Discount Rate The Discounted Cash Flow (DCF) method of valuations is universally used and accepted. The main criticism of the method is that it does not recognize the value of projects long life projects. This can be seen in the preceding graph where the present value of cash flows in later years are small for discount rates over about 10%. This graph covers a project that has a 25 year operating life. It is clear from the low height of the NPV bars at 10% and 15% in the last years of the project that an additional 25 years would add almost no value to total project NPV. As an example of this effect, an colleague undertook the evaluation of a pulp and paper project. The plant could be justified, but it was not possible to justify planting the trees as they took too long to grow and so had not appreciable NPV. The plant had to purchase wood to feed the plant.

May 1, 2013

By B. A. Rogers

IN addition to the usual methods of manufacturing steel, a number of special processes have been the subject of considerable experimentation-and use in manufacturing practice. A number of these methods have been of a type in which a rapid refining action has been secured through the intimate mixture of fluid slag with fluid metal. The persistence with which more rapid methods are sought is indicated by the current interest in the Aston' method for producing wrought iron and in the Perrin2 process for dephosphorizing and deoxidizing steel. In the Perrin process, in particular, the mixing action is extremely vigorous and the reactions proceed with surprising speed.

Jan 1, 1936

By F. M. Boler

The U.S. Bureau of Mines conducts research at the Galena Mine, Wallace, ID, with the aim of mitigating the effects of rock bursting. Destress blasting is commonly used as a stress control technique at the mine. A digital seismic array and an array of borehole pressure cells (BPC's) had been installed near the site of a stope undergoing mining and periodic de stressing. The instrumentation was being monitored at the time of a destress blast of the 46-99 stope. No significant seismic events occurred coincident with the destress. However, the destress was followed by a 2 ½ -week period of increased seismic activity, including two damaging events on February 7, 1990, at 034500 (hour, minute, and second) and 122020 Pacific standard time. BPC measurements indicated coseismic ground pressure changes on the order of 200 to 300 kPa associated with the damaging events. Fault plane solutions and dislocation models established that stress changes induced by the event at 034500 may have been significant in promoting the occurrence of the event at 122020. Theoretical investigations suggest that applying knowledge of the existing stress field, an understanding of rock burst mechanics, and fracture mechanics principles can improve destress effectiveness.

Jan 1, 2010

More than 400 academic, government, and industry representatives attended the second symposium on ash utilization and technology held in Pittsburgh, Pa., March 10-11, 1970. Sponsored by the National Coal Association, Edison electric Institute, American Public Power Association, National Ash Association, and the Bureau of Mines, the symposium featured 23 formal presentations by leading experts from Europe and the United States on all major phases of ash production, utilization, and research. Abstracts of all the papers are grouped right after this introduction, and the full symposium proceedings follow. Biographical sketches of the representatives are given in an appendix. Sponsoring organizations and their chief representatives were the National Coal Association, James R. Garvey, Bituminous Coal Research, Inc.; Edison Electric Institute, C. E. Brackett, Southern Electric Generating Co.; American Public Power Association, Howard J. Stemm, Columbus (Ohio) Electricity Division; National Ash Association, Inc., John A. Tillinghast, American Electric Power Service Corp.; and the United States Department of the Interior, Bureau of Mines, William L. Crentz.

Jan 1, 1970

Dry weather since the third week in January has set back any prospects for an early increase in hydroelectric power in the Pacific Northwest, according to The Bonneville Power Administration. The 25% cutback made in July probably will not be restored in March or April. Noranda Aluminum, Inc., increased its price for 99.5% aluminum ingot from 66 cents to 70 cents per pound effective March 1, 1980. Revere Copper & Brass, Inc., also -increased its price for primary aluminum from 66.0 cents to 70.0 cents per pound effective February 1. Kaiser Aluminum & Chemical Corp. raised its international price for 99.5% primary aluminum from 72.6 cents to 82.6 cents per pound, c. i. f., effective February 26 on new orders and on shipments from March 15.

Jan 1, 1980

By J. O?Shea

From the characteristics of the new (1976) electronic components and units that are being marketed, the author has tried to foresee the types and the performances of the near-future slope-monitoring equipment. Much-improved sensors, instruments and systems for pit use can now be developed - sun-powered telemetry remote stations are feasible, very sensitive as well as precise and drift-free liquid level inclinometers will be available, new techniques for distance measurement with lasers obviate the need for atmospheric corrections and the latest generation of desktop calculators have become easily programmed minicomputers. Thus, it is realistic to assume that fully automatic pit-slope monitoring systems will be operational in the foreseeable future.

Jan 1, 1978

Prof. A. Ledebur, Freiberg, Saxony :* Mr. Sauveur has presented and enriched with original observations a valuable summary of the theories advanced hitherto concerning the hardening of steel; but in one particular, it seems to me, his statements call for correction. He says:

Jan 1, 1898

By John D. Ridge

Here are summarized 162 papers, published between 1933 and 1967, that deal with various aspects of ore genesis. Emphasis is placed on additions to, or modifications of, ore-formation theory, no matter what type of deposit is discussed. More space is given to papers on the formation of base-metal sulfides solely because more papers are written on this subject. The final conclusion is reached that a chemically and geologically sound theory for the genesis of ore deposits can be built around the concept of concentration of ore e’ements in a magmatically produced ore fluid and around such surface processes as may act to concentrate economically valuable materials from rocks of any origin exposed at the surface.

Jan 1, 1968

By Joseph A. Corgan

The river- or dredge-coal industry of Pennsylvania is conducted on many of the rivers and creeks that drain the Pennsylvania anthracite fields. Coal thus recovered found its way into the streams as coal was being prepared for market by the anthracite industry proper, in the northeastern part of the State. The Principal rivers draining; the fields, those where dredging is taking place, are the Susquehanna, Schuylkill, and Lehigh. Several creeks - the Shamokin, Mahanoy, Wiconisco, and Swatara - also are productive sources of river or creek coal. Operations along the streams cover a wide territory, and along the Susquchanna alone; dredges are recovering coal for about 160 miles. Anthracite was a significant factor in the early industrial development of the United States. Industry used it to generate steam, and railroads used it as fuel for locomotives; but it probably was most important industrially in the smelting of iron ore. For more than a hundred years homes have been heated with this fuel. From the beginning of mining in 1807, to 1940, more than 4 billion net tons of anthracite had been prepared and shipped to market. In the preparation process much of the smaller-size coal and refuse found their way into rivers and creeks which carried the material many miles. This study is concerned with the recovery of that anthracite from those rivers and creeks.

Jan 1, 1942

By Karl J. C. Harries

"10.1. INTRODUCTIONDefinitions are a necessary part of every agreement. Their purposes are to assist the reader in reading and understanding an agreement and to attempt to avert potential confusion and, therefore, disputes. In some circumstances, they may be critical in deciding a dispute. As they are often substantive, they should not be treated lightly.It is far easier and less confusing for a reader to read “the Company” or “the Recipient” than to be faced with “the party of the First Part”, or to see the “Jones Property” than “that part of the property hereinbefore described in paragraph 1.01 hereof”. It is also advisable not to use “-ee” and “- or”, as in payee and payor.One thing must always be remembered: once a word has been defined in an agreement, it will always have the defined meaning unless the contrary is clearly indicated or is required to make sense of a provision.2 It can be confusing for a reader if commonly used words are defined in other than ordinary terms. Unique words that will stand out in the text are more likely to be recognized as having special meaning. It is also good practice to identify defined terms by capitalizing them in the text of the agreement. Boldfacing of definitions is also sometimes used for this purpose but, as boldfacing is not easily identified in handwritten revisions, it can be missed in the press of negotiations, especially when several typists are involved. Lack of consistency in identifying defined terms is not a fatal mistake, but it can create confusion, especially if the reader is new to the agreement or is reading it in a highly technical manner, such as when there is a dispute.If definitions used in the main text also apply to a schedule, they need not be included in both. Omitting them from the schedule makes the agreement look shorter, which to some people is a benefit. If definitions are not repeated, make certain that the schedule clearly indicates that words defined in the main text have the same defined meanings in the schedule3 and are clearly identified as defined words. In considering whether or not to repeat in a royalty schedule definitions appearing in the agreement proper, think of definitions as an aid and a reminder to the reader. Repeating them will help a reader, if only by saving the nuisance of remembering where to find them in the main text and constantly turning to it. All the definitions needed to read the schedule will be right there, so that the schedule is a self-contained document. Just make certain that, if you do repeat a definition, you repeat it in identical terms. If you have to change any defined term to make it fit the royalty provisions, use a different word or phrase as the defined term to warn the reader that he is dealing with a different concept.4"

Jan 1, 2003

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

By J F. Carswell, G Cheshire

The Pajingo gold operation in Queensland is approximately 55 km south of Charters Towers and 134 km south-west of Townsville. The gold deposit was discovered on the northern end of the Drummond Basin in 1983 and first open pit production began in 1986. Mining progressed underground in the 1990’s and gold production peaked in the early 2000’s as the main Vera/Nancy lodes were extracted, producing 330k oz in 2003 (a record at the time). More recently, as Ore Reserves and grade have diminished, the mine has had to develop innovative mining practices to maximise recovery of the remaining Mineral Resource. This has included a modified sublevel caving method against previously mined/backfilled zones. The method has been coined modified sublevel shrinkage (MSLS). Full scale trials of the new mining method have been successfully completed. This has allowed the site to revaluate the Mineral Resource and include areas into the Ore Reserve that were once deemed sterilised, adding significant value to the operation and extending its life-of-mine. This paper describes the first of two large scale MSLS trials and key operational learnings from it.

Mar 15, 2021