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By Pierre Bénard

To achieve penetration on the energy market, hydrogen must overcome obstacles in the areas of storage, safety and infrastructure. One of the most important is the onboard storage of hydrogen for transportation applications, where large performance gaps exist between the current state of the technology and user expectations. In order to develop and demonstrate viable hydrogen storage technologies for cars, a set of gravimetric and volumetric system targets have been proposed by the US Department of Energy, based on achieving a driving range of 500 km for a hydrogen powered vehicle. A factor of 2 to 3 improvement in both hydrogen storage capacity and energy density is needed along with several other performance goals. Another key issue is safety. Although some of the safety issues can be arguably assigned to misperceptions, hydrogen has specific properties that have to be addressed, particularly in confined geometries where the risk of hydrogen detonations becomes an issue.

May 1, 2007

By Q. Dong, S. A. Nightingale

An investigation has been carried out to assess the effects of an applied voltage on the dissolution rate of MgO refractory in a steelmaking like slag. In this study corrosion results obtained from dip tests using a dense direct bonded MgO refractory in a CaO-SiO2-Fe2O3-FeO-MgO slag are presented. These results demonstrate that the application of a voltage across a dense MgO refractory-slag interface can change the rate of refractory dissolution. For the slag composition used and the voltage range tested, it was found that a maximum corrosion rate was obtained at a voltage setting of -0.45V. The results of this investigation have been explained in terms of voltage affects on Marangoni (interfacial tension induced) stirring and its effect on the MgO dissolution reaction that is at least partly controlled by mass transfer in the slag.

Jan 1, 2004

By M. Kawahara, H. Sunayama

Oxidation rates of the cubic specimens, which were prepared by cutting the shaped magnesia-carbon bricks, were measured continuously with a thermo balance in the temperature range from 1273 to 1 823 K in N2-02 and Ar-02 mixed gas with 2.1 x 104 and 3.7x 102 Pa of oxygen partial pressure respectively. The effect of the graphite content, the maximum grain size of magnesia clinker and the oxygen concentration in the atmospheric gas on the oxidation rate for the MgO-C refractory has been investigated. The value of effective diffusion coefficient of O2, which diffuses through the porous decarburized layer, decreased with the decreasing of the porosity and the oxygen concentration in the external gas phase. It was speculated that the dense layer formed easily due to the high tortuosity of pores and the low recession speed of the carbon interface in the MgO-C bricks.

Jan 1, 2004

By R. C. Reed, A. Akhtar

Oxidation of the third generation cast single crystal, nickel-base superalloy CMSX-10 is examined using isothermal tests at 900°C and 1000°C for times ranging from 20 hours to 100 hours. X-ray diffraction, scanning electron microscopy and energy dispersive secondary X-ray analysis were used to characterize the microstructure. It was found that the external scale formed at 1000°C is made up of (Ni,Co)O and the spinel NiCo2O4. The (? + ? ') microstructure of the superalloy transforms into the intermetallic (3 phase prior to the onset of internal oxidation. Internal oxidation results in the formation of (Ni,Co)Ta2O6 and (Ni,Co)WO4. No evidence was found for the formation of alumina (Al203), and the spinels NiCr2O4 and NiAl2O4 in this third generation superalloy. Results of the laboratory investigation are compared with those of an aero-engine turbine blade removed from service and examined earlier.

Jan 1, 2004

By M. Kalin

Tailings deposits are frequently the source of ground water contamination due to the transport of contaminated tailings pore-water. If amendments to tailings covers could be made to facilitate a precipitation reaction and halt or reduce the generation of acid in pyritic tailings, the quality of pore-water quality would be improved which would in turn reduce the production of contaminants. The effects of phosphate wastes, added to base-metal mine tailings in Newfoundland, Canada, were tested. Laboratory and field experiments determined the effects of different mixing ratios of phosphate wastes to tailings volume (1:4, 1:8, 1:12 and 1:20, dry weight) for a total period of 3.2 years. The addition of phosphate at ratios of 1:4 to 1:12 substantially increased the pore water pH, and reduced both acidity and Zn concentrations. These results suggest that addition of phosphate wastes to tailings covers can reduce acidity generation and improve tailings pore-water quality.

Jan 1, 2004

By Apoorva Bajaj

Iron ore mines of Steel Authority of India Limited (SAIL) have to comply with strict chemical composition norms laid down for iron ore lumps supplied to its steel plants. This requires a careful planning of the overall ore excavation operation. In general terms, the problem can be stated as: Given the chemical composition of ore for all excavation sites, excavation capacity of each shovel, distance of each excavation site from the crushing plant and the number of dumpers available for transport of the ore, find out the percentage of ore to be excavated from each excavation site such that the production rate is maximized and the chemical composition norm is satisfied to the best possible extent. This paper presents an approach to solve this problem using Branch and Bound method. The specification for r.o.m. quality has been modified by incorporating a new parameter, ?Al2O3 / SiO2? ratio, which has a significant effect on the performance of iron blast furnace.

Oct 1, 2009

By Masatake Haruta

Gold can be deposited as nanoparticles on a variety of support materials by coprecipitation or deposition-precipitation of Au(OH)3, grafting of organo-gold complexes such as dimethyl-Au(III)-acetylacetonate, mixing of colloidal Au particles, and vacuum deposition. Owing to the moderate adsorption of at least one of reactants (for example, CO) on the edges and corners of Au nanoparticles and to the activation of the counter reactant (for example, O2) at the perimeter interface with the supports, supported Au nanoparticle catalysts exhibit unique and practically useful catalytic properties at relatively low temperature below 473K. They have already been commercially used for deodorizers in rest rooms in Japan and will find growing applications in indoor air quality control, pollutant emission control, production of hydrogen energy carrier, and innovations in chemical processes. Cluster science of Au may also open an exciting area of research showing some magic numbers for dramatic changes in reactivity.

Oct 1, 2003

By M. H. Moys, J. A. Engelbrecht

"Large-diameter flotation columns are subject to severe axial mixing which has reduced column recovery and has generally limited it to cleaner applications. It has been assumed that columns with diameter greater than 1 m should be baffled to reduce axial mixing, but little work has been reported quantifying the effectiveness of baffling. Tests were done on a 0.2 m by 2 m column fitted with baffles of different geometry. It was generally found that the inclusion of baffles in the column worsened rather than improved mixing conditions in the column. This is explained in terms of a model for the effect of poor gas distribution on the behaviour of the column; this showed that under typical conditions a 16% excess of gas flux in the one compartment of a two-compartment column could result in one of the compartments being ""dead"" (i.e. with no net flow of slurry through it), resulting in a substantial loss of performance. The quality of mixing in the laboratory column was only reliably improved when the baffle was raised so that its top was positioned above the froth-slurry interface level. It should be possible to increase column recovery substantially with this configuration. The improved residence time distribution also means that columns can be used more effectively in roughing and scavenging applications. IntroductionFlotation columns have generally been used in cleaner applications, starting with their dramatic success at Mines Gaspe(1). Their lack of applications as roughers and scavengers is probably due to their poor residence time distribution (RID) when compared to the conventional cells they would replace. Espinosa-Gomez et al,(2) recently used them in rougher applications but installed three columns in series, presumably to cope with this disadvantage.Dobby and Finch in their seminal papersl(3,4) on the scale-up of flotation columns were the first to quantify the impact of axial mixing on the performance of industrial flotation columns. Laplante et al.(5) collected further data from the literature for column diameter D, ranging between 5 cm and 183 cm, gas superficial velocity Jg ranging between 0.7 cm/s and 2.8 cm/s and per cent solids in the feed S ranging between 3% and 52%. These data were analyzed with reference to the axial mixing model using the boundary conditions for closed vessels (the latter are more appropriate for flotation columns but the model is more difficult to use because analytical solutions for the RID are not available). The data were correlated by:"

Jan 1, 1993

By Mei-Yan Yang, Ltd. Yunnan Yuntong Zinc Co., Yong-Xiang Li, Xing-Zheng Dai, Hong-Liang Wang, Meng-Yang Huang, Peng Zeng, Guo-Feng Li

"The removal of iron asgoethite from the high iron bearing solutions generated in zinc hydrometallurgy using a strong airflow device was investigated. The influence of oxygen flow, copper ion concentration, temperature and reaction time on iron precipitation as goethite was studied. The optimum conditions were: oxygen flow 0.2-0.35m3/h, copper ion concentration 0.25-0.5g/L, temperature 80-90oC, zinc oxide powder neutralizing agent and a reaction time of5to 7hours. Under the optimal conditions, the Fe2+concentration was reduced to 0.025g/L after iron precipitation, and the goethite residue contained 38.7wt.%Fe. The SEM and XRD analyses showed that the iron was present as well formed FeOOH crystals in the iron residue, and the amount of iron sulphate was very low. Production practice shows that, when the average iron concentration in the feed solution was 11.61g/L and 4.08g/L after precipitation, the weight of iron removed was 1,439kg/day. When the average iron concentration in the feed solution was 14.51g/L and 2.73g/L after precipitation, the weight of iron removed was 2,454kg/day. This represents a ~70 percent increase in iron removal.INTRODUCTIONThe objective of iron removal is to produce a small volume of iron residue, and our industrial goethite process meets this requirement. The high Fe(II) solution in our reactor isoxidized/hydrolyzed to precipitate goethite and the precipitate is sent to a pyro metallurgical furnace for final residue treatment. Some literature discusses (DengYong-guiet al., 2008;Meiguang-guiet al., 2001;Zhongzhu-qianet al., 1980) research on iron hydrolysis; one of the reported rate limiting parameters was the low availability of the oxidant when using air and another was the inhomogeneous air distribution. There are two iron hydrolysis-goethite precipitation methods; the Electrolytic Zinc process (EZ) and the Vieille Montagne process (VM) (Lei Xiang, 2006; Xuguo-qiang, 2007;ZhaoYonget al.,2005). The EZ method hydrolyzes the Fe3+directly to FeOOH. The weakness of the EZ process is the low recovery rate of the associated minor metals. The VM method reduces the iron to the ferrous state and then oxidizes the Fe(II)to Fe(III),with simultaneous hydrolysis/precipitation of the Fe(III) as FeOOH. Before iron hydrolysis, the minor metals, such as indium, could be selectively precipitated, because Fe(II)requires a high pH for hydrolysis. So the VM method has a high recovery rate for the minor metals. There levant goethite precipitation reaction is:"

Jan 1, 2016

By S. D. Normani

A Deep Geologic Repository (DGR) for Low and Intermediate Level radioactive waste has been proposed by Ontario Power Generation for the Bruce Nuclear site in Ontario, Canada. The DGR is to be constructed at a depth of about 680m below ground surface within the argillaceous Ordovician limestone of the Cobourg Formation. The objective of this paper is to apply paleoclimate boundary conditions to a regional-scale groundwater flow model for the DGR site and to describe the influence of glacial loading and unloading on flow system evolution using the FRAC3DVS-OPG flow and transport model. The regional-scale domain encompasses an area of 18,775km2 extending from Lake Huron to Georgian Bay in southwestern Ontario, Canada. From a hydrogeologic perspective, the domain can be subdivided into a shallow zone, an intermediate zone, and a deep zone comprised of the low-permeability units of Ordovician and the more permeable Cambrian where present. The deep groundwater zone is characterized by units containing stagnant water having high concentrations of total dissolved solids (TDS) that can exceed 300g=L. The high TDS values at depth require density-dependent coupled flow and transport calculations within FRAC3DVS-OPG. The computational sequence involves the calculation of steady-state density independent flow that is used as the initial condition for the determination of pseudo-equilibrium for a density-dependent flow system that has an initial TDS distribution. The 1,000,000 year pseudo-equilibrium heads and brine concentrations are used as the initial condition for the paleoclimate simulations. Over the past 900,000 years, the Canadian Shield has experienced approximately nine episodes of complete glaciation. During the glaciation cycles, the entire Canadian land mass has been covered by a series of continental ice-sheets whose maximum thickness reached 4 km and whose southern extents reached, in some cases, beyond the present-day Canada-U.S. border. The glaciation phase of a single glaciation-deglaciation episode is typically 90,000 years in duration, while the deglaciation portion proceeds relatively rapidly and has an average duration of approximately 10,000 years. Output from the University of Toronto Glacial Systems Model, a continental scale North American glacial reconstruction of the most recent 120,000 year glaciation event developed by W. R. Peltier, is used to supply the paleoclimate boundary conditions used in this paper. Permeabilty reductions due to the presence of permafrost are also considered in the paleoclimate simulations. This paper will demonstrate that the choice of rock properties can significantly affect residual pore water pressures within the rock matrix, as well as the migration of glacial meltwater.

May 1, 2009

By J. D. Bateman, A. S. Dadson

"The Giant claims are on the west side of Yellowknife bay about 1 ½ miles north of the settlement of Yellowknife. They were staked in 1935 by prospectors in the employ of Burwash Yellowknife Gold Mines, Limited, and were transferred to Giant Yellowknife Gold Mines, Limited, in 1937, on the incorporation of that Company. During the period 1936 to 1940 a number of surface discoveries were investigated by trenching, test pitting, and diamond drilling. A shallow inclined shaft was sunk on the Brock zone, a system of narrow and irregular quartz veins, and some 75 tons of high-grade ore was mined and shipped to the Trail smelter. In 1943 management control was acquired by Frobisher Exploration Company, Limited. An intensive campaign of diamond drilling was commenced in January 1944 and carried on continuously for 2 years. This drilling indicated the presence of substantial gold orebodies lying within well-developed shear zones. Two shafts, 1 ¼ miles apart, were sunk during 1946 and underground development started on two of the orebodies.The claims are underlain largely by rocks of the Yellowknife greenstone belt, which extends from the shore of Great Slave lake along the west side of Yell ow knife bay and northward . The most conspicuous structural features are the steeply dipping late faults. The chief of these is the West Bay, which bisects the greenstone belt at an acute angle and crosses the southern part of the Giant group. At the 'big bend' near the west boundary of the claims there is a remarkably sudden change in the strike of the fault, from about 12° N.W. to about 3° N.E. The apparent horizontal displacement along this fault is of the order of 3 miles, with the east side moved relatively north. There are also a large number of lesser faults with apparent horizontal displacements of a few feet up to l,70J feet for the Townsite fault. Most of these faults trend north to northwest. Surface examination indicates that, at least for most of them, the movement corresponds to that along the West Bay fault, that is, the east side moved relatively north. According to the available evidence, all or most•of the movem:nt along the West Bay fault and along the lesser faults was post-ore. Late diabase dyk:s that cut through ore-bearing shear zones, with chilled margins in contact with the mineralized material, are apparently displaced to the same extent as earlier geological markers. ( see Frontispiece. )"

Jan 1, 1954

By E. H. Hall

"Perhaps .I should start this talk on Arsine poisoning, by giving a brief background and history of the Bralorne Mill.The present Bralorne company started milling operations in 1932, with amalgamation and flotation, and operated continuously until 19 61 . In 19 59, it was decided to change over to cyanidation, and to use double filtration rather than counter current. The cyanide portion of this new plant was completed and went on stream in August 1961 utilizing the grinding circuit of the old flotation plant. The new grinding circuit was completed and started operating December 15, 1961.The grinding circuit consists of a 7 1 x 101 Hardinge Rod Mill, and a 7 1 x 101 Hardinge Ball Mill. In series with the rod mill is a 16"" x 24"" Denver Duplex Jig, and two of these jigs are also in parallel with the ball mill. The rod mill product is classified by a Kreb cyclone, the oversize going to the ball mill. The ball mill is in closed circuit with this same cyclone. The jig products are amalgamated daily, and the amalgam barrel tails are returned to the ball mill for regrind. Arsenious oxide (As203) is one of the reagents used in amalgamation. Approximately 39 ozs. per day is used.The cyanide circuit consists of a 481 x 121 thickener, three 24' x 24' agitators, two 141 x 161 drum filters and a Merrill Crowe precipitation unit.The Krebcone overflow is thickened to 60 - 62% solids. Hydrated lime, along with a settling agent is added to the thickener. Some of the overflow water from the thickener is returned for use in the jigs. The balance of this overflow water goes to waste. To the thickened pulp entering No. 1 agitator, barren solution is added, along with sodium cyanide and hydrated lime. Cyanide strength is held at 0. 9 - 1. 0 lbs/ ton solution and lime at 0. 8 lbs/ ton solution. The lime content usually drops to 0. 5 lbs/ ton in No. 3 agitator. The two drum filters are in series and are washed with barren solution. The discharge of No. 3 agitator is fed to No. 1 filter and the discharge of No. 1 filter is repulped in barren solution and feeds No. 2 filter. No. 2 filter discharges to tails, The filtrate is clarified, deaerated and the gold precipitated. One hundred to two hundred tons of barren solution are bled to waste each day. The ore contains 1 % Arsenopyrite and 1. 5% Pyrite."

Jan 1, 1964

By Dan Zou, Ji Chen, Deqian Li

"Bayan Obo mixed RE concentrate is the largest RE source in the world. RE elements occur dominantly in bastnaesite and monazite. This paper describes a clean and green technique for processing Bayan Obo mixed rare earth (RE) concentrate. A two-step oxidation method can lead to the effective recovery of REs, thorium (Th), fluorine (F) and phosphorus (P). Ce has a property of valency change, enabling the separation of it from other RE(III) elements. Making use of the interactions of cerium (IV) (Ce(IV)), F and P, a new extraction system was created to separate Ce(IV) effectively from other RE(III) while recovering F, P and Th by complexing F and P following the oxidation of Ce(III) to Ce(IV). The method includes two parts. Firstly, bastnaesite is oxidized by air roasting and sulfuric acid leaching. And then a first leach liquor containing Ce(IV), F and P is obtained. Secondly, monazite was converted into REhydroxide through alkaline attack and then Ce(III) in the RE-hydroxide was oxidized into Ce(IV) by wetair oxidation. After sulfuric acid leaching the oxidized RE-hydroxide, a second leach liquor is obtained. The two parts of leach liquor containing Ce(IV), F and P are then extracted by Cyanex923 to obtain CeO2, CeF3 and CePO4 based on the complex of Ce(IV) with F and P. The raffinate was further extracted by the primary amine N1923, and Th-product was recovered as ThO2. The RE elements recovery yield during the whole process is greater than 92%. The new technique not only provides a new way for Bayan Obo RE ore utilization, but also avoids resource waste and environment pollution.INTRODUCTIONRare Earths (REs) refer to lanthanides, including scandium and yttrium. Owing to the similar structure and property of RE(III), it is difficult to separate them from each other, especially for the adjacent elements. According to the United States Geological Survey, in 2010, the whole world has about 142 million tonnes of rare earth reserves. In that, China ranks the second with 22% following Brazil which ranks first with 32% (Cheng, 2011). There are three main RE ore types in China with about 80% mixed ores in Bayan Obo, 10% bastnaesite ores in SiChuan and ShanDong province and 2.9% ion adsorption ores in Southern China. Bayan Obo mixed RE concentrate consists of bastnaesite and monazite. The concentrate contains CeO2/_REO of 50% and there are 7–8% F, 4-6% P and 0.2–0.3% Th."

Jan 1, 2016

"The United Nations, through the secretariat of the United Nations Economic Commission for Europe (UNECE) and its Ad Hoc Group of Experts on Harmonization of Fossil Energy and Mineral Resources Terminology, developed the Framework Classification.The UN Classification applies to fossil energy and mineral reserves and resources located on or below the Earth's surface. It aims to simplify reporting of energy and mineral reserves and resources in a globalized world and is intended to improve global communications regarding remaining quantities of non-renewable fossil energy and mineral resources. The UN Classification is not recognized as a Foreign Code under NI 43-101.SECTION I1.,The United Nations Framework Classification (UNFC-2009) applies to fossil energy and mineral reserves and resources located on or below the Earth' s surface. It serves the needs for classification at a global level (for energy and mineral supply studies), for governments (resources management and policy formulation), for industry (business process management) and for financial reporting.SECTION II2.,The UNFC is a generic system in which quantities are classified on the basis of the three fundamental criteria of economic and social viability (E), field project status and feasibility (F), and geological knowledge (G), using a numerical coding system. Combinations of these criteria create a three-dimensional system. Categories (e.g. El, E2, E3) and, in some cases, sub-categories (e.g. E1.1) are defined for each of the three criteria as set out and defined in Annexes I and II.3 The first set of categories (the E axis) designates the degree of favourability of social and economic conditions in establishing the commercial viability of the project, including consideration of market prices and relevant legal, regulatory, environmental and contractual conditions. The second set (the F axis) designates the maturity of studies and commitments necessary to implement mining plans or development projects. These extend from early exploration efforts before a deposit or accumulation has been confirmed to exist through to a project that is extracting and selling a commodity, and reflect standard value chain management principles. The third set of categories (the G axis) designates the level of confidence in the geological knowledge and potential recoverability of the quantities.4. The categories and sub-categories are the building blocks of the system, and are combined in the form of ""classes"". The UNFC can be visualised in three dimensions, as shown in Figure 1, or represented in a practical two-dimensional abbreviated version as shown in Figure 2."

Jan 1, 2003

By S. J. Buckler

Many metallurgical processes use submerged gas injection to increase the contact area between gas and liquid phases in order to promote faster overall reaction rates. The work presented in this paper is part of an experimental investigation to measure the gas-liquid interfacial area available in bubble plumes within molten metal baths. Measurements of the nitrogen absorption rate during submerged injection into molten iron baths have been used to estimate the interfacial areas of the bubble plumes. A theoretical model was used to predict the superficial nitrogen transfer rate under mixed liquid phase mass transfer -interfacial reaction control. The interfacial area was calculated by dividing the overall nitrogen absorption rate by the superficial rate. Reasonable agreement was obtained between the interfacial areas measured in our laboratory with data from a comparable system reported in the literature. The experimental results were compared with the predictions of three theoretical models and one empirical correlation. The models of Turkdogan (3) and Zhao and Themelis (5) gave the best agreement with our data.

Jan 1, 2004

By N. Afrin

The microstructure and tensile properties of AZ31B-H24 magnesium (Mg) alloy after friction stir welding (FSW) were evaluated. The grain size was observed to increase from approximately 5 µm to about 9 µm after FSW. The obtained Hall-Petch type relationship showed a strong grain size dependence of the hardness values. While the FSW led to about half of the yield strength of the base magnesium alloy, the ultimate tensile strength after FSW could reach about two thirds of that of the base alloy. The hardening capacity of the FSWed samples was about twice of that of the base alloy. The strain hardening exponent of the base alloy was found to be about 0.1 whereas it became larger than 0.3 for the FSWed samples. After yielding the base alloy showed a high initial and almost constant work hardening rate, corresponding to linear hardening stage II, followed by stage III with a decreasing hardening rate. Stage II linear hardening was observed to be absent in the FSWed samples.

Jan 1, 2007

By N. W. Martison, J. E. Hawley

"The Moulton Hill deposit is in the Eastern Townships of Quebec, 3 miles northeast of Sherbrooke. It is complex, both structurally and mineralogically, consisting of a narrow, irregular, mineralized zone that has been traced for a length of 600 feet, and in places to a depth of 1,000 feet, containing copper, lead, and zinc sulphides with a low content of gold and silver. It lies in a series of highly schistose micaceous rocks, believed to be of Ordovician age, but the mineralization is probably post-Lower Devonian. New details of the structure of the ore have become available since it was first described (1) , and as these show some striking peculiarities a further discussion is here merited .As detailed elsewhere, the deposit was discovered in 1942 as a result of regional geological studies followed by the application of electrical geophysical methods.Actual production began in July, 1944, and ceased in June, 1945. During the period July, 1944 to June, 1945, 75,643 tons were milled§, yielding the following:"

Jan 1, 1954

By D. W. Davis, P. Landais, L. J. Robb

Nodules of carbonaceous matter have been observed in several Archaean peraluminous granites adjoining the gold- and uranium-bearing Witwatersrand Basin. These nodules, which resemble solid bitumen, usually replace uraninite or uranothorite and are paragenetically late. They show many similarities to kerogen seams and nodules associated with the conglomerate horizons in the Witwatersrand Basin, including composition, maturation, intimate association with uraninite, and a late paragenesis. U-Pb isotope ratios for granite-hosted and Witwatersrand kerogens define a single, albeit somewhat diffuse, Ph-loss discordia suggesting an upper intercept age of circa 2300 Ma. Carbon isotope analysis indicates lighter Ol3C values for the granite-hosted nodules than for the sediment-hosted kerogen seams. Raman spectroscopy indicates that granite-hosted kerogen is more highly ordered than Witwatersrand seam kerogen. A model is presented which links the granitoidand sediment-hosted organic matter to an event of oil generation in the Witwatersrand Basin circa 2300 Ma ago. Light hydrocarbons migrated through the sediments and into underlying/adjacent granitic rocks, undergoing polymerization and accumulation in response to radiation accompanying the presence of high-uranium phases.

Jan 1, 1994

By V. Polotski

This paper describes a platform for autonomous operations in open pit mining environments. A typical operation consists of: (1) Initial locomotion toward a remote worksite; (2) Pattern navigation within the worksite; (3) Worksite manipulations and (4) Return locomotion to the start location. The platform includes precise localization module based upon the fusion of odometry, inertial and GPS measurements. The guidance module starts from a set of way points specified on a GPSreferenced map and plans and executes the mission. A typical mission includes specified manipulative tasks along the navigation path. During motion execution the on-board system continuously verifies that the path is free of obstacles and that the hardware is not overloaded. Momentary losses of external positioning measurements does not adversely affect the performance, owing to the redundancy in position and heading estimation. A rehearsal phase follows planning and allows the supervisor to examine the kinematic behavior of the platform during motion, thus reducing the need for continuous monitoring during execution and providing protection against potential losses of communication.

May 1, 2003

By J. F. Harkom

Introduction The importance of the preservative treatment of mine timbers need scarcely be stressed here. Increasing the life of mine timbers will reduce one of the major costs of mining and also conserve the available timber supply which lies within easy access of the mines. When treated, several species of timber may be used which otherwise could not be considered, owing to their short life. Another feature which should appeal to the mining industry is that wood preservatives are a mine product, and the benefit to be derived from the increased consumption of wood preservatives due to the example set by mine owners is not inconsiderable. Mine timbers may be divided into three classes when considering preservative treatments. (1) Timber obviously not profitable to treat owing to long natural life or short period of time in service. (2) Timber that obviously should receive protection from decay. (3) Timber installed in locations where the length of service required will depend on future developments, so that preservative treatments might or might not prove to be a profitable investment.

Jan 1, 1930