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By Yutaro Fukase

Various types of service robots have recently been developed for guarding facilities, caring for the elderly, carrying objects, and cleaning buildings. As barrier-free facilities improve and their use expands, these robots have more space within which to move inside buildings. Yet robots that move autonomously rely on position-detection systems. Though improving rapidly, these systems are far from perfect in determining positions in certain situations, especially when robots navigate large areas or cross various locations. Our group is working to solve this problem by developing a position-detection system using random-dot patterns on a floor. First, we construct a floor with a random-dot pattern and register the positions of all of the dots into a database. As the robot moves across the floor, a camera on the robot captures an image of the floor beneath it and crops the dot pattern in the image. The cropped dot pattern is matched to the dot patterns in the database to determine the position of the robot and the direction in which the robot is facing or moving. In this paper we propose a self-localization system and matching algorithms derived from a space technology and present the results of several experiments.

Aug 1, 2013

By Yan-Jun Shen

The rock mass classification system, BQ (basic quality), is the only national system that is suitable to most kinds of rock engineering in China. It uses two main aspects of the rock mass, the intact uniaxial compressive strength (UCS) and the rock intactness index (KV), to obtain the rock mass BQ. The index KV could be measured by the acoustic wave method. However, because this method is an indirect approach to characterize the rock mass structure, misfits often occur between the test results and the actual rock mass characteristics. Therefore, a new parameter KGSI expressed by the geological strength index is proposed to replace the original KV, and a new method is presented to express the value of BQ as a function of the UCS and the KGSI. Then, the underground excavations at five hydropower stations were chosen as examples to study the relationship between the revised BQ and the each of the international systems (RMR, Q or RMi). In addition, the applicability of the RMR, Q, or RMi system is discussed for China?s rock characteristics and geological conditions, and suggestions are given for improving the revised BQ system.

Aug 1, 2013

By J. Hall Carpenter

"Wet concentration has, in the history of ore dressing, been the primary treatment method following crushing, grinding and sizing, when these have been necessary. The evolution of new methods of gravity concentration has been comparatively slow.Today, the most significant and sophisticated of the new types of gravity concentrators is, no doubt, the cone concentrator developed by Ernst Reichert of Mineral Deposits Pty. Limited in Southport, Australia. These units have now had some years of use in the field, are becoming one of the standard tools of the industry and their metallurgical results, as outlined in this paper, are out-standing."

Jan 1, 1966

By R. Maxwell

"At Opemiska Copper Mines we have, over the past four years, operated 300 cu. ft. and 700 cu. ft. flotation cells as roughers, scavengers and cleaners and found them competitive with conventional flotation cells on a cu. ft. basis on all phases of flotation.The economics are very much in favour of the large cells for the following reasons:Power consumption is 35 to 40%, of conventional machinesMaintenance cost is about 20 to 25% of conventional machinesSpace required is about 30 to 35% of conventional machinesInstallect cost is about 40%, of conventional machinesTo put the above in more concrete terms below is what we are doing at Opemiska:1. Increasing mill capacity from 2000 to 3000 T.P.D. and will use only 5Cff, of the flotation space for 3000 tons that we used for 2000 T.P.D. with conventional flotation machines.2. Will require only 10 flotation cells for 3000 tons against 85 conventional cells for 2000 tons.3. Cells will be, one 2000 cu. ft. rougher, six 700 cu. ft. scavengers (2 banks of 3 each) and one cleaning circuit using three 300 cu. ft. cells.You will note that in this 3000 ton per day plant, we are going to have only ten cells. Had we put in conventional cells for this tonnage, we would have needed 120 cells."

Jan 1, 1970

By C. Allen

In 2004, Boliden Odda underwent an extensive modernisation project targeting mainly the leaching section of the plant. Direct leach technology was introduced as part of this project. The Direct Leach process, developed by Outokumpu, is an atmospheric oxidative leach of zinc sulphide concentrate. The effects of this new processing operation on behaviour of iron in the plant are discussed. As well, the filterability of the new residue on belt filters prior to its deposition in mountain caverns is also discussed. The solids from the direct leach process have been analysed by scanning electron microscopy, and the results of these analyses are presented.

Jan 1, 2006

By K. Mirkhani, P. Gebski, W. Ying

The campaign life of an industrial metallurgical vessels strongly relies on the quality and quantity of the refractory lining. An operating furnace or converter refractory lining can be assessed either by thermal modeling or by acousto ultrasonic-echo (AU-E) technique or a combination. AU-E is a Non-Destructive Testing (NDT) stress wave propagation technique that has been utilized on a wide variety of smelting vessels for over 12 years with good success. AU-E can determine the thickness of remaining refractory lining, estimate the thickness of build-up or accretion, detect and locate metal penetration and impregnation into the lining, and identify hydrated or cracked areas of refractory. This paper details the AU-E principles, equipment and recent improvements to the data analysis to further improve speed and accuracy. In addition, the paper discusses the AU-E accuracy and limitations through a diverse and vast array of practical examples including a comparison with thermal modeling and physical measurements.

Jan 1, 2011

By Pravin Mathur

"Praxair's CoJet® technology was introduced in 1997 to effectively inject chemical energy in electric arc furnaces. Coherent jets were invented as a revolutionary means of injecting oxygen and other gases into the EAF and into converters. Today, steel makers have widely accepted this concept in over 70 EAFs worldwide. Indeed, the whole industry has shifted to this new standard for chemical energy input in EAFs. CoJet® technology has also been implemented successfully in BOF converters.This paper will review the principles of coherent jets as applied to steelmaking. The key learnings garnered from several furnaces are also reviewed. In addition, while the CoJet® program has been widely accepted worldwide, based on steady feedback received from customers and the market place, several programs are underway in development and commercialization. These enhancements and new applications of CoJet® technology are also overviewed in the paper."

Jan 1, 2004

By W. J. Wolfe

"THE DETECTION OF BURIED MINERAL DEPOSITS by chemical analysis of vegetation (biogeochemistry) or visual observation of plant cover type (geobotany) is based on fundamentally simple principles. The root systems of vegetation collect aqueous solutions from a large volume of moist ground below surface and act as efficient sampling mechanisms by providing a composite sample of a reasonably large area. These aqueous solutions constitute a source of ore-associated metals that may ultimately be concentrated in the upper parts of the plant. Although certain plant species have a limited ability to break down primary minerals and extract elements, biogeochemistry normally detects only metals capable of moving in solution. Metal concentrations in the underlying soil must therefore exist in a form that is immediately available for uptake by the root systems - generally in the ionic state in aqueous solution or in readily exchangeable form on the surfaces of soil clay minerals. As a result, biogeochemical responses are closely related to variables such as soil pH, Eh, exchange capacity and complexing agents that control metal mobility in the surface environment. In terms of cost, reliability and anomaly contrast, soil geochemistry will normally be more useful than biogeochemistry in locating buried mineralization in regions of residual overburden or thin transported cover. However, in areas where the root systems penetrate thick deposits of transported post-mineralization overburden, plants can provide an effective mechanism of sampling below the transported material. Biogeochemical research in Canada, Scandinavia and the U.S.S.R. has therefore focused on the potential use of plant prospecting methods (1) in areas where the upper horizons of podzolic soils do not provide an adequate response to anomalous conditions under thick deposits of glacially transported till and (2) in widespread regions of peat and muskeg terrain where near-surface mineral soils are absent."

Jan 1, 1971

By Gordon MacVean

The object of this paper is to present for your consideration some of the present-day trends of safety practice in the coal mines in the United States and Canada. Coal mining at its best is a hazardous occupation. Men must be experienced miners in order to appreciate the existing hazards and must remain ever conscious of them if they are to work safely. The question is often asked whether our efforts for increased safety are showing results. So often it appears that strides are made for a period of a few years in the reduction of fatalities and lost-time accidents only to have all ground lost by an unfortunate year, after which progress is commenced again only to have a repetition of the same thing. Table No. 1 is an answer to this question. It shows the fatality rates over the last two decades in the coal mines of the United States and Canada. These are given in divisions of five years. The general trend is noticeably downward, exceptions being due to explosions or disasters which claimed an unusually heavy toll of life. These last are certainly not as common today as they have been in the past. It is only reasonable to suppose that this trend towards a lower fatality rate is the result of well directed safety effort. Reliable statistical organizations have offered figures to the effect that only 15 per cent of all accidents can be eliminated by the use of mechanical safeguards. The state of mind of the man involved, or his attitude towards safety, commonly called 'safety-consciousness,' is the controlling factor in the prevention of 85 per cent of our accidents.

Jan 1, 1931

By A. A. Rafiei, J. A. Finch

A previous study comparing n-pentanol and the polyglycol Fl50 showed that the two reagents could give the same gas holdup but with different size bubbles. The finding implies that bubble rise velocity depends on the surfactant (frother) type. A study using bubble swarms supported the frother type effect but bubble interactions were a possible confounding factor. This study resolves the question by measuring the rise velocity of single bubbles of 0.8-2.5mm diameter over a distance :::: 300cm in n-pentanol and F 150. It is shown that at typical frother concentrations used in flotation that the rise velocity in n-pentanol remains comparable to that in water alone while in Fl50 the velocity is significantly reduced. The results confirm the suspected impact of frother type. It is illustrated that in n-pentanol the rise velocity does not reached terminal; while in Fl50 it does and this is the source of the velocity difference. Advances

Jan 1, 2009

By F. H. Hueston, R. S. Barclay

"Depending on the application, zirconia, fused magnesia and graphite have been found to be the most suitable crucible materials for melting uranium metal and its alloys. Although graphite has been found to be satisfactory for uranium and uranium alloy castings with cross sections of 4 square inches or greater, ceramic-type molds are superior for small sections and those shaped castings which prohibit the economic use of machined graphite molds. Heating cycles, addition mechanisms and furnace conditions for melting are discussed."

Jan 1, 1967

By W. Lin, Z. Z. Dong, C. L. Zhou, Y. C. Kuang

The inversion of rock mechanical properties based on well-logging data is a common method to drillbit selection in petroleum engineering, the basic principle of which is to use deep-well logging data and experimental regression model to calculate rock mechanical properties. The profile of rock mechanical properties can be established. According to the profile, the type of drillbit can be selected in different formations, which will improve the economic benefit of bit use indicators. Compressive strength of rock is one of the most important parameters. Conventional method to establish regression models of acoustic velocity and uniaxial compressive strength is on the basis of rock core sonic experiments and uniaxial compressive experiments. However, with the increase of deep drilling operation, triaxial compressive strength prediction model will play a more vital role in drillbit optimization selection in deep wells and improving ROP (Rate of Penetration). Triaxial compressive strength is an important parameter to evaluate the formation strength property. In this paper, to the sandstone commonly encountered in oil drilling, combined the rock mechanical experimental results with the changing porosity experimental results under confining pressure, a new interpretation model of triaxial compressive strength based on well logging data is proposed. Firstly, three types of sandstone samples are collected. Then measured components, uniaxial compressive strength, triaxial compressive strength and porosity. Experimental results show that: confining pressure has a significant influence on sandstone strength, with the increase of confining pressure, triaxial compressive strength increase; furthermore, the triaxial compressive strength of different porosity sandstones have different change rules when confining pressures changes; sandstone porosity decreases with the increase of confining pressure and it obeys logarithmic function. According to the results, regression models of sandstone, in-situ uniaxial compressive strength model and uniaxial compressive strength model under normal pressure are generated. Meanwhile, using well logging data in the acoustic velocity, density and gamma value can derive in-situ rock formations uniaxial compressive strength and in-situ porosity. Eventually, a new model established in this paper, containing in porosity, uniaxial compressive strength, lateral pressure and power exponent of regression, can predict triaxial compressive strength which will guide drillbit selection.

Jan 1, 2015

By G. J. Reid, D. H. Stewart

"A diversity of structures and rock types in the Aft on pit has resulted in the occurrence of several different types of wall failure. Delivery of ore to the mill has not been affected and safety has not been compromised thanks to effective remedial 1V0rk and to a system of structural mapping, back analyses of failures, groundwater monitoring, and simple movement monitoring. Remedial measures have included artificial support, dewatering (including vacuum-assisted drainage), flattening of slopes and temporary buttressing. This paper describes six different wall failures at Afton and highlights the features of each. Examples given include rates of movement, extent and direction of movement, and piezometric responses. The practical, low-cost monitoring system was sufficient in one case to allow the prediction of date of failure. IntroductionThe Afton copper deposit is located 13 km west of Karnloops, British Columbia and has been mined for nine years out o f an expected eleven-year life. Open pit mining has reached 700 feet below sur face and is designed to proceed to 970 feet below surface by the time the pit is completed. The excavation is in a structurally and lithologically complex environment. Inevitably, some wall failures have occurred but these have been limited to small, manageable failures which have not compromised production or safety. To handle the failures it has been necessary to understand their nature. Of prim e concern has been the rate s of movement, but displacement vectors and hydrology have been monitored as well. The monitoring system is based on EDM surveys and on wire extensometers and plates set across cracks. Water levels have been read in standpipe piezometers. At Afton the emphasis has been on simple, practical, and inexpensive monitoring and because rock type s and structures play such a major role in any failure, detailed geologic al mapping is carried out."

Jan 1, 1988

By F. Habashi

"While bioleaching of pyrite concentrates has been successfully used in industry to liberate gold from the sulphide matrix for subsequent cyanidation, the same technology cannot be recommended for leaching chalcopyrite concentrates for copper recovery. It will be shown to be uneconomical and cannot compete with pressure leaching technology. Data on the pilot plants that were constructed for this purpose and were shut down will be given.INTRODUCTIONBacterial leaching has been successfully applied for heap leaching of low-grade copper ores (Habashi, 1978, 1999). One of the major operations is that at Bingham in Utah (Figure 1). The leach solution collected at the bottom of the heap is extracted by organic solvents and the strip solution is electrolyzed to get high purity copper. The process was extended to treat auriferous pyrite concentrates to liberate gold and render it amenable to cyanidation by a process known as BIOX (Marsden & House, 2006; Lunt & Briggs, 2005).BIOX plants currently or recently in operation are the following:??Ashanti Goldfields Company, Ghana. Designed with an initial capacity of treating 720 tonnes of concentrate per day, the Sansu plant has since been expanded and currently has four modules processing 960 tonnes per day in all. It is by far the largest biooxidation plant in the world. The capital cost of the plant totalled US $25 million (1994 terms) and the operating cost is currently US $17/tonne milled.??Fairview, South Africa. The plant at the Fairview mine in Barberton, which was the initial pilot plant, has been fully operational since 1986. It was originally designed to treat 10 tonnes/day of concentrate but with the success of the project this has been increased to 55 tonnes per day. With the purchase of Fairview by Avgold’s Eastern Transvaal Consolidated, Avgold concluded a licensing agreement with Gold Fields, formerly known as Gencor, entitling it to use the BIOX technology to treat itsconcentrate.??Saõ Bento, Brazil. A BIOX plant was recently in operation in Brazil at the Saõ Bento Mine where a pressure oxidation circuit is used to treat the refractory flotation concentrate. This plant has confirmed the viability of combining bio-oxidation with pressure oxidation as a cost-effective method ofincreasing capacity at an existing oxidation plant.??Wiluna, Australia. The plant at Wiluna Gold Mine, Western Australia, was commissioned in 1993. Although originally designed to treat 115 tonnes per day of concentrate this has subsequently been increased to 158.??Other plants at Tamboraque in Peru, Harbour Lights and at Youanami in Australia have been commissioned recently."

Jan 1, 2012

By Frank S. Palkovits

Over the past 30 years, underground paste backfill systems have been implemented across the globe in many configurations, each with a primary focus of providing high quality backfill to enhance mine operations. However, a number of key design drivers are not always well understood within design engineering firms that occasionally undertake this work, leaving opportunities on the table. Perhaps not always obvious to those newly embracing paste technology, identifying key drivers and opportunities attainable through a paste backfill system is generally not straightforward, requiring innovative approaches to securing higher productivity, availability, performance, maintainability, and operator health and safety. This paper describes a number of applications and audits of paste backfill systems for several challenging mine operations. Key challenges include iterative design aspects of availability of good backfill materials, plant location and configuration, general arrangement, and binder receiving/storage systems.

Oct 1, 2010

By M. Bouchard, B. Cadieux et F. Goutier

Five phases of ice movement were r es pons ible f or glacial dispersion in t he study area. I ce fl ow directi on changed prog r es s ively from SE to SSW and then to the S. All observed glacial sed iments are associated with a south-southwest to south movement; t hey are grouped, on the basis of their texture, structure, morphology and composition, into four distinct lithofacies. A lithological study of the coarse-grained fraction (4-128 mm) of these lithofacies shows systematic compositional differences. These are: 1) variations in the proportions of local bed rock fragments; 2) variations in the horizontal displacement of the maximum abundance peak of a given lithology relative to its source area, and 3) variations in the length of dispersion trains associated with each lithofacies. Although dispersal trains can obviously be mapped without differentiating li thofacies, studies based on the consideration of lithofacies should give more reliable results than conventional methods.

Jan 1, 1984

By J. J. Fitzpatrick

"This paper deals with the methods used by Quebec Cartier Mining Company in the evaluation and selection of new haulage equipment and in increasing the productivity of the existing fleet.Selection of new equipment is based upon the comparison, for each model under consideration, of the capital investment required and the estimated operating costs and production rate. The calculation of the production rate is based on a widely used estimating procedure. Actual operating conditions considered in the method include: payload, haul distance, road grade, rolling resistance, loading and dumping times, and operational efficiency. A digital computer is used to handle the large volume of repetitive calculations required. Where a fleet of haulage equipment includes trucks of different size and performance characteristics, the problem exists of assigning each truck type to the different working locations to minimize total cost. Linear programming can be used in the solution of this problem."

Jan 1, 1967

By H. Westengen

The AE alloy family exhibits remarkable combinations of properties when utilized as high pressure die castings. This performance relies on the fact that the rapid cooling rate resulting from the direct contact between the molten alloy and the steel die walls effectively refines the structure through rapid solidification. Furthermore, the rare earth additions modify the solidification pattern, dramatically reducing the solidification interval. A solid shell forms at temperatures exceeding 500C, reducing the tendency for die sticking and inverse segregation. As a result, the die castability is excellent, giving parts with a smooth and shiny surface. Unlike other magnesium die casting alloys developed to improve elevated temperature creep properties, AE alloys do not suffer from the commonly observed tendency to introduce brittleness. This feature is attributed to the fact that the massive magnesium- aluminium intermetallic phase is substituted by a finely dispersed lamellar structure of Al-RE intermetallics. The resulting combination of excellent elevated temperature properties and good ductility, as well as excellent corrosion resistance, means superiority of these alloys for demanding automotive engine and chassis applications.

Jan 1, 2006

By Ann Lamontagne

Le parc à résidus de l?ancienne mine Dunraine contient des résidus générateurs de drainage minier acide. Le concept proposé pour la restauration du site est d?utiliser le fort potentiel alcalin des boues rouges, résidus d?aluminerie, afin de neutraliser les résidus miniers. En appliquant une certaine quantité de boues rouges à la surface du parc, on provoquera une neutralisation de l?acidité. De plus, les alcalis contenus dans les boues rouges vont provoquer la précipitation de minéraux stables (sulfates tel la jarosite). La précipitation de ces minéraux provoquera la formation d?une couche indurée qui rendra difficile la circulation de l?oxygène et de l?eau. Bien que ce concept ait été vérifié en laboratoire, ce sont là des hypothèses qui restent à vérifier dans des conditions réelles d?exposition. Les principales questions soulevées par l?utilisation des boues rouges, mis à part le contexte géochimique, est le contexte technico-économique. En effet, le transport de quantité importante d?un matériel argileux humide présente un défi économique important. Outre le défi économique, la manipulation et l?épandage de ce produit sur des parcs à résidus constituent également un défi important. Cet article présente les conclusions d?une étude technique sur le transport, la manutention et l?épandage de boues rouges sur un parc à résidus situés en Abitibi : le site de Dunraine.

Nov 1, 2002

By A. M. Esteves

This paper offers an overview of local content policies and practice in the mining sector. Specifically, the paper aims to answer the question of how national and regional governments, industry and civil society can work together to seek an optimal outcome while pursuing their diverse objectives. The paper begins by defining local content and its scope at the subnational level. Specific recommendations for the design of local content policies to mitigate social, economic and governance risks are developed. The document then offers some recommendations regarding the role of partners in design, implementation, monitoring, and enforcement of local content policies.

Aug 1, 2013