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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 J. Shahabpour

"Abstract - Breccias with angular and rounded clasts of a late-mineralization, ""barren"" hornblende porphyry dike set within a comminuted matrix consisting of rock fragments and quartz, cemented by quartz and K-feldspar of hydrothermal origin is observed in diamond drill cores from the Sar Cheshmeh porphyry copper deposit. Studies of age relationship between vein types, phyllic-altered clasts and the breccia groundmass suggest that the brecciation is a late event. The breccia clasts record evidence of hydrothermal reaction between the clasts and fluids responsible for the brecciation.Formation of bornite, in the breccia clasts of the originally barren hornblende porphyry dike, and in the breccia matrix, along with the scarcity of bornite in the Sar Cheshmeh deposit itself suggest involvement of fluids which are later and of different composition from the fluids responsible for the known mineralization at Sar Cheshmeh. These later fluids may be related to a later plutonic event and suggest the possibility of a later, and concealed deposit."

Jan 1, 1994

By A. H. Onur

Spontaneous combustion of coal is a significant hazard in underground coal mines. It causes serious problems for miners for many years after the fact. It threatens workers? lives and causes economic losses for companies. It disrupts coal production and makes it necessary to abandon the main drift where the spontaneous combustion occurred. Coal fires have to be prevented before they occur; otherwise they are very hard to control. Precautions thus have to be taken in potentially risky areas. For coal to spontaneously combust, it needs 3 elements: fuel, oxygen and heat. If one of them is missing, the fire cannot occur. The best way to prevent spontaneous combustion is to prevent contact between coal and air. Coating of the coal surface with an air-proof lining material would be a practical and useful solution to prevent spontaneous combustion of coal. In the scope of this study, a lining material for coating the coal surface was designed at laboratory conditions. Lining material to be used for preventing coal fires should be airproof, cheap, sufficiently strong, have low rebound, be water- and heat-resistant, and easily obtained and applied. It should also be safe for human health when in contact with mine ventilation. By considering these obligations, 3 kinds of gypsum (plaster, satin plaster, molding plaster), as well as lime, cement and fly ash and different mixtures of these materials were applied in laboratory conditions to form a lining material. Samples of lining material were subjected to uniaxial compressive strength tests to determine their behavior against roof loads. Although there is no need to carry any roof load, the lining material has to be sufficiently strong to stay in place on the applied surface. If the lining material is broken, coal and oxygen can react again. Air permeability and curing time of the mixtures were also tested in laboratory conditions. Then the tested mixtures were applied on a wall with a pump to test the applicability of mixtures. After all tests were performed in laboratory, the most suitable mixture was determined as the optimal lining material to prevent coal fires.

Aug 1, 2013

By G. A. Vissac

In this paper we intend to deal particularly with the economic side of coal washing as it applies to our mines. We will then discuss why the dry-cleaning process has been selected, and give a brief description of our plant, dwelling only on its specific features and referring the reader to the numerous papers published on the subject for any details on the principles and machinery used in dry cleaning. ECONOMIC DISCUSSION The washery introduces an extra cost for depreciation, operation, and loss in treatment. A certain proportion of the coal, now being sold, and which the miners have been paid for. will have to be wasted. As a whole, the total increase in cost would be approximately 60 cents per ton. On the possibility of recovering this amount depends the success of the washery. There are two advantages to be expected from the washery, the first, which occurs at the mine and which will be certain; the second, more difficult to estimate, because it depends upon convincing our customers that they should pay more for a better product.

Jan 1, 1924

By E. De Souza

Energy associated with ventilating an underground operation comprises a significant portion of a mine operation's base energy demand and is consequently responsible for a large percentage of the total operating costs. Ventilation systems may account from 25?40% of the total energy costs and 40?50% of the energy consumption of a mine operation. Fans are the most important mechanical devices used to ventilate underground mines and the total fan power installed in a single mine operation can easily exceed 10,000 kW. Investigations of a number of mine main fan installations have determined their assemblage to be, in general, very energy inefficient. The author has found that 40?80% of the energy consumed by a main fan is used to overcome the resistance of fan assemblage components. This paper presents how engineering design principles can be applied to improve the performance and efficiency of fan installations, resulting in substantial reductions in power consumption, operating cost and greenhouse gas emissions. A detailed case study is presented to demonstrate that, by designing fan assemblages using proper engineering concepts of fluid physics and industrial ventilation design, main fan systems will operate at efficiencies well above 80?90% (compared to common operating efficiencies of between 20 and 65%), resulting in a drastic reduction in a mine's overall costs and base electrical and energy loads.

Aug 1, 2013

By S. Abu-Samra

By virtue of its complex nature, the construction industry comprises a wide spectrum of interrelated variables and factors. This multifaceted character of the construction industry puts the use of engineering modeling tools and techniques on top of project management necessities. This research introduces a macro-level earthmoving management system using Genetic Algorithms (GAs) to reach the optimum allocation of earthmoving equipment. The Earthmoving Equipment Management System (EEMS) functions through four integrated modules: (1) A Central Database containing information about projects and available equipment; (2) An Equipment per Segment Selection module that calculates the cut and fill quantities, plots the Mass Haul Diagrams, and selects the equipment types to be used for each segment; (3) An Equipment Pool module which determines the production and cost for each available equipment, based upon the project site conditions; and (4) An Optimization Engine equipped with a GA optimization solver. This engine formulates the optimum earthmoving cost for all projects, by changing the number of allocated equipment. The Optimization Engine takes into account the number of available equipment and calculates the weekly equipment allocation. The EEMS model was implemented on an earthmoving company conducting five different projects on hand. The model proved to be an effective tool in providing decision makers with optimum equipment utilization on a multi-project scale to minimize the earthmoving cost. The results were then compared with the company?s existing micro-level management system, demonstrating better performance on the level of savings, amounting to 13% of total earthmoving cost.

Aug 1, 2013

By Gonzalo Díaz, Diego Mesa, Willy Kracht

"It is well known that frothers affect the amount of water that is transferred to the froth, which has an effect on both the froth stability and the water recovery. On the other hand, since non-selective recovery by entrainment is directly related to water recovery, it can be said that frothers have an indirect effect on flotation selectivity. Recent research on this subject has shown that the non-selective recovery by entrainment, which is characterized by the entrainment factor, is frother dependent. In other words, the entrainment factor is not unique, but depends on frother type.Having different entrainment factors implies that for the same water recovery, the amount of undesired particles reporting to the concentrate may vary if one changes the frother type, which suggests, as a possible explanation, that it is not only the amount of water in the froth what is affected by frother type, but also the froth structure.The purpose of the current work is to study the effect of frother type on foam structure (two phase froth). A quasi-2D cell operated with a slot sparger was used to study the foam structure in the presence of three different frothers: Methyl Isobutyl Carbinol (MIBC), OrePrep®549, and Octanol at the same gas flow rate and reagent dosage. The foam structure was studied using image analysis, and an algorithm based on textural analysis was developed to classify the foams. The results show that it is possible to classify foams according to the frother used, which proves that frothers have an effect on the foam structure.INTRODUCTIONFrothers are usually dosed paying attention to froth stability, condition that is commonly estimated by sight, according to the operator's criteria and experience. This happens because there is not an established procedure or technique for frother characterization, generating qualitative descriptions such as “powerful” or “selective” frothers, which lack of scientific thoroughness and remain under subjective factors. Nevertheless, several works have been done in this line of research. Moyo et al. (2007) classified frothers based on their water-carrying capacity, proving that this characteristic is related with gas holdup and frother type. Previously, Trahar (1981) had related water recovery and gangue particles recovery, defining the entrainment value (ENT). Nowadays it is known that entrainment affects both hydrophilic and hydrophobic because it is not a selective process. In the last decade some studies (for example the one of Konopacka and Drzymala (2010)) delved into different entrainment behaviours dependent mainly on the flotation type (batch or continuous, agitated or columnar, etc.), but there were no studies on the effect of frother type regarding entrainment, since Rahal et al. (2001) argued that the ENT factor was independent of the frother type and concentration, and froth height."

Jan 1, 2016

By Nader Golchinfar

The V-shaped breakout zones around excavation boundary have been captured by a variety of numerical methods such as FEM and DEM methods and failure criteria such as linear Mohr-Coulomb and non-linear Hoek-Brown failure criteria. Diederichs (2007) used Hoek-Brown parameters in his spalling parameter approach; however, it is convenient to use the Mohr-Coulomb failure criterion in numerical modeling because the material parameters can easily be determined from triaxial tests. It is shown in this study that when peak and residual strength parameters as well as dilation angle are properly defined, the brittle Mohr-Coulomb failure criterion can be used to model depth of failure near underground excavations satisfactorily.

Jun 1, 2012

By W. N. Hamilton

Industrial minerals are plentiful in Alberta. Although exi ting in variety and in quantity, they constitute a minor segment of the province's mineral industry, which is based on oil and gas. In 1983 Alberta led all the other provinces in value of mineral production with a total of $22,2 18 million, 62 per cent of the total for Canada. Of Alberta's total, $22 million or about 3 per cent came from the indu trial minerals. Nearly two-third of this production is accounted for by sulphur, which is actually a by-product of the oil and ga industry. Alberta ranked third among the province in industrial minerals production for 1983, with about 20 per cent of the national total.

Jan 1, 1984

By M. Maleki-Moghaddam

At the concentration plant of the Gol-E-Gohar Iron Ore Company (Iran) three 9 m × 2.05 m AG mills (fixed speed) are used in parallel in a dry operation. The performance of AG mills has been lower than the target value indicated by an increase in the product size (P80) from 450 µm (target) to 515 µm and low power draw (50% of nominal). By simulation it was found that increasing the liner lifter face angle from 7 to 30o while keeping the original lifter height (i.e., 22.5 cm) could provide an appropriate charge trajectory. When the proposed liners installed in one of the AG mills, the throughput increased by 27%; when 5% (v/v) balls were added the throughput increased by 40%. The product size also decreased from 515 to 501 µm.

Jan 1, 2012

By J. Guha, el, G. Bouchard, W. Zuckerk, J. Carignan, G. Archambault

The Gwillim Mine, located 8 km northwest of Chibougamau, is underlain by two mafic volcanic cycles separated by a dominantly felsic cycle. These rocks are part of the Gilman Formation of the Roy Group. The mafic rocks are cut by weak shear zones containing the "North" and "Main" veins, both east-west striking gold-bearing structures dipping 75° to the north. The felsic cycle, which is also gold-bearing, contains textures suggesting a syngenetic origin. The Gwillim Mine presents an excellent opportunity for the study of what may be two coexisting gold deposits, a volcanogenic and a veine type.

Jan 1, 1984

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 Karina Forster

Open stope design depends on the ore body geometry, loading conditions and rock mass properties to estimate stope dilution and ground support requirements. Rock mass conditions for design primarily rely upon estimates of well established rock classification systems. Many sources of data exist for obtaining estimates for these rock mass classification values which include core logging, geotechnical mapping, geological mapping as well as linking one classification system to another through the use of empirically derived equations. The extent of mapping coverage can also vary significantly based on the data collection technique. This paper proposes an approach where individual components of rock mass classification systems are collected by the different available data collection techniques. Data from different rock types are also considered separately based on their alteration characteristics and general observation products. Data from the Cameco Corporation Eagle Point Mine is presented and an approach is outlined for obtaining average representative classification values for stope hanging wall characterization. The effectiveness of this approach is demonstrated through the analysis of a data base of hanging wall dilution information.

Jun 1, 2012

By S. Joshi, E. Asselin

An electrochemical quartz crystal microbalance (EQCM) was used to study the leaching of pure gold in deaerated 1 M Na2S solution. Multiple cyclic voltammograms were measured between -0.76 and 1.242 V (SHE) at 20 mV/sec and 2 mV/sec and the frequency shift of the quartz crystal was simultaneously measured. Both the forward and reverse scans showed oxidation occurred between -0.40 to 0.20V. The frequency shift increased during both the forward and reverse scans in the potential range of -0.40 to -0.06 V indicating electrode mass decreased. Since at -0.40 to 0.20 V oxidation peaks were also observed, part of the oxidation was due to oxidation of gold. Eh-pH diagrams were constructed and showed soluble Au(I)-S(IV) species formed between -0.30 and 0.10 V (SHE). Atomic absorption spectroscopy of the test solutions and the mass change recorded by EQCM both showed about 0.015 mg of gold leached. Since the majority of the frequency shift increase corresponding to gold oxidation occurred at -0.40 to -0.06 V during multiple cyclic voltammogram measurement, the total leaching of gold could be approximated to occur at this potential interval to give a leaching rate of ca. 6.4x10-5 mg/s-cm2.

Jan 1, 2011

By Moe Momayez

Shotcrete is a practical and economical support system in many Canadian underground mines. Although shotcrete technology has gained acceptance in the mining industry, there are some problems that have emerged with respect to quality assessment and thickness measurement of the liner. This paper presents recent tests performed with a miniature seismic reflection device developed primarily for thickness measurement of this heterogeneous liner. Work was performed on site in an underground mine in Ontario, Canada. This paper also presents the results from laboratory tests performed on fibre reinforced and non-reinforced shotcrete panels that were used to assess the P-wave velocity in both materials. The results of these tests were used in a second on site investigation. The NDT thickness measurements showed good agreement with direct thickness measurement such as coring.

May 1, 2001

By K. Szczesny

This paper considers the integration of uncertain real-time logistics data for reactive construction scheduling. In order to manage a construction project efficiently, an accurate schedule representing the current project progress is inevitable. The quality and up-to-dateness of such a schedule depends on the availability of real-time data. Typically, real-time logistics data contain information about the availability of material, equipment and personnel as well as delivery dates and site conditions. The accuracy and inherent uncertainty depends on the location where the real-time data was acquired. Currently, the integration of such data into a construction schedule is a very time-consuming, manual and, thus, errorprone process. Therefore, this paper proposes a methodology that enables an automatic integration of such uncertain data into construction schedules. By integrating uncertainties into the existing schedule their impacts on the construction work can be evaluated. For this, discrete event simulation is applied. In order to model uncertain input parameters for simulation models this methodology applies the fuzzy sets theory. In combination with alpha-cut sampling technique, discrete model input parameters are obtained. By applying reactive scheduling with several discrete event simulation experiments, the results can be used to modify construction schedules according to agreed timeframes and costs. In order to demonstrate and validate the presented approach an example is conducted.

Aug 1, 2013

By M. Kamyab

The Deep Exploration Technology project, as part of the Australian Cooperative Research Centre, is developing technologies to drill deep boreholes for mineral exploration purposes. The aim of the initiative is to transfer drilling technologies from oil and gas into mining applications. Several modifications have to be pondered due to this technology exchange: smaller cuttings sizes because of using impregnated diamond bits; narrower annulus space; higher drilling fluid velocity and likelihood of turbulent flow regime in the annulus; and higher pressure loss. In particular the results of our lab experiments have shown that the increase in concentration of small size cuttings can significantly change the rheology of the mud when drilling in hard rocks. This, in return, could have a noticeable increase in the pressure loss encountered along the annulus space. As a continuation of the above study, numerical simulations were conducted to investigate the cuttings transport behaviour in small size annulus space. Fluid velocity, annulus size, cuttings concentration, cuttings density, and cuttings size were some of the parameters that were varied to see their effects on cuttings transportation and the pressure loss along the annulus space. The results indicate that, due to the differences between oil and gas and mining drilling, conventional oil well planning is not applicable for mineral exploration drilling and numerical simulation would help in this matter.

Aug 1, 2013

By R. W. Lawrence, O. Lopez

Many gold deposits in the world have not been developed clue to the presence of copper and other base metals which can cause metallurgical and environmental challenges clue to the formation of base metal cyanide complexes. SART technology (sulphidization-acidification-recycle-thickening) can resolve these issues by recovering copper as a high grade sulphide concentrate, recycling the associated cyanide back to the gold leach, and eliminating the downstream environmental liabilities. Project economics can be improved substantially, leading to a positive re-evaluation of new and existing gold-copper projects. Some aspects of the design and operation of two recently commissioned SART plants will be discussed.

Jan 1, 2011

By William Hawker, James Vaughan, Jeff Chen, Antony van der Ent

"Nickel agromining utilizes hyperaccumulator plants (“metal crops”) to extract nickel from low-grade soils, a process that yields high-grade nickel bio-ore. This feedstock is further processed into a range of nickel products. The bio-ore is relatively free of impurities that complicate the traditional processing of laterite nickel ores. In this paper, current primary nickel processing routes and proposed nickel bio-ore processing options are summarised. A novel pyro-hydrometallurgical route demonstrated at the laboratory scale is described. This process produces a precipitated nickel hydroxide product and takes advantage of the water-soluble basic compounds in the ash to minimise reagent requirements, thereby making it suitable for small-scale implementation in close proximity to the nickel farm. In this process, nickel is precipitated from the leach solution using the basic ash wash liquor. Leaching nickel from ash generated from open air burning requires strong acid and long residence times to obtain high recoveries due to its complex nature and distribution of nickel in multiple phases. This process can be improved by optimising the ashing process with respect to nickel leachability.INTRODUCTIONHyperaccumulator plants have the unique capacity to ‘biopurify’ and concentrate certain trace elements (e.g. nickel) from the soil into their biomass (Reeves 2003; van der Ent et al., 2015). Cultivating these plants as ‘metal crops’ by periodically harvesting and incinerating their biomass generates a high-grade bio-ore (Chaney et al. 1998; Li et al. 2003). This process is called phytomining or ‘agromining’ which is an emerging technology for extracting nickel from sub-economic resources (van der Ent et al., 2015). Potential near-term applications of the technology include implementation on land ahead of processing of the underlying ore-body (Willis 2015), as a mine-site rehabilitation strategy or as an alternative crop for farmers on land that is not suitable for normal food crops. In the longer term, nickel agromining could provide a significant supplement to the nickel supply chain. Critical to the success of agromining is effective bio-ore processing. Due to the unique chemical composition of this feedstock material, existing processes are not very efficient. Our current research efforts aim to develop new process options that overcome limitations of previously trialled routes. In this paper we summarise conventional nickel process routes and proposed new options for producing agromined nickel."

Jan 1, 2016

By Kazutoshi Haga, Ariunbolor Narankhuu, Ariuntuya Battsengel, Yasushi Watanabe, Altansukh Batnasan, Akita University

"Rare earth minerals are usually concentrated by flotation, magnetic or gravity separation methods to produce concentrates that are subsequently leached with hydrochloric (HCl), sulfuric acid (H2SO4) or nitric acid (HNO3). About 75 % REEs are lost in gypsum by-product when apatite is dissolved in H2SO4, whereas more than 80% of REE can be extracted from the apatite using HCl and HNO3 leaching processes, respectively. Therefore, the main aim of this study was to find an efficient process of dissolution of rare earth elements (REEs) from apatite ore by sulfuric acid solution due to its lower cost. In order to optimize the dissolution process, effects of different parameters, namely, concentration of H2SO4 (0.05 – 6 M), solid/liquid phase ratio (1:50 – 1:100), temperature (20 – 80 ºC), agitation speed (300 – 900 rpm), and leaching time (0.5 - 6 h) on the dissolution of REEs from apatite ore were examined in various intervals. The contents of main REEs in the apatite ore used in this study were (as % wt): 3 % La, 6 % Ce, 0.6 % Pr, 2.1 % Nd, 0.2 % Sm and 0.3 % Y. X-ray diffraction (XRD) analysis identified fluorapatite and phlogopite as main minerals in the ore. The results obtained from leaching experiments showed that more than 85% of REEs were dissolved from the apatite ore under the optimized conditions, which were: 1 M H2SO4, particle size of -150 + 100 µm, S:L phase ratio of 1:50, agitation speed of 500 rpm at 20 ºC for 1h. The XRD analysis revealed that main mineral compositions of the residues from 1M and 6 M H2SO4 leaching are gypsum (CaSO42H2O) and hemigypsum (CaSO40.5H2O), respectively.INTRODUCTIONThe term rare earth elements (REEs) denote the group of 17 chemically similar metallic elements consisting of the 15 lanthanides, plus yttrium (Y) and scandium (Sc) in the periodic table. These metallic elements are generally divided into two sub-groups; (1) the cerium sub-group, which is called “light rare earth elements” (LREEs), includes the elements from lanthanum (La) to europium (Eu), and (2) the yttrium (Y) sub-group elements, which are known as “heavy rare earth elements” (HREEs), are the remaining lanthanides from gadolinium (Gd) to lutetium (Lu) plus yttrium (Gupta and Krishnamurthy, 2005). The REEs occur together in the minerals due to their chemical and physical similarities, which cause problems of separating them from one another (Abreu and Morais, 2014). Although REEs are relatively abundant in the earth’s crust, they are typically dispersed and rarely occur in concentrated forms, making them economically challenging to obtain. There are a wide variety of rare earth minerals, however economic deposits of REEs in mining are bastnasite (La, Ce) FCO3, monazite (Ce, La, Y, Th) PO4, and xenotime YPO4 (Binnemans, 2013; Xie, et al, 2014). Due to the unique physical, chemical, catalytic, electrical, magnetic and optical properties of REEs, demand of these elements has increased dramatically with the advent of new technologies in electronics, communication, construction, energy and medicine (Jordens, et al, 2013). Since 1990, China has provided about 90 % of REEs worldwide. Japan and United States are the largest consumers of China’s REEs. In 2010, China announced to reduce REEs exports to Japan, as it tended to increase prices of REEs and to reduce a stable supply of REEs in the world market (Humphries, 2013). Therefore, there has been an increase in recent exploration activities intended to reveal new commercial sources of REEs and to bring them into production (Antico, et al, 1996). Apatite is an important host mineral for REEs in igneous and metamorphic rocks and can be used as an ore for those metals (Kanazawa and Kamitani, 2006). Apatite is also the main source of phosphate fertilizers and phosphoric acid (Habashi, 2013; Emsbo, 2015)."

Jan 1, 2016