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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 Emile D. L. Rienks

We have studied the interaction of NO with the quasi-hexagonally reconstructed Au(100) surface. Using variable temperature scanning tunneling microscopy we have observed formation of the unreconstructed phase of Au(100) after NO exposure. This NO adsorption induced phase transition is observed in a window of temperatures around 170 K. Under the same conditions, CO and O2 cannot drive the phase transition, suggesting weaker interaction. Thermal desorption spectroscopy experiments provide an estimate for the strength of NO chemisorption on Au(100) of 57 ± 4 kJ mol-1.

Oct 1, 2003

By Peter Clevenstine

Minnesota Iron Ore Trifecta 1. World Demand 2. Industry Consolidation 3. Competitive Advantages

May 1, 2011

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 R. E. Molnar, P. A. Riveros, V. M. McNamara

"This paper describes some recent research done at CANMET in the areas of ion exchange and A VR (Acidification- Volatilization Reneutralization), as applied to the recovery of gold and cyanide, respectively. It also discusses the ways in which these two technologies may be combined in order to minimize the environmental impact of gold milling operations and optimize reagent usage. IntroductionGold milling operations can essentially be divided into those that carry out a liquid/solid separation after leaching and those that recover gold directly from a leach pulp. The former produce a barren solution which may contain considerable amounts of cyanide, either free or cornplexed with metals. The latter produce a similar solution but this is now part of a slurry rather than a clear stream. Due to its toxicity, any excess cyanide must be destroyed before the effluent is discharged into the environment. Ideally, this should be (and sometimes is) accomplished by natural degradation. However, in many cases natural degradation alone cannot remove the last traces of rnetallocyanide compounds from the effluent and , as a result, most Canadian gold producers utilize a supplementary chemical oxidation system. This not only increases the operating costs, but concerns have also arisen in recent years about the formation of ammonia as a result of the chemical oxidation of cyanide (via CN--CNO--HCNO-NH3) ·"

Jan 1, 1993

By G. A. Fenton, A. Vervoort, M. Alvarez Grima

"High-risk underwater mining operations necessitate characterizing spatial heterogeneity and resource uncertainty. Local average subdivision is a method of simulating spatial deposit variability inside a cell through a sequence of discretization stages, during which a cell is further subdivided into four or eight cells. New developments are presented to validate simulated deposit models and deal with point measurements of geotechnical and ore-grade properties. This paper illustrates the relevance of translating spatial deposit variability into financial or operational performance indicators during underwater resource exploitation. Two synthetic case studies highlight the challenges of underwater mining in relation to production plans and equipment selection.RÉSUMÉ Les opérations d’extraction minière subaquatique à risque élevé exigent une caractérisation de l’hétérogénéité spatiale et de l’incertitude de la ressource. La moyenne locale de subdivision est une méthode de simuler la variabilité spatiale du gisement dans une cellule par une séquence d’étapes de discrétisation durant lesquelles une cellule est subdivisée en quatre ou huit cellules. De nouveaux développements sont présentés afin de valider les modèles de simulation des gisements et de traiter des mesures ponctuelles des propriétés géotechniques et de teneur du minerai. Le présent article illustre la pertinence de traduire la variabilité spatiale du gisement en indicateurs de rendement financier ou opérationnel durant l’exploitation subaquatique de la ressource. Deux cas synthétiques soulignent les défis de l’exploitation minière subaquatique par rapport aux plans de production et de choix des équipements."

Jan 1, 2015

By A. J. Smethurst, S. B. Hearn, S. Boskovic

"The problem of crud in solvent extraction is well known and can be a major handicap and operational issue. Colloidal silica can cause a number of problems including interfering with flocculation, initiating crud formation in solvent extraction (SX), decreasing SX extraction kinetics and increasing SX phase disengagement times. Flocculation can be utilized to remove some of the troublesome particulates but colloidal silica does not flocculate well and presents a different problem requiring innovative chemistry to solve. Coagulants can assist by facilitating the removal of this colloidal silica by promoting the agglomeration of the particles to a size which can be more readily settled or flocculated in solid/liquid separations. This is achieved when the coagulants bind to the surfaces, displacing water and destabilizing the colloids, whereupon they bind to each other which facilitate their amenability to conventional flocculation.INTRODUCTIONSilicate minerals are abundant in the upper layers of the Earth’s crust, and there are few mineral deposits without significant levels of gangue silicates. Silicate minerals include the pure silicas, such as quartz and other silicate containing minerals such as clays, chlorites, feldspars, as well a vast number of less common silicates.During the acid leaching of ores, two types of fine silica particles are released in solution from the dissolution of the host mineral. The first consists of partly depleted silicates, and the second is colloidal silica, which forms in solution. It is this second type which has the potential to cause crud formation as well as poor solution clarities, slow filter rates and excessive flocculant usage (Figure1)."

Jan 1, 2016

By Lawrence Devon Smith

"The concept of risk is well established in the mining industry. It is acknowledged when estimates of reserves are expressed as proven or probable, when mining and metallurgical recoveries are applied to the ore, and when contingencies are added to costs. However, it is difficult to provide a quantitative assessment of risk. The significant sources of risk in a mineral project and how these are addressed in project evaluations are discussed.The discount rate is examined as a fundamental means of reflecting risk in discounted cash flow evaluations. Current industry practice is discussed, and a methodology for the analysis of risk levels is proposed that assesses the constituent components of the discount rate: real interest, mineral project risks, and country risk.IntroductionThis paper examines the components of the discounted cash flow discount rate and proposes a method of estimating project-specific discount rates. The motivation for this work comes from experience of project evaluations in which owners and purchasers had agreed on virtually every aspect of the evaluation except how much the project was worth. Agreement was reached on reserves, grade, recovery, capital costs, operating costs, taxes, and, by combining these components, even on the final cash flow values. The only difference in opinion concerned the discount rate to be used in the calculation of the net present value. Depending on the life of the project, such differences of opinion can cause a variation of more than 50% in the value placed on a project! This is illustrated in Figure I."

Jan 1, 1995

By C. Doyle, D. M. Hoffman, C. Díaz, J. Hrepic, W. J. Koshut, R. H. Hanewald

"Recently, lining life of the INMETCO submerged arc furnace has been dramatically extended from an average of eleven months in the 1980s to a current record of 34 months. This paper summarizes test work and operating results describing the development and establishment of slag parameters that reduce corrosion of the magnesite-chrome refractory lining.The desired slag parameters are now maintained by utilizing waste streams as slag additives. This paper also discusses the successful evaluation of a rebonded-fused-grain magnesite- chrome refractory as a lower cost, more thermo-mechanically forgiving alternative to a fused-cast magnesite-chrome refractory that had been the refractory of choice in previous years at INMETCO.IntroductionSince 1978, INMETCO, a wholly owned subsidiary of INCO Limited, has been well known for recycling by-products from the production of stainless steel, namely, EAF bag- house dust, mill scale and grinding swarf. INMETCO operates the only smelter in North America dedicated to the recovery of nickel, chromium, and iron from hazardous and nonhazardous waste. The process was developed in the research laboratories of INCO. In recent years, the process has been successfully modified to accept a wider variety of other specialty steel waste streams including: spent pickling solutions, pickling and waste water treatment filter cakes, acid scale, carbon brick, spent bag-house bags, torch cutter dust, spent dolomitic and chromium-bearing refractories, and rechargeable nickel-cadmium batteries."

Jan 1, 1997

By Denis Beaudoin

Program Basics: Goals, Course Content & Training Process Sudbury: History of the Program & Lessons Learned Diavik: History of the Program & Lessons Learned Most Recent Program: Totten Mine in partnership with Sagamok Anishnabek Summary -Lessons Learned Conclusion

Oct 1, 2010

By Carl Edmunds

Talk Outline Deposit?s Vital Statistics and Economic Environment Regional Geologic Setting Deposit Geology UBC Research Search Model and Current Exploration Plans Kemess Operations Kemess South Mine Mining rate (2006) ?135,000 tonnes / day Mill throughput (2006) ?52,000 tonnes / day Average Annual Production ?300,000 oz gold and 75 million lbs copper ?Production until mid-2009 Kemess North > Open pit reserve 423.8 million tonnes @ 0.3 g/tgold and 0.18% copper > 4.1 million ounce gold reserve (127 tonnes) > 1.45 billion pound copper reserve (636,000 tonnes) > 0.75:1 Strip Ratio

May 1, 2006

By Graham E. Brown

Since the beginning of time, people later to be known as engineers and architects have strained to create methods whereby they could improve technology to assist them in their various fields of endeavour. Some of these improvements would be the change from linen paper, french chalk and ink pens to drafting film , mylar an d pencil for the production of drawings, the drafting machine in lieu of the tee and set squares, even tap e to attach drafting media to the board instead of thumb tacks and man y, man y more. All of these taken individually are insignificant but combined evolve to the current state-of-the-art in the computerized engineering environment. Ten years ago the major topic o f conversation was the hand-held calculator which for a cost of around $150 would give most trigonometric functions. Today the equivalent calculator can be purchased for around $25, is about one third the size, and if inflation were included over the last ten year s the item should cost around $550 in today' s dollars, it can be seen that tremendous advances not only in the technology but also the cost saving. The following paper is intended to outline some o f the significant aspects o f the latest technology in the computerized engineering office namely Interactive Graphics Systems.

Jan 1, 1985

By James Logan

BC Alkaline CuBC Cu--Au PorphyriesAu Porphyries ?Formed over narrow time interval ~205 Ma ?from silica deficientvsalkali-enriched magmas ?At shallowdepths ?Structuralcontrol ?Cu-Au-Ag, trace Mo ?Oxidized system anhydrite, magnetite ?Multipleintrusions & multiplemineralized centres

May 1, 2006

By Jaime Meléndez Martínez

Recent interest in unconventional reservoirs motivates our work in laboratory measurements of seismic anisotropy. Seismic anisotropy is the variation in speed of a wave as a function of its direction of propagation. Analyzing anisotropy in unconventional reservoirs is important since anisotropy leads, for example, to differential stresses upon loading and could affect hydraulic stimulation (Reinicke et al., 2010, Zimmermann and Reinicke, 2009); in this sense, laboratory measurements are an important tool to study seismic anisotropy at small scales which can aid in the characterization of larger formations. The purpose of this work is to describe the laboratory methodology used to simultaneously measure ultrasonic P and S-waves in three different directions from a single core sample. Elastic anisotropy of a Proterozoic sedimentary rock from south-west Alberta is investigated. In metamorphic rocks seismic anisotropy is caused by preferred mineralogical alignment or foliation. Assuming a transversally isotropic medium, arrays of compressional and shear piezoelectric ceramic transducers were mounted on a sample trimmed from a core to measure travel times of ultrasonic P-waves and S-waves as a function of confining pressure at directions perpendicular, parallel, and oblique to the plane of foliation (bedding). Results show strong anisotropy agreeing with the assumption of a transversely isotropic medium. Dependence of travel times and hysteresis effects can be observed when pressurizing and depressurizing.

Jun 1, 2012

By R. Heikkilä

A large research and development program called RYM PRE (Process Re-Engineering) has been active in Finland since 2010. As a part of the program, a work packet Infra FINBIM is focused on the development of new national process model, specifications and requirements for the whole Finnish Infra Industry. In the Infra FINBIM, total 15 companies and main owners and 3 research organisations are included. The work is further continuing. The main achieved results up today have been the first specifications and requirements of the BIM based total process for infra sector, about 30 different pilot projects for testing of the new design and construction process models producing a lot of results and observations, a new open information transfer format Inframodel3 based on LandXML standard, the achieved acceptance of the Building SMART organization for support of international development, utilization and extension of the format within the whole infra industry, processes, software and other technical equipment. An evaluation of the results and this work will be drawn.

Aug 1, 2013

By F. Bosché

Previous research has shown that ?Scan-vs-BIM? systems are powerful to provide valuable information for tracking structural works (progress, quality, safety). However, the transferability of this capability to other construction areas such as MEP works has not been assessed so far. Comparatively, the construction of MEP systems, in particular pipes and ducts, tends to be more flexible with respect to the positioning of individual components, so that Scan-vs-BIM systems could be defeated when tracking MEP installation works. This paper presents recent results on the feasibility and performance of using a Scan-vs- BIM system to track MEP works. The approach followed is presented and then tested with two real-life challenging case studies were conducted simultaneously but totally independently in Canada and Italy. The results show that, as expected, pipes and ducts tend to be more loosely positioned than structural elements leading to a poorer performance of the Scan-vs-BIM system. Nonetheless, it appears that the system works well to assess the level of conformance of site installation works, providing valuable information for estimating emerging performance metrics like ?percent built as-designed?. In addition, the proposed system could also be useful to accelerate and thus reduce the cost of delivering as-built BIM models for in the case of new builds.

Aug 1, 2013

By Donald Brisebois

The mining of high-grade, narrow vein deposits is an important field of activity in the precious metal mining sector. The principle factor that has undermined the profitability and effectiveness of mining such ore zones is the substantial dilution that occurs when blasting with explosives during extraction. In order to minimise dilution, the Thermal Fragmentation Mining Method enables the operator to extract a narrow mineralised corridor, 50 cm to 1 metre wide (according to the width of the vein), between two sub-level drifts. By inserting a strong burner powered by diesel fuel and compressed air into a pilot hole previously drilled directly into the vein, a thermal reaction is created, spalling the rock and enlarging the hole to 80 cm in diameter. The remaining ore between the thermal holes is broken loose using low powered explosives, leaving the waste walls intact. This patented method produces highly concentrated ore, resulting in 400% - 500% less dilution when compared to conventional mining methods. The mining method reduces the environmental affects of mining operations since much smaller quantities of rock are displaced, stockpiled, and treated using chemical agents. The fully mechanised equipment operated by a 2-person team (1 thermal fragmentation operator, 1 drilling operator) maximises the effectiveness of skilled personnel, and increases productivity and safety. The Thermal Fragmentation is currently employed in 3 mining operations in North America.

May 1, 2010

By Dong-kil Lee

A ventilation improvement index (VII) was developed in an effort to propose an optimal ventilation improvement measure for a designated mine. The index was designed to incorporate both ventilation effectiveness and cost efficiency. To verify the effect of the index, a mine experiencing a ventilation problem was selected, the ventilation assessed and ventilation network analyses were conducted. In the selected mine, four areas with ventilation difficulties were detected and an improvement schemes for each area were proposed. These were simulated through network simulation and evaluated using the ventilation improvement index. As a result, an optimum ventilation improvement scheme was proposed. The improvement scheme with the highest VII value was incorporated in the design.

Aug 1, 2013

By Noel G. Thomas

"This paper will identify where the industry is heading with iron· ore in the next ten years. From a customer's point of view, an indication of the changing, yet expanding, market will be made. This will progress further into the most likely changes in chemical and physical requirements of the ore products. No definite target can be set for 1990, but the logic from the direction of the changes will be established.IntroductionThe tonnage and quality of iron ore produced in the eighties will be heavily influenced by energy and investment considerations. That's not a great pronouncement, but this paper will explain how these two factors are :(I) influencing a disproportionate growth of electric furnace capacity and a greater use of scrap for iron units, in place of Iron ore;(2) influencing chemistry specifications; and(3) causing extensive examination of ore agglomerate form. Inflating investment costs are emphasizing the need for more productive blast furnaces, and the iron ore burden is under heavy examination as to how it affects productivity and coke rate."

Jan 1, 1981

By R. E. G. Caines, P. Alport

"Operating heavy equipment in Labrador, where the winters are 8 months long and the temperature frequently drops below -40°F (-40°C) for days and sometimes weeks presents unique problems in both the operation and maintenance junctions. Winterization programs must be well designed and implemented at the proper time. These programs must include the proper selection of fuel oil, engine oil, hydraulic oils, greases, cooling system fluids, etc. More often than not, modifications have to be made to the original equipment in order that it can be operated safely and economically in the Canadian North. Manufacturers usually design equipment for a less harsh environment and the user makes adaptations by trial and error.Operators have to be trained for the proper operation on ice- and snow-covered roads in an open-pit mine. Special emphasis must be put on haulage road conditions. In this paper, the authors will cover some specific maintenance procedures, equipment modifications and operator training problems experienced by the Iron Ore Company of Canada in its open-pit operation in Labrador.IntroductionT he Iron Ore Company of Canada is engaged in open-pit mining , concentrating and pelletizing of iron ore. The company operates in two provinces, Quebec and Newfoundland (Fig . 1) . The Knob Lake operation "", based in Schefferville, Quebec, has mine sites located both in Labrador and Quebec . The Caro l Lake Project is situated in Labrador, 25 kilometres east o f the Quebec border at Labrador City. The Carol operation mines, concentrates and pelletizes it s o re before rail transportation to the seaport o f Sept-lies via the Quebec North Shore and Labrador Railway."

Jan 1, 1984