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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 X. -G. Chen, K. Liu, N. Parson

"Precipitation-strengthening 6xxx alloys are widely used for building and construction and automobile industries due to their high strength, good weldability and corrosion resistance. However, their elevated-temperature properties (250–300°C) decrease rapidly due to the fast-coarsening of precipitates. On the other hand, dispersoid-hardening is one of the most efficient approaches to improve the elevated-temperature properties. Therefore, the evolution of dispersoids during heat treatment in Al-Mg-Si-Mn alloys was investigated in the present work. Various heat treatments with temperatures ranging from 300–500°Cfor up to 24 hours were performed. Electrical conductivity and microhardness were measured while optical and scanning electron microscopy combined with image analysis, were used to characterize the dispersoids. Special emphasis was placed on the evolution of the size and number density of the dispersoids under different heat treatment parameters. It was found that dispersoids started to precipitate at 350°Cfor 1 hour. Nucleation and growth were the main mechanisms at temperatures up to 400°Cwhile coarsening occurred at temperatures above 450°C. The quantitative results indicated that dispersoids precipitation reached the optimum condition after treatment at 400°Cfor 2–4 hours with a fine size and high number density, resulting in the highest hardness.INTRODUCTIONThe precipitation-hardening 6xxx aluminum alloys with major alloying elements of Mg and Si are one of the most widely used aluminum alloys for building and construction and automobile industries (Dinaharan & Murugan, 2012). In recent years, there have been increasing demands for aluminum structural components to be used at elevated temperatures (250–300°C) for different applications. However, the mechanical properties of 6xxx alloys at elevated temperature are typically reduced due to the rapid coarsening of precipitates at 250–300°C. It has been reported that the yield strength (YS) of AA6061 in the peak-aged condition drops from 276 MPa at room temperature to only 30 MPa at 315°C(Kaufman, 1999). Therefore, it is a key concern to improve the elevated-temperature properties of 6xxx alloys to expand their range of applications."

Jan 1, 2018

By F. Chiesa

Experimental results on thin and thick castings poured in aluminum A356 and magnesium AZ91E by the low pressure permanent mold process have been compared to the result of filling simulations for thin and thick castings. If the results of modeling is reliable when the liquid remains above the liquidus temperature, this is no longer the case when partial solidification occurs. The visco-elastic behavior of a partially solidified liquid is difficult to put into equation as it depends on the amount of shear it has been been subjected to. Attempts to predict misruns with a commercial software has been proven to be very difficult if not impossible; divergence of the numerical solution has been observed unless prohibitively long computing times are used. In order to overcome these difficulties from a practical standpoint, a simple method is proposed which consists in tracking the temperature of the advancing liquid metal front so as to make sure it will always be above so-called `Misrun Critical Temperature' (MCT) determined experimentally for thin and thick aluminum A356 and magnesium AZ91E castings. If the liquid metal front falls below this temperature, a cold-shut or misrun is likely to happen at this location. The values of MCT for thin and thick in aluminum A356 and magnesium AZ91E were determined experimentally on misrun castings of extreme geometries (a thin 2.5 mm wall cover and a 6mm to 25 mm thick bell housing). MCT was found to be lower for magnesium AZ91E and for the thicker castings.

Jan 1, 2011

By D. S. Conochie

The world is poised for rapid growth in consumption as large, less developed economies acquire greater wealth. It might be expected that there would be a corresponding growth in waste generation, but this might not necessarily be the case. The metallurgical industry has an excellent record of process development which has allowed it to provide a high tonnage supply of low cost, high quality metals. Environmental challenges have been faced and indeed the recycling of scrap iron through the electric arc furnace has made a massive contribution to cleaning up obsolete structures and equipment of past generations. Issues in waste generation and processing still remain, and the expectation for cleaner processing and environmental performance continues to rise. The waste impact of key process developments of the last century and the recent developments in metallurgical waste processing in Canada will be outlined. The potential to use state of the art design tools to produce the next generation of zero waste processes will then be explored.

Jan 1, 2004

Operating and Social Considerations from a Contractor?s Perspective

May 1, 2013

By C. Carrasco

Caletones Smelter, Division El Teniente of Codelco Chile, has used Teniente Converter (TC) as the only smelting unit since November 2000. The modernization project considered the shutdown of the last reverberatory furnace, the installation of the fourth Teniente Slag Cleaning Furnace, the installation of a new fluidized bed dryer and the modification of the concentrate injection system into TC. The modernization project and related investments allowed for the increase of the smelting capacity up to 1.25 million t of concentrate annually.Next stage of the smelter expansion in the year 2004 considered the increase of the smelting capacity up to 1.44 million t/year. The expansion required technology modernization and the installation of the new equipment, such as concentrate injection system, oxygen plant, fluidized bed dryer and storage bin. Currently the annual smelting capacity is about 1.35 million t of copper concentrate, being limited by sulphuric acid plant treatment capacity. This paper presents the technology and production evolution in the Caletones Smelter in the years 2000 - 2006, demonstrating the potential of development and competitiveness of Teniente Converter as world-wide recognized smelting/converting reactor.

Jan 1, 2007

By R. P. van Hille, N. Mooruth

Remediation of acid rock drainage (ARD) was performed within a linear flow channel reactor (LFCR) via a floating sulphur biofilm (FSB). A full sulphur species material balance was conducted in order to characterize the sulphide oxidation. The reactor was able to achieve an 82% and 93% conversion of sulphide with a hydraulic residence time of 2 and 5 days respectively. 92% and 55.5% of the converted sulphide reported to the biofilm as sulphur for the 2 and 5 day residence times respectively. The mass transport limitations within the biofilm were identified via a dissolved oxygen gradient profiling system.

Jan 1, 2011

By Amir Asadi

Various damage modes that evolve with time in polymer composite laminates, such as transverse cracking, vertical cracking, delamination, and fiber fracture, as well as the interaction among them, influence the time-dependent degradation in modulus (creep) and strength (creep rupture) of polymer composite laminates. This study is focused on modeling the time-dependent evolution of transverse cracking in [90] plies of a multidirectional polymer composite laminate [0m/190n]. This model uses a two-dimensional variational analysis to determine the stress state at any given creep time. The elastic stored energy, determined using this stress state, is compared with a critical energy for fracture to determine the crack evolution with creep time. Model predictions are compared with experimental results to validate the model.

Jan 1, 2010

By A. J. Makoka, B. C. Qi

Reliable monitoring of corrosion is vitally important in the combat against corrosion and over the last two decades the interpretation of electrochemical noise has received considerable attention as a means to discriminate between different types of corrosion. To this end, many different analytical methods have been proposed, such as power spectral density analysis and analysis via various other stochastic criteria. However, although many corrosion systems are nonlinear and therefore not readily interpretable by the abovementioned analytical approaches, few studies in the analysis of electrochemical noise to date have exploited advances made in the analysis of nonlinear systems. In this paper, the use of phase space methods to analyze and detect change in corrosion systems via electrochemical noise is considered. In particular, the electrochemical noise data are used to reconstruct trajectories in the so-called phase space of the system and changes in the topology of these trajectories or attractors as represented by correlation dimension curves are consequently interpreted as an indication of change in the dynamics of the system.

Jan 1, 2005

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. Hunka

PACIFIC PETROLEUMS, Ltd. first discovered commercial quantities of gas in the Peace River area in 1952. Development of gas wells in this area is quite ex-pensive due to low penetration rates. To improve the economics, the potential of the wells in many cases had to be increased. At that time, well stimulation was still in its infancy in Canada and in this area, in particular, no treatment of any consequence had been attempted. Therefore, trial-and-error was the only means available to determine the stimulating technique that would give optimum results. Various fluid treatments were available and these were used wherever the application was warrant-ed. This paper covers acid fracture and explosive treatments as carried out on various gas-bearing horizons.

Jan 1, 1958

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 L. Cheng, Y. W. Pan, Y. R. Liu

"Impounding deformation of slope and foundation is significant during and post dam construction. Reservoir impoundment is accompanied with various phenomena, including material degradation, effective stress decreasing and buoyancy in rock masses. These phenomena are related with some engineering concerns like reservoir-induced earthquake, landslide and dam stability. The Malpasset dam and Vajont dam are typical hydraulic projects suffering from seepage in dam foundation and slope, which finally led to failure and landslide. Pore pressure in jointed rock masses is considered in constitutive relation. The expression of effective stress for porous rock with fluids is incorporated into the Drucker-Prager criterion. Based on monitoring data of valley width and dam deformation, the effective stress law is applied to analyse the impounding influence of slope and foundation to Jinping-I high arch dam. The dam is accompanied with complicated topographical and geological conditions. The results show that calculated and monitored values agree well, and the application of effective stress law provides an approach to evaluate dam deformation, stress and stability with impounding effect considered.INTRODUCTIONImpounding deformation of slope and foundation is a common and significant problem during dam construction and operation. This phenomenon exists in a lot of reservoirs in China, like Laxiwa, Ertan, Xiluodu and Jinping-I arch dams, and some dams in Europe. It is related with some engineering concerns like reservoir-induced earthquake, landslide and dam stability. The Malpasset dam and Vajont dam are typical hydraulic projects suffering from seepage in dam foundation and slope. Monitored data indicates that the valley width tends to shrink in hydraulic engineering during the impounding process, which will change the stress and deformation of dam and abutment. Therefore, global stability of dam and foundation should be evaluated with impounding process taken into consideration."

Jan 1, 2015

By Matthew Novak, J. Brent Hiskey

It is well known that when chalcopyrite is put in direct contact with copper in an acidic medium a galvanic cell is created. Chalcopyrite is reduced to iron and sulfur deficient defect phases such as bornite, chalcocite, and at very low potentials to elemental copper. Galvanic conversion experiments were performed using three chalcopyrite concentrates. The first chalcopyrite contained less than 10% impurity phases. The second concentrate had a high concentration of pyrite, and the third concentrate had a high concentration of pyrrhotite. The effect of temperature, acid concentration, chalcopyrite grain size, copper grain size, and agitation on the rate of chalcopyrite conversion was studied.

Jan 1, 2014

By Thomas Genty, Pascal Marcotte, Matthew Gillman, John Baechler

Elevated concentrations of ammonia nitrogen is a common characteristic of mine impacted water and generally results from the dissolution of undetonated explosives (i.e., Ammonium Nitrate and Fuel Oil and emulsion explosives) by contact water. Several active water treatment technologies are commercially available to remove ammonia nitrogen, but reduction of active treatment demand by promoting natural attenuation is considered best industry practice. In this paper, the results of laboratory-scale and full-scale trials of a semi-passive approach (i.e., enhanced algae growth) to remove ammonia nitrogen at the Meliadine mine are presented. Phosphorus was found to be the limiting factor to algae growth at the mine site. The addition of various concentrations of phosphorus was first tested at a laboratory scale. The samples were exposed to in-situ conditions, and ammonia nitrogen removal rates ranging from 40% to 93% were achieved over a period of 24 days. This paper also presents the methodology and results of an in-pond treatment during which a 50% ammonia nitrogen removal rate was observed after 68 days. The studied mine site uses breakpoint chlorination as its primary treatment approach for ammonia nitrogen removal. The results presented in this paper show the potential of using enhanced algae growth as a pre-treatment method, subsequently reducing the quantity of chemicals required for operating the breakpoint chlorination plant. This potential requires further investigation and additional trials are currently under evaluation.

Jan 1, 2023

By Zhan Zhang, Hiromi Nagaumi, Zhen Li

"Recently, the remarkable strengthening effect of ??-Al(Mn, Fe) Si dispersoids at both ambient temperature and elevated temperature were found by several researches. A large amount of dispersoids can be formed by applying special heat treatments and within a suitable range of chemical composition of AA3xxx alloys. In the present work, the influences of Cr addition on the mechanical properties and microstructures of the Al-Mn-Mg-Si alloys were investigated. The mechanical properties at ambient and elevated temperatures were evaluated by micro-hardness and yield strength. Moreover, the microstructures in as-cast and heat-treated conditions were quantitatively analyzed by optical and electron microscopes. Results revealed that Cr also had effect on the number density and volume fraction of dispersoids. Micro-hardness and yield strength at ambient temperature increased with the increasing content of Cr, and the Cr addition increased the yield strength at elevated temperature as well. Moreover, the creep resistance at 300°C improved dramatically with the increasing content of Cr.INTRODUCTION Traditionally, AA3xxx aluminum alloys were widely used in packaging, automobile and architecture industries, because of its good formability, excellent corrosion resistance and weldability. And AA3xxx alloys were considered as non-heat-treatable alloys. However, the strengthening effect of dispersoids in AA3xxx alloys was discovered recently (Li & Arnberg, 2003;Li, Muggerud, Olsen, & Furu, 2012; Li, Zhang, & Chen, 2016; Liu & Chen, 2015).Alarge amount of dispersoids could precipitate by a proper heat treatment.In order to further improve AA3xxxalloys, the composition of the alloys should be optimized. A few previous studies were reported to investigate the influence of compositions on AA3xxx alloys. Adding Mn element could enhance the precipitation of ??-Al(Mn, Fe)Si dispersoids and improve the yield strength(Muggerud, Mørtsell, Li, & Holmestad, 2013), as long as the concentration of Mn was under the solid solution limit. Fe decreased the solubility of Mn and accelerated the precipitation rate of ??-Al(Mn, Fe)Sidispersoids(Li & Arnberg, 2003), the yield strength and creep resistance at elevated temperature could increase with an optimized content of Fe(Liu & Chen, 2016). Mg element would affect the nucleation process of ??-Al(Mn, Fe)Sidispersoids by forming metastable Mg2Si(Hirasawa, 1975; Li, Zhang, & Chen, 2017a; Lodgaard & Ryum, 2000), metastable Mg2Si precipitated during heating process and promoted the precipitation of ??-Al(Mn, Fe)Sidispersoids, moreover, Mg provided solid solution strength for AA3004 alloys(Li et al., 2016). Si increased the volume fractionof ??-Al(Mn, Fe)Sidispersoids(Muggerud et al., 2013)and decreased the size of ??-Al(Mn, Fe)Sidispersoids(Li, Zhang, & Chen, 2017b). With the addition of Mo, the size of dispersoids became finer with a higher volume fraction, the volume percentage of dispersoid free zones was reduced. Elevated temperature yield strength and creep resistance improved due to Mo addition (Liu, Ma, & Chen, 2017).However, the effect of Crelements on microstructure and mechanical properties of AA3xxx alloys were rarely reported."

Jan 1, 2018

By Karl J. C. Harries

"The Table of Contents that follows is only an example and is the Table of Contents from an actual negotiated agreement. It is merely intended to show how an agreement might be set out and the nature of possible provisions. As a negotiated agreement the format was dictated by the negotiations. It is not offered as a precedent of what should be contained in a joint venture agreement (“JVA”), the “proper” sequence of Articles, or a complete listing of the contents of joint venture agreements generally. The set-up used for an agreement should be decided by the parties and be one they consider flows in a logical and workable sequence. This example sets out the “deal” first, followed by the provisions relating to how work is to be carried out and then by administrative provisions necessary to make the agreement work. If you are more comfortable with, say, having the Committee provisions at the beginning, by all means have it drafted that way -- you are going to have to live with the agreement and work under it.Notes:1. The Table of Contents provisions appear in bold print. The italicized sections are annotations, which have been provided in some cases where the heading may not clearly describe the contents. They are not intended to be comprehensive, but refer to some specific matters that are considered to be of interest or to need some clarification.2. The subject matter of many of the articles and paragraphs is discussed or commented upon in the text of the book. Some of section cross-references have been provided. Such references are only to sections where the topic is a principal subject and no attempt has been made to provide a comprehensive indexing.3. Although this particular agreement is a three-party agreement, *B* and *C*, the Owners, are required to act as a unit (see para. 1.09. – § 8.44.), making the agreement effectively a two-party agreement. The parties insisted upon having a decision-making Committee and structuring the agreement accordingly. As is explained in § 8.11., such an arrangement is not recommended and can result in problems.5. See also §§ 8.24., 8.41. and 14.13. for discussions on tables of contents, summaries, and headings."

Jan 1, 2003

By X. Cao, J. J. Jonas, Wanjara. P., J. Gholipour, E. Dalgaard

The linear friction welding (LFW) behaviour of near-ß titanium alloy Ti-5Al-5V-5Mo-3Cr (Ti- 5553) was investigated. Microhardness measurements were performed in order to evaluate the mechanical properties of the welded material. The linear friction welded (LFWed) Ti-5553 was examined with optical microscopy and scanning electron microscopy (SEM) to evaluate the microstructure’s response to the thermomechanical conditions. Characterization of the welds included analysis of the microstructural features of the weld region and thermomechanically affected zone (TMAZ) in relation to the parent material.

Jan 1, 2010

By J. Pepin

When using alternating current submerged arc welding (SAW) to produce pipes from microalloyed linepipe steels, it is critical to balance penetration depth and deposition rates, in order to minimize the number of weld passes while still maintaining good heat affected zone (HAZ) microstructures and properties. A series of bead-on-plate (BOP) submerged arc welds were performed on X70 steel, using different waveform variable settings (i.e., balance, offset and frequency). Weld bead cross-section profile deposition and penetration areas were measured, and both Vickers hardness and Charpy V-notch impact testing were performed. Both single electrode and tandem electrode welds were evaluated.

Jan 1, 2011

By D. Stone, N. J. Aslin, W. Webb

In today's modem copper electro-refineries, increasingly higher average current densities are being employed. With these increases many refineries are approaching their limiting current density. The nearness of the average operating current density to the limiting current density has placed increasing emphasis on the need to maintain an even current distribution. This paper explores the importance of maintaining even current density and discusses the factors, processes and practices that are necessary to achieve and maintain high quality production at high operational intensity.

Jan 1, 2005