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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 K. Thuro, L. Wilfing, H. Kasling

"In mechanized tunneling, performance prediction is a crucial issue for estimating excavation costs and construction time of a tunnel project. The aim of this work is to compare the calculated parameters by penetration prediction models with the results of penetration tests during excavation by a Tunnel Boring Machine (TBM) at actual tunnel projects. This comparison helps to improve the existing prediction models (Gehring, 1995 and Rostami (Colorado School of Mines), 1997.) and to develop a new, so-called “Alpine Model” (research group ABROCK; Schneider et al., 2012).On-site penetration tests are a common tool to determine performance of a TBM in certain geological environments. During a test, the TBM is operated under defined conditions that allow comparing the results of different projects and machine types. There are two different types of penetration tests in use. The more common type, described by Bruland (1998a), is based on test drives at different thrust levels. The tests in this study are performed as start-stop-tests, meaning that the TBM starts from zero to the maximum possible thrust and reverse with slowly increasing respectively decreasing steps (Frenzel et al., 2012). To gain information about the interaction between TBM and rock mass, a detailed geological documentation including an analysis of the discontinuity pattern and laboratory testing for rock strength characterization are mandatory.Within the last year 16 penetration tests have been performed. The results are thrust- penetration curves (Figure 2) showing that up to a certain penetration rate only crushing occurs (subcritical penetration). From there the desired rock fragmentation process called chipping takes place (Frenzel et al., 2012). These two different fragmentation processes can be described best by a bilinear function as seen in Figure 3. Both, CSM- and Gehring-model, do not fit to the trend of the penetration rates determined during the excavation process as they are using potential or simple linear functions.Another parameter that has to be implemented into the new prediction model is the influence of discontinuities. In case of favorable orientation and spacing, discontinuities reduce the required thrust at same penetration rates. In contrast, unfavorable discontinuity systems can cause blocky faces and hence worse performance than predicted. Besides discontinuities, the toughness of rocks has to be taken into account when predicting the penetration as tough rocks need more energy to obtain complete failure than brittle rocks.Key advantage of these tests in comparison to existing are more data points in less time. By improving respectively extending the existing penetration prediction models with the stated parameters, the penetration prediction for TBMs can be more accurate and also wear calculation can benefit from this approach."

Jan 1, 2015

By E. Rosseland

Glencore Nikkelverk is operating its Chlorine Leach Process in Kristiansand, Norway, producing nickel, copper and cobalt metals by electrowinning. The copper tankhouse, with an annual capacity of 40 000 tons, is based on traditional technology with copper starting sheets and cast lead anodes. Due to the integration of this copper sulphate process in a nickel chloride refinery, operating conditions are unique. In recent years, operating costs have escalated, and health, safety and environment are top priorities. Test work on a new copper process involving permanent cathodes was therefore initiated in 2007, and a pilot plant was started up in 2012. The objective was to introduce innovative technologies and tailor these to be robust in the Nikkelverk process, to form a basis for a new sustainable copper tankhouse with a high degree of automation. Key learnings from more than 10 years of R&D work is presented, focusing on cathode materials and copper metal deposition including product quality, robotic stripping, coated titanium anodes, electrode contacts and alignment, electrode current monitoring with Hatch HELM tracker technology and acid mist capture using cell hoods with off-gas scrubbing. The new copper tankhouse project was approved in December 2018, and commissioning is planned in 2022. INTRODUCTION The Kristiansand nickel refinery was started up in 1910, processing nickel-copper matte originating from Norwegian mines. It was the first industrial plant in the world to produce nickel by electrolysis using the Hybinette electrorefining process. After roasting to burn off sulphur in the matte, copper was leached and recovered as cathodes by electrowinning with lead anodes. In the first years, the copper cathodes were fire- refined and cast into ingots for sale (Thonstad Sandvik, 2004). The Nikkelverk refinery was acquired by Falconbridge Ltd. in 1929, and since then matte from Sudbury, Canada has been the main feed source. The Hybinette process was in operation until 1975 when conversion to the newly developed Chlorine Leach Process was started (Stensholt, Zachariasen, & Lund, 1986). In this process still used today, nickel and part of the copper in the matte is leached using chlorine gas generated on dimensionally stable anodes in the nickel and cobalt electrowinning tankhouses, as illustrated in Figure 1. The presence of dissolved copper ions in the strong chloride leach solution is essential for effective chlorine absorption and nickel dissolution. To improve copper-nickel separation, slurry from the atmospheric leach is pumped to autoclaves and then to cementation tanks for precipitation of copper as copper sulphide, which is collected in filter presses. The leach residue, also containing the precious metals, goes through a 3-stage wash to remove chlorides before being introduced as a slurry to fluid-bed roasters for sulphur removal. The resulting calcine is then leached in spent electrolyte from the copper electrowinning tankhouse, to dissolve most of the copper and also some nickel, cobalt and other elements. After separation of the leach residue, elements like Bi, Te, As and Ag are removed from the strong copper sulphate solution by reaction with metallic copper in three columns in series filled with cut copper cathodes. The purified solution then passes polishing filters before being mixed with spent electrolyte and returned to the electrowinning cells.

Jan 1, 2019

By D. L. Marchioni

"The detection and quantification of the degree of weathering is an important aspect of coal exploration and mining. Tests for weathering which are suitable for the exploration camp should be fast, simple, and require minimal equipment and operator expertise. In this study, two tests which fulfill these requirements were evaluated using samples of Western Canadian coals. These tests, one based on the pH of a coal slurry and the other on the flotation of coal in a water/diesel oil mixture, do not appear to give consistent results and are not recommended as ideal weathering parameters.IntroductionThe weathering of coal results in a deterioration of those properties which render it suitable for use in industrial processes. Consequently, the detection and quantification of the degree of weathering is an important aspect of exploration and mining. Frequently, decisions related to the depth of the weathered zone must be made at the exploration camp and, therefore, tests for weathering which are fast, and require relatively inexpensive and portable equipment and minimal operator experience, would be very useful. The aim of the study reported here was to evaluate two tests used by U. S. Steel Corp. to detect coal weathering and which satisfy the requirements for use in an exploration camp. The study is a continuation of a more extensive examination of the detection of coal weathering by various methods, reported elsewhere (Marchioni, in press)."

Jan 1, 1981

By H. Lorenzen, D. Buyze

"Magnesium-bearing salts occur in the Zechstein Basin in the north eastern part of the Netherlands at a depth of 1500m to 2500 m.Exploration results justified the exploitation of these salts by means of solution mining for the production of refractory grade magnesium- oxide. This paper discusses design criteria, operation parameters, and methods used for magnesium chloride solution mining by Noordelijke Zoutwinning B. V. (NOZO), an operating company of Billiton International Metals B. V.A unique variation of widely used solution mining techniques has been developed for mining the complex Veendam salt deposit. NOZO extracts salt through deviated wells with a set of parallel, suspended tubings. Cavern fluid pressure is maintained close to that of overburden rock. These special design features provide an answer for the complex characteristics of the minerals, halite, carnallite, bischofite and kieserite, from which a solution rich in magnesium is generated. Dissolution chemistry and rock mechanical behaviour of these salts are unlike those of rock salt. Throughout a few years, NOZO demonstrated adequate process control while they continue improving the operation.IntroductionBilliton, a wholly owned company of the Royal Dutch /Shell Group of Companies, is active in metal exploration, mining, processing, and trading, mainly in the non-ferrous sector.Since 1972 Billiton has been active with solution mining magnesium salts in the northeastern part of the Netherlands, in the Province of Groningen, near the city of Veendam . Solution mining techniques were developed in conjunction with the ""Koninklijke/Shell Laboratorium Amsterdam"" (KSLA) and the ""Koninklijke/Shell Exploration and Production Laboratorium"" (KSEPL), Rijswijk. The company's objective is to produce magnesia sinter (MgO) from magnesium-chloride brine (MgClz) and de-carbonated dolomite (CaO.MgO). The magnesia produced serves as base material for the manufacturing of refractory bricks, used for furnace linings in the steel industry."

Jan 1, 1986

By J. Palarski

Hard coal, mined in Silesia Region as well as in the eastern part of Poland, is a key national resource. In Polish underground coal industry, modern mining technologies have been successfully tested and used in the last 50 years. More than 98% of the coal produced underground is extracted by longwall mining method. Current underground coal mining expands into increasing depths. The use of conventional coal extraction methods ? room and pillar and longwall with caving - is becoming increasingly difficult. The coal mining is modifying existing methods and is testing innovative technologies. Backfill is an important component of modern underground mining operations. In Polish underground mines, backfill is recognized as an integral component for extraction of coal from greater depths in a densely populated environment. The modifying and innovative methods require the use of backfill or grouting of caving to provide structural support in underground excavations and to ensure that the mining operations are safe. Depending on the geological structure, mining conditions and environmental requirements there are several variations of longwall methods used in underground coal mining in Poland, in particular: longwall with caving, longwall with backfill, longwall with grouting of caving area. This paper will discuss the different components of an effective longwall production and filling process of caving area. The paper will give a overview of the current application of backfill technology, focusing on Polish coal mining operations. This paper will also briefly describe how backfill contributes to an innovative method ? underground coal gasification. The paper discusses specific requirements for fill materials and the technology of backfilling for underground coal gasification (UCG) operations and problems of implementation and correlation of backfill parameters with other processes that occur during thermal processing of coal.

Aug 1, 2013

By Greg Yuriy

This paper discusses research carried out by the Laurentian University Mining Automation Laboratory (LUMAL) in the field of discrete-event simulation of mine equipment systems and reliability assessment of these machinery using genetic algorithms. The AutoMod simulation package, from Brooks-PRI Automation Inc., is used in this research. It is a 3-D discrete-event simulation/animation software tool for creating realistic depictions of manufacturing and materials handling systems. Discrete-event simulation involves modeling of real-life systems based on variables and events which occur or change at distinct points in time. In our case, a two level, multi-drift sublevel stoping model was created in AutoMod for the simulation of the equipment fleet employed in the development cycle (drilling, explosives loading, blasting, materials hauling, ground support) of a typical underground mine in the nickel mining region of Sudbury in Ontario, Canada. The equipment primarily considered in the simulation is Load-Haul-Dump (LHD) vehicles (scooptrams), drills, explosives-loaders and roof bolters. The purpose of the simulation study is to assess the impact of equipment failures to mine?s production throughput. In more detail, using Mean Time Between Failures (MTBF) data of scooptrams derived from a reliability assessment model based on genetic algorithms, LHD failures are incorporated into the simulation model. These failures cause production interruptions to the development cycle and consequently loss of hauling capacity. This paper will indicate the significance of equipment failures to a mine?s production and suggest a methodology based on the combination of discrete-event simulation and a predictive reliability assessment model using genetic algorithms for the study and analysis of mine equipment systems.

May 1, 2003

By J. Janzen

The cost to supply ventilation may exceed 40% of the total mine energy cost for underground mines and is often higher for deeper mines. The goal of Ventilation-on-Demand (VOD) is to ensure that the required quantity and quality of air is supplied to underground mining crews and diesel equipment at the least energy expenditure (minimum cost). A VOD system may include control of surface fans (Supply & Exhaust), underground booster fans, auxiliary fans and automated regulators/dampers to regulate the flow of air with more control elements providing more value. Strategically located Air monitoring stations measure air quantity and quality and provide feed-back enabling control. The modular design involving controls, intelligent instrument and intelligent motor control centres coupled with a communication network allows the quick installation, commissioning and expansion of the system as the mine develops. The result is a very robust, flexible system while reducing maintenance costs and spare parts. This paper discusses the impact of sensors, installation and commissioning on advanced controls and provides solutions for in-field applications.

Aug 1, 2013

By Kazem Oraee

Implementing stable final pit walls in open pit mines during the open pit design phase and mine exploitation has become one of the most important concerns of mining engineers in recent years. Failure of mine walls can potentially cause loss of life, roads blocks, and damage to mining machinery, temporarily or permanently halt production at the face and in the worst case scenario, close the mine. Thus, the role of creating stable mine walls is crucial to safety and general operations of mines and any effort to optimize this process has great economic value for mine operators. This paper aims to illustrate the technical aspects of use of the successful presplit blasting method in metal open pit mines. It also shows that using this approach not only increases safety in mines through wall stabilization, but also will boost economic profits by savings in stripping ratio. In this regard, appropriate practical concepts for designing the drilling and blasting patterns and the role of selecting the correct drilling rigs are elaborated in detail through conducting a case study in Chador Malu iron ore mine in Iran.

Aug 1, 2013

By J. M. Livingstone

"This paper covers some of the problems confronted by Canada's railways in moving bulk materials from their source to the dock-site. The ""cost center"" concept is presented, and hypothetical examples of its use given. Also discussed are systems design, the unit train and pipelines.INTRODUCTIONCANADA LIVES BY RER EXPORTS and the Port of Vancouver by the exports of the Mountain and Prairie Empire at her back. The most recent estimates of off-shore shipments of bulk from the Port of Vancouver rise to 35.8 million shipping tons in 1985 and deep-sea general cargo estimates, in and out, are estimated at 7.6 million shipping tons for the same year. This compares to 7.67 and 2.87 million shipping tons, respectively, in 1965."

Jan 1, 1968

By Ahmad Abdollahi

Many factors affect mechanical properties of hypoeutectic Al-Si alloys. As examples the presence of impurities such as Mn and Fe due to the formation of intermetallic phases, additions of small amounts of alkaline earth metals and cooling rate in consideration of Si formation, they all have an impact on mechanical properties of hypoeutectic Al-Si alloys. In this investigation, the effect of Fe content into the specification range of A357 alloy, the addition of different modifiers consisting of Na, Sr and Ca for the alloy of A356 and different mounting techniques for separately cast test coupons of hypoeutectic Al-Si alloys using the lost wax method were studied. The results showed that using material with lower Fe content and addition of modifiers improve mechanical properties. Also different mounting techniques resulted in different mechanical properties.

Jan 1, 2004

By D. C. Carter, J. P. Anderle

"Exploration drilling of evaporite sequences in eastern Canada has undergone significant changes in equipment, techniques and philosophy since the early 1970s. The result has been the recovery of full-size cores from properly conditioned and stabilized holes, high quality open hole geophysical logs, and high quality metallurgical samples. The majority of modifications have resulted from the necessity to preserve the integrity of the evaporite deposit, and thus ensure the potential development, combined with the need for cost-effective high quality information. This is particularly evident in the priority placed on the development of non-erosive drilling fluids, casing and cementing procedures. The results are applicable to diamond drilling exploration of evaporite deposits anywhere in the world.IntroductionThe majority of current technical and scientific literature and expertise available on such subjects as drilling fluids or cementing procedures is applicable to large diameter, deep (several thousand metres) oil-field type drilling . The differences between oil-field drilling and wire-line core diamond-drilling are dramatic: large diameter, deep holes drilled with a low rpm tricone bit using large volumes of fluid pumped through a large annulus versus small diameter, shallow (less than 600 m) holes drilled with a high rpm diamond-set core bit using small volumes of fluid pumped through a small annulus. Exploration drilling of evaporite sequences in eastern Canada in the early I970s was conducted using oil-field equipment and techniques to complete holes of moderate (1000 m to 1500 m) depth . The prohibitive cost of these operations has necessitated that subsequent exploration drilling employs modified diamond-drilling equipment and techniques developed as part of a transition away from oilfield methodology. The result has been full size core, recovery approaching 1000/0 and the ability to run open hole geophysical logs; a combination of factors enhancing the collection of high quality information (Carter, I989a)."

Jan 1, 1990

By E. R. Landry

This paper reviews the current state of electric furnace technology, with emphasis on some of the more recent developments. A large section of the paper is devoted to the use of increasingly high power inputs by arc furnace operators. Operating practices are then covered, including some of the newer techniques which have been tried.

Jan 1, 1967

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 Robert B. Parsons

"The Department of Finance introduced draft amendments to the resource allowance regulations on July 23, 1992 that effectively nullify the decision in the Gulf Canada Limited case. Prior to the amendments it appeared that only ""directly"" related general and administrative, capital cost allowance and scientific research expenditures had to be deducted from resource profits. Now ancillary expenditures are required to be deducted. Consequently, the ability of taxpayers to claim the resource allowance is curtailed.IntroductionOn October 25, 1990 it was almost certain that taxable mines were going to get a break. The Federal Court-Trial Division had just decided in Gulf Canada Limited's favour to allow it to claim resource related tax benefits larger than what Revenue Canada evidently wished. Revenue Canada appealed first to the Federal Court of Appeal and then to the Supreme Court of Canada. On January 10, 1992 the Federal Court of Appeal agreed with the Federal Court decision and on July 2, 1992the Supreme Court declined to hear any further appeal. A mere three weeks later, on July 23, 1992, the Department of Finance issued draft ""clarifying"" measures to amend the calculation of the resource allowance. These measures effectively nullify the benefits that arose under the decisions of the Federal Court."

Jan 1, 1992

By Troy Boisjoli

Since its discovery in February 2014, the Arrow Uranium Deposit has undergone rapid development through aggressive and systematic drilling programs and is now being progressed through advanced engineering and permitting. Based on the 2018 NI 43-101 Technical Report, the Probable Mineral Reserve estimate totals 234.1 million (“M”) pounds (“lbs”) triuranium octoxide (“U3O8”), contained in 3.43 M tonnes at an average grade of 3.09% U3O8. The proposed processing plant at the Rook I Project (the “Project”) will be capable of producing up to 31 M lbs of U3O8 per year, with a projected mine life of nine years based on the Probable Mineral Reserve estimate, although NexGen is permitting a 24-year operating life at the Project assuming the majority of Inferred Mineral Resources are upgraded to Indicated Mineral Resources with continued mineral resource development drilling. The Project will be developed through transverse and longitudinal longhole mining methods, pairing primary and secondary stoping techniques with a high degree of equipment mechanization which will provide a combination of good productivity, high extraction, and stable back support. This next generation of uranium operations combines the use of advanced tele-remote equipment and instrumentation with a low-cost bulk mining method and a best-in-class tailings management practice, effectively reducing operating costs and setting a new standard for elite environmental and social practices.

Jan 1, 2020

By Royston Colbourne

Objectives Of Presentation - Identify specific risks - A fresh look at risk - Provide a moment reflection on risk - Open discussion on risk A route to solution and advanced thinking.

May 1, 2010

By S. A. Kenzap

Risk & Uncertainty ? Uncertainty about a situation can often indicate risk, which is the possibility of loss, damage, or any other undesirable event. Most people desire low risk, which would translate to a high probability of success, profit, or some form of gain. Risk = Likelihood x Consequence Risk is the possibility of loss, damage, or any other undesirable event.

Oct 1, 2010

By R. E. Stewart

"Using the concept of economic life and marginal analysis, it can be shown that proper equipment replacement timing can save a mining company many thousands of dollars. To assist management with determining the economic life of mining equipment, a new computer package has been developed. The package, called ERG (equipment replacement guide), incorporates all important economic factors related to equipment usage, such as operating costs, maintenance costs, salvage values, depreciation, volume of work, tax credits, inflation rates, ROJ, etc. The information is used in a series of equations which balance the costs of new equipment against the total cost of old equipment. The solution of the equations determines economic life and the point in time when the old equipment should be replaced. IntroductionIn an operating mine, equipment must eventually be replaced or downgraded for a variety of reasons. Fleets of haul trucks, dozers and other major pieces of equipment deteriorate over time until the mounting costs of maintenance and repair force either a major overhaul or the ir replacement by new and more efficient pieces of equipment.The question of determining the best time to replace old equipment has been approached in many different ways. Various methods, ranging from operating experience, intuition and physical necessity to sophisticated computer models have been devised to help cope with equipment replacement decisions . The best of the se will incorporate the most important economic factors related to equipment usage, such as operating and maintenance costs, salvage values, depreciation, work delivered, the cost of capital, tax credits and, of course, the effects of inflation.Economic TheoryThe fundamentals of equipment replacement theory grew out of the interaction between economics, engineering and finance. The use of annual cost comparisons and rate-of return calculations were helpful in handling situations in which assets with different finite lives were being compared. Later developments bringing together the concept of economic life and marginal analysis helped provide additional refinements to the theory. Taylorui showed that the displacement of an aging asset with a similar, but newer, asset can be justified economically when the marginal cost of keeping the asset one more year exceeds the minimum uniform annual cost equivalent of the proposed replacement."

Jan 1, 1980

By Mel Owen, Bob Tipman

"A number of studies have identified the presence of heavy minerals in the Athabasca oil sands. A 1996 Mineral Development Agreement study into the recovery of Co-Products identified low operating costs, a simple flowsheet and access to market as key drivers in advancing interest in a viable project.Commercial bitumen extraction processes recover 50% of the titanium heavy minerals and 85% of the zircon into froth containing 1 % of the feed solids. Froth treatment tailings grade is 11.5% Ti02 and 3.6% Zr02.Processing this high grade feed in a combination of flotation, roasting, screening, gravity concentration and magnetic separation, results in concentrates of rutile, leucoxene, ilmenite, zircon and rare earths of marketable quality.A combination of high grade feed and a simple process lead to operating costs among the lowest in the industry. Low cost heavy minerals and low energy costs indicate an intriguing potential for low cost pigment production in Alberta. The production of heavy minerals from oil sands remains one of the largest untapped resources in the Province of Alberta1.0 IntroductionThis paper describes the results of an investigation into the recovery of heavy minerals from tailings produced by the major oil sands plants. The study was carried out under a Canada-Alberta Mineral Development Agreement (Alberta Chamber of Resources 1996). The MDA Co-Products Study examined the potential for the economic recovery of heavy minerals from oil sands tailings."

Jan 1, 1998