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By P. R. A. Andrews

"Graphite is one of the most versatile of non-metallic minerals because of its diversified properties, for example: it is unctuous; it marks readily; burns slowly; is almost chemically inert; is flexible over a large temperature range; is a good conductor of heat and electricity; is hydrophobic; has a negative temperature coefficient of resistivity; has excellent weathering properties; tends to emulsify with water-in-oil; is readily soluble in iron; and after oxidative treatment, can exfoliate like vermiculite. These properties give rise to its major uses in lubrication, refractories, marking instruments, electrical products and paints.Flake graphite is the variety which commonly occurs in Canada; the provinces of Ontario and Quebec contain the deposits of economic significance, although graphite occurs in other provinces. The beneficiation of graphite has been the subject of many investigations at CANMET, thus reflecting graphite 's importance as an industrial mineral. Thirty-eight studies relating to various aspects of beneficiation were conducted between 1918and 1989anda review of some of the more important studies is presented. The information includes mineralogy, beneficiation methods and results; flotation parameters and reagent concentration data are presented in tabular form. By so arranging the principal data, the research worker and production metallurgist will be assisted in the evaluation of graphite ores from a variety of origins."

Jan 1, 1992

By Alan D. Curtis

A standard planning block model for Phelps Dodge North America Operations has been developed to improve mine planning efficiency and performance in a skill starved environment. The model saves time on software management and training, consolidates data and standard information/output, enhances evaluation and strategic process, and improves communication between sites.

May 1, 2007

By E. O. Lilge

THE USE of the Driessen cone as a heavy-media concentrator involves a mineral dressing process in which many variables inherent in the ore and in the process may have an effect on the efficiency of mineral separation and the operation of the cone. The magnitude of these effects and their possible interrelationships must be known before a full-scale plant can be designed and built. It appears that, among the most important variables, are the following: Ore Variables: The particle size of feed The difference in specific gravity between economic and non-economic minerals The intimacy of mineral association Cone Variables: Cone inlet area Ore to media ratio Cone ratio Size distribution in heavy media Specific gravity of media Viscosity of media Type of media

Jan 1, 1956

By W. J. Tough

THIS paper offers examples of some of the typical calculations which occur in the ventilation of metal mines. The fi.rst section of the paper discusses the problems associated with natural-draft pressure; the second section presents the more common of the calculations concerned with the operation of mine fans; the third section illustrates the integration of the individual problems covered by the preceding sections into the larger problem of determining the operating characteristics of a fan for a particular mine duty. There is a very definite limit to the extent to which pure arithmetic can be successfully applied to the solution of min<; ventilation problems. As mines advance from the exploration, development, and initial production stage to the rime when underground workings become exceedingly complex, there is a considerable increase in the relative importance o theory and judgment in the solution of ventilation problems. These calculations illustrate the application of mathematics to ventilation, but they also in-elude examples of instances where arithmetic cannot be conveniently applied, and important estimates, based on judgment compounded of experience and a knowledge of the theoretical consideration involved, must be made. The inclusion of such estimates is intended as a guide and a warning to the reader; a guide in assisting him to recognize and estimate his own incalculables; and a warning that the solutions must not be blindly applied to his apparently similar problems. These sample calculations are intended to assist the reader in applying the theory contained in the standard texts on metal-mine ventilation. They have been selected from the ventilation experience of a British Columbia mine.

Jan 1, 1942

By G. C. Nowlan, A. Illis, H. J. Koehler

At its iron ore recovery plant at Copper Cliff, INCO produces about 17 million pounds per year of a pure, acid-soluble, dense nickel oxide from nickeliferous pyrrhotite. The process used is also applicable to a broad range of ammoniacal nickel-bearing streams. The product has been widely accepted by the chemical, ceramic and electronic industries.

Jan 1, 1970

By Dave M. Jakelski, Gerhard W. Heinrich, Peter F. Wells, Daniel F. Suarez, Jamie B. Beauchamp

"A need for increased copper concentrate production and for less nickel contamination in that concentrate at Falconbridge's Strathcona Concentrator during 1993 required the installation of a third flotation column and improvements in the operation of the existing circuit. Innovations in wash water distributor and launder design were fundamental in achieving objectives on a new 3 meter diameter column. Minnovex plug-type spargers were tested on a 2.1 meter diameter column in order to reduce maintenance requirements. The paper details the measures taken to enhance column flotation circuit performance and the results obtained.IntroductionFalconbridge's Strathcona Mill receives 10% of the ore feed from a rich copper zone in the Strathcona mine. This ore typically grades 7% copper and 1 % nickel and, because of its high copper content, it is processed in a separate circuit ('C' circuit) which consists of conventional grinding, rougher flotation with the concentrate being treated with lime to pH 12.3 and cyanide followed by column flotation. The columns are operated with mechanical flotation scavengers and the scavenger concentrate is returned to the column feed. Testwork conducted in 1991 showed that the original flotation column (Column 2) could only produce 5.5 mtph of concentrate with less than 0.5% nickel (Figure 1).Between 1991 and spring of 1993, production was increased at times by open circuiting the scavengers. Metallurgical improvements were obtained by improving the wash water distributor of Column 2 and by wash water sprays in conventional cells (1 ). However, the scavenger concentrate assayed 0. 7 -0.8% nickel and was not acceptable for long term operation. When Copper ore production targets were significantly increased for 1993, it became clear that an additional flotation column was required. The new flowsheet employs mechanical scavenger cells on the column tails as in Column 2 circuit (Figure 2). A -parallel configuration was chosen as pulp solids fraction has been shown to be a critical variable and the second column in series would receive a lower density feed."

Jan 1, 1994

By A. Koning, P. Lauzon

Pressure hydrometallurgy operations require vessels to be lined with an impermeable membrane for corrosion protection and one or more courses of refractory or ceramic brick. Examples of unit operations that utilize composite lining systems include pressure oxidation autoclaves, sulphide precipitation autoclaves, chloride leach reactors, flash vessels, cyclone separators, and direct contact condensers (heater vessels and quench vessels). The refractory lining must satisfy multiple requirements: it must thermally insulate the membrane from process fluid, be structurally stable, provide erosion resistance, be chemically compatible with process fluid, and provide an economic service life. New hydrometallurgical processes are pushing the pressure, and temperature, with each new generation of plants. A fundamental understanding of all factors affecting the mechanical stability of the lining system is essential as lining designs move further away from the industry&apos;s experience base. The impact of irreversible chemical swell, operating factors, design factors, and installation factors are presented based on modifications to the traditional one-dimensional mechanical stress model. A new stability criterion - that the brick lining remain in contact with the steel shell membrane - is presented. This new stability criterion imposes new restrictions on the lining design.The effect of geometry and adding additional degrees of freedom to the analysis is explored using two-dimensional and three-dimensional Finite Element Analysis (FEA). The effect of these additional degrees of freedom on the results of the one-dimensional model are discussed.

Jan 1, 2004

By E. C. W. Perryman

BEFORE describing the methods used for fabricating uranium into various shapes and sizes it is necessary to illustrate briefly the unusual conditions under which uranium has to operate when used as a fuel element in a reactor. During reactor operation, for every fission that occurs two atoms of intensely radioactive fission products are produced together with two or three neutrons. The neutrons that are ejected possess several m.e.v. of energy and when one of them strikes an atomic nucleus, that atom acquires up to 105 e.v. of kinetic energy. This is large enough to displace the atom from its lattice position and send it shooting through the crystal, displacing other atoms out of their lattice positions. The net result is that a large number of vacancies and interstitial atoms are formed within the crystal lattice which sometimes have profound effects on the physical and mechanical properties of the material in question.

Jan 1, 1957

By H. Karakul

Determination of P-wave velocity (Vp), which is closely related to intact rock, is a nondestructive, easy and less complicated procedure. Due to these advantages, there is an increasing trend to predict the geomechanical properties of rocks from Vp. In addition to mineral content, cementing material and porosity, degree of saturation (Sr) are also other factors influencing geomechanical properties of the intact rock. However, up to the present, in the studies on the prediction of geomechanical properties of rocks from Vp, the effect of Sr has not been investigated. By considering this issue, in this study, it was aimed to correlate strength properties (uniaxial compressive and tensile strengths) and Young’s modulus with Vp of various rock types under different degrees of saturation. In addition, geomechanical properties of rocks were estimated from theoretical P- and S-wave (Vs) velocities, which were calculated based on their mineralogical compositions. For this purpose, fourteen different rock types were collected from several parts of Turkey and a comprehensive laboratory testing program was conducted. In the statistical analyzes, a series of different prediction relationships were developed by using independent variables such as Vp, Sr and effective clay content (ECC). Simple regression analysis results indicated that although prediction of the geomechanical properties of rocks from Vp at different degrees of saturation was possible, the equations developed would yield some under- or over-predictions. On the other hand, the multivariate equations developed have very high prediction performances and are very useful tools to estimate the geomechanical properties from the measured Vp at any Sr value. In addition to mineralogy, the variation in geomechanical properties with increasing Sr is also associated with the combined effect of porosity and clay content, which is first described in this study by the term Effective Clay Content (ECC). It is also noted that strength properties of rocks at any Sr may also be estimated using the empirical relations based on the theoretical Vp and shear-wave velocity (Vs) values, which are calculated from their mineralogical compositions.

Jan 1, 2015

By L. R. Fyffe, D. R. Lentz, S. H. Mcclenaghan

"Abstract - The Eel River area in the southwestern Miramichi terrane of New Brunswick contains a complete calc-alkaline suite of volcanic rocks that are interlayered with intervals of sedimentary and polylithic fragmental rocks, and are overlain by a thick sedimentary sequence. This package, collectively referred to as the Meductic Group, was deposited in a submerged volcanic arc setting interpreted to be part of the Popelogan arc. Rifting of this arc led to the development of the Tetagouche-Exploits back-arc basin, and formation of volcanogenic massive sulfide deposits in bimodal volcanic rocks of the Bathurst Mining Camp in the northeastern Miramichi Terrane. Unlike the Bathurst Mining Camp, volcanic rocks in the southeastern Miramichi Highlands form a continuous calc-alkaline suite characterized by increasing Zr/TiO2 with increasing SiO2, in part resulting from progressive coupled assimilation and fractional crystallization of nested magma systems. Slumping of semi-consolidated volcanic and sedimentary rocks in topographically unstable areas resulted in numerous slumps and debris flows that are preserved throughout the Eel River area. In the early 1990s, the discovery of a large sulfide clast in a road cut along the Benton road sparked interest in the volcanogenic massive sulfide potential of the Eel River area. Subsequent drilling intersected smaller fragments, one clast of which graded 16.7% Zn, 5.6% Pb, 90 ppm Ag, and 220 ppb Au. The intersection of thin lenses of stratiform sulfides in another drillhole indicates favorable conditions for the preservation of massive sulfides. Their subsequent incorporation into synvolcanic debris flows resulted in the transport and deposition of sulfide clasts from hydrothermal vents to more distal locations. Similar to the Buchans deposits of Newfoundland, tracing these debris flows back to their source would be beneficial from an exploration perspective. Approximately 15 km to the southwest of the Eel River area, gold-bearing base metal sulfide clasts (11.1% Zn, 6.13% Pb, 0.19% Cu, 108 ppm Ag, and 1100 ppb Au) occur within intermediate-composition volcanic rocks at Monument Brook in eastern Maine. Sommaire - Le secteur d’Eel River dans le sud-ouest de la terrane de Miramichi au Nouveau Brunswick contient une séquence complète de roches volcaniques calco-alcalines interstratifiées avec des roches sédimentaires et fragmentaires polylithologiques, sous une épaisse couverture sédimentaire. Cet assemblage constitue le Groupe de Meductic, et a été déposé dans un environnement d’arc insulaire interprété comme une partie de l’arc de Popelogan. Le rifting de cet arc à mené au développement du bassin d’arrière-arc de Tetagouche-Exploits, et à la formation de gisements de sulfures massifs volcanogènes dans les roches volcaniques bimodales du Camp Minier de Bathurst dans le nord-est de la terrane de Miramichi. Contrairement au Camp Minier de Bathurst, les roches volcaniques des hautes terres du sud-est de Miramichi constituent une suite calco-alcaline continue caractérisée par un accroissement du rapport Zr/TiO2 à des valeurs croissantes de SiO2, résultant en partie de l’assimilation progressive et de la cristallisation fractionnée de systèmes magmatiques superposés. L’effondrement de roches volcaniques et sédimentaires semi-consolidées dans des secteurs topographiquement instables est à l’origine des nombreux slumps et coulées de débris qui sont préservés dans le secteur d’Eel River. Au début des années 1990, la découverte d’un large claste de sulfures le long de la route Benton provoqué un intérêt pour le potentiel en gisements de sulfures massifs volcanogènes dans les secteur d’Eel River. Des forages ont par la suite recoupé des fragments plus petits, dont un claste qui a retourné des teneurs de 16.7% Zn, 5.6% Pb, 90 ppm Ag et 220 ppb Au. Le recoupement de minces lentilles de sulfures stratiformes dans un autre forage indique des conditions propices à la préservation des sulfures massifs."

Jan 1, 2006

By G. Archibald, M. McSaveney, J. Wartman, M. Yetton, C. Massey, C. Holden, A. Kaiser

"The 2010/11 Canterbury earthquakes triggered many mass movements in the Port Hills including rockfalls, rock and debris avalanches, slides and slumps and associated cliff-top cracking. The most abundant mass movements with the highest risk to people and buildings were rockfalls and rock/debris avalanches. Over 100 residential homes were impacted by landslides, leading to the evacuation of several hundred residents.Volumes of rock leaving several of the larger cliffs during the earthquake sequence were determined from terrestrial laser scan change models. There were no seismically instrumented cliff sites and there was some distance between the cliffs and nearest strong-motion sites. Therefore, we synthesised free-field rock-outcrop seismograms by employing a stochastic approach controlled by source models and regional parameters derived using spectral inversion of the extensive strong motion data set. Relationships between volumes leaving cliffs during the earthquakes and site peak ground acceleration (PGA), peak ground velocity (PGV) and Arias intensity were compared for different sites. Multiple linear regression was used to analyse the variables that best predict the volumes of debris that fell from the slopes during the main earthquakes. The best correlation between the volume of debris falling per square metre of slope face and the seismic forcing parameters was for vertical PGV. The results from the multiple linear regression incorporating slope height, inclination, PGV horizontal and PGV vertical, improved the statistical relationship.Field data and results from the 2D seismic site response assessment indicate that the following factors affect dynamic performance of the modelled cliffs: 1) cliff geology—mainly material modulus, shear strength and shear wave velocity; 2) slope geometry—ridge-scale versus site-scale effects; and 3) the temporal aspects of the earthquake shaking (i.e., single acceleration peaks of large amplitude versus multiple peaks of smaller amplitude). Model results show that amplification of shaking does not increase linearly with increasing height, but instead reflects changes in the cliff geology where material strength, modulus and shear-wave velocity contrasts lead to acceleration contrasts.These factors show that the use of well documented case histories provide the basis for more certainty in seismic landslide assessments compared to those that are only empirically based."

Jan 1, 2015

By Lopatka. M. J.

This paper presents the results of 3 tons skid steer 6x6 wheel robot drive system field tests. The aim of the investigation was verification of assumed data for drivetrain diesain and forces identification in the drivetrain system during maneuvering and crossing obstacles. Robot has hydraulics drive system with motors in the wheels and hydraulic suspension system. The neded drive torque on wheels was determined by pressure measurnig on motors.

Aug 1, 2013

By M. Massinaei, S. Abasi, M. Oliazadeh

Reliable measurement and control of the pulp-froth interface (froth depth) in the flotation columns is critical to achieve the desired metallurgical performance. Shallow froths result in a reduction of grade because of particle entrainment and deep froths reduce recovery because of the drop back of entrained and weak hydrophobic particles to the pulp zone. The cleaner circuit at Miduk copper concentrator consists of three parallel MicrocelTM flotation columns 4 m in diameter and 12 m in height. The interface level of the flotation columns is measured by two pressure sensors located at 1.4 and 2.4 m from the cell lip (in the collection zone). In this study the performance of the level detection system at different operating conditions was evaluated. A calibrated float-ultrasonic location system was used for measuring the actual froth depth. The results indicated that the existing level control system was subject to considerable error. The absolute error was found to be 33.27 cm. This was mainly attributed to the constant set-point value assigned to the froth density (ρf=0.3 g/cm3), which actually varies with the operating conditions. The actual froth density at different conditions was calculated and its average value (ρf=0.12 g/cm3) was re-set in the control system. This resulted in substantial reduction in the level-detecting error. Recommendations for more accurate measurement of the interface level were presented. INTRODUCTION Froth flotation is a complicated process because of many involved variables. One of the most significant controlled variables in the flotation process is the pulp-froth interface (froth depth). The froth depth has a profound influence on the metallurgical performance parameters (i.e. grade and recovery). Shallow froths result in grade reduction because of particle entrainment and deep froths reduce recovery resulted from the drop back of entrained and weak hydrophobic particles to the pulp zone (Finch and Dobby, 1990). Various techniques have been developed for measuring the interface level of the flotation cells in the last few decades. These techniques can be classified as: Techniques based on hydrostatic pressure measurements (Finch & Dobby, 1990), Techniques based on the density gradient (float) (Moys & Finch, 1988), Techniques based on conductivity measurements (Uribe-Salas, 1991), Techniques based on temperature measurements (Moys & Finch, 1989).

Jan 1, 2019

By R. R. Song, Q. Li, H. Xing, X. C. Wei

Geomechanical modelling of fault stability is an important part of CO2 capture and storage (CCS) research program to ensure its viability and long-term safety. Storage of CO2 in deep subsurface reservoirs requires estimates of sustainable fluid pressures that will not induce fracturing or fault reactivation which could cause fault slip. More importantly, fault slip gives rise to seismic waves, which inflict severe damage to the cap rock of the reservoirs and may result in leakage pathways for the buoyant plume and thus compromise the integrity of seal formations. In this study, we generated a numerical model tuned towards conditions usually encountered in the Shenhua CCS demonstration project in Ordos basin. In particular, with the purpose of evaluating the sensitivity of the parameters as well as their relationships with the moment magnitude of the seismicity, a variance-based sensitivity analysis was adopted for importance ranking of the uncertain input parameters of the given model. However, such flow models could involve one or several spatial inputs, for instance, fault dip, distance between fault and the injection well, friction angle of fault, permeability of fault, Young's Modulus of fault, injecting pore pressure and the stress field. Studying the sensitivity to each of these spatial inputs motivated the present work. The results led to the following conclusions: fault depth and fault dip significantly affect the behavior of the fault and the fault slip becomes violent with the fault depth increasing and fault dip decreasing. Furthermore, the results indicate that slip time increases with the fault dip decreasing and decreases with permeability of fault increasing. In addition, the calculation of seismic moment and moment magnitude of an earthquake demonstrates that it rises significantly with the decrease of fault dip and the increase of fault depth, and it decreases with the rising stress field. The results show that variations of the only controllable parameter injection pressure do not show great influence to the fault behavior compared with other geological factors, which imply site selection is extremely important for the CCS projects.

Jan 1, 2015

By D. S. Flett, A. V. Tolstov, M. A. Mulagaleeva, N. V. Gudkova, A. M. Zhizhaev, V. I. Kuzmin, Institute of Chemistry and Chemical Technology SB RAS, O. A. Logutenko, V. N. Kuzmina

The complex niobium-rare earth pyrochlore-monazite-crandallite ores of the Tomtor deposit, located in the Siberian Arctic, should be considered as a new type of rare metal materials. The major valuable components of the ore are niobium, rare earth elements, yttrium, and scandium; associated components are titanium, vanadium, aluminum, and phosphorus. Because of the irregular distribution of the rare earth metals and niobium according to grain-size, the extremely finely dispersed nature of the minerals and their close interpenetration to each other, ore processing by gravitation and flotation is not successful. The processes studied for the treatment of the Tomtor ores use direct alkaline-acid leaching to open the ore. A problem in the first stage of alkaline leaching is the high aluminum content, which decreases the activity of sodium hydroxide and alkaline-earth metals, which are bound to phosphorus. Ore processing using alkaline-nitrate and alkaline-chloride leaching was proposed and investigated. The first variant was used to obtain rare earth and scandium materials and a niobium-titanium concentrate, which can be a stock material for processors who use chlorination for the processing of ores and concentrates. The second variant is a complex advanced ore processing scheme with electrochemical regeneration of the waste chloride solutions obtaining sodium hydroxide, hydrochloric acid, and chloridizing agents. Moreover trisodium phosphate is used for purification of the waste mother liquors from metal cations. The complex salt, NaAlCl4, is proposed as the chloridizing agent for the decomposition of the niobium-titanium concentrate.

Jan 1, 2016

By Claude Bazin

"Laboratory semi-batch flotation tests were conducted using two different sulphide ore samples. The size reduction was adjusted to cover a wide range of flotation feed size distributions. Results show that similar recoveries can be achieved independently of the fineness of grind. This result suggests that possible energy savings could be achieved by a redistribution of the power between the grinding and regrinding mills. The behaviour of the selectivity curves shows that some gangue minerals are more sensitive to particle size than other ones, implying the existence of preferential associations between minerals in the ore.INTRODUCTIONInteractions between grinding and flotation have been studied for many years, and still a robust model to link the two processes lacks to be developed (Girard et al., 2005; Bazin et al., 2001). The ore size reduction liberates mineral grains, while flotation separates them into valuable minerals and gangue. The more size reduction that is applied to the ore the more important is the mineral liberation but also the production of fine particles that can pose problems during flotation (Trahar and Warren, 1976). The definition of the grinding requirement for flotation is a complex problem (Rickelton and Dell, 1977; Sosa Blanca et al., 2000; Morrison, 1993; Wei and Gay, 1999).This paper analyzes the effect of the fineness of grind using semi-batch flotation test results. The first two sections describe the test procedure and the results. The third section analyzes the results in terms of liberation and selectivity, and proposes a possible redistribution of power between grinding and regrinding mills."

Jan 1, 2006

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 P. -A. Bosse, J. Robitaille, P. Blatter

The LaRonde ore is a Cu-Zn-Pb ore with gold (3-4 g/t) and silver (60-100 g/t). The precious metals are recovered with copper concentrate, zinc concentrate and cyanidation of zinc tails via Merrill Crowe precipitation. Subsequent to a recent mill expansion, excessive gold was reporting to zinc concentrate with a concurrent decrease in gold to copper concentrate. Owing to the higher return obtained from the metal, the mill endeavors to recover additional gold and silver to the copper concentrate and minimize the placement of precious metals to the zinc concentrate. A gold deportment study showed that the gold occurs mainly as küstelite, with a moderate amount of electrum and a minor amount of native gold. It also showed that various sulfur-based Au-and/or Ag-bearing coatings on liberated küstelite and electrum were the major mineralogical factors that caused gold and silver to report to zinc concentrate. By frequency, such coatings were observed on 70-80% of total liberated gold particles reporting to the zinc concentrate. Based on the gold deportment and the chemistry of the coatings, the collector chemistry was reviewed and a new collector was added into the circuit which resulted in a significant increase in gold and silver recovery to the copper concentrate. The information obtained from the mineralogy confirmed and guided other process optimization. In this paper, the authors will describe the process mineralogy of the LaRonde ores, and in particular, the mineralogical evidence diagnosing the problem. Reference will also be made to the rationale behind how the problem was solved, the results achieved, and future steps in optimization.

Jan 1, 2005

By Jamie King

This paper describes the use of dynamic scheduling and discrete event control to provide coordinated control of multiple automated vehicles. In the past decade there have been significant advances in the field of robotics for underground mining. As this trend progresses toward a realization of a completely automated underground mine the need for a central control system, capable of providing coordination for multiple vehicles in a semistructured environment, becomes more evident. In the past year general research into multi-robot coordination has been applied to the underground mining scenario and demonstrated in a scaled model underground mine in a laboratory setting. This system shows significant potential to be adopted into a full-scale implementation for mine wide automation.

May 1, 2001

By V. G. Papangelakis, M. Cheung, M. Dry

The high pressure acid leaching of laterite was modelled and simulated using a combination of two commercially available software packages, namely Aspen Plus 11.1 and the OLI Stream Analyzer. New kinetic parameters for the acid-controlled metal dissolution and precipitation reactions at temperature were first determined from previous experimental data on the leaching of limonite. A grain model with cylindrical pellets was used to model the solid-liquid dissolution reactions. Precipitation reactions were modeled via aqueous equilibrium chemistry. A dedicated thermodynamic database previously developed at the University of Toronto was used in conjunction with the OLI software to model the solution chemistry and calculate the concentration of hydrogen ions in solution at the leaching temperature. Mass balances were handled by Aspen Plus. The simulation gave good predictions of nickel dissolution under industrial and laboratory conditions, for the dissolution of limonite and limonite/saprolite blends. Computational

Jan 1, 2005