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By Gary M. Bone

The autonomous control of vehicles interacting forcibly with their environment, such as dozers and tractors, is an unsolved and challenging problem. Forces and motions are inherently coupled between the tool and the means of vehicle propulsion. Furthermore, they are often operated within uncertain and unstructured environments, such as those encountered in underground mining. There is a growing industrial interest in the development of robotic vehicles to improve productivity, efficiency and safety in mining and construction. This paper focuses on the modeling and control of autonomous robotic dozing for a material removal operation. A dozing process model has been developed based on observations of both a fullscale dozer and a scaled-down version. The model characterizes the dynamic interactions between the blade position, material accumulation on the blade, material distribution in the environment, and the motions of the dozer. The dozing control objective is to remove the loose material as rapidly as possible by driving forwards at full power while automatically raising/lowering the blade in response to sensor measurements. Two different controllers were developed to meet this objective. The first controller is based on a set of heuristic rules, and the second is an optimal controller based on the dynamic model. An instrumented scaled-down robotic dozer and dozing environment, designed to emulate the full-scale operation, are used to implement the controllers and compare their performances over multiple dozing passes. Experimental results are presented showing that the model-based controller increased the material removal rate by 33% compared to the rule-based controller. Lastly, technologies for full-scale implementation are discussed, followed by proposed future work and conclusions.

Aug 1, 2013

By J. Nsasi Bakambu

This paper describes an autonomous platform for exploration and navigation within networks of tunnels, as those typically found in underground mines and caves. In the exploration mode, a remotely located supervisor instructs the platform to move through successive sections of the network, gathering range data that is, then, concatenated into 2D/3D survey maps of the environment. In the navigation mode, the supervisor specifies high-level missions on the previously acquired survey maps. A motion planner, then, translates each mission into a set of consecutive navigation actions, separated by natural landmarks. Mission execution consists of detecting landmarks, self-localizing and performing the planned navigation actions.

May 1, 2003

By A. M. Brown, P. V. Straznicky

Dimpling as a means of flush countersinking rivets is an old process predominantly used in secondary structures. The introduction of GLARE as an aerospace material has renewed interest in dimpling and its possible application in primary structures. The dimpling process is able to prevent the creation of a machined knife-edge in the thin aluminum plies of the GLARE sheets. In addition, dimpling eliminates the need to use reduced height rivets, such as the NAS 1097 rivet style. This investigation expands on an earlier study into dimpling of GLARE by Rans and Straznicky. In order to tailor the dimpling process to GLARE, FEM simulations were developed. After verification, a study was performed to find the best parameters for dimpling GLARE3-2/l. Coupon fatigue tests were carried out and the dimpled joints demonstrated increased fatigue lives over the conventional machine countersunk joints. Future wide panel fatigue tests are planned to confirm the usefulness of dimpling thin GLARE laminates.

Jan 1, 2006

By Mark Weidenbach

OZ Minerals owns and operates the Prominent Hill copper-gold concentrator in South Australia, built in 2008 and commissioned in early 2009. The concentrator operates via semi autogenous grinding in a thirty four foot ThyssenKrupp Polysius mill followed by a twenty four foot Polysius ball mill in closed circuit with hydro cyclones, designed for an ore throughput of eight million tonnes per annum. The main aspects of designing the circuit are discussed along with the issues faced in the early stages of operation. A review of the optimization strategy applied to the milling circuit such as cyclone optimization, advanced process control strategy implementation and reline management to improve availability is then discussed highlighting areas of significant process improvement that have seen the plant exceed nameplate throughputs above nine million tonnes per annum.

Jan 1, 2012

By T. Gerritsen, C. Martinez, F. Stober, T Ma, J. R. Frias, M. Sedighy, J. Janzen

Electrode control systems regulate power by physically positioning electrodes. Due to the weight and inertia of the electrodes and hoist equipment, this is a relatively slow process where power fluctuations of less than a few seconds are not fully corrected. Nickel laterite AC furnaces operating in high voltage, shielded arc mode typically incur frequent power variations of approximately +/- 20% or more around the power set point. To provide enhanced power control, Hatch has recently supplied, at commercial scale, a thyristor-switched reactance system called an SPLC. The SPLC incorporates predictive control software to operate furnaces at the maximum transformer rating by reducing the large power swings experienced without the SPLC. The resulting higher average power enables higher production, without increasing transformer or power plant capacity. A 60 MW production version of the SPLC has been commissioned on Falconbridge Dominicana's laterite nickel furnace, yielding excellent results with a 3 to 1 reduction in power fluctuations.

Jan 1, 2005

By E. Stansfield

Coal samples are sometimes taken from a wet spot in a mine, or from an open car or pile shortly after rain, and submitted for analysis in a dripping wet condition. Other samples are taken from a dry spot in the mine, or from an open car or pile after a period of dry weather. Comparison of the analyses obtained in the two cases would be absurd, although the samples might be of essentially the same coat apart from the surface moisture on the one. The analyst therefore attempts to reduce all samples to an equal basis by the operation known as air-drying. Air-drying is practised by the chemist for three reasons: (1) To make it possible to grind the coal to powder. (2) To bring the coal sample to a condition in which it will not change in weight rapidly whilst portions are being weighed out for analysis -in other words, to bring it into equilibrium with the air in the laboratory. (3) To determine the water-retaining power of the coal. Any kind of drying is satisfactory for (1); the coal should be dried more or less according to the humidity at the time in the laboratory for (2); whilst it should be always dried to the same extent for (3). In other words, no method can be satisfactory for both (2) and (3). In this paper the only question considered is (3) -that is, air-drying the coal under standard conditions so that strictly comparable results can be obtained for the water content of coals after air-drying. After a sample of wet coal is exposed, it loses moisture until it is in equilibrium with the air at the time: thus the coal will loose distinctly more water in air of 20 per cent relative humidity, for example, than it would in air of 80 per cent.

Jan 1, 1923

By L. Xia, B. Hart, K. Douglas1, S. C. Chelgani

Development work to optimize a flotation flowsheet for rare earth element (REE) recovery is underway. The original approach used alkyl phosphates and phosphoric acid ester as collectors to concentrate REE minerals. To improve REE recovery, hydroxamates as alternative collectors were investigated. In this paper, micro flotation of REE minerals using salicylic, benzoyl and naphthoyl hydroxamates is reported. Unlike phosphonic collectors, slime removal does not show a significant effect on REE recovery when using hydroxamates as collectors. Among the three hydoxamates, the grade of La, Ce, and Nd for concentrates produced by salicylic hydroxamate is the highest. The recovery response with naphthoyl hydroxamate is similar to that of salicylic hydroxamate; good grades for La, Ce, and Nd, less effective for Nb, Y, and Zr. The data indicated an affinity by salicylic and naphthoyl hydroxamtes for LREE over the HREE minerals. In comparison, benzoyl hydroxamate indicated an affinity for Nb, Y, and Zr. Temperature effects on REE recovery were also studied. The grade and recovery of REEs generated by flotation using a mix of salicylic and benzoyl hydroxamates at room temperature was almost identical or even better relative to the recovery using naphthoyl hydroxamates at elevated temperature.

Jan 1, 2014

By Heidi Fauser

The aim of the project was the development of an electroforming process for the production of medical implants out of gold. To prove the applicability of this technology, tympanostomy tubes were chosen as demonstrators. These barbell-shaped tubes are usually produced mechanically; of silicone or, for higher therapeutic demands, of metal ? gilded silver or gilded stainless steel. Gold electroforming of the tubes as an alternative manufacturing process would reduce the expenditures for the mechanical preparation and lower the corrosion susceptibility significantly. To obtain electroformed gold tubes of the desired shape, the following steps are necessary: fabrication of a negative template by drilling holes with countersinks in an insulated aluminium sheet, electroforming process, removal of the aluminium by using a sodiumhydroxide solution. For the optimisation of the shape and surface quality of the tubes respectively the simplification of the manufacturing process, various parameters were tested, e.g. aluminium quality and sheet thickness, type of insulation layer, substrate processing, hydrodynamic conditions, type of electroforming electrolyte, electrodes position, etc. The manufactured tubes were characterised in view of thickness distribution, hardness, surface roughness and purity in comparison to mechanically produced reference tubes. From the results obtained during the project it can be concluded that electroforming processes can be easily adopted for the manufacture of medical implants. The time-consuming electroforming process is by far compensated by the simultaneous production of an arbitrary number of implants.

Oct 1, 2003

By Ltd Changsha Research Institute of Mining and Metallurgy Co., Shi Yunliang, Luo Yunbo, Chen Jun, Liu Miaohua, Xiao Jinxiong, Long Yan

"A refractory lead-zinc oxide ore located in Yunnan has hundreds of tons of metal reserves, which is hard to be recovered effectively by conventional oxide ore beneficiation methods. In this study, by sulfidation roasting of raw-ore, sulfide deposit is formed on the surface of the lead-zinc oxide ore, and then the roasted ore is processed with bulk flotation. The test results indicate that a bulk concentrate with grade of 7.85% lead and 34.24% zinc, recovery of 79.13% lead and 79.04% zinc, respectively, can be obtained by using conventional sulfide ore flotation method.The sulfidation process shows that pyrite in the raw ore releases S firstly, then S reacts with PbO and ZnO to transform into PbS and ZnS. When the mole ratio of sulphur:zinc is 0.59, the surface of smithsonite is covered with a layer of zinc sulfide. When the mole ratio of sulfu:zinc rate is 1.47, entire simthsonite particle is transformed into zinc sulphide. Thus the transformed particles can be recovered by flotation without complete sulfidation.INTRODUCTIONWith the increasing demand for zinc and decreasing of zinc resources, people pay more attention on development and utilization of zinc oxide ore. However, zinc oxide ore has wide range mineral kinds, complex mineral composition, disseminated fine-grained particle size, and high content soluble salt, so current study results about the zinc oxide ore with conventional flotation are not satisfactory. So far, process dealing with zinc oxide ore includes: sulfuration (Na2S)-flotation, direct flotation with fatty acids collectors, metallurgical methods, in which sulfuration flotation is the most widely used method. The basic principle of sulfuration flotation method is firstly roasting oxide ore with vulcanizing agent, and then recovering the sulfurated oxide ore with flotation, which is similar with recovering nature sulfide ore by using conventional collectors such as amines and xanthate."

Jan 1, 2016

By Eugene Larochelle

The serpentine of the Eastern Townships of Quebec is more or less seamed and impregnated with chrysotile asbestos, of which we note two types: the cross-fibre and the disseminated fibre. The cross-fibre type always appears in fibres or crystals arranged parallel to one another, and disposed at right angles to the walls of the matrix serpentine. The length of fibre of these veins, which run in every conceivable direction, even crossing ?one another, varies from microscopie dimensions to three and sometimes four and even five inches. It is the principal form of asbestos found in the serpentine of Thetford Mines, Black Lake, Coleraine, and Asbestos. The disseminated-fibre type, which is the main product of the serpentine of Broughton township, in which ate located the mines at East Broughton, does not form veins, but occurs in the serpentine without any definite arrangement. There is a difference in the toughness and hardness of the rock of the two types, the Broughton serpentine being softer than that at Thetford. The disseminated-fibre section of the serpentine belt is probably more regular in its content than is the cross-fibre section. Nevertheless, it contains no 'crude,' which is the most valuable of asbestos, and the fibre is usually shorter than the cross-fibre average.

Jan 1, 1928

By Rae Simpson

"This paper provides insight into the elements of computerized maintenance systems and identifies some of the factors which influence their effectiveness. The paper describes what to expect in terms of benefits and problems, the nature of effective computerized maintenance systems, some of the systems available and a process for selecting a system for your organization.The paper will be of interest to mining company executives and maintenance or computer personnel who are involved with, or contemplating, the introduction of computerized maintenance systems.IntroductionIn the drive to improve profits in an increasingly competitive world, mining companies are now using some of the most sophisticated equipment available. The introduction of large and complex equipment such as drag lines, haul trucks, and high-capacity milling equipment has resulted in order-of magnitude improvements in productivity. However, this productivity is now, more than ever, dependent on the continued operation of the equipment. A prolonged breakdown of a critical component can have a significant effect on companies' bottom-line results. As more technologically sophisticated equipment is introduced, maintenance costs become an increasingly important factor for mining companies.Fortunately, sound modern management principles are being used more often in maintenance departments. Progressive maintenance managers are turning to computers to help manage the myriad of details associated with running a maintenance organization.Some maintenance departments in larger mining operations would find it difficult, if not impossible, to operate at current productivity levels without their computer systems. Unfortunately, some other companies gain very little from their computerized systems and would probably be better off without them.How can you be sure that computerized maintenance will improve the maintenance picture for your company? What benefits can you expect to achieve? How do you go about selecting a maintenance system for your organization? These are some of the questions facing industry managers and executives today. In the following sections, we will provide some guidelines and insights to help address these challenges."

Jan 1, 1988

By Daniel L. Cluff

The Canadian mining industry needs to find viable alternatives to the conventional cemented pastefill/hydraulic methods of backfilling open stopes for underground mines located within a permafrost zone. The harsh environment and the isolated location of a mine north of 60° impose additional challenges to standard backfill methods and opportunities to the technological and operational issues related to the use of frozen fill. Underground open stoping mining methods require the placement of fill material to enable the controlled recovery of ore from secondary and tertiary stopes. The typical design of the fill material requires the specification of inert material, water and binder. The permafrost conditions provide the additional parameter of subzero temperatures for backfill design and process control. The paper presents the results of an experimental field study, using large size samples, to determine the strength capacity of frozen backfill. The experimental work was performed utilizing rockfill and tailings material with moisture content consisting of water and ice crystals. Preliminary results indicate that the mixture of rockfill, tailings and moisture, develops strength that meet the demanded requirements for open stoping. A thermal equilibrium modelling analysis is presented in the paper.

May 1, 2008

By D. M. Bastidas

The reduction of copper sulfide and copper oxides originated during artificial tarnishing of copper was studied using potentiodynamic potential/current density experiments. Six copper surface treatments were considered: mechanical polishing; indoor exposure for 7 days; chemical etching in 1.6 M nitric acid; chemical etching and heating at 160°C; and chemical etching and dipping in a 9x10-4 M or 0.9 M potassium sulfide (1(25) solution at 70°C. Cuprite (Cu20) and chalcocite (Cu2S) were the main compounds formed. A linear relationship with the square root of the scan rate (v) was obtained by plotting the potentiodynamic potential/current density for the tarnish dissolution processes. A relationship between potential and current density cathodic peaks was not obtained, according to Müller's model, showing a proportionality factor with the dimensions of a resistance.

Jan 1, 2007

By W. D. Gould, A. Kapoor

Acid mine drainage (AMD) is characterized by low pH and high concentrations of sulfate and dissolved metals such as iron, manganese, aluminum, zinc, and copper. Chemical treatment of AMD achieves pH neutralization and toxic metal removal but also produces large quantities of bulky sludge that requires long-term storage facilities and monitoring. Chemical treatment of AMD achieves only partial removal of sulfate (SO4) and total dissolved solids. Sulfate reducing bacteria (SRB) have been used for the removal of sulfate from industrial process wastewaters. The biological sulfate reduction process generates sulfide and alkalinity. The sulfide produced in the biological sulfate reduction process is used to precipitate metals present in AMD as their respective sulfides and the alkalinity generated is used to neutralize the AMD. This review article will present an overview of biological sulfate reduction processes using SRB, bioreactor configurations, AMD treatment studies, and full-scale systems in operation for the treatment of acid mine drainage.

Jan 1, 2004

By Anthony P. Makuch

Dynatec Corporation is an integrated mining services company, providing mine development, operations management, engineering, drilling and metallurgical services to the North American mining industry. Dynatec was the contract operator of the Ken Snyder Mine in Midas, Nevada from start of production in January 1999 to September 2001. This paper summarizes Dynatec?s experience and approach to the use of longhole stoping methods for mining to widths of 1.3 to 2 metres in a steeply dipping narrow vein orebody.

Oct 1, 2001

By A. V. Corlett

MR. C. S. Gibson: Mr. Chairman, I listened with much interest to Mr. Corlett's paper. Those of us who are directly engaged in mine ventilation and dust control are impressed by the improved atmospheric conditions to be derived from the use of methods of mining such as those in operation at Aldermac, which Mr. Corlett has just described, and those employed at Noranda. It is a well known fact that drilling-dust is one of the most potent factors in the production of silicosis in mines handling ores containing quartz, so that from that angle the use of diamond drills, instead of percussion drills, to drill ore for blasts in stopes is an important development. A second point which I think merits mention is blasting. Blasting, we all know, creates the most dust in a mine and the fact that you can drill ore for a large blast with diamond drills and fire it, say, on Saturday night, and then have all the next day to ventilate the workings, is a great advance in dust control. 1 have wondered if Mr. Corlett, or possibly those at Noranda, can en-vision the use of the diamond drill as a means of advancing cross-cuts and drifts, preparing stopes, etc. I believe it is a matter which is receiving considerable attention at the moment in some parts of the world and J thought it would be interesting to have Mr. Corlett's reaction on that point. MR. A. V. CORLETT: I am not quite so hopeful of using diamond drills as a means of drilling holes in the ordinary drift. Maybe some of the diamond drill men can give us some further information on that point. MR. R. D. LoNGYEAR: The diamond drill manufacturers are working on that problem, but until further work is done we have nothing definite to offer. Drilling holes with a diamond drill to compete with rock drills for advancing drifts and cross-cuts is a desirable objective, because of the elimination of drilling dust and the ability to cut a smooth bore of uniform diameter. To reach this objective, higher rates of penetration are required, which can only be achieved by discovering the optimum bit rotating speed, by reducing vibration, and by further improving the bits and machines. We are optimistic, but the problem is still largely in the research stage.

Jan 1, 1940

By D. Embury

The construction and utilization of oil and gas pipelines is a vital aspect of the Canadian economy. The evolution of materials for this application can be considered as part of an evolutionary process in which the processing of the materials is linked to the design requirements of the pipeline. The evolution of both materials and designs will be considered in terms of parameters such as yield strength, work hardening characteristics including strain path changes such as the Bauschinger Effect and toughness. The final portion of the presentation will consider the possible uses of non-metallic materials, composites and 'smart 'systems in pipeline construction.

Jan 1, 2005

By M. Spreij, M. Hogenboom

Refractory lining performance of aluminium melting and holding furnaces and downtime due to refractory re-linings, are important parameters for increasing the aluminium output of a cast house and decreasing costs. The importance of refractory materials testing is illustrated by examples of improvements made in refractory lining concepts, quality control and introduction of alternative and newly developed materials. These examples also show that the information given by product definitions of refractory suppliers will in many cases be insufficient to judge the risks and benefits of using alternative materials.

Jan 1, 2004

By V. L. Eardley-Wilmot

Diatomite as prepared for the market is a fluffy, white powder, remarkably light in weight-it weighs only 10 to 15 pounds per cubic foot, or one-tenth as much as sand. Being extremely porous and inert, it is in large and increasing demand for insulation and filtration purposes, as general filler, and for many other uses. Structure Structurally, diatomite is quite different from any other known commercial material. It is composed of myriads of microscopically small, siliceous shells of diatoms which belong to a group of flowerless aquatic plants called algae. When these plants die, the siliceous remains sink to the bottom of the water and form beds of diatomite. Over 8,000 species of diatoms are known, named, and tabulated. The intricate scroll-work and patterns on many of these are one of the marvels of nature, and yet so small are they that from 40 to 70 million separate diatoms may be contained in one cubic inch of material. However, the size and shape of these diatoms, which vary greatly (compare Figures 5 and 6), have an important bearing on the commercial use of the diatomite. The diatoms in the majority of the known deposits are so typical of that deposit that, after a micro-examination, an expert can usually tell not only from what part of the world, but also from what particular deposit, the sample has come.

Jan 1, 1931

By L. O. Thomas

THE Alaska Highway, in its course through British Columbia, traverses parts of two great physiographic divisions of Canada which are also distinctive geologically-the Cordillera in the western section and the Interior Plains in the eastern. The Cordilleran region in the portion of the Province with which this paper deals can be divided into four major northwest systems, known respectively from west to east as Coastal, Plateau, Cassiar-Omineca, and Rocky Mountains. The Coastal system consists solely of the Coast range except in the extreme northwest, where a part of the St. Elias range is included. The Coast range, characterized by mountains of great ruggedness,. is made up of an igneous complex of granitic rocks intruded chiefly as a great batholith. In places, spurs of these rocks extend into the Plateau heft, a partly mountainous tract largely occupied by quartzites, quartzose mica schists and their gneissic phases, and crystalline limestone with interbands and broad areas of chlorite, _hornblende, and sericite schists and bodies of intrusive granite gneiss-an assemblage of rocks known as the Yukon group. The Cassiar-Omineca system marks the divide between the Pacific and Arctic drainages. Its eastern boundary is well defined in the south by the Rocky Mountain Trench (see p. 229). The rocks of the system are, miainly, highly altered Palaeozoic sediments, but there are also Precambrian and Mesozoic rocks, the latter largely volcanic. The core of the system is granitic and there is evidence (see p. 221) to support the belief that it is of such a length as to constitute a batholith comparable to that of the Coastal system.

Jan 1, 1944