Search Documents

By L. Malmgren, A. Ansell

This paper deals with the influence from blast induced stress waves on the performance of shotcrete support in the Kiirunavaara mine. Time histories of stress waves from blasting were obtained from measurements during production blasts in the mine, followed by failure mapping. A finite element model, consisting of beam and spring elements, was used to calculate the shotcrete response to vibrations from blasting. The modelling approach was similar to that of a building during an earthquake, with accelerations measured in-situ used as loads. The analysis showed that the calculated adhesive stresses exceeded the strength in the interface between rock and shotcrete near to the blasted ring. It also indicated that tensile rock failure did occur. These types of failure will presumably result in ejection of joint defined rock blocks or rock slabs and will require a ductile support, such as fibre reinforced shotcrete. The predicted failure was confirmed by the mapping, which also showed that the zone of failed shotcrete was much larger in areas with plain shotcrete compared to areas with reinforced shotcrete. L’influence de l’onde de pression générée par les sautages à la mine de fer de Kiruna sur la performance du béton projeté est étudiée dans le présent article. Les ondes créées par les sautages ont été enregistrées et les domages résultants ont été cartographiés. La réponse du béton projeté aux vibrations de sautage est étudiée à l’aide d’un modèle d’éléments finis, constitué de poutres et de ressorts. L’approche est similaire à celle d’un immeuble subissant un tremblement de terre, avec les accélérations internes utilisées comme charges. L’analyse montre qu’à proximité des sautages, la contrainte adhésive dépasse la résistance de l’interface roche-béton. L’analyse confirme aussi l’existence de ruptures en tension. Ces types de rupture induisent probablement l’éjection des blocks définis par les structures du massif rocheux et requierent un support ductil, comme du béton projeté renforcé par exemple. Le type de rupture est confirmé par les observations de terrain, qui montrent aussi une extension plus importante des domages lorsque le béton projeté n’est pas renforcé. In diesem Konferenzbeitrag geht es um den Einfluss, der aus einer Sprengung hervorgerufenen Schwingungswellen auf die Ausführung der Spritzbetonverstärkung in dem Kiirunavaara Bergwerk. Die Aufzeichnungen der Schwingungswellen von Sprengungen gemäß einer Fehlerkartierung beziehen sich auf Messungen, die während der Sprengungen durchgeführt wurden. Ein Finite Elemente Modell, bestehend aus Stab- und Federelementen, wurde für die Berechnung der Spritzbetondeformation in Bezug auf die Schwingungen aus Sprengungen angewendet. Die Modellierungsmethode war ähnlich der eines Gebäudes während eines Erdbebens anhand der gemessenen Beschleunigungen vor Ort, die als Lasten benutzt wurden. Die Untersuchung hat gezeigt, dass die berechnete Haftspannung größer war als die Festigkeit in der Verbindung zwischen Gestein und Spritzbeton in der Nähe des Sprengungscentrums. Die Analyse hat gezeigt, dass die Zugfestigkeit des Gesteins versagte. Diese Arten von Versagen werden als Folge der Herausnahme von Gesteinsbrocken oder Gesteinsplatten erklärt und benötigen eine faserverstärkte Spritzbeton. Das vorausgesagte Versagen bestätigte sich beim Kartieren, welches auch zeigte, dass die Zone des versagenden Spritzbetons in Bereichen mit unverstärktem Spritzbeton viel größer war als in Bereichen mit armierten Spritzbeton.

Jan 1, 2003

By J. P. Gous, J. J. Sutherland

"Transalloys is a silicomanganese (SiMn) producer located in South Africa, and uses only local manganese ores to produce SiMn alloy. The plant operates five open submerged arc furnaces (SAFs) with an annual capacity of 180 000 t of saleable SiMn.Maintaining tap-holes is critical for effective furnace operation, allowing proper drainage of the furnace with minimal operator interference. Using a claygun and drill arrangement installed at each furnace, tapping occurs every four hours. Tap-holes are maintained through mickey replacement and brick repairs. Three furnaces have SiC tap-holes and two have graphite tap-holes.This paper gives a review of SAF operation, furnace and tap-hole design, daily tapping operation, and maintenance practices for repairing tap-holes.IntroductionDefining tap-hole life cycle, Steenkamp et al., (2016) highlighted four main steps: installation during furnace relines, day-to-day operations, tap-hole maintenance, and tap-hole repair. The authors argued that the design of the tap-hole area should allow for all four stages in the tap-hole life-cycle. Design principles for each stage were presented using silicomanganese (SiMn) production as a case study. Here we present a further analysis of the case study by providing practical examples of how the tap-hole life-cycle is managed at Transalloys during the design, operation, and maintenance of submerged arc furnaces (SAFs) applied in the production of SiMn.BackgroundTransalloys is the largest producer of SiMn in Africa. Its smelter complex is based outside the town of eMalahleni, in the Mpumalanga Province of South Africa. Transalloys was commissioned in the mid- 1960s as a high- and low-carbon ferrochromium plant based on the Perrin process. In 1967 the plant was converted to SiMn production because of constraints in the ferrochrome market (Basson, Curr, and Gericke, 2007; Bezemer, 1995). Today, the installed production capacity is 180 000 t of SiMn annually. Plant operations consists of five SAFs (see ratings in Table I), operating 24 hours a day, 365 days a year (including maintenance), involving 280 permanent employees, with up to 120 contract employees on site at any given time."

Jun 1, 2019

By J. H. Schubert

Mintek has developed a level-control system, FloatStar, for use in flotation circuits. Instead of controlling levels separately in each unit, the controller monitors levels throughout the circuit. It can thus take account of the global effects of any control actions. A collaborative project between Mintek and Karee Platinum Mine has begun, looking at aspects of flotation control. Karee plant was chosen as the site for this work because of its good existing control infrastructure. As a first stage of the joint project FloatStar was installed. Analysis during installation and running of the FloatStar has illustrated how circuit design and measurement technology can affect process control. Severe interactions have been observed in the levels of adjacent banks. The effect of FloatStar on flotation performance was tested and an improvement in level control was observed. Similarly, a faster settling of the plant after start-ups was observed. Both the improved level control and faster start-ups lead to higher platinum recovery.

Jan 1, 1999

Cokriging uses a sparsely sampled, but accurate and precise primary dataset, together with a more abundant secondary data-set, for example grades in a polymetallic orebody, containing both error and bias, to provide improved results compared to estimation with the primary data alone, as well as filtering the error and mitigating the effects of conditional bias. The method described here may also be applied in polymetallic orebodies and in other cases where the primary and secondary data could be collocated, and one of the data-sets need not be biased, unreliable, etc. An artificially created reference data-set of 512 lognormally distributed precious metal grades sampled at 25×25 m intervals constitutes the primary data-set. A secondary data-set on a 10×10 m grid comprising 3200 samples drawn from the reference data-set includes 30 per cent error and 1.5 multiplicative bias on each measurement. The primary and secondary non-collocated data-sets are statistically described and compared to the reference data-set. Variograms based on the primary data-set are modelled and used in the kriging of 10×10 m blocks using the 25×25 m and 50×50 m data grids for comparison against the results of the cokriged estimation. A linear model of coregionalization (LMC) is established using the primary and secondary data-sets and cokriging using both data-sets is shown to be a significant improvement over kriging with the primary data-set alone. The effects of the error and bias are filtered and removed during the cokriging estimation procedure. Thus cokriging using the more abundant secondary data, even though it contains error and bias, significantly improves the estimation of recoverable reserves.

Jan 1, 2014

By R. Altindag

The rock brittleness is one of the most important rock properties that affect the drill-ability of rocks. It is supposed that the increase in rock brittleness causes the increase in penetration rate. The drill-ability of rocks depends on many factors. These factors can be separated as two parts depending on a machine, bit type, rotational speed, thrust, blow frequency, flushing, and rock properties, brittleness, compressive strength, structure, hardness, etc. In this paper, the relationship between brittleness and drill-ability index, which is used in the prediction analysis of the penetration rate of rotary blast hole drills, were examined using regression analysis. It is also seen that significant correlations exist between brittleness and the drill-ability index.

Jan 1, 2002

By M. Yavuz, M. Aksoy, G. Once, M. Iphar

This paper is concerned with a study on the floor heaving in the transport road of the GLI Omerler Colliery in Tuncbilek-Turkey. This gallery has been opened at the depth of 200 m through the formation of marl in 4.6 m width and 3.5 m height in cross section. Floor heaving occurred up to 70 cm in height in maximum and caused severe problems in railway and band-conveyor transportation in the main road. In addition; after the current panel mined out, the shield support units could not be transferred to the new panel because of the deformation of roadway cross-section. The I-profile steel arch supports also sank into the weak floor rock. This situation has been studied by numerical analysis using the FLAC3Dfinite difference program in order to investigate the rock mass behaviour around the opening. The obtained outputs of the numerical model have showed consistency with the amount of floor heaving in the gallery at 200 m depth. A new gallery has been driven at the depth of 115 m and M4 longwall panel has just been taken to production. So as not to encounter with the same problems at 200 m depth, especially longwall face moving problem, various numerical models have been studied in order to keep the floor heaving in the acceptable limits required to move shield support units. Keywords: Floor heave, Numerical modelling, FLAC3D, Failure criteria, RocLab

Jan 1, 2003

The Modified Zincex® Process, developed by Técnicas Reunidas, is highly flexible dealing with a wide range of pregnant leach solutions. No matter if those solutions are produced from primary or secondary raw materials, and/or are based on conventional leaching, pressure leaching, heap leaching or bio leaching the result is always high-purity zinc product. The zinc solvent extraction unit within the process is a very effective barrier for impurities and a buffer for the composition of the pregnant liquor. This unit achieves an extremely pure aqueous extract that can be converted into different final products. All of them are characterized by fulfilling the highest purity standards. Also, there is the possibility to adapt the global process to a wide range of pregnant liquor compositions and various production capacities up to a zinc production limit over 150 000 t/a with a single solvent extraction plant.

Jan 1, 2002

By E. Yalçin

The data set often contains one or more secondary variables. These secondary variables are usually spatially cross correlated with the primary variable. The addition of the cross-correlated information reduces the variance of the estimation error by using the cokriging method. The grade estimation results of ordinary kriging and cokriging methods are evaluated and it was found that the estimation variance of cokriging method is slightly lower than ordinary kriging. The effect of variation of block dimension on the estimation results is also investigated and it was seen that the cokriging estimation variance values also decrease as the block dimension increases.

Jan 1, 2005

By M. Magnelöv, Du Sichen, U. Sjöström

An experimental study has been performed to investigate the behaviour and separation of inclusions at the interface between steel and slag. The study has been limited to liquid inclusions because they can be a potential problem in transient situations such as ladle changes in continuous casting of steel. Model experiments with water and silicon oils have been carried out to study the kinetics of separation of simulated inclusions at an interface. The properties of the inclusions and the slags have been varied by using different oils with different viscosities, densities and surface tensions. The effect of temperature of the liquids has also been examined. Measurements of the terminal velocity, rest time and the behaviour of the liquid inclusions at the interface have been recorded using a video camera. It has been found that the inclusions reach their terminal velocity early in the vessel and the experimental velocities differ somewhat from the values evaluated using ?intermediate law?. The results from the experiments have shown that the size of the inclusions has no appreciable influence on the rest time. Droplets of AK50 oil have been found to have considerably long rest time. A water film surrounding the droplet has been expected to be the main reason for the long rest time. The present study has also shown that the viscosity of the oil has certain effect on the rest time, but only to some extent, since viscosity has double functions. A higher viscosity provides higher resistance to the droplet entering the oil phase leading to longer rest time and at the same time damps the lateral movement of the droplet along the interface, leading to easier stabilization and shorter rest time. On the other hand, a high viscosity of the oil phase results in slow dissolution process. It has been concluded that a meaningful model of inclusion separation at the metal-slag interface must take the interfacial phenomena into consideration. Keywords: Inclusions, terminal velocity, rest time, dissolution.

Jan 1, 2004

By C. J. Cutler

Metallurgical accounting for toll treatment smelters pose a number of challenges. Multiple feed stockpiles have to be accounted for as part of the monthly recovery estimation. Moreover, multiple metallurgical intermediates make up part of the in-process inventory, which also influence the monthly recovery calculation. Errors propagate from the measurements of volumes, assays, moisture fractions and bulk densities in the various material types through multiple steps up to the point where the final recovery is calculated. These errors contribute non-linearly to the variance in the final recovery estimate. This paper develops the mathematical formulation for variance propagation in toll smelting operations, including the effect of in-process inventory, assuming measurement biases have been eliminated beforehand. Operational data from a Southern African copper smelter is used for a case study. The method of propagation of variance showed that uncertainties in stockpile assays were the main contributors to variance in the recovery estimate. Variance in the volume and bulk density uncertainties contributed a secondary, yet significant, proportion to the overall recovery variance. It was determined, for the given case study, that the recovery variance depended on the calculation method used and that variance propagation via the two-product formula was smaller than recovery variances calculated via the standard recovery formula. However, the probability that the two product formula will give inaccurate (versus imprecise) results is significantly more due to the practical difficulty of equiprobable sampling of tailings streams from smelter plants (which includes materials such as slags and flue dust). Recommendations are made on how to achieve a reduction in overall uncertainty for toll treatment smelters. Keywords: metallurgical accounting, copper smelters, pyrometallurgy, variance propagation, errors, precision, sampling

Jan 1, 2006

By L. Chen, G. A. Brooks, S. A. Nightingale

The dissolution of alumina and magnesia has been investigated using laser scanning confocal microscopy (alumina) and a rotating finger apparatus (magnesia) to assess the effects of temperature, composition and forced convection on the rate of dissolution in CaO-SiO2-Al2O3based slags. The two techniques have differing strengths and limitations, and provide complementary methods for studying dissolution. Alumina dissolution was studied for temperatures from 1477 to 1577°C. Based upon the data, the rate controlling mechanism was thought to be mass transfer control in the slag. The diffusion coefficients for the alumina particles are estimated to be in the range 10-11to 10-10m2.s. MgO degradation for sample rotation speeds of 50 to 800 rpm at 1500 and 1530°C was studied for both congruent and incongruent dissolution. The results show that the rate of dissolution for this is primarily controlled by a diffusion mass transfer mechanism for congruent dissolution except at the highest rotation speed. For incongruent dissolution, the mechanism is much more complex, with the morphology and distribution of the spinel reaction product having a significant effect. At high speeds and prolonged times, mechanical forces played a major role in the degradation process. Keywords; kinetics, corrosion, refractories, dissolution rate, inclusions, mass transfer, slags, steelmaking

Jan 1, 2004

By V. Velicka, J. Ptacek, R. Snuparek, P. Konecny, G. Takla

Coal mining in Ostrava-Karvina coalfield is being accompanied by rockbursts. 82 rockbursts occurred within the period between 1990 and 2002. Natural and technological factors from these rockbursts were collected and analysed. They confirmed that rockbursts are complex geomechanical events and that the relations between co-acting technological and natural factors are very complicated. Der Abbau in dem Ostrava-Karvina Steinkohlenrevier wurde von Anfang an durch Gebirgsschläge begleitet. 82 Gebirgsschläge in dem Zeitabshnitt von 1990 bis 2002 erfolgten. Die Angaben über natürliche und technische Faktoren der Gebirgsschläge wurden gesammelt und analysiert. Es wurde bestätigt, dass die Gebirgsschläge komplexe geomechanische Phänomene sind und dass die Beziehungen zwischen den zusammenwirkenden Faktoren sehr kompliziert sind. L´abattage d´houille dans le Bassin houiller d´Ostrava-Karvina est accompagnée par les coups de terrains. 82 coups de terrains s´étaient produit dans la période entre 1990-2002. Les données sur les facteurs naturels et techniques ont été ramassées et analysées. Les résultats ont corroboré que les coups de terrains sont des phénomènes géoméchaniques complexes. Les relations entre les facteurs techniques et naturels coopérants sont très compliqués.

Jan 1, 2003

Interest in the potential use of high-density, thickened tailings has recently increased significantly. Reasons for considering this new technology vary across projects, but commonly include the need to conserve water, perceived lower risk of catastrophic failure, potential easier closure, or even reduced overall costs. As with any new technology, there has been some tendency to overstate its potential benefits. This paper reflects on whether or not the potential benefits that have been attributed to paste and thickened tailings have been realized. Using a grading system, thirteen benefits that were ascribed to the new technology some years ago are evaluated. Data is taken from case studies, and it is suggested that the key proven benefits appear to be reduced operating costs in some cases, reduced wall-building costs, and reductions in water consumption. One key potential benefit that has not been universally achieved is a reduction in the footprint of the tailings facility. Reports in the literature highlight the sometimes confusing nature of trade-off studies. Unless full life-of-mine costs are considered, these studies can be misleading and incorrect. The need to establish a consistent basis for comparative studies is discussed.

Jan 1, 2012

By M. Gous

Namakwa Sands is a heavy minerals mining and beneficiation business in the Anglo Base Metals Division, and operates along the West Coast of South Africa. The business encompasses mining, mineral concentration, separation, and smelting operations. The smelting process comprises the carbonaceous reduction of ilmenite to produce titania slag with a TiO2 content of 86%, and iron with a carbon content of 2.5%. The Namakwa Sands smelter, situated near the Saldanha Bay harbour, commenced smelting operations in 1994, when a 25 MW DC-arc furnace was commissioned. The smelting operations were expanded in 1999, with the commissioning of a second 35 MW DC-arc furnace. Despite the fact that ilmenite smelting poses a technical challenge in terms of the high temperatures required, the physical characteristics of the slag, the constraints placed on the feedstock, and the tight product specifications, Namakwa Sands has continually increased slag production since 1995. High furnace feed-on utilization and furnace stability, complemented by continuous improvement drives, will be thevehicle to drive performance in the short-term, with longer-term performance enhancements due to strategic process development. Keywords: Pyrometallurgy, Namakwa Sands, ilmenite, DC-arc furnace, titania slag, pig iron

Jan 1, 2006

By J. W. Neale

Mintek and BacTech have joined forces to provide the metallurgical industry with bacterial-oxidation processes for the treatment of sulphide ores. The processes are aimed at both refractory gold-bearing and base-metal concentrates. Previously, BacTech had commercially implemented the refractory gold process at the Youanmi Gold Mine in Western Australia. More recently, the process has been incorporated in the Sulphide Treatment Plant at the Beaconsfield Gold Mine in Tasmania, Australia. In addition, Mintek and BacTech have recently signed an agreement with the Laizhou Gold Metallurgy Plant in China?s Shandong Province, which will see the third commercial realization of the technology for refractory gold. Development of the base-metal technology is the subject of several papers in the proceedings of this colloquium. The implementation of the refractory gold technology at Beaconsfield is discussed in detail. Some important aspects that are covered include: ?Test work, and the choice of bacterial culture ?Process design choices, and the advantages of the Mintek-BacTech process ?Inoculum build-up ?Plant commissioning ?Plant performance. Besides the Laizhou project, Mintek and BacTech are currently investigating several other commercial prospects for the technology. These include the use of the technology for a gold-copper deposit, where the production of both gold and copper is envisaged.

Jan 1, 2000

By M. M. Valenta

A number of challenges face platinum concentrator plant operators. These challenges include the increase in operating costs, the increase in smelter cost for the processing of concentrate, the shortage and cost of power, and the tightening of specifications on concentrate quality by the toll-smelting operations. Over the years the focus has moved from extracting the platinum group metals (PGM) from the Merensky Reef to the UG2 reef. This has a number of advantages, including the higher ?basket price? for UG2 concentrate, reduced mining cost per unit volume as a result of the higher density of UG2, and the reduction in overall concentrate tonnage to be smelted. In many cases the Merensky ore has been fully exploited and it makes sense for the focus to shift to the UG2 ore that can be accessed through the Merensky shaft infrastructure. The presence of relatively high levels of chromite in UG2 concentrate is, however, a major disadvantage due to the problems associated with smelting such a concentrate in conventional submerged arc furnaces. In addition to increasing the specification on the minimum PGM grade of concentrates, smelters have had to impose strict specifications on the levels of chromite in the concentrate. The threat of high penalties has forced concentrators to change their modus operandi, often resulting in a significant loss in recovery. The final concentrate grades and PGM recoveries are shown to vary significantly throughout the industry. The reasons for this include varying ore mineralogy and different operating philosophies. This would therefore imply that the opportunity exists to optimize the operations by considering fundamental aspects such as the PGM mineralogy and the application of appropriate technologies. By returning to the fundamentals of flotation and applying the findings of detailed process reviews, it has been possible to increase the concentrate PGM grade, reduce the concentrate chromite grade, and in some cases increase the recovery of PGM to concentrate. This paper presents case studies where this approach has been used to successfully optimize concentrator performance, resulting in lower operating cost and higher PGM production. Keywords Process optimization, platinum concentrator, milling, flotation, grade, recovery

Jan 1, 2011

By M. Sanchez, I. Imris, G. Achurra

The Smelting and Converting El Teniente Process for copper concentrates as well as Slag Cleaning Furnace Technologies to treat slags coming out from the El Teniente Furnaces are widely applied today in Chile and around the world. Several industrial applications of this process have shown their capability to treat copper concentrates in a wide range of chemical and mineralogical compositions. Main operational parameters determining performance of the process are: oxygen enriched air flow rate, degree of oxygen enrichment, moisture content of the solid materials processed, molten material levels inside the vessel, frequency of molten materials tapping, bath temperature and copper losses in slags. In this work, the copper losses in the slags from El Teniente pyrometallurgical process are predicted by calculation from thermodynamic data and compared with those determined by microscopic examination and slag industrial data. Results obtained show that the main part of copper losses in the slag from El Teniente Furnace are mechanically entrapped or floated unsettled droplets of the coexisting matte phase. by the contrary the very low copper losses in the slag from slag cleaning furnace are limited by the physico-chemical form.

Jan 1, 2004

By D. deV. van der Spuy

A procedure for optimizing the secondary cooling zone of continuous casters is proposed and illustrated by a billet caster example. The procedure consists of quantifying deviations from the required conditions of the secondary cooling zone?as far as temperatures, metallurgical length and reheating are concerned?by means of a ?cost function?. The optimal spray settings are then found by minimizing the total ?cost?. The billet caster examples serve to emphasize the importance of specifying the required conditions in a consistent manner. Some envisaged practical limitations of this approach are discussed.

Jan 1, 1999

By G. van den Berg

Anglo Platinum has initiated a project to investigate hydraulic hoisting technology for platinum mines. Hydraulic hoisting systems are categorized as pumping, fluidizing feeder or displacement feeder systems. Positive displacement piston diaphragm pumps are most suitable for pumping systems but they require that the ore be milled prior to pumping. Fluidizing feeders are unsuitable for platinum ore applications due to the large percentage of fines in the ore. The three-chamber pipe displacement feeder has been most widely used for hydraulic hoisting and is the most suitable technology for platinum mines. Eight hydraulic hoisting applications covering pumping and displacement feeder technologies are reviewed. The key factors to be assessed in selecting a hydraulic hoisting system for a platinum mine are discussed. A typical platinum mine configuration will comprise an ore preparation plant (to produce -15mm material through screening or crushing), motive water pump on surface, high pressure water pipeline from surface to underground, ore slurrification plant, three-chamber displacement feeder, and a high pressure slurry pipeline to surface. The water and slurry pipelines are housed in a purpose drilled borehole. A hydraulic hoisting system selection chart is presented. A 150mm diameter system with a 25 MPa pressure rating is required to hoist 60 000 t/m from a depth of 1 200 m. Generic capital and operating costs are presented. A major potential advantage of hydraulic hoisting is that the fines, which contain a high percentage of PGMs, are captured underground and transported directly to the concentrator. Hydraulic hoisting technology is ideally suited to providing supplementary hoisting capacity to existing shafts that have reached the skip hoisting capacity limit. The main advantage for new shafts is the potential to significantly simplify underground rock handling and transportation. All hydraulic hoisting system components are proven. The only risk area is the wear rates of the valves and piping. Current estimates are based on gold ore. The business cases investigated show that the financial viability of the installations are not sensitive to wear rate. Hydraulic hoisting is technically feasible and financially attractive for platinum mines. Keywords: hydraulic hoisting, slurry

Jan 1, 2005

By A. Patri, D. S. Nimaje

Wireless sensor networks and wireless communication systems have become indispensable in underground mines. Wireless sensor networks are being used for better real-time data acquisition from ground monitoring devices, gas sensors, and mining equipment, whereas wireless communication systems are needed for locating and communicating with workers. Conventional methods like wireline communication have proved to be ineffective in the event of mine hazards such as roof falls, fires etc. Before implementation of any wireless system, the variable path loss indices for different workplaces should be determined. This helps in better signal reception and sensor node localization, and also improves the method by which miners carrying the wireless devices are tracked. This paper proposes a novel method for determining the parameters of a suitable radio propagation model, which is illustrated with the results of a practical experiment carried out in an underground coal mine in southern India. The path loss indices, along with other essential parameters for accurate localization, have been determined using the XBee modules and ZigBee protocol at 2.4 GHz frequency.

Jan 1, 2015