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By R. M. T. Raja Ismail

Shipping and stevedoring industry is going to witness a massive increase in the amount of containers to be handled while land constraints become more critical. Offshore transfer operations hence offer a preferable solution to deal with the surge in cargos rather than to expand the port outwards. Recently, there has been increasing research interests on offshore crane automation. Suspended cargos in a ship-mounted crane system are caused to swing due to the vibratory motion of the ship induced by ocean waves, which can lead to collision between cargos and deck. Therefore, it is vital for offshore crane systems to satisfy rigorous requirements in terms of safety and efficiency. This paper presents the modelling and control development for offshore boom crane systems. A second-order sliding mode control law is proposed for trajectory tracking and sway suppression control, making use of its capability of actuator chattering alleviation while achieving high tracking performance and preserving strong robustness. The asymptotic stability of the closed-loop system is guaranteed in the Lyapunov sense. Simulation results indicate that the proposed controller can significantly reduce the effect of disturbances coming from gusty waves and other dynamic loadings.

Aug 1, 2013

By A. Chieregato, C. G. Oñate Salazar, D. Martinelli, D. Peila, M. Barbero

This paper is aimed to confirm the possibility to excavate fractured rock masses by using EPB shields, even in presence of relevant water tables. This verification is based on laboratory test experiences carried out at TUSC laboratory of Politecnico di Torino, where the natural material is tested in order to verify the suitability of a certain conditioning technique in particular conditions. This is due to the fact that every case should be studied apart from existing studies on a certain rock type, as other factors such as fragmentation of the rock mass, natural water content and porosity of the rock can considerably influence the final result of the conditioning process. The most important aspects that allow to consider the conditioning of fractured rock masses as suitable are: possibility to create a plastic paste that can transmit the pressure at the front in a effective way; reduce the permeability of the spoil material in order to reduce the possibility of water leakage inside the chamber and eventually in the tunnel; verify the consistency of the conditioned material for the extraction through the screw conveyors and the belt conveyors. For this research an argillitic schistose rock mass, with some quartzitic and calcareous inclusions, has been studied by using different level of conditioning in order to verify the suitability of an eventual EPB excavation through this formation.

Jan 1, 2015

By Denni Nikols, Farrukh Z. Khan

"Highvale Mine, located at Wabamun, Alberta, produces thermal coal for TransAIta's Keephills and Sundance generating plants. Overburden stripping in the mine is conducted by draglines which normally operate on top of the overburden bench. In certain areas oj the mine, however, these overburden benches are susceptible to slope failure. In these areas, due to safety considerations, the draglines are utilized in the less productive chop-cutting mode, supplemented by mobile equipment where the bench height exceeds the dragline chop-cutting limit. This paper proposes maintaining the draglines in their normal digging mode through areas of unstable or jailed overburden, by utilizing a dragline carried toe buttress 10 ensure adequate bench stability. The data requirements and methods of slope analysis to design a toe buttress across an unstable highwall area are examined in rigorous detail. INTRODUCTIONLocationHighvale Mine is owned by TransAlta Utilities Corporation and operated under contract. It is Canada's largest coal mine with an annual coal production in excess of II million tonnes. The mine is located approximately 80 km west of Edmonton on the south shore of Wabamum Lake (Fig. I) and production is currently provided by three pits 02. 03 and 04 (Fig. 2). The entire coal production is consumed at the nearby Sundance and Keephills power generating plants.ScopeThe mining operation at Highvale Mine has had occasional slope stability failures of its high wall overburden bench. This paper examines one such failure which occurred in the summer of 1983 at Pit 03. In addition to an investigation of the failure, Terracon was asked to recommend mine operation procedures which would minimize the impact of these slide zones on dragline productivity. A method of removing the failed material by utilizing the dragline in its normal digging mode is designed. The method's advantages and disadvantages as well as the required support procedures are reviewed."

Jan 1, 1989

By M. J. Dry, G. B. Harris

"This paper presents basic chemistry and operating conditions for the hydrolysis of ferric chloride into solid hematite and gaseous hydrogen chloride, and shows how this unit operation can be applied in chloride hydrometallurgy to regenerate strong hydrochloric acid and reject iron without also rejecting valuable metals such as nickel, copper and cobalt. Two examples are used to illustrate the hydrolysis technology and compare it to existing technology. The first is the regeneration of spent steel pickling acid, comparing hydrolysis to conventional pyrohydrolysis. The second example is the processing of a hypothetical low grade nickel laterite, comparing the novel chloride hydrolysis route to conventional sulphate HPAL technology.INTRODUCTION Whilst, in many respects, the control and removal of dissolved iron from chloride leach solutions can resemble the manner in which it is done in sulphate systems, chloride chemistry additionally offers the ability to achieve the same objectives in different ways (Harris, 2014). Conventionally, iron is oxidised to its ferric state (if necessary) and then precipitated with a base, usually magnesia where the feed is a laterite and lime where it is a sulphide, since calcium will precipitate sulphate formed during leaching. One method for controlling iron is to form FeOOH, either ß-FeOOH (akaganéite), a-FeOOH (goethite), or a mixture thereof (Fillipou and Choi, 2002). However, if akaganéite is formed, the precipitate will contain a significant chloride component (as high as 7% Cl), leading to chloride losses and difficulty in satisfactorily disposing of the residue. Washing chloride from akaganéite is almost impossible due to the propensity of the solids to undergo peptization. The conventional approach requires the addition of a base, but it is based to some extent on controlled supersaturation precipitation (Demopoulos, 2009), which produces a more uniform and crystalline material and is far more attractive than, for example, the turboaeration process proposed by Great Central Mines in their chloride copper process (Raudsepp & Beattie, 1986)."

Jan 1, 2016

By Marc C. Bétournay

"Surface crown pillars, acting to safely protect underground workers and operations from surface elements, are recognized, herein, as distinct from conventional deeper underground pillars. Moreover, because of the variation in mining and geological conditions that exist from mine site to mine site, each case is viewed as unique. A review of numerous case studies and existing literature indicates that there is little general information or systematic problem-solving approach associated with them.A design process, not unlike that of other engineering disciplines, is presented to correct these deficiencies. As part of its purpose, it will inform operators of the key elements required for design and will address the problems of these appendages. The design, while taking into consideration possible surface crown pillar settings and inherent characteristics, is founded on a step-by-step procedure starting with site investigations through to monitoring or pillar recovery. The process is flexible, in that it incorporates decision making and changes in mining strategy. The purpose of each step is explained and each step is extensively described in terms of the required equipment and methods for field work, analysis and support measures. Analytical formulae and studies from several fields directly applicable to surface crown pillars are also given. Recommendations for future research studies are presented."

Jan 1, 1987

By F. Rosenblum, P. Spira

"A correlation has been established between the oxygen demand of Brunswick Mining and Smelting ore and flotation results at the bench, pilot plant and operating plant scale. A method of dete""1llining the aeration requirement of sulphide ores on the basis of this correlation is presented. It is shown that abraded iron from grinding media plays an important role in aeration and flotation. Laboratory grinding must therefore be conducted under controlled conditions with suitable grinding media in order to obtain the true aeration requirement of the ore.A method of evaluating aerator efficiency, also based on oxygen demand measurements, has been used successfully at Brunswick Mining to design pilot plant and full-scale aeration systems.1. IntroductionPre-flotation aeration of sulphide pulps has been practiced in the Noranda Group for many years to help in the depression of pyrite and pyrrhotite and to promote chalcopyrite and/or galena. Recently, two out of three parallel circuits at the Brunswick Mining and Smelting Corp. Ltd. concentrator have been converted on a test basis to a new flowsheet incorporating aeration as a basic step. Among other benefits, a substantial decrease in the middlings load has been achieved as a result of improved pyrite rejection. There has been increasing interest in other organizations in the potential advantages to be derived from' aeration in terms of improved metallurgy and/or decreased reagent consumption."

Jan 1, 1978

By C. D. Smith

Numerous studies have shown the potential of air rate profiling to significantly improve the flotation performance of a bank of cells. To date many profiles have been implemented; balanced, increasing, decreasing and combinations of these. Previous work has typically shown using an increasing air rate profile, where the air rates are increased proportionally to each cell down the bank, yields a higher grade for a given recovery compared to other profiles. Air rate profiling can then be thought of as having two distinct components; determining the correct distribution of a given volume of air and, perhaps more importantly determining the correct total volume of air to add to the bank. To date no method for this second component has been established. In an alternative technique the air rate to each cell is adjusted in order to optimise the air recovery from that cell. Air recovery is the fraction of the inlet air which overflows the weir of a cell as unburst bubbles. The peak in air recovery (PAR) is a robust measurement that indicates optimal performance for the operating conditions in the cell, and sets the PAR air rate. By doing this for each cell in the bank, the optimal total air rate to the bank and the optimal distribution of that air can be simultaneously determined. In this study plant trials evaluated different air rate profiles, and profiling based on PAR. The total air rates to the bank for all profiles tested were approximately equal, allowing direct comparison. The results showed that the highest cumulative mineral recovery was achieved by operating at air rates which gave the PAR for each cell down the bank. Different distributions of the same total air rate to the bank gave the same cumulative upgrade ratio, but lower cumulative recoveries. In this study, the increase in cumulative mineral recovery, at the same upgrade ratio, was more than 33%. Peak in air recovery (PAR) based optimisation of air rates to banks of cells and to the individual cells has been shown to significantly improve flotation performance as it simultaneously determines the optimal air rate to the bank, and the optimal distribution of that air.

Jan 1, 2009

By S. Suzuki, C. Tokoro, S. Owada, T. Sakakibara

Acid mine drainage (AMD) has been actively treated by neutralization from about 80 abandoned or closed mines in Japan. More efficient and cost effective treatment processes has been demanded for AMD due to the government investment of billions of yen every year to protect the environment from these discharges. In this study, quantitative modeling was conducted for actual AMD to predict pH or residual concentration of toxic elements after neutralization/co-precipitation process. Simple chemical equilibrium calculation was not adequate for quantitative prediction of pH after neutralization, because residual concentration of major elements of AMD, such as Fe or Si, could not be quantitatively calculated. When oxidation rate of Fe(II) to Fe(III) and precipitation rate of kaolinite were added to the model, quantitative prediction of pH and Fe or Si concentration was achieved. Surface complexation at the interface between hydroxide such as ferrihydrite or aluminum hydroxide and AMD was the most important mechanism for removal of dilute toxic ions. When surface complexation model at the interface of ferrihydrite was added to the model, residual As (V) and Pb (II) concentration after neutralization/coprecipitation process was successfully calculated. On the other hand, surface complezation model of aluminum hydroxide was also necessary for quantitative prediction of residual Zn(II) concentration after neutralization/co-precipitation process.

Jan 1, 2014

By Ahmad Hemami

A working code is developed to simulate the forces that are involved in the process of penetration of a bucket into bulk media during loading and excavation. The result of this work can be integrated with the simulation software that many manufacturers of heavy earthmoving machines introduce for training purposes. The simulator programs for machines such as backhoes, loaders, LHDs and the like, used for operator training, are usually only based on the kinematics of the machine. As a result, there is no indication of the effect of the medium when the cutting tool of such a machine touches the excavation material. This is like moving the machine in the air. Feeling the resistance force of medium to cutting by a bucket or blade during loading and excavation is more realistic, both mentally (by vision) and physically (feeling resistance in pedals and levers). The results from force simulation can be used by feedback in creating simulated resistance in these training gears, similar to what is done in flight simulators for aircrafts. In addition to serving for the above purpose, the results of this work can be used as a tool for examination and verification of the effect of a control policy for automation of loading and excavation of bulk media. So far no commercial product has been introduced that has such a capability, despite some extensive research on the subject.

Aug 1, 2013

By D. B. Langford, R. Hart

"This paper presents an overview of the state-of-the-art in industrial and utility power metering and control systems with particular emphasis on Digital Power Meters and Power Demand Controllers.IntroductionModern micro-processor technology, combined with very fast, high accuracy analog to digital converters, is rapidly allowing economical, digital power instrumentation systems to replace the traditional electro-mechanical meters and equipment previously used for instrumentation, control and protection in industrial power systems. Consequently, instrumentation and Supervisory, Control and Data Acquisition (SCADA) systems that were only practical for the very large utility or user are now available to smaller utilities and users. The information available includes sequence of event recording, trend logging, energy management cost allocation and automated load control, among others. The heart of any power monitoring system is the Digital Instrumentation Package (DIP) . These ""DIP's"" include Digital Power Meters (DPM's) and Power Demand Controllers (PDC's) as well as other specialized instrumentation packages such as Mini RTU's."

Jan 1, 1991

By X. Xe, B. Myhre, N. Zhou, B. Sandberg, Z. Chen

Effects of microsilica and reactive alumina type on flowability, flow decay and working time of Al2O3-SiC-C castables for blast furnace trough were investigated. The results show that at a targeted self flow values of (80 ± 10)%, water demand markedly decreases with increased microsilica addition. The nature of reactive alumina has a strong influence on flowability of the castables. Higher microsilica content contributes to a longer working time. The flow decays gradually until the working time and then drops abruptly. In addition, microsilica have positive effect on both cold strength and hot strength.

Jan 1, 2004

By J. Duriez, L. Scholtès, F. V. Donzé

"Fracture propagation process in brittle rock is investigated by means of numerical simulations performed with an adapted formulation of the discrete element method. The progressive failure mechanism is simulated through the breaking of the bonds making up the cohesion between the elements constituting the simulated medium. The use of appropriate contact laws associated to a near neighbor interaction feature provide the model the ability to reproduce fundamental characteristics of brittle rock behavior such as, for example, high values of the tensile to compressive strength ratio. Great attention is given to accurately describe the properties of the pre-existing joints or faults in the model. A specific joint model gives the possibility to define a tailor-made behavior of the discontinuity surfaces without suffering from discretization bias.Compression test simulations are performed on pre-flawed samples and compared to experimental results in order to validate the numerical approach for describing the initiation and propagation of fractures in brittle rock under mode I+II loading. It is shown that the crack mechanical parameters can greatly influence the fracturing pattern, in particular its frictional properties. Overall, the numerical simulations reproduce fairly well the failure patterns that are obtained experimentally.The discrete model is then used to study mode I+III loading to give an insight into fracturing problems occurring at the scale of the continental crust. The ability of the model to support mechanically the physical modelings performed with wet clay or sandbox is shown. As an example, the model is used to track the development of a twist crack system (wrench fault) through the nucleation and coalescence of microcracks."

Jan 1, 2015

By R. Brough

"Over 25 years ago, SKEGA pioneered the use of rubber linings in grinding mills and rubber is today widely accepted and almost standard material chosen for Regrind - and Secondary Hills. There are, however, only a few Primary Hills in operation with ""solid"" rubber linings because available materials and designs are often not cost efficient in comparison with steel alloys on a Cost per ton basis and/or downtime for liner replacement would be to a high.In other words, solid rubber has limits as any other material. However, 'SKEGA started to think, why not try to use the best properties of rubber as well as steel and combine the two materials together.Nearly 10 years ago SKECA started to test this concept in Rod Mills. A steel cap was vulcanized on to the leading face of the lifter bars, to be installed close to the feed end head (fig. 1)."

Jan 1, 1988

By Deni Côte, Michel Dagbert, Marcel Vallée

"Greater reliability of mineral deposit and reserve estimates can be attained through better quality control of the data and information acquisition, and the estimation processes. This paper reviews the following key requirements:1. greater awareness of the significant figures of both data and estimates, and better understanding of the probabilistic aspects of the estimates, their confidence limits and margins of error;2. greater reliability of the information that supports the estimates, by more explicit and more rigorous methods and standards for data acquisition and for interpretations;3. more quantitative estimations of geological/mineral continuity, based on improved three dimensional sampling patterns and the use of geostatistics; and 4. better integration at the project engineering and mine production stages, of the mineral deposit characteristics and mining method constraints, for more efficient mineral recovery and mine quality control.RÉSUMÉUne plus grande fiabilité des estimations des gisements et des réserves minières requiert plus d'emphase sur le contrôle de la qualité de I ‘acquisition de l'information et du processus d'estimation. Les exigences suivantes sont revues:1. le respect du niveau d'exactitude des données et des estimes en n'utilisant que le nombre approprie de chiffres significatifs des observations et mesures, et en exprimant le niveau de confiance et la marge d'erreur des estimations;2. l'amélioration de fa fiabilité des données par des normes plus rigoureuses pour leur acquisition et leur vérification, et par des méthodes plus systématiques d'interprétation et de modélisation;3. l'estimation plus rigoureuse de la continuité des minéralisations dans les trois dimensions des gisements, par des patrons échantillonnages mieux adaptes awe paramètres géologiquement minéralogiques, et par l'utilisation des méthodes géostatistiques; et4. l'intégration plus poussée, particulièrement lors de la planification de l'exploitation minière, des caractéristiques des gisements avec les contraintes des méthodes d'exploitation, pour améliorer la récupération et le contrôle de la qualité en exploitation."

Jan 1, 1993

By P. C. Garg

"IntroductionThe Central Mine Planning and Design Institute (CMPDI) of India, started planning the extraction of thick seams highly susceptible to heating in 1977by the French method of sub-level caving and/or multi-slicing. Nitrogen flushing was proposed for inhibition of heating by the author in one such project - the Kotadih colliery.Inhibition of heating was unheard of in the Indian coal industry before 1977-78. The usual practice was to seal off a district or a part of the mine or the entire mine when spontaneous heating occurred. With very little equipment in a normal bord and pillar district and a low production rate, the financial loss in capital assets and in production did not warrant any serious thought for inhibition of spontaneous combustion. With the planned advent of longwall mining, particularly sub-level caving, with heavy capital investment as well as high production potential, the sealing of a longwall face due to spontaneous heating could not be considered an appropriate solution.Principle of Inhibition of SpontaneousCombustionFrench engineers have established that a fire will not break out when oxygen is 15% or lower in the general body of the air. However, once a fire starts, the percentage of oxygen has to be reduced to 2% - 4% to extinguish it. It is this principle which has been used at Blanzy Coalfield in France to inhibit heating and it is claimed that this has retrieved the integral sub level method of mining. Nitrogen infusion has been used in Frence since 1978 to keep the oxygen content below 14% in the goaf."

Jan 1, 1987

By J. Shen

Direct methanol fuel cells have been the subject of considerable research in the last decade. Performance levels realized in cells, stacks, and systems show that this technology is a promising power source for a wide range of portable applications. A direct methanol fuel cell (DMFC) operates directly on a methanol fuel stream typically supplied as a methanol/water vapour or as an aqueous methanol solution in liquid feed DMFCs. The fuel streams in DMFCs are usually recirculated in order to remove carbon dioxide and to re-use the diluent and any unreacted fuel in the depleted fuel stream exiting the DMFC. The concentration of methanol in the fuel circulation loop is an important operating parameter because it determines the electrical performance and efficiency of the direct methanol fuel cell system. The methanol concentration in the circulating fuel stream is usually measured continuously with a suitable sensor, and fresh methanol is admitted in accordance with the signal from the sensor. There are many factors to consider in developing a methanol sensor suitable for DMFCs. These factors include sensitivity, cost, size, simplicity, reliability, longevity, concentration range, and dynamic response. In particular, reliability and low cost should be addressed. Methanol concentration sensors measure methanol concentration by means of detecting the variations of physical/chemical properties of the solution. In this work, methanol concentration sensors based on electrochemistry, electric-capacitance measurement, infrared sensing, ultrasound sensing, and other techniques are reviewed to discuss their advantages and disadvantages.

Jan 1, 2005

By Ji Wang

Reflective in-seam wave detection has the advantages of a far detection range and wide applicability. It has been successfully used in detection of many abnormal geological structures in work-faces, such as faults and collapse columns. However, a reflective in-seam wave is a dispersion wave. It has weak energy and is always covered by the direct in-seam wave. In the past, underground seismic explorations were not able to image the opposite roadway using reflective in-seam waves. To solve this problem, we propose a new method of reflective in-seam wave imaging based on adaptive dispersion filtering. This method processes the reflective in-seam wave using a filter with the parameter of transmission distance. The degree of similarity of the filtered and the explosion signal is used to estimate the transmission distance and image the reflective objects. We test and verify this method using real underground seismic data. This research is helpful for the detection of coal mine goafs and abandoned roadways in work-faces or in front of tunneling ends.

Aug 1, 2013

By David Christensen

The long-term performance of dry covers is being examined in a research study funded by the International Network for Acid Prevention (INAP). The study was separated into two phases. The two main components of Phase 1 of the study were the identification and research of the processes affecting the long-term performance of dry cover systems and an examination of available numerical models for simulation of long-term cover performance. Identification and research of the physical, chemical, and biological processes affecting long-term performance showed that cover performance could be related to the change in the saturated hydraulic conductivity of cover material, the change in the soil-water characteristic curve, and the physical integrity of the cover system. Seven numerical models were examined to evaluate their effectiveness in predicting the long-term performance of cover systems. VADOSE/W (Online Help v1.01, 2002) was selected for use in cover system modeling in Phase 2 of the project. Phase 2 of the research study is currently in progress and involved the selection of five mine sites with a minimum of three years of performance monitoring data for analysis of cover performance. Two of the mine sites will be analyzed with the two-dimensional VADOSE/W numerical model. In addition, field saturated hydraulic conductivity tests were completed at three mine sites to investigate the change in field hydraulic conductivity of the cover system materials. The objective of the field testing program was to evaluate changes in hydraulic conductivity of cover material with time. Measurements of field hydraulic conductivity were completed with a Guelph permeameter and a pressure infiltrometer at three sites. The field hydraulic conductivity data was used to evaluate whether a change in this key material property had occurred over time. Field observations and the historic performance monitoring data provided the necessary information to develop hypotheses as to the likely processes that led to any change in field hydraulic conductivity. This paper will briefly summarize the research completed in Phase 1. The remainder of the paper will focus on the field testing program completed to measure the field hydraulic conductivity of constructed cover systems.

Nov 1, 2002

By BARRY BANNATYNE

Ombrotrophic Sphagnum peat bogs have a characteristic signature on both colour injrared film (750 nm to 3,000 nm response) and Daedalus injrared line-scanner images (thermal infrared 3 to 5 microns and 8 to 14 microns response). This remote sensing method was used to survey bogs in southeast Manitoba to delineate targets for surface exploration. Target bogs all have a surface growth of Sphagnum; underlying dead Sphagnum ranges from 1 to 6 m thick. Large Sphagnum reserves exist in the Caribou cluster of bogs, and in /979 a bog first identified by infrared sensing was brought into production.

Jan 1, 1984

By K. Sun, S. A. Argyropoulos

The assimilation and the exothermic behavior of Zn-Zr metallic powder compacts into molten aluminum was studied by measuring simultaneously the temperatures inside at the centerline of the compact, at its surface, and inside the molten aluminum bath, as well as the net downward force acting on the compact. In addition, the exothermic behavior of these compacts was also investigated in an argon protected atmosphere. The temperature rise inside the compact increases significantly with the mass ratio of zirconium in the compact and to a lesser degree with the aluminum bath temperature. Experimental results on the recovery of these compacts in molten aluminum will also be presented.

Jan 1, 2008