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In this paper, we present design and implementation details of a fuzzy-behavior-based controller for an automated excavator. This robotic excavator must be equipped with sensors, actuators and an embedded control system. The excavator controller uses neural-networks to interpret forces and torques gathered from bucket mounted force sensors during the excavation process. Implementation details and experimental results using the fuzzy behavior based excavation controller are given for several excavation tasks. These excavation tasks demonstrate some of the complex skills that are essential for an autonomous mining excavator controller.

Jan 1, 1996

By Raymond F. Mikesell

El presente trabajo señala la importancia de la inversión extranjera en la industria minera peruana, donde la minería privada tiene una tradición, constituyéndose en la base de la industria minera. En esta perspectiva, se revisan diez características que tienen en común los inversionistas y los extranjeros para promover la industria minera.

Nov 20, 1978

By Alexandre José Ramos Valentim, Valéria da Silva Guandelini, Fausto Kunioshi

Em um mercado cada vez mais competitivo, garantir serviços com qualidade em ambientes mais produtivos e de custos reduzidos são valores fundamentais para aumentar a eficiência das organizações. Baseada no modelo de gestão de centro de serviços compartilhados, a Diretoria de Suprimentos da Companhia Siderúrgica Nacional criou o BackOffice como uma das formas de dar foco ao core business e tornar estes valores sustentáveis. Este artigo tem como objetivo apresentar a metodologia utilizada para o planejamento, implementação e aprimoramento da área e compartilhar os ganhos de qualidade, performance e custos com a reorganização e padronização de processos que estavam fragmentados e sendo executados em diferentes departamentos.

Oct 1, 2019

By N. Kanari

The kinetics of oxychlorination of MgO by Cl2+O2 was studied in the temperature range of 850 °C - 1025 °C, using thermogravimetric analysis. The effects of C12/02 ratio, gas velocity, temperature and partial pressure of reactive gases on the reaction rate were investigated. The oxychlorination process was characterized by an apparent activation energy of about 214 kJ/mol. The reaction orders with respect to C12+O2. C12 and O2 at 950 °C were about 0.65.0.98, and -0.37, respectively. Some data about oxychlorination kinetics of MgO, Cr2O3, and MgCr2O4 contained in chromite were compared. Efficiency of using oxychlorination for the removal of iron oxides contained in magnesia was demonstrated.

Jan 1, 1999

By Wen Xuan

Oolitic iron ores have significant economical importance because of their extensive resources in the world. However, their utilisation is often quite limited due to the high content of phosphorus inside. The phosphorus is often finely disseminated in the oolite structure and generally not liberated in the form of free particles. The iron ore used in this work is a typical oolitic goethitic iron ore with high phosphorus. The process of phosphorus removal from this ore is difficult because the phosphorus is not present as distinct minerals. As a result, no physical beneficiation process is able to separate the phosphorus from the iron bearing phases. The current concentrate contains low iron grade (Fe ~49%) and high phosphorus content (P 0.7~0.8%). The acid leaching is a potential way to dissolve phosphorus. Previous studies have shown that the thermal treatment makes the phosphorus more accessible for the acids and enables more efficient phosphorus dissolution. Some chemical additives are reported to enhance this phenomenon. A series of tests have been carried out using roasting - grinding - magnetic separation - leaching technologies to remove the phosphorus from this current concentrate. In the first stage, several tests were performed at pilot scale under the same conditions as described in some publications. The achieved results were similar to those from previous tests at laboratory scale. In the second stage, new test conditions were investigated in laboratory scale in order to achieve better result and to reduce the operational cost.

Aug 1, 2018

By P. C. Tully

The vapor pressure-temperature relationships for saturated pure liquid nitrogen are calculated by the Strobridge equation using a digital computer. This information is presented in two tables: first) in pressure increments of 0.1 psi from 1.8 to 492.9 psia) and second) in temperature increments of 0.1° from 63.15° to 126.26° K. These tables should facilitate the calibration of temperature-measuring devices over this temperature range.

Jan 1, 1967

By J. Leon-Torres, D. M. Stefanescu, P. A. Curreri, S. Sen

"Experiments were performed under terrestrial gravity (lg) and during parabolic flights (10·2 g) to study the solidification and macrosegregation patterns of Al-Cu alloys. Alloys having 2% and 5% Cu were solidified against a chill at two different cooling rates. Microscopic and Electron Microprobe characterization was used to produce rnicrostructural and macrosegregation maps.In all cases positive segregation occurred next to the chill because of the shrinkage flow, as expected. This positive segregation was higher in the low-g samples, apparently because of the higher heat transfer coefficient.A 2-D computational model was used to explain the experimental results. The continuum formulation was employed to describe the macroscopic transports of mass, energy, and momentum, associated with the solidification phenomena, for a two-phase system. The model considers that liquid flow is driven by thermal and solutal buoyancy, and by solidification shrinkage. The solidification event was divided into two stages. In the first one, the liquid containing freely moving equiaxed grains was described through the relative viscosity concept. In the second stage, when a fixed dendritic network was formed after dendritic coherency, the mushy zone was treated as a porous medium.The macrosegregation maps and the cooling curves obtained during experiments were used for validation of the solidification and segregation model. The model can explain the solidification and macrosegregation patterns and the differences between low- and high-gravity results."

Jan 1, 1999

The Saturday morning session of the Forty-seventh Meeting of the Rocky Mountain Coal Mining Institute was called to order at 9:30 o'clock a. m., June 9, 1951, in the Junior Ballroom of the Hotel Utah, Salt Lake City; Utah, with Mr. A. P. Cederlof presiding. CHAIRMAN CEDERLOF: Mr. Whiteside suggests that we have the Treasurer's Report. Would you like to read this report,: Mr. Reese? MR. GOMER REESE, SR.: Gentlemen, we have here the Auditor's report. A. B. Foulger, President The Rocky Mountain Coal Mining Institute Dear Mr. Foulger: Following is the report of the Treasurer from May 31, 1950 to May 31, 1951: [ ]

Jan 1, 1951

By J. D. Decker, T. E. Norman

Introduction Grinding is the reduction of ore and similar raw materials to particle sizes below the practical limits of commercial crushing ma¬chines. This size is about 36 in. (1 cm), in most cases, although some finer crushing machines are in regular use. The feed size to grinding machines may range upward to S in. in rod mills, and 12 in. or more in autogenous mills. The finest particle sizes produced in mineral processing operations result from grinding. Ordinary grinding of brittle materials is the result of impacting, rolling, and abrasion of heavy bodies, moving freely under the influ¬ence of gravity. These falling and rolling grinding bodies, which are usually of metal, must be much heavier and larger than the ore parti¬cles they break. This weight relationship is usually in excess of 100: 1. The sustained fall of the grinding bodies is obtained by placing them, together with the rock particles they grind, in a rotating drum or cylinder with horizontal axis, called a tumbling mill. The mill is nearly half full of grinding bodies and ore particles, which may be fed into one end and exit from the other through hollow trunnions which usually serve as the mill bearings. The mill lining must be thick to absorb wear and rough to prevent excessive slippage of the charge. The breakage of brittle rock or ore is accomplished by compression. The compression may be a rapid impact, from the fall and roll of a grinding ball, or it may result from the relatively slow and constrained motion as in a jaw crusher. Breakage by shear is a secondary result of the compressive motion. Ordinary rock has an extremely heterogenous structure with innumerable zones of weakness in which cracks, fractures, and breakages can form. When a rock is subjected to com¬pression it deforms. If the compressive force exceeds a certain critical value an incipient crack appears in the most fragile zones of weakness. This crack tip may first form on the particle surface or in its interior. When the first crack tip forms the compressive stresses immediately surrounding it flow to it, and this concentration of forces extends the crack and splits the rock. Other adjacent cracks may form during this extremely rapid process. Because of the nature of brittle particles, the work done in breaking them consists essentially of the work input required to compress them to the point at which the first crack tip forms. Breakage requires no appreciable additional energy input be¬yond that required for the deformation, since the stress energy already imported to the rock flows to the crack tip and extends it to breakage. Types of Tumbling Mills The general term tumbling mill includes the rod mill, ball mill, pebble mill, autogenous mill, and tube mill. It is of cylindrical or cylindro-conical shape and rotates about its horizontal axis. Rotational speed, liner type, and size and shape of tumbling media are selected to provide the desired operating conditions for the specific grinding application. Openings are provided through the mill ends for feed and discharge of the material being ground. A common feature of tumbling mills is the use of tumbling media

Jan 1, 1985

By Mark Fritzen

Drilling and blasting near residential or business inhabited areas may expose people to blast induced vibration. Many of these people have never been exposed to blast vibration and airblast which can cause a variety of reactions ranging from indifference to anger. Blasting contractors seeking to minimize the impact of blasting to neighbors of the project will plan for a public relation plan which begins at bid time. The public relations plan cost will be included in their proposal and a variety of methods may be included including, door to door contact, letters, pamphlets, telephone calls, and the use of an independent consultant to conduct a pre-blast survey. By raising the awareness of neighbors to a blasting project the blasting contractor may reduce the anxiety and stress of unannounced blasting vibration and airblast. This helps everyone associated with the project from the project owner(s) to the blasting contractor.

Jan 1, 2000

By Charles White Merrill

Mankind's progress is measured in minerals. Man's emergence from prehistory is marked by passage through a Stone Age and a Bronze Age and into the present era, sometimes called the Iron Age or the Age of Metals. With the evolution of civilization and the development of a modem industrial economy, minerals become more and more important. Structures, roads, and machines are built largely of minerals; the energy to heat the structures and to drive the machines is mostly mineral; agricultural fertility is maintained by mineral fertilizers and water; and military strength is provided by fortresses, armaments, and munitions, largely of mineral origin. Thus in the material world, in the productivity of the economy, access to minerals has paramount importance. Every evidence indicates increasing dependence on minerals in the modem economy, particularly on the mineral fuels as energy sources to provide the power base for advancing industrialization. Both the total and the per capita consumption of almost every mineral is increasing in the industrialized nations. Moreover, nations with predominantly agrarian economies call themselves underdeveloped and universally strive to industrialize. Most mineral consumption trends in the more advanced economies have been greatly exceeding population growth-which itself has been advancing at an accelerating rate-and sometimes have surpassed the growth in real income. Some minerals have only recently been adopted or grown to importance in use. Titanium metal did not appear as a commercial product until 1948, and even coal seriously displaced wood as a source of heat less than two centuries ago. On the other hand, minerals have always played an important role in construction. The prehistoric megaliths that form the dolmens of Salisbury Plain are stone; the pyramids are andesite faced with limestone; and many other ancient structures are built of mineral materials. In modem times the whole course of architecture has been redirected by new building materials, mostly mineral. Most conspicuous is the sky-

Jan 1, 1964

By M. Drozd, M. Somppi, Z. F. Yamak

"Activated carbon is used to recover gold in solution from various gold circuit designs including carbon-in-pulp (CIP), carbon-in-column (CIC), and carbon-in-leach (CIL) processes; however, the characteristics and durability of the activated carbon can vary. Handling this medium poses challenges when fine carbon losses occur in the CIP, CIC, and CIL circuit discharge. Additionally, adsorbed gold on carbon fines can be lost to the discharge. The studies in this paper aim to standardize laboratory methods for testing activated carbon qualities specific to the gold industry. The investigation focused on size distribution, platelet content, wet attrition resistance, gold kinetics, and gold loading. The results demonstrate that a 96 h attrition test and a gold loading test form a basis for ranking carbon samples based on expected economic performance of the plant. ¦ KEYWORDS Activated carbon, Carbon attrition, Carbon ball-pan hardness, Carbon evaluation, Carbon fines loss, Carbon turnover RÉSUMÉ Le charbon actif sert à récupérer l’or en solution dans diverses conceptions de circuits de broyage d’or, notamment les procédés de charbon en pulpe (CIP, de l’anglais carbon-in-pulp), de charbon en colonnes (CIC, de l’anglais carbon-in-column) et de lixiviation au carbone, ou charbon au lixiviat (CIL, de l’anglais carbon-in-leach). Toutefois, les caractéristiques et la durabilité du charbon actif varient. La manipulation de ce milieu pose des problèmes dès lors que se produisent des pertes de carbone à grain fin dans la décharge des circuits CIP, CIC et CIL. Par ailleurs, l’or adsorbé sur les fines de charbon peut se perdre durant la décharge. Les études réalisées dans le cadre de cet article visent à normaliser les méthodes de laboratoire pour tester les qualités du charbon actif spécifiques au secteur de l’exploitation aurifère. L’étude portait sur la composition granulométrique, la teneur des plaquettes, la résistance au frottement humide, la cinétique de l’or et l’adsorption de l’or, à savoir la capacité du charbon actif à adsorber l’or sur une période spécifique. Les résultats ont montré qu’un test de frottement de 96 heures et un test d’adsorption de l’or constituaient le fondement d’un classement des échantillons de carbone du point de vue économique en vue de trouver l’échantillon générant le meilleur rendement des usines. ¦ MOTS CLÉS charbon actif, dureté de la batée des billes de carbone, évaluation du carbone, perte de fines de charbon, renouvellement du carbone, résistance au carbone INTRODUCTION The use of activated carbon for gold extraction is among the most common processes in modern gold-milling plants. Although gold losses are inevitable in the milling process, operators often focus on reducing gold loss to tailings. One focus area that is important in gold recovery is optimizing the use of activated carbon and examining potential changes to realize improved economics for carbon-in-pulp (CIP), carbon-in-column (CIC), and carbon-in-leach (CIL) processes. Granular activated carbon (Figure 1) is widely used for gold extraction from slurries containing gold-cyanide complexes. This activated carbon—produced from charred coconut shells—is well suited because of its adsorption kinetics, gold-loading capacity, attrition resistance, and ability to be reactivated. The extraction process using activated carbon technology involves adsorbing gold from an aqueous leachate; the gold is dissolved using a cyanide salt and consequently a dicyanoaurate(I) ion (Au(CN)2–) is formed, as noted in equation 1."

Jan 1, 2019

By C. L. Lin

A PC image-based on-line coarse particle size analyzer has been developed to measure particle size distributions under plant situations where overlapped particles are being transported on a moving belt conveyor. Although previous testing had shown satisfactory performance of this image-based system for separated particle size measurements (the non-overlapped case), it was necessary to modify original algorithms in order to solve the overlap problem and make the system suitable for plant operations. On-site testing has been conducted at a large copper concentrator in the southwestern U.S. for further investigation of the overlap problem.

Jan 1, 1995

By Medardo Echegaray

Desde el punto de vista de análisis químico se buscaba estudiar un método de determinación de fierro que ofreciese una buena precisión en una zona de concentraciones. En ese sentido, el presente texto señala la determinación colorimétrica del fierro a través del método de complejo aceto-férrico. No existe intlerferencia por el manganeso, fluor o níquel. El cromo interfiere cuando se encuentra en cantidades mayores a su máxima concentración permisible o sea 0.1 mg .

Mar 1, 1963

COLUMBIA LOCAL SECTION Executive Committee F. A. THOMSON, Chairman GEORGE W. RODDEWIG, Vice-Chairman L. K. ARMSTRONG, Secretary- Treasurer, P. O. Drawer 2154, Spokane, Wash. R. S. MCCAFFERY S. H. RICHARDSON The quarterly meeting of the Columbia Local Section of the Institute Was held in Pullman, Wash., May 16-17, 1914, as a joint meeting with the Spokane Sections of the. American Institute of Electrical Engineers and the American Society of Civil Engineers, each holding separate sessions on the afternoon of the 16th With a joint meeting in the evening. The Section meeting was held in Science Hall, the Chairman, Prof. Francis A. Thomson, presiding. E. Jacobs, Secretary of the Western Branch of the Canadian Mining Institute, acted as Joint Secretary: About 35 members and guests Were present. H. C. Bellinger, formerly Metallurgical Manager of the Great Cobar Co., Ltd., N. S. W., Australia, described the Horwood process. Papers as follows were presented and discussed: A Smelting Furnace for Cyanide Precipitate, by P. S. Anderson. Mining Methods in Rossland, by C. H. Loux. Geological Notes on a Part of Central Idaho, by Prof. D. C. Livingston. Some Notes on the Ore Deposits of Republic, Wash., by A. M. Balfour. E. Steidl, of the U. S. Bureau of Mines Rescue Car, spoke on the mine rescue service of the Bureau, and E. Jacobs described what is being done along similar lines in British Columbia and elsewhere. The evening was occupied in joint session, J. B. Fisken presiding. Mr. Fisken read a short paper on the benefit to the young engineer of an association y membership in the local section of either of the societies represented in the meeting, and C. F. Uhden gave a stereopticon lecture on Power Development Along the Spokane River.

Jan 7, 1914

By Rosana Rocha Cunha

Estudou-se as propriedades de filmes finos de TiO2 depositados em substratos de vidro.Os filmes foram obtidos pelos métodos Sol-gel e Evaporação por feixe de elétrons (e-beam) visando obter a propriedade autolimpante. Essa propriedade dos filmes de TiO2 está relacionada à hidrofilicidade fotoinduzida e pode viabilizar várias aplicações tecnológicas como a obtenção de vidros autolimpantes para módulos fotovoltaicos. O tetraisopropóxido de titânio foi utilizado como precursor no método sol-gel com deposição dip-coating. Na evaporação e-beam, partiu-se do TiO2 sólido. Os filmes passaram por diferentes tratamentos térmicos e as propriedades dos filmes obtidos pelas duas técnicas de deposição. A cristalinidade da fase anatásio foi identificada por DRX de baixo ângulo. A espessura foi medida por perfilometria e Microscopia de Força Atômica, obtendo-se valores próximos de 170 nm. Parâmetros como topografia, rugosidade e tamanho dos cristais de anatásio foram avaliados. A transmitância das placas de vidro com os filmes depositados foi medida por espectrofotometria UV-Vis. O caráter hidrofílico dos filmes finos foi comprovado por meio de medidas do ângulo de contato com água. Os filmes obtidos por ambas as técnicas apresentaram boa capacidade autolimpante devido ao efeito da hidrofilicidade fotoinduzida sob radiação UV.

Aug 16, 2017

By Marcella Grosso Lima

O objetivo deste trabalho é pesquisar sobre as principais falhas apresentadas por revestimentos anticorrosivos modernos comumente empregados para proteção interna de tanques de armazenamento de produtos petroquímicos e avaliar a capacidade da técnica de correntes parasitas para a inspeção não destrutiva deste material. Nesse contexto, as vantagens e limitações da técnica são analisadas. A aquisição de dados foi realizada considerando as propriedades isolantes dos revestimentos nas condições como aplicado e também após o envelhecimento. Amostras foram preparadas com defeitos controlados inseridos no substrato de aço carbono a fim de simular defeitos de corrosão localizada sob o revestimento. A detecção dos defeitos foi avaliada nas amostras com diferentes espessuras e também com a presença de óxido de ferro no interior dos defeitos a fim de simular áreas de corrosão localizada. Através da comparação entre os resultados obtidos no C-Scan original e após o processamento de imagem, foi possível observar uma melhoria significativa na eliminação dos falsos defeitos relacionados a variação da espessura inerente do revestimento pela limiarização multilevel. Também foi possível através do efeito do lift-off distinguir os defeitos reais e falsos defeitos. Nesse aspecto, a técnica de correntes parasitas se mostrou capaz de detectar defeitos neste tipo de material.

Oct 30, 2017

By Alisson Paulo de Oliveira

Incentivado pela diversificação dos produtos em aço, a demanda por graus cuja composição química esteja próxima da faixa peritética, tais como os aços HSLA (High Strength Low Alloy) e AHSS (Advanced High Strength Steel), tem aumentado. As crescentes exigências nas propriedades mecânicas e a redução de custo nas ligas são as razões para que esses aços sejam projetados próximos à faixa peritética, com o teor de carbono entre 0,09 e 0,16%. A produção de placas do aço ASTM A588-B, com o teor de carbono visado igual a 0,10%, apresentava expressiva variação do Nível de Aço no Molde (Ou Mould Level Fluctuation, MLF), aumentando a probabilidade de ocorrência de “Break-Out” (Rompimento de Pele) e a redução da qualidade de superfície das placas, com eventual ocorrência de Trincas Longitudinais. Outra limitação é a impossibilidade de troca de largura das placas, dependente da estabilidade do processo de Lingotamento Contínuo. Serão discutidas as ações tomadas visando a redução do MLF, baseada em alterações no Projeto de Liga, a comparação entre variáveis-chave do processo de Lingotamento Contínuo de Placas em dois cenários de Projeto de Liga além dos impactos em características de Propriedades Mecânicas do produto laminado, no caso bobinas processadas em Laminador Steckel.

Oct 30, 2017

By Luiza Esteves

Corrosion testing was performed in white liquor from a Brazilian Kraft mill. Specimens of duplex stainless steel (DSS) and lean duplex (LDSS) were exposed at 170 °C for 30 days to simulate conditions of the digester. Corrosion rates were determined from weight loss measurements. After this exposure, the corrosion products formed on the steel surface was characterized by using scanning electron microscope (SEM) equipped with EDS, X-Ray Diffraction (XRD), and X-ray photoelectron spectrometer (XPS). EBSD can be used to quantify of basis balance phases in DSS and LDSS. General corrosion rates for UNS S32304 LDSS were higher than the UNS 31803 DSS in industrial white liquor at 170 °C for 30 days. XPS and XRD analyses indicated that the film formed after the immersion test may be consisted by Fe and Cr oxides and sulphides.

Oct 30, 2017

By P. Couceiro, J. Navarro

A new methodology to perform selective blast designs by adapting the explosive energy, hole by hole (or in the hole), to the rock properties as a combination of their strength properties through the X-Rock model has been developed based on drill-monitoring data from both autonomous and manual rotary drilling modes. For that, a thorough normalization process has been developed to minimize external influences in the data induced by the different rig system and the operator interventions during manual drilling operation. Principal component analysis has been used to combine drill monitoring information. Data from 48,385 blastholes, comprised in 102 production blasts at 7 different levels in one expansion of the mine have been used for the analysis. The methodology, called X-Energy, combines the X-Rock model outputs with actual blast design parameters (drill pattern, stemming and borehole length, explosive mass/density and others) and a constant variable obtained from a machine learning algorithm, to estimate size distribution and percentage of fines and coarse material, hole by hole, by combining and recalibrating the Kuznetsov (Cunningham, 1987) based equation. From it, a new shovel-independent diggability model has been developed as combination of the P80 size, the rock properties (from the X-Rock) and a constant variable obtained from a machine learning algorithm. The X-Energy application presented in this study have been implemented in Minera Escondida Limitada (MEL), to design and operate production blasts with the goal of varying the explosive density to the rock properties to obtain a more uniform size distribution and digging rates, hole by hole, based on a target size and rate, and improving slope care, preventing active faults to fail. The methodology has been applied and validated in 17 production blast (8,277 blasthole), unlocking an average of 12.8% reduction in explosives costs (explosive consumption), by combining a pattern expansion strategy and a better distribution of the explosive density within the blast. The results demonstrate how a better distribution of the explosive energy by varying its density in the hole according to the rock and blast geometry variables can reduce powder factor (explosive consumption) while improving or maintaining blasting and digging results.

Jan 1, 2024