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By K. Yamaguchi

To contribute highly efficient and environmentally conscious copper smelting process, several topics in chemistry of the continuous converting were discussed. Through the reviewing the authors' thermodynamic simulations, it is recognized that small amount and low copper content of the coexisting slag is preferable. Some discussions were added to the Takeda's diagram for Cu20-FeOx-CaO ferrite slag, and the activity curves of the constituents were derived. Thermodynamic calculations were carried out on the copper contents of the slag during the blister copper formation. The dissolution of copper in slag decrease somewhat with increasing temperature, but the effects of increasing S02 pressure and decreasing %S in copper are considerable to increase in copper content of the slag. The optimum oxygen enrichment in the supplied air, and regulation of the oxidation degree for the blister copper are important in practice. The gypsum phase separation in the calcium ferrite slag was also evaluated thermodynamically, and concluded that decreasing temperature, increasing CaO content or S02 pressure, and extensive oxidation of the blister copper tend to separate CaS04.

Jan 1, 2007

By C. Jay Hodgson, P. J. MacGeehan, T. Sanders

"The orebodies of the Campbell and Dickenson mines are localized within an anomalously fissile and deformed zone that transects the eastern margin of a dominantly mafic volcanic complex close to its contact with a synchronously formed sedimentary basin containing clastic and chemical sedimentary rocks. The ore zones are mainly quartz-carbonate fissure veins and siliceous replacement zones formed during deformation and metamorphism, although there are some syn-volcanic exhalative ore zones in the mines. On a regional scale, the volcanic rocks have been affected by syn-volcanic spilitic alteration which has involved the leaching of Fe, Mg, Au and As from, and the addition of Na and variable amounts of Si to bleached zones enveloping primary permeable structures in the rocks. The leached constituents were deposited on the contemporaneous sea floor as iron-rich chemical sedimentary rocks. Although this alteration is not closely related, spatially, to the ore zones, it is characteristic of the general environment, and may serve to distinguish gold-prospective from gold-barren areas on a mining-camp scale.Closely associated spatially with gold deposits is a zone of feldspar-destructive alteration within which the volcanic rocks are characteristically feldspar-free, enriched in As, Au and to a variable degree in Si, and depleted in Na, Ca and to a variable degree in Mg, Fe and K. The alteration zone is also characterized by abundant, variably transposed, small quartz-dolomite to ferrodolomite veinlets formed during deformation and metamorphism, and includes, but extends outside of, the anomalously fissile zone hosting the orebodies. The alteration zone is interpreted to have formed syn-volcanically within the upper part of a major submarine hydrothermal discharge zone."

Jan 1, 1982

By Horatio Sam-Aggrey, Margot Hurlbert

Small Modular Reactors (SMRs) have been touted as having the potential to spearhead a nuclear renaissance. Proponents of this view cite the relative advantages of SMRs over larger nuclear plants as reason for their optimism. Some of these merits include potential economies of mass production deriving from modular factory production, enhanced safety features, the ability to locate reactors in remote areas, and reduced requirements for technical workforces to install and maintain SMRs. Despite the optimism surrounding SMRs, nuclear power is still a contentious issue for many Canadians. The growth of nuclear power remains adversely affected by concerns over issues such as: the health and safety consequences of nuclear power generation, environmental impacts, proliferation of nuclear materials, terrorism, and radioactive waste disposal (Organisation for Economic Co-operation and Development (OECD) and Nuclear Energy Agency (NEA), 2010). Personal values, past nuclear accidents, and lack of trust in the industry are other factors influencing attitudes toward nuclear energy (IAEA, 2005). In Canada, three main areas where SMRs could be used have been identified. These include: a. Traditional, on-grid power generation, especially in provinces looking for zero-emissions replacements for CO2-emitting coal plants. B. Remote off grid communities that currently rely on diesel or fuel oil power generation. There are 279 off-grid communities in Canada, many of them being Aboriginal communities (NRCan, ND). Notably, all communities in each of Canada’s three territories qualify as remote. C. Resource extraction sites, such as mining and oil and gas extraction sites. Many of Canada’s principal producing mines and active mineral exploration projects are located within close proximity of Aboriginal communities. Any proposed implementation of small nuclear plants would, require the support of the local population, which is largely Indigenous in the northern regions. The possible deployment of SMRs raises important issue relating to consultation and accommodation of Aboriginal concerns regarding potential SMR deployment. This is especially pertinent given Canada’s pending implementation of the provisions of UNDRIP. One of the provisions of UNDRIP that has attracted a lot of attention is the one on Free Prior and Informed Consent (FPIC). Drawing on previously published information, this paper discusses some of the challenges posed by FPIC for the deployment of SMRs. The next section outlines the provisions of FPIC and its implementation in the Canadian context. Section 3, details some of the challenges posed by FPIC to the deployment of SMRs, while Section 4 provides some concluding comments.

Jan 1, 2020

By Mehmet F. Taner

"The East Sullivan Stock (ESS) is a small, composite felsic alkaline pluton of presumedlate Archean age in the Val d’Or mining district. Three main facies have been distinguished: mon-zonite sensu stricto, porphyritic monzonite, and green trachytic porphyry. This monzonitic group ofrocks is of relatively homogeneous composition with high abundances of Na2O, K2O, Ba, Sr, Rb, Zr,Mo and LREE. The alkaline ESS is distinguished from other igneous units in the Val d’Or miningdistrict, such as the Bourlamaque Batholith, by relatively high concentrations of Ba, Sr, Rb, Mo, Cuand Au. The ESS hosts many base (Cu, Mo) and precious (Au) metal occurrences, including: (1)porphyry style Cu-Au-Mo disseminated sulfde deposits, (2) Cu-Au deposits in volcanic rocks near the ESS contact, and (3) pyritic gold mineralization in east-west trending shear zones. The ESS is well defined by concentrical zoning on the aeromagnetic vertical gradient color map, and displays four linear trends, which are assumed to be structural lineaments, at 035°-055°, 320°-300°, east-west, and north-south. The main mineral occurrences related to the stock display a preferred spatial association with the east-west linear magnetic trends.The ESS is preferentially located along a major structure and was emplaced late in the evolutionof the Abitibi subprovince like other felsic alkaline plutons. This stock is similar to late-tectonic min-eralized felsic alkaline intrusions of the Kirkland Lake and Larder Lake mining districts in Ontario, and to the Allard stock in the U.S.A. which is associated with gold and base metal mineralization. Similarities also exist with younger alkaline plutons associated with Cu-Mo-Au porphyry deposits in the Canadian Cordillera, which formed in tensional tectonic environments. The felsic alkaline magmamay have formed by partial melting of deeply buried supracrustal rocks, concomitant with the development of deep fractures such as the Cadillac Fault. In such an environment, hydrothermal solutions carrying remobilized metals from deep supracrustal rocks may have deposited gold and base metals in structural traps. Plutons similar to the ESS should be good targets for mineral exploration. Copyright © 1996 Canadian Institute of Mining, Metallurgy and Petroleum."

Jan 1, 1996

By A. Michalkow

DELN ITE Mines Limited is located in Deloro township, on the west end of the south break of the Porcupine Camp. Mining operations are currently being carried out on the downward extension of a system of quartz veins in an andesite zone. This zone has been followed from surface to the present bottom level of 5,250 feet. The changing mineralogy of the vein system has involved an increase in tourmaline content from the surface downwards, so that the veins at the lower levels are composed of dark brown quartz-tourmaline. The drilling problem presented by these extremely hard veins was partially alleviated by the development and adoption of a one-inch drill bit. All blast-hole drilling is now done with the one-inch bit, without any difference in hole spacing.

Jan 1, 1962

By James F. Allan

"Abstract -The Kipawa yttrium-zirconium prospect is located about 150 km south of Noranda, Quebec . Yttrium-zirconium mineralization occurs in an elongate, regionally metamorphosed and deformed peralkaline complex in the Grenville terrain. The mineralized zone, as defined by ? 0.10% Y203, is 1300 m long and 10 m to 30 m wide. Zirconium content typically ranges from 0.50 to 1.20% Zr02. The mineralized zone strikes northwest and dips 20 degrees to 35 degrees to the southwest. It occurs at the structural base of the peralkaline complex in syenite gneiss and cale-silicate rocks and is conformable with both the footwall contact of the complex, and the layering and gneissosity in the enclosing rocks. Minerals of economic interest are eudialyte (sodium-zirconium silicate), mosandrite (sodium-titanium silicate), britholite (calcium-silica phosphate), and a few other uncommon zirconium and titanium silicate minerals.The highest and most continuous yttrium grades occur in the upper part of the syenite gneiss unit in areas containing eudialyte, mosandrite and rninor britholite. Yttrium also occurs in britholite in cale-silicate rocks and in mosandrite in syenitic rocks in the lower part of the syenite gneiss unit. Both the yttrium-bearing minerals and yttrium grades are erratic in the lower part of the unit. Zirconium is generally more uniformly distributed than yttrium. A peralkaline granite gneiss phase of the complex intrudes the syenite gneiss and possibly truncates it, and the mineralization, near the southern boundary of the mineralized zone.The mineralized zone is coincident with a radiometric anomaly and discontinuous yttrium and zirconium soil anomalies.More drilling and metallurgical studies will be required to determine the economic viability of the yttrium and zirconium mineralization at Kipawa."

Jan 1, 1992

By Mehmet F. Taner

"Abstract - The East Sullivan Stock (ESS) is a small, composite felsic alkaline pluton of presumed late Archean age in the Val d’Or mining district. Three main facies have been distinguished: monzonite sensu stricto, porphyritic monzonite, and green trachytic porphyry. This monzonitic group of rocks is of relatively homogeneous composition with high abundances of Na2O, K2O, Ba, Sr, Rb, Zr, Mo and LREE. The alkaline ESS is distinguished from other igneous units in the Val d’Or mining district, such as the Bourlamaque Batholith, by relatively high concentrations of Ba, Sr, Rb, Mo, Cu and Au. The ESS hosts many base (Cu, Mo) and precious (Au) metal occurrences, including: (1) porphyry style Cu-Au-Mo disseminated sulfide deposits, (2) Cu-Au deposits in volcanic rocks near the ESS contact, and (3) pyritic gold mineralization in east-west trending shear zones. The ESS is well defined by concentrical zoning on the aeromagnetic vertical gradient color map, and displays four linear trends, which are assumed to be structural lineaments, at 035°-055°, 320°-300°, eastwest, and north-south. The main mineral occurrences related to the stock display a preferred spatial association with the east-west linear magnetic trends.The ESS is preferentially located along a major structure and was emplaced late in the evolution of the Abitibi subprovince like other felsic alkaline plutons. This stock is similar to late-tectonic mineralized felsic alkaline intrusions of the Kirkland Lake and Larder Lake mining districts in Ontario, and to the Allard stock in the U.S.A. which is associated with gold and base metal mineralization. Similarities also exist with younger alkaline plutons associated with Cu-Mo-Au porphyry deposits in the Canadian Cordillera, which formed in tensional tectonic environments. The felsic alkaline magma may have formed by partial melting of deeply buried supracrustal rocks, concomitant with the development of deep fractures such as the Cadillac Fault. In such an environment, hydrothermal solutions carrying remobilized metals from deep supracrustal rocks may have deposited gold and base metals in structural traps. Plutons similar to the ESS should be good targets for mineral exploration. Résumé - Le Stock de East Sullivan (SES) est une intrusion composite alcaline d’âge tardiarchéen, situé dans le camp minier de Val d’Or. Trois principaux faciès ont été identifiés: une monzonite sensu stricto, une monzonite porphyrique et un porphyre trachytique vert. Les données chimiques montrent que ce groupe des roches monzonitiques est relativement homogène en composition avec des concentrations élevées de Na2O, K2O, Ba, Sr, Rb, Zr, Mo et ETRL, définissant une suite alcaline typique. Cet alkalin stock peut être facilement distingué des autres unités géologiques de la région de Val d’Or, tel le batholite de Bourlamaque, par une concentration élevée de Ba, Sr, Rb, Mo, Cu et d’Au. Le SES contient plusieurs importants prospects de métal précieux (Au) et de métaux de base (Cu, Mo), incluant: (1) une minéralisation disséminée de type porphyre Cu-Mo-Au, (2) une minéralisation de Cu-Au dans les roches volcaniques encaissantes hôtesses près du contact et (3) une minéralisation d’or pyritique dans une zone de cisaillement de direction est-nordest. Le SES est bien défini sur la carte aéromagnétique en couleurs du gradient vertical par des zonages concentriques, où quatre linéaments structuraux ont été reconnus: 035°-55°, 320°-300°, est-ouest, et nord-sud. Les principales zones minéralisées spatialement associées au stock sont généralement situées soit près des linéaments magnétiques est-ouest, soit le long de ceux-ci.Le SES semble s’être mis en place le long d’une structure majeure, développée tardivement dans l’évolution de la Sous-province abitibienne, comme les autres plutons alcalins felsiques. Ce stock est similaire à la suite tardi-tectonique d’intrusions alcalines minéralisées des camps miniers de Kirkland Lake et de Larder Lake en Ontario, ou"

Jan 1, 1996

By K. E. Waters, M. Mirnezami, R. Gauvin, A. Jordens, K. W. Malas

"There is currently very little information on the physico-chemical properties of rare earth elementbearing minerals, or on their processing. With the increasing demand for rare earths, this is something that needs to be addressed. This paper introduces some surface chemistry analysis of fergusonite (YNbO4), and the bubble-particle attachment. Zeta potential measurements indicate adsorption of sodium oleate and, to a lesser degree, potassium amyl xanthate onto the surface, and an increase in attachment to an air bubble is observed at pH 4.5 and 6.5. At a pH of 10.5, no attachment is observed, whether in the presence of the reagents or not. This analysis, although initial, will be used to initiate flotation tests, in order to facilitate the selective recovery of fergusonite. INTRODUCTIONRare earth elements (REE) are increasingly in demand, due to their prevalence in both renewable energy devices and high-end electronics. An article in the New Scientist highlighted the importance of a number of REE, many of which most people are be unlikely to have heard mentioned (Crow, 2011). From batteries (lanthanum and cerium) to magnets (dysprosium and neodymium) and lighting (yttrium), the REE are crucial to the advancement of technology and energy saving devices. For example, neodymium is finding most use in the high end magnets that keep the motors turning that power wind turbines and electric cars. In the case of yttrium, the demand outstripped the supply in 2010, emphasising the need to develop deposits containing this and other REE (Crow, 2011). The impact of our dependency on REE has become even more apparent with the reduction in exports by China, which currently controls 97 % of the world’s rare earth production (Pitts, 2011).With the increasing demand for rare earth elements (REE), there is a drive to exploit the known resources around the world. However, the physical beneficiation of the rare earth element bearing minerals is a subject which will require a great deal of investigation to fill the knowledge gaps surrounding these developing rare earth projects. There are numerous articles on REE mineralogy as well as the hydrometallurgical processing of REE concentrates (Alex, Suri, & Gupta, 1998; Peter Gromet & Silver, 1983; Ring et al., 1993; Schnetzler & Philpotts, 1970; Uda, 2000), however a common feature amongst these resources is the lack of detailed descriptions of the physical beneficiation processes required to concentrate REE-bearing minerals. There is work being conducted into reagents and methods for use in recovering some rare earths from their associated ores (Bulatovic, 2010; Ni, Parrent, Cao, & Liu, 2011), but much more in-depth research is required."

Jan 1, 2012

By Baisheng Nie, Longlong Yang, Tao Yang, Wenjie Jia

"Gas adsorption in coal is an exothermic and physical process. Temperature might change during the dynamical process. In order to get the temperature variation of gas adsorption process, the experiment system which can test the temperature variation and analyze the thermal effect was established. Gas adsorption experiments under different conditions were done by using the test system. The results show that temperature increases during the adsorption process. It is an exothermic reaction process. Also, the temperature variation and the variation gradient increase with the increasing of equilibrium pressure. The temperature variation value is smaller if the experiment temperature is higher. The paper will provide basic experimental data for explaining gas adsorption mechanism better.INTRODUCTIONChina is the largest coal producer in the world while it also has the most serious coal mine disasters. According to the statistics, there are nearly a thousand coal mines in China including more than 110 the key state-owned mines risking to happen coal and gas outburst. Hundreds of coal and gas outburst occur each year which often causes serious casualties and economic losses (State Administration of Work Safety, 2007). With the continuing exploitation of the coal resources, the depth of the Chinese coal mines increases about 100 meters every year which causes the situation of gas accident becoming more and more serious (Xie et al., 2006).At present, the real mechanism of gas adsorption, desorption and the diffusion process in coal and the influence factor of it are not so clear. And because of the limit of prediction method and the technological level caused gas accident prevention theory and technology not so valid."

Jan 1, 2015

The AG/SAG circuit discharge P80 is now increasingly referred to as the ?Transfer Size? or T80 for short. From the literature it is apparent that in circuit design some approaches to the sizing of AG/SAG mills as well as the ball mills that they feed use this parameter. This paper reviews whether the use of the T80 is appropriate in this context. In the course of the review examples of AG/SAG discharge size distributions measured from range of operating circuits are used to illustrate the arguments made.

Jan 1, 2012

By Tatsuya Oki

Tantalum capacitors can be found mounted on printed circuit boards of domestic appliances such as personal computers. These capacitors contain a considerable quantity of expensive metal tantalum and can be detached and liberated from printed circuit boards by impact breakers. In this study, the size and density distribution of the liberated electronic devices were investigated. Then, tantalum capacitors were recovered from other electronic devices using size separation and pneumatic gravity concentration methods. More than 70% of Newton's separation efficiency was obtained for tantalum capacitors. High Newton's separation efficiency could be also obtained for other types of electronic devices such as chip resistors.

Jan 1, 2011

By Jamal Jafari, Abbas Sam

"The concentration of the fourth production line at Golgohar includes 66% iron with Blaine number of 500 cm2/g. For pelletizing process, the feed iron grade should be greater than 68% with minimum Blaine number of 1800 cm2/g. In this study, the low intensity magnetic Separators, particularly the feed particle size distribution of LIMS were considered. The feed particle size distribution of the separators was optimized to prepare an appropriate concentrate (as mill pelletizing feed). The samples were performed from the LIMS feed and after grinding, four d80 (64, 103, 132, and 15 3µm) were prepared. Then, laboratory magnetic separation experiments were conducted on these samples. The best results obtained using d80 of 132µm. In this particle fraction, the iron grade and Blaine number were 70.3% and 1571 cm2/g, respectively. Therefore, it seems necessary to include a grinding and classification systems before LIMS stage. According to the presence of a high amount of -132 µm particles in the initial feed, an inverse closed circuit was selected. The hydrocyclone was designed in three units as the classification system with 62 cm (diameter), 22 cm (overflow outlet) and 11 cm (apex diameter). By simulation of hydrocyclone with USIMPAC software, the size distribution of underflow was determined. Based on these results, a ball mill with dimensions of 6.7 m (length) and 5 m (diameter) was designed as grinding system.INTRODUCTIONGole-Gohar iron ore concentration plant No.4 (Polycom Plant) in Gole-Gohar Industrial and Mining Complex was installed to increase production capacity as well as treating the circulating load from AG and SAG mills of the main concentration plant of the complex. The load from the mine is crushed using jaw and cone crushers. The crushed ore is then combined with the circulated load and the combination is then grounded using HPGR and ball mills respectively.After comminution, there is a magnetic separation plant which includes a medium intensity magnetic separator (MIMS) followed by three low intensity magnetic separators (LIMS). Final concentrate dewatering is done using three belt filters. After the primary magnetic separation, the ore is upgraded to 62% Fe content and final concentrate which is the product of LIMS has 66% Fe content."

Jan 1, 2016

By F. Chiesa

Experimental results on thin and thick castings poured in aluminum A356 and magnesium AZ91E by the low pressure permanent mold process have been compared to the result of filling simulations for thin and thick castings. If the results of modeling is reliable when the liquid remains above the liquidus temperature, this is no longer the case when partial solidification occurs. The visco-elastic behavior of a partially solidified liquid is difficult to put into equation as it depends on the amount of shear it has been been subjected to. Attempts to predict misruns with a commercial software has been proven to be very difficult if not impossible; divergence of the numerical solution has been observed unless prohibitively long computing times are used. In order to overcome these difficulties from a practical standpoint, a simple method is proposed which consists in tracking the temperature of the advancing liquid metal front so as to make sure it will always be above so-called `Misrun Critical Temperature' (MCT) determined experimentally for thin and thick aluminum A356 and magnesium AZ91E castings. If the liquid metal front falls below this temperature, a cold-shut or misrun is likely to happen at this location. The values of MCT for thin and thick in aluminum A356 and magnesium AZ91E were determined experimentally on misrun castings of extreme geometries (a thin 2.5 mm wall cover and a 6mm to 25 mm thick bell housing). MCT was found to be lower for magnesium AZ91E and for the thicker castings.

Jan 1, 2011

By D. S. Conochie

The world is poised for rapid growth in consumption as large, less developed economies acquire greater wealth. It might be expected that there would be a corresponding growth in waste generation, but this might not necessarily be the case. The metallurgical industry has an excellent record of process development which has allowed it to provide a high tonnage supply of low cost, high quality metals. Environmental challenges have been faced and indeed the recycling of scrap iron through the electric arc furnace has made a massive contribution to cleaning up obsolete structures and equipment of past generations. Issues in waste generation and processing still remain, and the expectation for cleaner processing and environmental performance continues to rise. The waste impact of key process developments of the last century and the recent developments in metallurgical waste processing in Canada will be outlined. The potential to use state of the art design tools to produce the next generation of zero waste processes will then be explored.

Jan 1, 2004

By W. Zieman

"The low consumption of reagents can probably be attributed to a good clean type of ore. The cyanide level is kept at 0. 8 lb/ ton of solution and the lime at 1. 8 to 1.9 lb per ton of solution (pH 12. 2 to 12 .3). Experience in cutting down the lime level in half produced troubles in the presses, in the refinery and resulted in higher cyanide consumption. Finally the residue increased under these conditions, High lime always seems to prevent the trouble from occurring.A survey at one mine of the taxable work, performed in the mine shops for use in the mine, showed that under the new regulations, this had increased some 30 times what it was before the new rules came into effect on June 14, 1963.A water softener idea is incorporated at Lamaque with the crude addition of 100 lb of lime per shift to a spare agitator to precipitate the bicarbonates as carbonates from the water before it enters the mill. The lime titration of the softened water is about 0,2 to 0.3 lb per ton of solution (pH 11). This water is used mainly on the filters as washes."

Jan 1, 1964

By A. Boeing

Rock-breaker automation and remote operation improves the safety and efficiency of mining operations. This article presents an overview of the Rocklogic rock-breaker automation system architecture that provides collision avoidance, automated parking, and remote operation functionality. The system consists of a distributed computer control system that interfaces with sensors attached to the rock-breaker, the rock-breaker hydraulics, and the site infrastructure. We present results of an automated Transmin rockbreaker installed in a production environment at an underground Australian mine site. The system has been in production use for over 900 days during which there have been no reported collisions, and 100% adoption of the remote operation technology. As a result, Rocklogic has significantly improved the safety of rock-breaking operations and reduced the rock-breaking cycle time, thereby improving the sites overall throughput.

Aug 1, 2013

By R. B. Fermor

"The tyndalloscope is used in Europe for dust-hazard assessments in both coal and metal mines. Dust-hazard conditions can be directly evaluated by the tyndalloscope in many underground working situations, once the basic standard table or tables have been prepared from representative mine-rock samples.The tyndalloscope is excellent, in many cases, for diagnostic dust sampling during a working shift, because individual readings can be taken to within three-minute intervals. The limitations of the tyndalloscope are also discussed.The author suggests that a combination of both the tyndalloscope and gravimetric sampling methods would be an ideal match for most mine dust-hazard assessments."

Jan 1, 1970

By E. De Souza

Energy associated with ventilating an underground operation comprises a significant portion of a mine operation's base energy demand and is consequently responsible for a large percentage of the total operating costs. Ventilation systems may account from 25?40% of the total energy costs and 40?50% of the energy consumption of a mine operation. Fans are the most important mechanical devices used to ventilate underground mines and the total fan power installed in a single mine operation can easily exceed 10,000 kW. Investigations of a number of mine main fan installations have determined their assemblage to be, in general, very energy inefficient. The author has found that 40?80% of the energy consumed by a main fan is used to overcome the resistance of fan assemblage components. This paper presents how engineering design principles can be applied to improve the performance and efficiency of fan installations, resulting in substantial reductions in power consumption, operating cost and greenhouse gas emissions. A detailed case study is presented to demonstrate that, by designing fan assemblages using proper engineering concepts of fluid physics and industrial ventilation design, main fan systems will operate at efficiencies well above 80?90% (compared to common operating efficiencies of between 20 and 65%), resulting in a drastic reduction in a mine's overall costs and base electrical and energy loads.

Aug 1, 2013

By Yutaro Fukase

Various types of service robots have recently been developed for guarding facilities, caring for the elderly, carrying objects, and cleaning buildings. As barrier-free facilities improve and their use expands, these robots have more space within which to move inside buildings. Yet robots that move autonomously rely on position-detection systems. Though improving rapidly, these systems are far from perfect in determining positions in certain situations, especially when robots navigate large areas or cross various locations. Our group is working to solve this problem by developing a position-detection system using random-dot patterns on a floor. First, we construct a floor with a random-dot pattern and register the positions of all of the dots into a database. As the robot moves across the floor, a camera on the robot captures an image of the floor beneath it and crops the dot pattern in the image. The cropped dot pattern is matched to the dot patterns in the database to determine the position of the robot and the direction in which the robot is facing or moving. In this paper we propose a self-localization system and matching algorithms derived from a space technology and present the results of several experiments.

Aug 1, 2013

By Paul Ransom

Sullivan Production and Present Value ? Mined 150 million tonnes ? 6.0% Pb, 5.5% Zn, 2 opt Ag, + Sn, Cd, In ? May 2006 Value + US$43 Billion ? 50% of metal from first 37% (55MT) of tons ? True original size ~ 110-120 Mt @ 17%Pb+Zn ? 30MT unconsolidated fill + HW cave

May 1, 2006