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By Adauto Martins de Assis, Atan de Assunção Cardoso

Devido a sua alta demanda de produção e padrão de qualidade a indústria automotiva tem utilizado ao longo da história robôs nas mais diversas atividades como montagem, soldagem, pintura e inspeção. No intuito de levar esta realidade para a sala de aula de alunos de Engenharia Mecânica, foi desenvolvido um braço robótico didático, apresentando configuração semelhante à um modelo industrial, a ser utilizado como ferramenta de apoio ao ensino de robótica e outras disciplinas correlacionadas. Para isto, fez-se o uso associado da placa eletrônica Arduino e do software Matlab. Inicialmente foram obtidas as equações de cinemática direta e inversa. Os resultados mostraram que a posição teórica obtida apresentou um comportamento esperado conforme a metodologia adotada e o resultado experimental mostrou pequena variação de posição. Para a cinemática inversa, o tempo de resolução do conjunto de equações foi comparado à resolução do problema através de um método numérico. Com base nos resultados experimentais, foram feitas algumas sugestões de melhoria para o braço robótico didático e considerações relacionadas a acurácia de um robô industrial.

Oct 1, 2019

By J. B. W. Bailey

The Noranda Horne smelter in Quebec, Canada has change considerably during the last two decades to accommodate varying custom concentrate receipts, closure of the Horne mine, better working conditions, environmental programmes, new technology and increased energy and labour costs. This paper highlights the reasons for changing the smelter from two calcine charged and one wet charge reverberatory furnaces fired by coal to a smelter using. tonnage oxygen oil, natural gas and coal in a single wet charged reverberatory furnace and a Noranda Process continuous Reactor. The current operation 1 described, including three major topics; the use of oxygen/fuel burners on the charge banks of the reverberatory furnace which has increase the smelting rate from 680 to 1100 tonnes of concentrate per day; the oxygen enrichment of the Noranda Process converting air to achieve smelting rates of over 1800 tonnes of concentrate per day; the converting of the mixture of 73 percent copper matte produced from the Noranda Process and the 33 percent copper matte produced from the reverberatory furnace.

Jan 1, 1983

By V. Labiouse, P. K. Kaiser, F. Descoeudres, F. Rojat

In this paper some failure phenomena observed in the crossing of brittle rock formations at the Lötschberg base tunnel are presented. A brittle failure criteria, recently developed by Canadian researchers, is applied through finite element calculations together with a semi-empirical failure criterion, to explain these behaviours. Good agreement is found between predicted and observed failures at the tunnel walls. This study also shows some of the limitations of this approach. Dans cet article sont présentés certains phénomènes de rupture observés durant la traversée de zones de roches fragiles lors de l’excavation du tunnel du Lötschberg. Un critère de rupture développé récemment par la recherche canadienne est utilisé à travers des calculs par éléments finis. En parallèle, les résultats sont comparés avec ceux d’un critère semi-empirique. Au niveau des parements, l’ampleur des ruptures observées est assez proche des résultats de calcul. Cette étude a également permis de mettre en avant certaines limites de l’approche choisie. In diesem Artikel werden verschiedene Brucharten dargestellt, die bei der Durchfahrung von sprödem Gestein im Rahmen des Ausbaus des Lötschberg-Basistunnels beobachtet wurden. Zur Erklärung des vorliegenden Verhaltens wurden die erst kürzlich in Kanada entwickelten Theorien zur Beschreibung von Sprödbrüchen herangezogen und bei der Berechnung mittels der Finite-Elemente-Methode und eines semi-empirischen Kriteriums angewendet. Die so vorhergesagten Versagenszonen an den Tunnelwänden stimmen mit den Beobachtungen gut überein. Die Studie hat auch dazu beigetragen, die bei der Anwendung des Lösungsansatzes angetroffenen Schwierigkeiten aufzuzeigen.

Jan 1, 2003

Reduce accidents associated with handling of the electrical trailing cable and the water hose on mining equipment. Approach Two reels were mounted on a loading machine to store and release the lines as required during face operations. How It Works A hydraulic motor, which is actuated by a treadle valve in the operator's cab, controls the reel on which 50 feet of electrical power cable is stored. A spring motor resists unwinding of the other reel on which 50 feet of water hose is stored. Both reels are mounted on the right rear of the loading machine. See Figure 1. Following common mining practice, the cable and hose are anchored to fixed points at the first intersection outby the face. Tramming forward causes the cable and hose to be pulled from the reels. Depressing the treadle valve causes the electric cable reel to turn and wind-in any slack in the cable. The spring tension on the water hose reel automatically rewinds the water hose when the loader is trammed in reverse.

Jan 1, 1978

Many of the world?s largest existing mines are considering substantial step changes in production volumes, compensating for declining ore grades while trying to address increases in world demand for resources. The natural configuration of coal deposits allows for many mine development openings along the strike to access the ore body and thus increase volume. Similarly, with iron ore the nature of the deposits means that additional capacity can easily be added by opening up new mesas and providing extensions to infrastructure. On the other hand most of the non-ferrous metaliferous deposits form vertically and additional extraction volume comes from increasing depth. Underground mining from the base of the strata allows for large extraction rates, but block or panel caving operations develop at rates dictated by the geophysics of the overlying strata and the need for massive tunnelling developments to establish sufficient extraction points for high volumes. For really big mine production capacity, open cast mining still allows the easiest development of more massive mining techniques. But there remains the question of whether there are limits to how large an open cut mine can become in terms of throughput?

Feb 27, 2013

By Kot F. Unrug

Strength of coal is one of the governing factors in size determination of mine pillars, and therefore affects the percentage of extraction and thus, utilization of reserves. Coal strength is also important from the subsidence control standpoint, where mine pillars with appropriate safety factors should be designed for long term stability. Determination of coal seam strength has been addressed through the extrapolation of the coal strength obtained from a small number of samples on the whole section of the seam. This procedure often gives unreliable results. Presented in this paper is a method of in-situ strength testing of coal, allowing for a realistic determination of seam strength. Results of a field case study dealing with the coal seam, where samples for the laboratory strength tests could not be obtained due to the dense cleat, are presented. However, in these conditions, the in-situ testing was successful. A comparison of both conventional and the in-situ penetrometer method was carried out. It was found that the penetrometer data not only improve the accuracy of strength determination of the entire seam, but also prove to be much more cost effective than the conventional method on a per test basis.

Jan 1, 1995

By Radford B. Langston, John A. Marjerison, Graham C. Howell, Hendrik A. D. Kirsten

Probabilistic design is gaining wider acceptance in the rock engineering community since it allows more rigorous determination of risk relating to ground fall or excavation instability. Risk analysis can be conducted by various means, but the basis is formed by either objectively or subjectively determining probability of occurrence of an event. In the case of rock engineering, this event is either instability or excavation failure. Rock mass classification systems provide objective analysis of data collected on a typically subjective basis that also relate closely to excavation stability. A probabilistic analysis technique is presented that uses statistical distributions of rock mass and material properties, ground support fixture specifications, stress conditions, opening geometry, and ground support installation quality to more rigorously determine probability of failure for an underground opening and the subsequent risk to personnel.

Jan 5, 2007

Study on Ball Mill Grinding of a Cassiterite-Polymetallic Sulfide Ore

Sep 13, 2010

Good morning ladies and gentlemen, and may I thank you for inviting me once again to address your conference. I would first like to welcome you all, especially international delegates and conference speakers. ItÆs a pleasure to be with you all and I hope that you have the time to enjoy the many beautiful sights that the Coromandel and Bay of Plenty have to offer.   Holding your conference in Waihi is particularly apt, especially bearing in mind the conference theme û 'Mining in the Community'. There can be few venues in the world that can boast a world class gold deposit of the likes of Martha Hill located right here in the centre of a rural service town. ItÆs a deposit that has a mining history active now in its third century and that to date has yielded some 7.5 million ounces of gold and 50 million ounces of silver. I doubt that when John McCombie and Robert Lee discovered gold at Martha Hill in 1878 that they had any inkling that their endeavours would be the foundation for a mine that would become such an inseparable part of the economic and social fabric of Waihi for the next 130 years.   This is now my fifth appearance at a New Zealand minerals conference, I especially value such occasions as it allows me to comment on your industryÆs performance over the past year, share my thoughts on matters affecting your industry, and also to give you some feedback from central government.

Jan 1, 2006

By L. M. Gould

"Syncrude Canada operates the largest oil sands crude oil production facility in the world and produces over 13% of Canada’s total oil requirements. To achieve this, Syncrude mines the oil sands in open pits, extracts the raw oil known as bitumen from the sand using water-based processes and upgrades it into sweet light crude oil by fluid coking, hydroprocessing, hydrotreating and reblending. The final product, Syncrude Sweet Blend (SSB), is sent by pipeline to three Edmonton area refineries and then to pipeline terminals which ship the SSB to refineries in Canada and the United States.As parts of the Mildred Lake base mine reached their economic life, they were replaced with new facilities at the Aurora Satellite mine. Aurora is situated on Oilsand Leases 10, 12 and 34, 35 km northeast of the Mildred Lake facility (Fig. 1).In 2000, the first hydrotransport low-energy extraction production train started up at Aurora. A second production train is scheduled for start-up in 2003. Open pit mining at Aurora occurs using two hydraulic shovels, two cable shovels, and trucks ranging from 320-ton to 380-ton payload capacities (Fig. 2).Once the oil sands is excavated, the trucks dump the ore into a crusher designed to break up the big lumps of oil sands and rock at peak rates of 11 000 t/hr. The ore is then transferred by conveyor to a surge pile and then to a mixing box which combines the oil sands with hot water. Following bitumen separation in the primary separation vessel, froth is delivered to Mildred Lake for processing via the intersite pipeline (Fig. 3).The goal of this paper is to illustrate how high precision shovel GPS (HPGPS) is being used at the Aurora mine to aid in mine planning. This can be accomplished by first describing the function of the mine planning department, describing the Aurora orebody, and finally explaining how the HPGPS system functions and how it is employed at Aurora.The short range mine planning department ensures a steady supply of ore is delivered to the plant at the desired grade in a sequenced and economical manner. This is done by creating a mine plan that consists of shovel dig locations that require the shovels to mine in a specified area at a specified elevation."

Jan 1, 2002

By M Fahey

Large volumes of tailings are produced annually by the goldmining industry of Western Australia. This material ishydraulically discharged into large storage facilities usingsub-aerial deposition methods. Much of the gold comes fromhighly weathered rock, resulting in tailings with significant claycontents. Consolidation of these materials can be very slow,particularly if occurring under the effects of self-weight alone.To optimise the consolidation behaviour of the tailings, disposalstrategies can take advantage of the effects of evaporation byallowing each tailings layer to dry before the next layer isdeposited. In the last 20 years, much of the gold processing inWestern Australia has utilised saline groundwater. As the salinetailings dry, the surface will develop a thin salt crust. Laboratorytests have shown that these crusts can drastically reduce thesurface evaporation, adversely affecting the behaviour of thestorage. This problem has been the focus of an extensive researchprogramme, with the objective of obtaining a fullerunderstanding of the mechanisms controlling the coupledconsolidation and evaporation behaviour of saline gold tailings.Part of this study involved site investigations of a wide range ofstorages to ascertain their current states. Methods of gainingaccess to the tailings following deposition were developed.In situ testing and high quality sampling were conducted on each storage and samples returned to the laboratory for analysis. These investigations have enabled full characterisation of the storages to be accomplished. Examples of data are shown herein and the implications of the results are discussed.

Jan 1, 2001

By L. Franko, S. Klima

Wet-drum magnetic separators are used extensively for upgrading iron ore and for magnetite recovery in dense-medium circuits. In this study the performance of a continuous, laboratory wet-drum magnetic separator was evaluated with and without the application of ultrasonic energy when processing dense medium slurries. Test variables included magnetic-to-nonmagnetic ratio, solids concentration, and nonmagnetic materials. The results indicate that under certain conditions, the purity of the magnetic material increased after ultrasonic treatment.

Jan 1, 2001

By G. R. Mansfield

THE geologic structure of the Idaho phosphate field has an important bearing on the classifica-tion and the exploitation of the lands that contain phosphate. Maps and structure sections1 recently made available show that the phosphate is mainly preserved in downfolded or downfaulted areas. Since the phos- phate beds are generally rather soft and lie between harder and thicker formations they have been forced to adjust themselves to these formations during epochs of disturbance of the earth's crust, so that they are frequently affected by minor folds and by faults which may help exploitation by producing undue thickness at certain places or may hinder it by cutting out the phosphate at other places where according to expecta-tion it should be present. A particularly important structural feature which affects both the distribution and the exploitation of the phosphate beds is the great Bannock overthrust by which one or more slices or blocks of the earth's crust have been pushed over other blocks like ice cakes on a pond. Thus in this region a great flap of folded rocks lies across other rock structures for a distance of approximately 35 miles. Most of the commercially accessible phosphate deposits, shown in the maps that accompany the report cited, are in this flap, which con-stitutes the upper block of the overthrust. In some places, however, the phosphate in the lower block is also accessible. In both blocks post-phosphate rocks exposed at the surface here and there indicate that phos-phate beds may lie at greater or less depth below. The presence of the Bannock overthrust beneath much of the area reported is known by the occurrence of windows in the upper block both within the quadrangles mapped and in areas farther west. The portions of the lower block exposed in these windows show stratigraphic dis-cordance with the surrounding formations. The depth of the fault plane at most places, however, can be told only by drilling or actual mining. Some of the folds in the upper block are relatively deep and it seems fairly certain that the phosphate that may originally have been present in their deeper parts has been removed by thrust faulting. The estimates of phosphate reserves in folds liable to be affected by the Bannock overthrust may therefore need ultimate revision depending on the depth of this fault plane, as it may subsequently be ascertained.

Jan 1, 1928

By J Benn, V Kuznetsov, G Timms, A Spain

Earthen covers are now widely used in the mining industry to control the generation rate and/or release rate of low quality drainage from piles of sulfidic minewastes. Covers are usually designed to reduce the water infiltration rate and in some cases may also reduce the oxygen flux to the underlying sulfides. Engineered covers have only been used since the 1980s, however, and there is very little field data on their performance in the longer term. This lack of information has implications for the degree of confidence that can be placed on the predictions of the environmental impacts of sulfidic minewastes, for the acceptance of close-out criteria by regulatory authorities and for the financial liability of the mining industry. Covers were placed on sulfidic waste rock dumps at the abandoned Rum Jungle uranium mine during 1984 - 1985. These covers were designed to reduce the water infiltration to less than five per cent of incident rainfall by both water shedding and storage-release mechanisms. Regular monitoring by the Australian Nuclear Science and Technology Organisation (ANSTO) demonstrated that the covers performed better than the design criterion for around ten years, but infiltration rates have subsequently increased. There is a 66 per cent probability that the infiltration rate now exceeds five per cent of incident rainfall. The cover on the largest pile, WhiteÆs heap, was sampled in pits dug at eight locations. Sampling was carried out at the end of the monsoonal wet season and again at the end of the ædryÆ season. This, together with laboratory testing, enabled cover performance to be assessed against five criteria: design, construction, cover material characteristics, physico-chemical characteristics and biological characteristics. We are of the opinion that the design of the cover was suitable to achieve the objectives of stability, water shedding, storage-release, and provision of a substrate for vegetation growth. Over most of the surface of the heap, the construction of the covers, drains and erosion prevention structures was in accordance with design specifications. However, several small and localised bare patches on the upper surface of WhiteÆs heap coincide with a reduced cover thickness, which is likely to have been due to poor construction in those patches. The construction of covers on minewastes is dependent on an adequate source of material meeting design specifications. From our limited examination, it appears that there was shortage of material for each of the three zones û a lower impervious clay layer, the moisture storage-release layer and the upper erosion-resistant layer for vegetative growth. An indication of this was that the upper layers in some areas were observed to be thinner than specified. We are of the opinion that this shortage of suitable material has been responsible for some of the changes observed ten years after emplacement. Physical and geotechnical testing indicated that the cover materials no longer meet the original specifications. In particular, the permeability at the 8 locations was found to be greater than specified, by up to several orders of magnitude. The higher permeability may explain the higher observed rainfall infiltration and moisture content of the waste rock. This increased permeability appears to be due to a combination of biological and physical processes û galleries formed by termites and ants and an extensive system of shrinkage/desiccation cracks formed by the development of a polygonal blocky structure involving the entire lower clay layer. The desiccation cracks may fill with coarser illuviated materials and form a conduit through which roots access the underlying waste rock. Measurements were made of oxygen flux into the heap as cover layers were excavated in the pits. They indicated that the full cover currently reduces the oxygen flux to 20 - 23 per cent of that into bare waste and that this reduction seems to be proportional to the cover thickness. It was also found that the oxygen flux into the cover is about four times higher at the end of the dry season than at the end of the wet season and that the difference is due primarily to the difference in moisture content of the cover. Recommendations are made for the design and construction of covers.

Jan 1, 2003

To mine uraniferous sand-stone in an economically feasible and environmentally compatible manner without placing men underground. Approach Uraniferous sand is remotely extracted through a single borehole by cutting Into the are around the borehole with a high pressure water Jet, and pumping the resulting slurry to the surface. How It Works A 16-inch-diameter borehole Is drilled from the surface down into the burled mineral deposit, and the mining tool Is installed. High pressure water Is released as a jet from a nozzle In the mining tool to erode the are, forming a slurry that flows to the bottom of the cavity. The slurry Is drawn Into Inlets located near the bottom of the drill string. See drawing. After being pumped to the surface, the slurry is weighed, metered, and checked for radioactivity. It is then deposited Into one of a pair of sumps. Water collecting in the sumps drains Into an adjoining pond for reuse. Thickened are In the sumps is removed and placed In piles.

Jan 1, 1978

By E S. Weiss, S P. Harteis

The Pittsburgh Research Laboratory (PRL) of the National Institute for Occupational Safety and Health (NIOSH) has conducted full-scale explosion experiments, to evaluate the strength characteristics of various seal designs, used for safely isolating worked-out areas in underground coal mines. Large-scale explosion tests conducted within the multiple entry section of PRLÆs Lake Lynn Experimental Mine (LLEM) is currently the only accepted test method used by the Mine Safety and Health Administration (MSHA), for deeming a seal design suitable for use in American mines. These explosion tests are labour intensive, expensive to conduct, and can interfere with other critical underground safety and health research programs conducted by NIOSH. The PRL has developed an alternative seal evaluation method, based on a hydrostatic pressure loading concept, that can facilitate the in situ testing of seals in an operating mine. Two chambers within LLEM and one within PRLÆs Safety Research Coal Mine (SRCM) were used for hydrostatic pressure loading various seal designs. The results from these chamber tests compare favourably with those from the large-scale explosion tests in the multiple entries. In addition to testing seal designs at the required 20 psi static pressure level, the chamber test approach also allows for the determination of the sealÆs ultimate design strength. Size-scaling relationships for predicting the strength of seal designs as a function of entry size are also presented.

Jan 1, 2005

By Thomas M. Barczak

This U.S. Bureau of Mines report examines the causes and consequences of longwall face sloughage. Theoretical relationships were developed to evaluate mechanisms that produce slough age. From these relationships, contributory factors were identified for further analysis in field efforts. A survey identified 12 mine sites with sloughage problems, and these were investigated. From these studies, it was determined that the depth of cover and mining height are the two most significant factors causing sloughage on longwall faces. Coalbed friability and cleat orientation also were found to be significant factors in promoting sloughage. It was concluded that sloughage is primarily a problem in thicker seams or seams with friable coalbeds, and that the problem is more severe as the depth of cover increases. Sloughage also was found to increase as the rate of mining decreased. Observations indicated that face slough age can increase dust generation significantly on longwall faces. Current efforts to control dust generation from longwall sloughage are described.

Jan 1, 2010

By Nicolae Dobritoiu

The literature in this field and the practical activity record that a method, respectively the technology used for an underground mining work have many components which, in order to be applied, demand that for each of the parameters that describe the environment of the mining work and that influence the chosing of that method and that technology of execution, must have values in an interval well determined. There are situations when one or many parameters of the set of parameters that describe the environment of the mining work, can modify its values, and, as a result, one or more components of the methods or technology cannot be applied anymore, making necessary a replacement of their values. The information offered by this graphical-analytical model allow the determination of optimum solutions for the process of digging of the underground mining work and thus it will result the incresing of the technical-economical efficiency of the digging process and, also the increasing of the quality of the underground mining work.

Oct 1, 2009

By G. Gabra

The kinetics of acidified thiourea leaching of pyrite concentrate was investigated at temperature ranging form 20 °C to a 60 °C. The effect of various parameters on the dissolution rates are discussed. The gold extraction was found to be zero and first orders with respect to Fe (111) and thiourea concentration, respectively. The order of the reaction with respect to sulfuric acid was found to be zero. The activation energy was determined from the Arrhenius plot as 2,039 kcal mole -1 (for a freshly prepared acidic solution containing Fe (111) as the oxidant and at 800 rpm stirring speed. This relatively low activation energy value suggests that the gold extraction is controlled by a-physical phenomenon. Under optimum conditions, more than 90% of gold has been dissolved in about 30 min. and 95% in 60 min. Attempt to recover gold from thiourea solution using active carbon is also discussed.

Jan 1, 1984

Changes in reductant and energy inputs which are required to adjust the slag composition in an ilmenite smelter to a higher or lower FeO content are calculated. The calculated changes are based on the assumption that solidification equilibrium with the freeze lining constrains the slag composition to follow a eutectic groove in the TiO2-FeO-TiO1.5phase diagram. Calculated equilibrium conditions along the eutectic groove are presented, and form the basis of the calculations. The inputs of energy and carbon need to deviate strongly from the steady-state values to adjust the slag composition. The inputs required at any given time depend on the desired rate of change of the slag composition, and the current slag composition. The steady-state relationship of a change in energy input of 5 kWh corresponding to a 1 kg change in carbon input also holds for the changed inputs during transient changes in FeO content. Keywords: Ilmenite smelting, freeze lining, solidification, eutectic

Jan 1, 2003