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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 Eduardo Nunez, Asim Tuzun, Dan Graffi, Glenn MacPherson

"In preparation for the milling of a new nickel and copper mine ore, Nickel Rim South, Xstrata’s Strathcona Mill is undertaking numerous process improvement projects. Within the grinding circuit, several projects are under development and an automated grinding control strategy, consistent with the operating objectives, was identified as a key requirement. The grinding strategy is to maximize the throughput (quantitative objective) while maintaining the cyclone overflow within specifications (qualitative objective).This paper describes the implementation of a robust grinding control strategy using the existing control system. The implemented controls maintain the cyclone overflow density at the desired target, while continually optimising the rod mill feed rate to allow maximum throughput. This approach has the added benefit of improving the stability of the rougher flotation circuit down stream of the grinding and improving energy efficiency of the rod and primary ball mills. This paper discusses the comparison of the before and after the implementation of results.INTRODUCTIONThe grinding process is a size reduction operation used in the mining industry to liberate the valuable minerals from the gangue. Grinding is one of the most important and expensive processes in a concentrator (Xi-song, 2007; Pomerleau 2000; Najim 1995), often accounting for around half of the total operating costs in base metal concentrators (Wills, 1990), which has led to a focus on development and implementation of control and optimisation strategies. The grinding process prepares the ore for the subsequent concentration step, which for sulphide base metal operations, is predominantly flotation. The performance of the concentration (flotation) is very much determined by the feed characteristics of the slurry coming from grinding. The valuable minerals recovery process in flotation is very much influenced by the grinding process and the liberation of the desired minerals from the gangue minerals (McIvor, 1991).The true objective of grinding is to obtain a proper liberation of the minerals as defined by a particle size distribution referenced typically by d80 (80% passing size of product). Besides achieving the desired mineral d80 size, it is clearly desirable to produce as narrow a size distribution as possible to squeeze the maximum amount of the mineral value into the highest recovery region (McIvor, 1991). This is an important criterion for the mill in economically optimizing the grade and recovery for the concentrate product. It is important not to over or under grind, while keeping the specific comminution energy as low as possible (Nunez, 2005) to achieve the target liberation. In other words, maintain an optimal throughput depending on the ore conditions to the capacity of the grinding mills, while providing the flotation process with a constant and narrow size distribution, at a cut size selected to meet the metallurgical requirements (Bascur, 1991)."

Jan 1, 2009

By N. Kumar Kittusamy

The purpose of this study was to assess the adequacy of the cab design and to determine the percentage of musculoskeletal symptoms among workers. A questionnaire was designed to assess demographics, work information, job history, and musculoskeletal symptoms in operators of heavy construction equipment. Information concerning equipment included design of the seat/chair, levers, pedals, bothersome vibration, quality of egress from the equipment, proper preventative maintenance and repairs, and age of the equipment. The body regions that were evaluated included the neck, middle/upper back, low-back, shoulder/upper-arm, elbow/forearm, wrist/hand, hip, knee, and ankle/foot. One hundred and eighty nine operators completed the questionnaire. The results indicate that these workers are at risk for developing musculoskeletal disorders, the need to perform a larger survey to further substantiate the outcome, and the need to quantify risk factors (i.e., whole-body vibration and static sitting postures).

Jan 1, 2003

By R. L. Godfrey

The Custom Coals advanced coal cleaning plant will be designed with a unique blending of existing and new processes to produce two types of compliance coals: Carefree Coal? and Self-Scrubbing Coal?. Carefree Coal will be produced by cleaning the coal in a proprietary dense media cyclone circuit utilizing fine magnetite to remove up to 90 percent of the pyritic sulfur and correspondingly greatly reduce the ash. While may utilities can achieve full S02 reduction compliance with Carefree Coal, others face higher sulfur reduction requirements due to the higher sulfur content of their existing fuel supplies. For these circumstances, a patented Self-Scrubbing Coal will be produced by taking Carefree Coal and pelletizing limestone-based additives with the finest fraction of the clean coal. These technologies will enable over 150 billion tons of non-compliance U.S. coal reserves to meet compliance requirements.

Jan 1, 1995

By Thomas Mütze, Michael Klichowicz, Mathis Reichert, Holger Lieberwirth

"Self-similarity is proofed to be a common feature when brittle material is comminuted, either in particle bed or single particle mode. Appropriate test work is well documented for particle sizes less than 7 mm in several publications. In contrast, almost no research has been done for coarser particles. The aim of this paper is to show that the fracture pattern of coarser material also tends to be self-similar. Hence, single particles of quartzite, granodiorite and dolomite were comminuted under compressive load. The focus was set on three different size fractions -3.15 +2.5 mm, -31.5 +25 mm and lumps -300 mm. According to the wide range of particle sizes, three different piston-die presses were used with a maximum compressive force ranging from 5 kN to 4000 kN. The force-displacement curves were recorded in order to calculate the specific comminution energy. Additionally, the -31.5 +25 mm size fraction was crushed in a laboratory scale jaw crusher and a roll crusher. Some authors report that the energy-size-reduction relationship of self-similar materials can be approximated by a linear function, which is independent of the comminution equipment. In their charts the slope can be seen as a product-size-independent grindability measure. Our tests show a self-similar breakage behavior when particles in a range of -300 +3 mm are comminuted in single particle mode. Furthermore, the products of the piston-die-presses and the roll crusher are similar to each other in a self-similar representation of the particle size distribution. The jaw crusher product, however, is not self-similar compared to the piston-die-press products. Finally, the linear energy-size-reduction relationships are confirmed for each fraction, but show size dependent slopes."

Jan 1, 2014

By F. Agterberg

In his 1978 monograph ‘Lognormal-de Wijsian Geostatistics for Ore Evaluation’, Professor Danie Krige emphasized the scale-independence of gold and uranium determinations in the Witwatersrand goldfields. It was later established in nonlinear process theory that the original model of de Wijs used by Krige was the earliest example of a multifractal generated by a multiplicative cascade process. Its end product is an assemblage of chemical element concentration values for blocks that are both lognormally distributed and spatially correlated. Variants of de Wijsian geostatistics had already been used by Professor Georges Matheron to explain Krige’s original formula for the relationship between the block variances as well as permanence of frequency distributions for element concentration in blocks of different sizes. Further extensions of this basic approach are concerned with modelling the three-parameter lognormal distribution, the ‘sampling error’, as well as the ‘nugget effect’ and ‘range’ in variogram modelling. This paper is mainly a review of recent multifractal theory, which throws new light on the original findings by Professor Krige on self-similarity of gold and uranium patterns at different scales for blocks of ore by (a) generalizing the original model of de Wijs to account for random cuts; (b) using an accelerated dispersion model to explain the appearance of a third parameter in the lognormal distribution of Witwatersrand gold determinations; and (c) considering that Krige’s sampling error is caused by shape differences between single ore sections and reef areas.

Jan 1, 2015

By M. W. Franklin, D. W. Hendriks

"Changing ore types, feed grades and c1rculat1ng loads are some of the many factors that can make flotation feed-back control difficult. To control a flotation circuit using conventional fixed-parameter control algorithms, one must either tune the controllers very often or tune the controllers to the middle of the normal operating range. The former approach is very time consuming, while the latter approach can lead to long periods of either very sluggish responses or highly reactive responses which can lead to instability. The problem becomes compounded if feed-forward variables are introduced, creating even more variables to tune. An alternative to a fixed-parameter control algorithm is an adaptive control algorithm. An adaptive control algorithm continuously retunes itself based on previous reactions to its changes. Feed-forward control also becomes much more viable because the algorithm will tune the feed-forward parameters and the feed-back parameters simultaneously. Using the combination of feed-forward and feed-back tuning is an effective way to decouple the loops needed in flotation circuits where one circuit feeds into another. The advantages of adaptive controllers over conventional controllers will be introduced through the use of a simulator. Also discussed will the be the implementation of adaptive controllers at Brunswick Mining and some of the modifications that are available to help solve more difficult control problems.Brunswick Mining is located just outside of Bathurst, New Brunswick. The concentrator processes approximately 10250 tonnes per day of ore that assays at approximately 8.9 %zn, 3.6 %Pb, 0.3 r.cu and I 00 gram/tonne of Ag. The four products produced are zinc concentrate assaying 51 %Zn, lead concentrate assaying 34 %Pb, copper concentrate assaying 21 %Cu, and a bulk concentrate assaying 32 %Zn and 18 %Pb."

Jan 1, 1986

In 1984/85 financial year Australia produced 529 thousand barrels per day (kbd) of crude oil. By far the major contribution (453 kbd) was light waxy oil from offshore Gippsland, Victoria. When these discoveries were made in the latter 1960s, imported oil was available in abundant supply and at low prices. Because of this, the Gippsland producers persuaded Government to control the marketing and pricing of their crude, and thus provide the required security of offtake. Political events in the middle East created supply shortages during the 1970s, and dragged up government selling prices for OPEC crude oil. Thus Arab Light crude that sold for less than US$2/barrel (bl) in 1970 reached $34/bl in 1981. Following the consequent decline in world oil demand, in 1982, Australian refiners sought to evade their obligation to lift Gippsland crude. Hence, in 1983, the Government was forced to introduce a floor quota of 385 kbd of Gippsland crude liftings and to allow producers to export any additional production refiners did not require. On expiry of the old arrangements, Government introduced a partial free market from January 1985, whereby the balance in excess of 350 kbd may be sold to Australian refiners at negotiated prices, or exported as before. In 1984/85 exports were some 90 kbd and will be higher in the current year. About half this total has been exported by BHP, providing valuable experience and lessons which are described in the paper.

Jan 1, 1986

By Ross T. McGillivray, David S. Graham, Dan A. Brown, Steven D. Dapp

"The Selmon Expressway includes an elevated structure extending across several miles of weathered karstic limestone geology, and represents a challenge for design because of the high variability of the material and the difficulty in characterizing the strength. The nature of the epikarst in this region of Tampa is such that variability can be extreme within distances of only a few feet. The weathered rock includes extremely soft soil infill within solution features on and within the formation. The limestone is so weathered that coring typically does not yield useful samples for strength testing, and in-situ Standard Penetration Testing (SPT) tests often encounter refusal blow counts. Thus the challenge for foundation design includes two components of reliability risks: the uncertainty associated with the ground conditions at a given foundation location plus the uncertainty associated with the foundation performance at a given location even when the stratigraphy is determined.This paper describes the design approach that has been implemented successfully for two projects at the Lee Roy Selmon Crosstown Expressway (LRS) in Tampa, Florida: the assessment and remediation of the reversible elevated lane (REL) foundations constructed in 2004, and the elevated expressways widening project constructed in 2012. Included in this design approach is a method developed for computing axial resistance in this local geology. Design for axial loading relies primarily on the development of side resistance, which was considered less subject to performance risks than base resistance. The calculation method incorporates a statistical analysis of SPT data, tempered by engineering judgment, to characterize stratigraphy at a given location into either soil, intermediate geomaterial (IGM) or rock.IntroductionThe subsurface stratigraphy of sites underlain by weathered limestone formations can be highly variable with respect to material layer thicknesses and strengths, even over short horizontal distances. This is the case for much of Florida, and particularly the Tampa area. These conditions present a challenging environment for the design of drilled foundations because of the need for a reliable determination of subsurface conditions at each foundation location, as they relate to the expected axial performance. Contributing factors include:"

Jan 1, 2015

By D R. Peacor, J L. Mauk

Dioctahedral clay minerals in the volcanic-hosted Golden Cross epithermal Au deposit, New Zealand, have been investigated by petrography, X-ray diffraction (XRD), scanning electron microscopy (SEM) and transmission electron microscopy/analytical electron microscopy (TEM/AEM) to determine the nature of these minerals in a hydrothermal ore deposit. Heterogeneity in the distribution of dioctahedral clays is observed from the hand-specimen scale to the TEM scale, indicating that primary rock textures and fluid pathways (related to rock type, porosity/permeability and fluid/rock ratios), in addition to temperature, are important factors controlling the distribution. As the proportion of illite in mixed-layer illite/smectite (I/S) decreases, TEM observations show decreasing layer stacking order, parallelism of packets, and packet size, and increasing apparent porosity. AEM structural data show a corresponding decrease in AlIV, AlVI, and K+, and an increase in Si, Ca2+, and Fetotal. The observations of this study indicate that local dioctahedral clay mineral reaction progress is controlled mainly by permeability and structure, but that this is superimposed on a predictable, system-wide clay mineral distribution that is controlled by temperature and fluid/rock ratio.

Jan 1, 1999

By Serge Ouellet

Identification and quantification of cementitious phases in cemented paste backfill (CPB) is difficult due to the fineness of tailings and the low binder content used in the mixture. Techniques such as X-ray diffraction and thermogravimetry were ineffective (mainly due to tailing mineral interference) to identify and quantify hydration products in most works reported in the literature. On the other hand, scanning electron microscopy (SEM) was used in many cases but mainly for qualitative purposes. This paper presents the development of a new approach based on a computer program (SEM-XMAP) that combines X-ray dot mapping images acquired by SEM and generates a coloured image representing the mineralogy and the microstructure of a given CPB specimen. The technique is applied to one CPB sample mixed with blast furnace slag (BFS) and acidic sulphated mixing water sampled in a mine dewatering system. The technique allowed identifying calcic matrix, unhydrated and partially hydrated BFS particles, and sulphated phases.

May 1, 2007

By Jose Luis Vega

Ante la desaparición del bosque seco tropical de Piura por factores como el sobrepastoreo y la tala indiscriminada del algarrobo para abastecer el mercado de leña y carbón, se desarrolló el "Proyecto de Forestación y Manejo Forestal Comunitario en las Áreas de la Mina de Fosfatos Bayovar" donde se buscó reforestar y promover un manejo sostenible de 350 hectáreas de bosque seco despoblado. El proyecto tiene una duración de cuatro años y se gesta bajo el desarrollo sostenible que mejora la calidad de vida de los pobladores -en tanto contrata mano de obra local de la zona de Illescas-Sechura y aprovecha los nuevos recursos, así como genera un equilibrio ambiental, propiciando el cambio de un paisaje despoblado por el de un bosque que sirve de hábitat para diversas especies de flora y fauna y en el que se evita la erosión del suelo y propagación del polvo.

Oct 21, 2015

By P. J. Uggowitzer, K. Steinhoff, A. Wolf

"With the increasing acceptance of the Thixoforging process in the last few years, also the technical and commercial requirements for this forming technology and its components increased. So far, a great deal of work has been done in the development of an efficient process and control design. However, less attention has been paid to the development of new specifically tailored aluminum wrought alloys for this specific manufacturing process. · In this paper a new AlMgSi-alloy (A6082), optimized for the Thixoforging process, is presented. In the first part, the technical potential of the new alloy is specified by its microstructural evolution and flow characteristics in the semi-solid state. In the second part, the mechanical properties of thixoforged components of different conventional AlMgSi-alloys a (e illustrated · and compared to the new alloy.IntroductionSemi-solid metalworking, also known as semi-solid forming, is a hybrid manufacturing method that incorporates elements of both casting and forging. The key to the process relies on the peculiar flow behavior of slurries containing non-dendritic solid, which was first studied at the MIT by Flemings et al. [i], in the early 1970s. It was discovered, that if an alloy is uniformly stirred during freezing, discrete rounded particles of solid are formed rather than the normal dendrites, and the slurry is highly fluid (-5 Pas) up at least 50% solid. In addition, these slurries posses thixotropic flow characteristics: the viscosity is dependent on sheare rate and time. The more vigorously they are stirred, the more fluid they become. However, on standing the viscosity recovers and the material stiffens (-106 Pas).The semi-solid forming process exploits this phenomenon. In a first step, the required non-dentritical- microstructure is obtained by mechanical or electromagnetic stirring during primary solidification of the alloy. The stirred slurry is generally fully solidified as a feedstock billet and - in a second process step - reheated above the solidus temperature into the semi-solid state. In this condition, the thixotropic properties permit the material to be handled by robotic devices and transferred to a die (Thixocasting) or subjected to- a forming process by means of forging (Thixoforging). Owing to the shear stress which acts on the semisolid material during forming operation, the viscosity of the material is reduced attaining so the desired fluid-like flow characteristics."

Jan 1, 2000

By T. McDonald

Test work indicated and plant operation has since confirmed that SAG milling is a viable option for INCO's Sudbury Operation milling rationalization project only if pebble crushing is included in the SAG/ball mill circuit. Throughput increases more than fifty percent with pebble crushing incorporated into the comminution process. The finer product of high speed pebble crushing provides further energy savings. The unconventional approach of pumping the pebble crusher product, while simplifying plant layout, has produced challenging wear problems.

Jan 1, 1992

By D. Royston

SAG mill liner development draws primarily on practical experience from SAG milling operations supported by computer-based modeling of charge motion in SAG mills and on established good design practice. Liner design needs to respond to the process aspects of mill liner action that are critical to good SAG mill performance, i.e., the impact of shell liners on the grinding action and of grates and pulp lifters on pulp discharge. In recent years, the trend in large SAG mills has been to use wide-spaced shell lifters with large lifter face angles, primarily to reduce packing and ball/liner damage, and to use larger, hence fewer, mill liner parts to reduce downtime at liner change-outs.

Jan 1, 2007

By H. C. Counsell, R. Webber

"The mill at Denison Mines' Elliot Lake Operations started up in 1957, with a capacity of 6,000 tons per day. Over the years various plant modifications expanded th.is to 7 500 tons per day. In 1976, management decided to carry out a major expansion of the milling capacity, and during 1980 the grinding capacity was increased to 15,000 tons per day.The original comminution system consisted of a conventional crushing plant feeding minus S/s-inch material to rod and pebble mills, in closed circuit with mechanical classifiers. The key decision that had to be made was whether the expansion should include conventional or autogenous grinding flow sheets.During 1977, extensive pilot plant studies at Lakefield Research showed that two-stage semi-autogenous grinding, with some steel media in the primary mill and with pebble media in the second stage, produced stable grinding conditions. This type of circuit was selected by Denison for the expansion, and went into production in 1980. Primary millThe flow sheet of the semi-autogenous grinding circuit is shown in Figure 1. The primary grinding mill is a Koppers 28 foot by 10 foot mill, driven by a 4,000 h.p. synchronous motor. It is fed with a minus 8-inch run-of-mine ore, and 4-inch grinding balls are added as supplementary grinding media. There are two Koppers 15.5 foot by 22 foot secondary pebble mills, driven with 1500 h.p. synchronous motors. Each grinding stage operates in closed circuit with cyclones, and the primary cyclone overflow is the feed to the secondary mills. The circulating load in the primary stage can be controlled by adjusting the cyclone apexes."

Jan 1, 1984

By N. J. Themelis

Autogenous grinding, broadly defined as the self-comminution of ore in a cylindrical tumbling mill without using auxiliary grinding media, was first applied in the early thirties in the so-called Hadsel mills (Figure 1) mainly used in gold mines on the U.S. West Coast. A number of these mills were built in sizes of 20 to 24 ft. in diameter and five-six feet in length but were later abandoned because of operating and maintenance problems. Further development of autogenous grinding led to the Hardinge wet grinding mill (Figure 2), the Aerofall dry grinding mill and others. A tabulation of all known autogenous and semi-autogenous installations around the world was sent recently to the authors by Hr. G. J. Kushner of the Koppers Mineral Processing Division. In the size range of 24 to 32-ft. in diameter, it lists a total of thirty mills used in the processing of copper ores. An additional 120 units are listed in the same size range for the processing of iron ores and other minerals. The largest mills in existence are 36-ft. dia X 15-ft. long mills in Minnesota, powered by 12,000 hp. motors and used in taconite beneficiation. It is indicative of the phenomenal growth of this technology that none of the above one hundred and fifty mills was in operation prior to 1964.

Jan 1, 1978

By M. Stachowiak, M. Nowicki, K. Walas, A. Skoczylas, P. Stefaniak

In this paper the authors present a walking robot dedicated to the inspection of a belt conveyor’s transportation system in an underground mine. The developed robot can independently diagnose all of the key rotating elements of the belt conveyor (pulleys, bearings, drums, gears, engines) based on vibration and acoustic signals as well as typical RGB (red, green, blue) and thermal images. The article presents key diagnostic procedures applied to real industrial data obtained during robot testing.The work was developed as part of the ‘THING–subTerranean Haptic INvestiGator’ project. The authors presented the main assumptions of the research methodology developed for the needs of technical diagnostics of conveyor elements typical of inspection work performed by mining staff. Based on industrial data, the use of algorithms for elements such as rollers, drive stations, and the conveyor belt were shown. The main assumption of the research is to develop a robot adapted to the conditions of a deep mine, capable of carrying out an autonomous inspection of mining infrastructure. The conducted tests and the developed fault detection algorithms were aimed at preparing the robot for underground tests in the operating conditions of the mine.

Sep 1, 2021

By Vincent Menard

The purpose of the present work is to demonstrate the removal of manganese from a neutral leach zinc-rich solution ([Zn] =150 g/L) at 80°C by oxidative precipitation using a gas mixture of sulphur dioxide (SO2) and oxygen (O2). In order to determine the optimum conditions for manganese removal, several bench-scale semi-batch experiments were performed, where the effects of ORP and gas mixing were investigated. These tests showed that SO2/O2 is a fast and effective oxidant for removing manganese down to ppm level as long as the appropriate ORP is attained/maintained and gas transfer kinetics are optimized.

Jan 1, 2006

By H. A. MEGRAW

THE meeting of the A. I. M. E. at Wilkes-Barre, Pa., Sept. 12 to 15, inclusive, celebrated the fiftieth anniversary of the Institute. It was at Wilkes-Barre, in 1871, that the foundation was laid for the great institution that now includes in its roster the greatest names. in mining engineering in every civilized country of the world. The founders of the Institute, with rare prescience, established a common ground upon which all mining engineers, whatever particular branch they might consider most pertinent, could stand securely, assured of a deep-seated interest from their brethren similarly minded in other localities. So wise and clear was the vision of the founders that every engineer connected with mining has found it beneficial, not to say indispensable, to maintain his connection with the Institute and to increase his technical enthusiasm through the medium of the valuable technical publications. The little coterie of 1871 has grown to a strong body of more than 10,000 members in 1921, reflecting the glory of the founders in the record of the accomplishments written on the pages of the fifty years of the

Jan 1, 1921