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By S. Broda

Waste rock piles (WRP) are made of heterogeneous, coarse grained waste rock, with inclined layers due to segregation along the slopes and haul traffic compacted layers, creating highly contrasted hydrogeological conditions. The internal structure of the pile has a major impact on water and oxygen movement and pore water pressure distribution. In the presence of reactive minerals, this influences the production of acid mine drainage (AMD) or contaminated neutral drainage (CND) with metal leaching from the WRP. Water flow and distribution may also affect slope stability, particularly following major infiltration events (rain/snow melts).The prediction and interpretation of water distribution in WRP is a challenging problem. Numerous numerical investigations of short and long term forecasts have been conducted, and many of these were found of limited reliability. The shortcomings of existing approaches are typically due to difficulties in representing preferential flow processes in macropores. Such phenomena are in fact often neglected in the assessment of water flow in WRP because these are unattainable with the classical porous media approach typically used in this field. This paper focuses on the use of modeling techniques originally designed for massive fractured rock media to simulate flow in WRP. Waste rock properties used in this study are retrieved from large scale laboratory permeability and water retention tests and from in situ infiltration tests. The effect of WRP configurations on water flow into potentially reactive zones is examined with the numerical 3D fully-integrated surface/subsurface, variably saturated flow model HydroGeoSphere. Material properties retrieved from the laboratory tests are represented by means of stochastic facies distribution generated within a probability framework. Modelled soil water contents and hydraulic head distributions, as well as fluxes within a simple waste rock pile, with compacted layers, are compared with results retrieved from simulations based on the classical equivalent porous medium approach. Results indicate significantly increased flow towards the looser waste rock zone by considering heterogeneous material distribution, causing weak or absent capillary barriers and preferential flow paths. Practical implications for the design of waste rock piles are also discussed.

Aug 1, 2013

By Edward (Ted) R. Lord

The application of thickened/paste tailings for surface disposal has been practiced for many years but has recently started to gain wider international acceptance. With tailings ponds coming under increasing environmental scrutiny, there is growing momentum towards mine/tailings plans that greatly reduce the size or even eliminate tailings ponds completely. This paper provides examples from the author's own experiences of the application of thickened/paste tailings for surface disposal in different countries, under different climatic conditions and in different industries. The paper will also comment on current research initiatives and future trends.

May 1, 2001

By M. Alvarez-Silva, A. Uribe-Salas, J. A. Finch, M. Mimezami

The point of zero charge (PZC) of electrokinetically anisotropic minerals (chlorite and serpentine) was determined using the Mular-Roberts (M-R) titration technique, and compared to isoelectric point (IEP) obtained from electrophoretic mobility measurements. To validate the M-R technique, the point of zero charge and isoelectric point of two isotropic minerals (alumina and silica) were shown to be comparable. For serpentine and chlorite, respectively the PZC was found at pH 4.3 and 4.6, while the IEP occurred at pH 3.2 and <3. Settling tests showed that the maximum settling rate, which corresponds to aggregated particles, for chlorite was around pH 3, i.e., close to the IEP; lizardite did not show a conclusive maximum.

Jan 1, 2009

By C. I. Walker

Field tests at a number of large mineral processing operations have been undertaken to better understand the wear life impact of different aspects of pump design, materials of construction and maintenance procedures. Data are presented for wear rates, and typical result variability is explored. To improve the availability of pumping equipment in a milling circuit it is not only important to improve the wear life, but also reduce the variability in the wear life of components so that the incidence of premature failure is lessened. Localised gouging wear due to flow separation and turbulent eddy formation is often the point at which part-holing occurs. A number of improvements to the design of pump impeller and throatbush (suction side liners) to reduce the localised gouging wear are outlined. Also, results are presented on the use of composite materials (mix of metal, rubber and ceramic) for throatbush materials to protect specific areas against wear.

Jan 1, 2012

By W. S. Dyer

Considerable attention has been paid in recent years to the fire-clay and silica-sand deposits of the Mattagami and Missinaibi rivers and ? to the lignite occurring in them. The fireclay especially deserves this attention; it is of first-class quality; it appears to be widespread; it is the only fire-clay in central Canada, and part of it lies not more than 20 miles west of Coral rapids, to which point steel will be laid this coming spring by the Temiskaming and Northern Ontario railway. Undoubtedly, these clays will rapidly find a place in industry. The fire-clays and the better grades of silica-sand are Mesozoic in age and have been referred to the Lower Cretaceous or Upper Jurassic. Glacial clays and sands and Palaeozoic shales also occur in the same region, but are of little economic value, and will not be dealt with in this paper. Dr. Robert Bell was perhaps the first to discover the clays, since in the Report of Progress of the Geological Survey of Canada for 1877 and 1878 he reported beds of lignite on Coal brook, a tributary of the Missinaibi river, underlain by sticky clay and overlain by glacial drift. In 1880 E. B. Borron (1) discovered an extensive deposit of white sand and clay on the east bank of the Missinaibi river, five miles below Coal brook, and in 1890 (2) he examined the deposit found by Dr. Bell on Coal brook. He recognized that the underlying clays were quite distinct from the glacial clays of the region, and suggested that they might be used for fire-brick if metallurgical operations were undertaken in the region. Somewhat later, J. M: Bell described a deposit of fire-clay and silica-sand on the Wabiskagami river, another tributary of the Missinaibi.

Jan 1, 1928

By M. Walawalkar, C. K. Nichol, G. Azimi

Rare earth elements (REEs) are essential to the production of technologically advanced products, including wind turbines, electric and hybrid cars, automotive catalytic convertors, hand held electronic devices, and military defense systems. Their application in environmentally beneficial technologies puts them at a high priority for ameliorating environmental concerns. Because of their increasingly high demand and limiting resources, it is highly beneficial to find new sources for them. The present study is focused on leaching REEs from a phosphate based fertilizer by-product, known as phosphogypsum (PG). Global estimated world production of PG is about 240 million tonnes that is stored in the form of wet stacks adjacent to fertilizer production facilities, occupying vast amounts of land. PG also contains trace metals, which are detrimental to the environment, and hence it is crucial to monitor these stacks. We obtained our PG sample from Agrium Inc. (a fertilizer manufacturing company in Canada). We performed a comprehensive characterization of the PG sample and found that it predominantly contains Y, La, Ce, Nd, and Sm. For leaching purposes, we used hydrometallurgical acid leaching techniques. We investigated three acids over a range of operating conditions such as acid concentration, temperature, solid-to-liquid ratio, and residence time. We achieved an average leaching of 81% with hydrochloric acid as leachant using operating conditions that can be easily replicated in industrial settings. If our process is implemented, not only will it reduce the size of the existing PG stacks (mitigating their environmental risks), but also enable the development of new innovative routes for extracting REEs, making countries like Canada less vulnerable to supply disruptions.

Jan 1, 2016

By A. M. Elmahdy, T. Hirajima, M. Farahat

"Separation of molybdenite from chalcopyrite is mainly achieved through flotation technique to raise their grades up to 25% to be extracted in smelters. However, molybdenite recovery and grade obtained from this process is not satisfactory in most cases due to the natural hydrophobicity of both minerals. The influence of conventional heat treatment on pure chalcopyrite and molybdenite minerals was investigated. X-ray diffraction, TG-DTA and XPS techniques were applied before and after heat treatment. The results showed phase changes for both minerals. Magnetic separation experiments of single and mixture of both minerals at several magnetic intensities were made. For single mineral experiments, 100% molybdenite recovery was obtained at all experimental conditions as non-magnetic fraction whereas ca. 100% chalcopyrite recovery was achieved under certain conditions. In case of 1:1 binary mixture, 87% and 83% molybdenum and copper recoveries, respectively, were obtained. The increase in chalcopyrite magnetic recovery is related to the formation of more magnetic phases as confirmed by characterization techniques.The objective of this study is to increase the magnetism of chalcopyrite to make its separation from molybdenite by magnetic separation possible and to understand the mechanism behind it. These results indicate that it may be possible to upgrade molybdenite ores using heat treatment followed by magnetic separation to the required grade by smelters which is difficult to attain by froth flotation and the other techniques."

Jan 1, 2016

Operating CIP/CIL gold recovery plants in the arid regions of Western Australia face unique challenges due to water and ore quality issues. The presence of cations of Mg, Fe and Cu metals in water supplies and leached sulphide ores can have considerable effect on plant consumption of lime and cyanide, due to pH buffering and complexation effects. Reagent costs are critical to many of these operations. In this paper, computational modelling is used to analyse a number of process options to mitigate such issues. This requires careful consideration of the chemistry of the process system, and the ability to predict accurately the response of speciation and precipitation reactions to changing process conditions. The Mg-Fe-Cu-CN-H20 system is specifically modelled in this application. The Gibbs Free Energy Minimisation thermodynamic framework has been selected to model equilibrium phenomena. Furthermore, this approach has been extended to the process flowsheet level, incorporating multiple unit operations and recycle streams in a steady-state mass balance model. The Gibbs equilibrium composition module of HSC Chemistry software has been successfully integrated into the commercial flowsheeting package SysCAD. Consideration of the Gibbs Energy Minimisation capabilities of other flowsheeting packages has also been given. This approach has been successful in simulating the aqueous process chemistry typical of such plants. It has resulted in a predictive capability where equilibrium states respond appropriately to process changes. Potential cost savings may be identified by examining alternative process conditions to minimise overall reagent consumption.This methodology may be extended to other hydrometallurgical plants where issues of solution ideality, temperature and other equilibrium processes are sufficiently understood.

Jan 1, 2005

By E. P. Wiechrnann, C. M. Castro, G. A. Vidal

In copper Eta plants the optimal current density setpoint depends on the electrolyte composition and temperature. However, conventional plants operate with large standard deviations. A value of 14% with current densities offsets up to ±50% is typical. For worst, during opencircuit or shortcircuit events this variation can be from -100% to +200%. Naturally, energy consumption and copper quality are compromised. Several devices have been successfully employed to reduce set point deviations. Last developments include; Optibar Segmented Intercell Bars, Outotec Electrodes Arranging Method and NTC Selective Electrodeposition Enhancers. This paper researches and compares these technologies. It is shown that short circuits can be effectively reduced in occurrence and magnitude. Moreover, 95% of the electrodes can be forced to operate within ±10% of the set point. The specific energy consumption is reduced from 2,000 KW per Ton to values close to 1,900 KW per Ton.

Jan 1, 2011

By John R. Hayes, Kebbi A. Hughes, John Rowson, Peter E. R. Blanchard, Jeremiah C. Beam, Andrew P. Grosvenor, Arthur Situm

Uranium ore bodies contain elements within mineral phases that need to be disposed of responsibly. Solid waste can be placed in a tailings management facility (TMF) to contain the waste elements and limit interactions with the environment. It is important to understand how the chemistry of the tailings evolves throughout the lifetime of the operations that feed the TMF and after the site has been decommissioned. The objective of our collaboration with Orano Canada was to study how the tailings from the TMF located at McClean Lake, Saskatchewan change over time. This manuscript discusses our use of X-ray absorption spectroscopy (XAS) and X-ray microprobe to study the fate of Mo and Ca in the tailings. Mo is considered an element of concern (EOC) and it is necessary to determine if a stable solid Mo-bearing species forms. Thermodynamic modeling suggested that aqueous Mo would precipitate over time as powellite (CaMoO4). Comparing Mo K-edge XAS spectra from the solid tailings to the aqueous Mo concentration in the pore water showed that powellite did form and that this did result in a decrease in the aqueous Mo concentration over time. Further, it has been proposed that Ca2+(aq) can react with bicarbonate ions in the pore water and precipitate as calcium carbonate (e.g., CaCO3). This reaction would limit the aqueous bicarbonate present in the tailings that could react with uranyl ions to form soluble uranyl-carbonate complexes. We have identified several trace Ca-bearing species, including carbonates, in the tailings using XAS and X-ray microprobe.

Jan 1, 2020

By L. M. Nolan

Chemical Mechanical polishing, or CMP, has four components in the polishing interface; namely the polishing pad, the polishing fluid, the abrasives in the fluid, and the surface being polished. Understanding the way that load is transferred between these components is key to understanding and predicting wafer polishing. Numerous models of CMP and the different load sharing arrangements which occur between these four components have been proposed. These include models by Luo and Dornfield (1) and Fu, Chandra and colleagues (2). Other models focus on just one or two loading arrangements, such as `hydroplaning&apos; when all load is transmitted by the liquid in the case of Runnels and Eyman (3). In this work, we consider four possible combinations of load transfer from pad to wafer in CMP. These combinations are listed below in Table 1 and are illustrated schematically in Figure 1. It is important to note the role of scale in this process; the illustrations in Figure 1 are drawn to scale from actual profilometer scans obtained over a length of 5 with particles of 150 nm in diameter. Table 1 - Load Transfer Combinations Load Regime Illustration Wafer - Fluid - Pad Figure la Wafer - Particles/Fluid - Pad Figure lb Wafer - Particles - Pad Figure lc Wafer-Pad Figure ld The interest in load-sharing between the system components is because some configurations are anticipated to achieve higher polishing rates than others. For instance, in hydroplaning, or hydrodynamic lubrication, the lateral force exerted on the polished surface by the particles can be no higher than the fluid shear force developed in the gap between the pad and wafer. This is not expected to generate high rates of material removal from the surface (4). For contact that is largely between the pad and the wafer, such as the regime depicted in Figure ld, the lateral load is transmitted to the wafer by the pad and is hence limited by the pad&apos;s low rigidity. This regime is not expected to generate high material removal rates either. The highest levels of material removal are expected from regimes where the mechanical load exerted on the system is transmitted by the particles, in combination with either the fluid or the pad. Under what circumstances does the polishing regime change from one to another? What must occur in order to initiate or terminate contact between the system components? This is an ongoing question in the field of tribology, and has traditionally been viewed in terms of the pressure and velocity applied to the system, the thickness of the fluid film between the two surfaces, and the roughness of those surfaces (4). In this paper, we propose a new mechanism ? that the load on the particles may be sufficient to totally embed them in the polishing pad, at which point they are no longer able to transmit load and polish the wafer surface. This is illustrated schematically in Figure 1(d).

Jan 1, 2010

By H. L. Cameron

Introduction Since the beginning of gold mining in Nova Scotia in the year 1860, the biggest problem o the mine operators has been to find and follow the ore zones in the narrow quartz veins. It was early recognized that all veins were not gold bearing and that, in those that were, the commercial ore was confined to limited zones. A large number of geologists and mining engineers have been interested enough to give time and thought to the problem, but, until the last four or five years preceding World War II, they were handicapped by lack of exact data from mining operations. The necessary data could only be obtained by daily checking of underground operations. Such daily checks were instituted at a number of mines during the period 1935-40 and, in every case, were successful in delimiting the ore zone or zones for the particular mine. The present paper deals with the results of this work as applied to practical ore finding. It is an attempt at extrapolation, from observations in the four districts with which the writer is personally familiar, co other districts in which similar conditions or structures are reported.

Jan 1, 1947

By McGill Metals Processing Centre, S. Chang, L. Calzado, X. K. Cao, C. H. Hsin, M. Isac

"Due to the increasingly stringent cleanliness requirements for final steel products, there has been a growing interest in the possible use of micro-bubbles for the removal of inclusions with diameters smaller than ~50µm, present within the steel passing through a steelmaking tundish. However, several technological barriers have prevented the adoption of this technique in industry. These are related to a) the generation of micro-bubbles in liquid steel, b) the measurement of bubble size distributions, and c) the optimization of bubble injection conditions to create micro-bubbles. In the present study, a novel Aqueous Particle Sensor (APS) system was developed for the in-situ, on-line, detection of micro-bubbles in water, generated by a newly designed full-scale ladle shroud, located at McGill Metal Processing Centre (MMPC). Measurement results from the sensor were validated against bubble size data collected through a high speed camera and post-processed through the commercial software, Image J.Control variables and orthogonal experiments were designed to assess the dependence of average micro-bubble sizes and bubble size distributions on key experimental parameters. Those chosen were the air inlet flowrate, the distance of the gas injection port from the slide gate, and the number of injection ports used. The investigation demonstrated that the APS system can be successfully adapted to detect micro-bubbles up to ~800 micron diameters. Using this novel sensor, it was shown that multi-port injection using low air inlet flowrates, closer to the slide gate, were useful in forming small micro-bubbles within the flow through the ladle shroud. The results from the APS system were compared and validated against data resulting from an optical technique. INTRODUCTIONModern industry expects increasingly stringent cleanliness requirements for final cast products. Therefore, the numbers and sizes of inclusions need to be strictly controlled in steelmaking operations. Thus, the cleanliness of steel products depends on the amount, morphology and size distributions of nonmetallic inclusions in steel (Zhang L. & Thomas B., 2003). Since large, deep, tundishes provide longer nominal residence times for liquid steel passing through it to the exit SEN’s, this can provide the ideal place to separate inclusions, and bubbles can assist by removing help attach inclusions and float them to the top surface."

Jan 1, 2016

By F. Calizaya, S. Bhattacharyya

"This study presents the results of a set of sound level measurements carried out in three underground mines where auxiliary fans are used regularly. Sound levels as high as 100 dB(A) by the workings and 115 dB(A) by the fans were measured in these mines. These levels are quite high even for intermittent noise. Ventilation layouts and best practices used to overcome potential problems related to overexposure to fan noise in underground hard-rock mines are presented here. Factors such as fan type, rotational speed, and silencer-duct arrangements and their effects on noise attenuation are discussed. INTRODUCTION Auxiliary fans are used in hard-rock mines extensively. They are used to ventilate development headings, crusher rooms, conveyor transfer points, and underground shops. They are also used in developing long tunnels and ramps. Depending on the flow requirements and space restrictions, single or double stage axial fans with rigid or flexible ducts are used. Usually, they are high pressure (3.75 kPa) fans with flow rates ranging from 7.1 m3/s to 30 m3/s. The input power varies from 15 kW to 113 kW (Mutama, 2004; O’Connor, 2008). Typically, a 113 kW fan can produce sound levels as high a 113 dB(A) (Howes, 2005). Silencers are often omitted for cost reduction purposes or when used, they are not well maintained. Furthermore, silencers provide limited attenuation depending on their length and type. Typically, the sound attenuation ranges from 10 dB(A) for a 1 × D silencer to 14 dB(A) for a 2 × D silencer, where D is the fan diameter. In a mine, the silencer is subject to wear and tear, especially when the silencer is used in harsh environments. The interior lining can get clogged and the acoustic fill can get covered by dust and diesel soot, thus reducing the silencer performance. Periodic cleaning of the interior casing can increase the attenuation capacity of a silencer by 6 to 9 dB(A) (Dabson & Acuña, 2017). However, this requires a special silencer design in which the inner cartridge can be removed, the sound absorbing material replaced, the inner casing cleaned and the whole set retrofitted. A number of techniques can be used to reduce auxiliary fan noise in underground mines. These range from selecting the right fan for the job to installing adequate silencers. The choice depends on the air quantity requirement at the working place, cross-sectional area of the opening, duct diameter, fan type (axial or centrifugal) and local restrictions. Auxiliary ventilation layouts and best practices used to overcome potential problems related to overexposure to fan noise in underground hard rock mines are presented here. Factors such as fan type, rotational speed, duct diameter, and silencer-duct arrangements and their effects on noise attenuation are discussed."

Jan 1, 2019

By V. ?. Chanturiya, I. Zh. Bunin, M. V. Ryazantseva

"Surface changes in naturally occurring metal sulfides (pyrite, arsenopyrite, sphalerite, chalcopyrite, galena, and molybdenite) due to treatments from high-power electromagnetic pulses (HPEMP) at varying times were studied using X-ray photoelectron spectroscopy. Analysis of the obtained results revealed common patterns and differences in surface transformations. The transformations were found to include two main stages. The first stage was observed at low treatment intensities (up to n ~103 pulses). At this stage, formation and accumulation in the surface layer of the nonstoichiometric sulfide phase, oxides and hydroxides, as well as elemental (polysulfide) sulfur and/or metastable sulfur species (thiosulfate, sulfite) was observed. The second stage (N = 3·103 pulses) is characterized by thermal removal of sulfur species and renewal of the mineral surface (sulfidization).It was found that the chemical changes of the sulfur on the surface layer of pyrite, arsenopyrite, chalcopyrite included accumulation/formation of S0 (Sn 2-) at the first stage of the transformation, followed by its removal. An increase in the surface concentration of elemental sulfur for pyrite and chalcopyrite was 10–12% while arsenopyrite was approximately 5%. A more complicated chemical change was observed for sphalerite and galena, that included formation/accumulation of metastable sulfur species (thiosulfate, sulfate) at the initial stage (up to 103 pulses) and during longer treatment times, the sulphur is reduced back to its initial state (sulfide or disulfide). The increased concentration of S0 sulfur, compared to the original sample, was only 3% in galena and sphalerite.The application of HPEMP treatment to improve flotation selectivity is supported by singlemineral flotation tests. Changes in flotability as a result of HPEMP treatment are principally explained by surface phase changes that resulted in higher adsorption activity."

Jan 1, 2016

By M. Li, T. H. Dubaniewicz, H. N. Dougherty

"INTRODUCTION Underground mines have the risk of accumulation of gases if not ventilated properly or during and after emergency situations when ventilation controls become damaged or stop working. Common gases that are monitored in underground coal are carbon monoxide (CO), oxygen (O2), and methane (CH4). Methane is a gas found in coal and released through mining; its explosive range is between 5% and 15%. Methane is commonly monitored on all mining equipment and with handheld gas sensors carried by most underground coal miners. Fiber optics (FO) is a popular technology applied in underground mining, particularly for its electric isolation. Many miners are familiar with FO cables hung throughout the mine, which are primarily used in the communication of voice and data (Taylor et al. 2010). Advancements in laser and fiber optics have made this technology well suited for gas sensing the harsh environment of mining applications. The work of the U.S. Bureau of Mines on the use of fiber optic monitoring of gases in mines started in 1992. Dubaniewicz et al. (1992, 1993, 1995, 1999, 2003) developed prototype gas sensors, including methane gas sensors, for research purposes. Previous research (Dubaniewicz & Chilton 1992) identified potential fiber optic gas detection cross-sensitivities associated with the index of refraction of various gases. Index of refraction effects was noted for carbon dioxide (CO2), which is produced in significant quantities by mine fires or explosions. NIOSH released a broad agency announcement (BAA) for the development and demonstration of mine safety and health technology (CDC NIOSH 2017). The objective of this announcement was to validate a sensor, specifically fiber optic, for the mine environment and test it in an actual working mine. The RSL FO sensor “OptoSniff” provided from this work is capable of hundreds of sensing points over distances of up to 20 km, has a measurement range of 0.05% to 100%, senses in an oxygen- deficient environment, and has no gas cross-sensitivity (RSL, 2014). The RSL system is totally electrically passive outside the central control unit (CCU), which can be housed in an MSHA-approved explosion-proof (XP) enclosure or in a control room outside of the permissive area. The sensor was tested in dusty and signal loss situations, showing it is tolerant of dust, has functioned at signal losses up to 90%, and was successfully tested in a mine environment for a five-month period (Walsh et al. 2014). This paper describes how the RSL FO sensor is used for testing using smoke and its contaminants for applicability in emergency situations. The testing investigates individual contaminants such as CO2, temperature, and smoke. Each test was performed separately and methane concentration, laser power, and response time data were collected."

Jan 1, 2019

By N. J. Shackleton, N. A. Chapman, V. Malysiak, C. T. O’Connor

In this study, the effect of using conventional crushing and high-pressure grinding rolls (HPGR) in combination with dry or wet milling was investigated using a base-metal sulphide (BMS) sphalerite and a platinum group mineral (PGM) ore to determine how these processes affect the flotation performance. In sphalerite, irrespective of the crushing procedure (HPGR or conventional), dry milling resulted in the highest grades and recoveries of zinc, whereas in PGMs, similar treatment produced the poorest results. The results were investigated further by the effect of factors such as percentage liberation and particle size on the flotation results.

Jan 1, 2012

By J. Huh

Recently, there is growing trend to build the high-rise and install curtain walls. Following this trend, we developed robot for building wall cleaning work, which moves along Built-in guide rail of building. Because it moves attached at building wall for cleaning work, it can be seriously affected by potential threats, like earthquake, strong wind, malfunction, and construction error of built-in guide rail. In order to cope with those threats actively, this paper presents the Fail-Safety system. The building wall cleaning robot consists of two moving system: The Horizontal Moving System which mainly do maintenance work, and The Vertical Climbing System which transport the horizontal moving system floor by floor. We apply the Fail-Safety system to these systems. The Fail-Safety system consists of sensors to detect external situation, and, with information of sensors, give instruction for what to do. This robot system is installed with four kinds of sensors: shock sensor, infrared ray sensor, laser sensor, magnetic sensor. First, shock sensor detects external shock during cleaning work. When shock sensor detects big shock, the robot returns to starting point to inspect how damaged it is. Second, infrared ray sensor detects damage of built-in guide rail. It is to prevent destruction of robot caused by moving along damaged rail. Third, laser sensor gives notice about where obstacle is. It is for robot to avoid crash with obstacle and decrease damage. Fourth, magnetic sensor detects magnetic points, which are installed in rail at regular intervals, and helps robot to find its position, based on location of magnetic points detected. If robot is damaged by external shock and its encoder, which gives information of location to it, is not working, magnetic sensor will give information of robot?s location to robot. And then, robot regulates its velocity depending on position of it, and safely returns to starting point. The Fail-Safety system in this paper is for building wall cleaning robot to sense external threats, and prevent getting worse. Applied to this active protection system, making safe environment of maintenance work is possible for robot system.

Aug 1, 2013

By A. L. Mular

"IntroductionSince the mid -1960s, automatic control of grinding circuits has become the rule, to avoid losses attributable to frequent circuit upsets associated with uncontrolled disturbances such as ore hardness variations. Higher capital costs of grinding equipment and corresponding operating costs-especially with respect to energy consumption-are major factors that continue to stimulate interest in grinding control.Grinding circuit control strategies depend upon the control objectives defined by the processing plant and are subject to constraints such as: maintain final per cent solids within some range, do not transport steel ball s out of the discharge trunnion, or do not overflow or empty the pump box and so on. Constraints depend on the nature of equipment employed within the grinding circuit and may actually determine the characteristics of the control scheme. Typical control objectives are:1. Maintain final particle size at set point by ,a. manipulation of fresh feed rate with circulating load maintained by manipulation of pump box water addition rate, orb. manipulation of pump box water addition rate with circulating load maintained by manipulation of fresh feed rate, where the methodology utilized to accomplish either (a) or (b) is dependent upon equipment/circuit constraints such as the availability of a variable speed pump.2. Maintain circuit throughput at a maximum by,a. manipulation of fresh feed rate subject to constraints on final particle size and variables such as power draw, circulating load and mill overload.3. Maintain mill load at set point by a. manipulation of fresh feed rate subject to constraints such as on power draw.4. Maintain mill power draw at set point bya . manipulation of fresh feed rate subject to mill load constraints. Often, a grinding control objective is dictated by the recovery vs fineness-of-grind characteristic that exists for downstream separation circuits. When recovery is relatively insensitive to size, maximum throughput in the grinding circuit is advantageous.The purpose of this paper is to review control strategies for primary ball mill grinding circuits, rod mill/ball mill grinding circuits and semi-autogenous grinding mill circuits. Primary sensors employed are highlighted and modern trends are documented briefly."

Jan 1, 1989

By Getu F. Biftu

There is general agreement among scientists that global surface temperatures have been increasing during the past decades. The increase in temperature is postulated to be the result of either an increase in greenhouse gases emission or climate variability (i.e., due to variations in sun or volcanic activity or El Nino and La Nina events) during past decades and may continue to increase. The effects of a predicted rise in the Earth?s surface temperature include an increase in average global evaporation and increase or decrease in precipitation (Bloomfield, 1992; Mann et al., 1991; Vinnikov et al., 1990; Gan 1995; Zhang et al., 2000a). The general circulation models (GCMs) project a global warming due to greenhouse effects of 1.5-4.5°C by the mid 2050s, with the most pronounced changes taking place in northern latitudes (Nicholls et al., 1996). However, similar predictions at a watershed scale or even a regional scale using GCMs are mot possible yet (Arnell et. al., 1996; Georgievskii et. al., 1996; Zhang et al., 2000a). Detection of historic trends, changes and variability in climatic variables is another indirect means of understanding potential future changes or variability at regional and local scales. The main objective of this paper is to review studies related to climatic change or variability and associated hydrologic changes at a regional scale and local scale, particularly those studies applicable to the Oil Sands Region (OSR) of Alberta. This paper identifies gaps in our current understanding of the hydrologic processes that may be affected by climate change; it discusses potential implications to developments in the OSR; and it explores mitigation opportunities including several that have already been implemented.

May 1, 2004