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By Mikhail D. Ageev

The paper concerns with some questions of Autonomous Underwater Vehicle (AUV) control system design, which allows a motion at rough undersea terrain. The AUV advantages reveal itself completely during exploration of such objects as seamounts and reefs area. These objects are characterized by steep slopes (30 degrees and above) and chaotic situated obstacles (rock debris, pinnacles, escarpments). Uses of other technical facilities for operating in such formations are difficult, dangerous or impossible. These regions take an interest due to the presence of iron-manganese crusts. Modern AUV can estimate density of mineral by means of still camera or video recorder. For this reason the vehicle has to move with the distance of 3-5 meters from seabed. Under such conditions micro- and mesorelief presents a considerable danger for AUV. The AUV can bypass underwater obstacles in the various ways. However, in any case AUV motion will be characterized by intensive maneuvering on various speeds (from 0 up to 1.5 m/s), circular change of tractive force vector and, hence, a circular flow about the hull. So, AUV is equipped with the propulsion system, which provides free modes of motion.

Jan 1, 2003

By Mikhail D. Ageev

The paper concerns with some questions of Autonomous Underwater Vehicle (AUV) control system design, which allows a motion at rough undersea terrain. The AUV advantages reveal itself completely during exploration of such objects as seamounts and reefs area. These objects are characterized by steep slopes (30 degrees and above) and chaotic situated obstacles (rock debris, pinnacles, escarpments). Uses of other technical facilities for operating in such formations are difficult, dangerous or impossible. These regions take an interest due to the presence of iron-manganese crusts. Modern AUV can estimate density of mineral by means of still camera or video recorder. For this reason the vehicle has to move with the distance of 3-5 meters from seabed. Under such conditions micro- and mesorelief presents a considerable danger for AUV. The AUV can bypass underwater obstacles in the various ways. However, in any case AUV motion will be characterized by intensive maneuvering on various speed (from 0 up to 1.5 m/s), circular change of tractive force vector and, hence, a circular flow about the hull. So, AUV is equipped with the propulsion system, which provides free modes of motion. AUV control system (CS) has tri-level structure to allow a motion in a rugged seabed terrain. According to the generally accepted categorizations, CS includes execution, coordination and strategic levels. The strategic level contains the goals of AUV mission. Obstacles avoiding and route choice are realized by means of simultaneous maneuver in vertical and horizontal planes. Sonar system is used for data acquisition about obstacles. It consists of a few echo-sounders with fixed directivity pattern. The route choice algorithm operates at two lower levels of CS. Basic (?reflex?) functions of spatial motion are realized within the execution level and considered in the paper. The choice of motion modes is carried out at the coordination level of system. All accessible navigating information (the data from flight sensors and from multichannel echo-sounder systems) is used for this purpose. In addition the bypass of characteristic types of obstacles is carried out with the help of basic motion modes combination. The modeling results of bypass of various typical obstacles, and also their combinations are described in the paper.

Jan 1, 2011

By C. H. G. Bushell, G. Brown, C. J. Krauss

1N FLOTATION, copper sulphate is used universally for the activation of sphalerite and marmatite and, to some extent, for the activation of other minerals. The copper activated surface readily adsorbs standard collectors such as the xanthates and dialkyl dithiophosphates whereas untreated zir~ sulphide does not. With the host of reagents available, making a mineral float is seldom difficult. The problem is to achieve selective flotation. In zinc flotation, the great value of copper sulphate results from its ability to activate zinc sulphide preferentially to gangue minerals. At the Sullivan Concentrator of The Consolidated Mining and Smelting Company of Canada Limited, the most abundant gangue mineral in the lead-zinc ore is pyrrhotite, and the zinc mineral is marmatite of somewhat variable zinc to iron ratio. For this Cominco study, selectivity between marmatite and pyrrhotite was therefore the most interesting aspect of copper sulphate activation.

Jan 1, 1961

By Masaru Kato

The plated gold being used by the electronics industry can be broadly classified into two categories: soft gold and hard gold. Soft gold is used for circuit metallization and for bonding semiconductor chips, while hard gold is indispensable as the contact material on electrical connectors, electromechanical relays, and printed circuit boards. The traditional baths from which to plate soft gold as well as hard gold contain the cyanide complex, [Au(CN)2]-, as the source of gold, which liberates free cyanide ions during the plating. The free cyanide is not only highly toxic but also attacks photoresists used to delineate circuit patterns and bonding pads. For these reasons, non-cyanide baths are in use to plate soft gold, whereas hard gold can be plated only from cyanide baths at present. In this presentation, the current status of both electrolytic and electroless non-cyanide processes for plating soft gold will be reviewed.

Oct 1, 2003

By Bertrand Robinson

Great advances have been made in rubber-lined pumps for the pumping of mill pulps. The Canadian Allis Chalmers alone report ov.er 300 such pumps put into service during the past four years. Pumps in which both the casing and the impeller are rubber covered have proved most economical in handling the usual run of mill pulps, effecting large savings in power, maintenance, and shutdown costs. For the handling of pulps containing comparatively large, sharper edged /articles, rubber-lined casings with hard iron impellers have been developed by the pumping departments of Hollinger and Noranda. These rubber-iron combination pumps show an appreciable reduction in overall pumping costs as compared with the all-rubber and the all-iron pumps. The power efficiency is lower in rubber-iron than in all-rubber pumps but higher than in the all-iron pumps, with lower replacement costs due to the cheap iron impellers used. Where continuous operation is essential, however, and duplication of units to take care of shutdown time for replacement of parts is not within the expenditure budget of the company, all-rubber pumps are being used t0 a greater extent. As in all items pertaining to milling operations, the economics of the situation must be studied as closely as the technical details, to arrive at the most advisable practice.

Jan 1, 1939

By S. H. Ash

Introduction Probably the newest thing in mining safety is the apparent dissatisfaction on the part of the mineral industry, as represented by both management and labour, and the general public of many nations in which mining is conducted, with the safety record of the mining industry. This is reflected by published comments in the technical press;' in labour periodicals, in popular Journals and periodicals, and in the daily press (5, 11). Despite what may be said to the contrary, mining in the United States is becoming safer, and this trend has been evident for several years (see Figures 1 to 4). Because the author's experience has been mostly in the United States this paper will discuss briefly some recent observations in the United States that have a bearing on mining safety. Because coal mining is of primary interest to the Mining Society of Nova Scotia, the paper treats mostly of coal-mining safety; however, many hazards in mining .are common to all mines, regardless of the minerals mined.

Jan 1, 1950

By E. G. Joe

"Recent trends in Canadian mineral processing were reported in seven areas of interest covered by seventeen technical papers at the 1976 Annual Meeting of the Canadian Mineral Processors, held at Energy, Mines and Resources' Camsell Hall, Ottawa. New milling equipment included the Enviro-Clear thickener, large-volume Outokumpu flotation machines and abrasion-resistant polyurethane screens. Grinding experiences from a variety of milling operations were reported. Opportunities for increased sizing and grinding efficiency were presented. Flotation control by digital computer and by chemical additions were described in two mill operations. Slurry pumping and sampling techniques were described for various operations. Environmental control in milling was reported concerning dust suppression, arsenic removal and tailings disposal. Several aspects of gold milling were described by the most recently commissioned gold mine and by CANMET. Potash operations were reported showing the similarity of processing and process control to that of metallic minerals."

Jan 1, 1976

By Kalervo Rankama

UNTIL a few years ago, geological mapping, the study of ore boulders, and different geophysical methods were the principal means used in the systematic search for mineral deposits covered by a layer of disintegration products or soil. These methods have been developed to a high stage of perfection as far as the geometrical definition of the conductor is considered. Use of geophysical methods in prospecting is based on the fact that an ore body differs from the country rock not only geologically but also in its physical properties. The general drawbacks and complications included in the use of geophysical methods are well known to everyone who has been using them, so need not be entered into here in detail. One of the more important ones is the fact that geophysical methods are unable to furnish information concerning the chemical composition of the ore bodies responsible for the indications. Further, the ores of many metals, such as silver, gold, beryllium, zinc, mercury, tin, lead, vanadium, antimony, chromium. molybdenum, tungsten, manganese, cobalt, nickel, and the platinum metals cannot be directly located by known geophysical methods, owing to lack of physical characteristics suitable for distinguishing them from the country rock. Thus it is quite natural that efforts have been made to develop direct methods for prospecting and locating ore bodies of the elements named. Known as chemical, biogeo-chemical, and geobotanical methods of prospecting, these have been much improved during recent years. A brief review of these methods and of some results obtained with them will be presented in the following, on the basis of available information and my own experience.

Jan 1, 1947

By William Petruk

The primary requisite for a successful extractive metallurgy operation is to grind an ore fine enough to liberate the minerals so that they can be concentrated, or to expose mineral surfaces so that the minerals can be leached. The ease or difficulty of liberating or exposing the mineral grains is dependent upon the mineral textures such as grain size, crystallinity and bonding between mineral grains. In particular, mineral grains with straight grain boundaries and a weak bonding to other minerals are easily liberated and readily concentrated into high grade concentrates. In contrast mineral grains that have re-entrant boundaries and are strongly bonded to their neighbours are not easily liberated and will not produce high grade concentrates, even with regrinding. Similarly, inclusions that occur along fractures and grain boundaries can be readily exposed and leached. Whereas minute random inclusions in large grains will not be liberated or exposed unless they occur along planes of weakness.

Jan 1, 1995

By D. I. Hoyer, M. F. Dawson

The results obtained from the operation of a batch centrifugal ball mill are reported, together with the development of a model for the behaviour of a particle in free flight within the mill, and the introduction of a cumulative breakage rate function. Schumann and Rosin-Rammler plots show the change in particle-size distribution with time at various configurations of the mill. Graphs showing the rate of production of fines and the rate of breakage of coarse particles are included.

Jan 1, 1982

By Hans Chr Andersen

Almost every form of iron ore and carbon material has been used as a raw material in the production of pig iron in electric reduction furnaces. Experience derived from the operation of the large 33,000-kva. Tysland-Hole furnaces, however, indicates that production results are very much influenced by the raw material conditions. The author presents the principle pattern of the metallurgical structure of the interior of an electric pig iron furnace. On the basis of this, he discusses the variations of electrical and metallurgical conditions for the process which will take place with changing raw materials. The formation of a coke bed underneath the electrodes, and its influence on the furnace operation, is illustrated. Quality and grain size of the coke added to the charge will influence the build-up of the coke bed and will thereby also affect the electrical re-''Elektrokemisk A/S, Oslo, Norway. resistance and reduction potential in the furnace.

Jan 1, 1963

By Granholm S

The current emphasis within the mining industry to reduce the cost of production has stimulated interest in the fields of maintenance and operational reliability of capital intensive mining equipment. From an economic point of view, high reliability is desirable to reduce the maintenance costs of the systems. Two graphical methods consider reliability analysis. The first one, the method of Total Time on Test (177)-plotting deals with the reliability data which are free from trend and serial correlation. The second method which is based on time dependent modelling approach deals with the data which are not free from trends and serial correlation. The examples show how these graphical methods can be used to calculate the optimal maintenance intervals for components or systems.

Jan 1, 1991

By Scott W. Hazen

COMPREHENSIVE summary is presented of results of several years of research at the Bureau of Mines Mining Research Center at Denver on adapting and applying techniques of statistical analysis in mine and mineral-deposit sampling and in computing grade and tonnage of ore for a mineral deposit. In addition to elementary statistical theory the material presented in the bulletin includes: (1) Certain special statistical techniques that have been found useful in mining applications; (2) problems, implications, and limitations that may be encountered in applying these techniques in mine sampling and evaluation; and (3) numerous examples to demonstrate application of the theory and techniques.

Jan 1, 1967

By Grimes, J. A.

EXTENSIVE discovery 'and rapid exploitation of orebodies within the past half century have attracted many able geologists to the mining industry and furnished them a wealth of data from which to develop theories concerning ore genesis. By tosting and elimillating theories which are not sufficiently sup- ported by fact, or which are based on inaccurate observation of field data, the trend of geological opinion has . moved strongly in certain directions until, at the present time, large numbers of geologists subscribe to a broad concept of .ore genesis that I would summarize as below:

Jan 1, 1928

By Hemingway P, Boag J

Major operating aspects of the Mary Kathleen Uranium Ltd. treatment plant are discussed with partkular reference to those which are peculiar to this operation.Problems associated with the production of a penalty free uranium oxide product are examined and the methods developed to overcome them are described in detail.INTRODUCTIONMary K,athleen Uranium Ltd. is the largest of the Australian uranium producers. The flow-sheet is based on fine grinding, standard sulphuric acid leach, ion exchange concentration, and magnesia precipitation of the final product, with certain modifications introduced as the result of pilot plant investigations at the South Australian Department of Mines Research Laboratories in Adelaide.The plant commenced operations in June, 1958, attained design tonnlige of 1,120 tons per day in September of that year and has since operated continuously with a throughput in excess of 1,000 tons per day. Pilot plant recommendations generally have been followed, and predicted results have been attained. The only exception has been the silica and rare earth content of the product produced during the early months of operation. Considerable modification of the early resin regeneration techniques resulted in the reduction of the silica content of the product to within specification limits. Research work in the ion exchange section has also resulted in the reduction of the rare earth content of the product to below specification levels. All product now being produced is completely within the agreed specification limits of impurities.

Jan 1, 1961

By H. W. Gillett

UNLIKE most previous Howe lecturers, I had not the good fortune to be associated with Henry Marion Howe, nor to be directly one of his students. Yet, through his writings, he has been my teacher, as he has of all American metallurgists. Instructive as his writings are-I use the present tense because Howe thought so keenly and reasoned so surely, seeing clearly, as if by intuition, what was hazy to lesser minds, that his writings are still vital-it is not, those books and papers, nor even the minds he trained in his classes, that were his most outstanding service. It was the spirit of Howe in his: approach to the problems of metallurgy, his broad-mindedness and fair-ness, his recognition of the need for theories and hypotheses to explain metallurgical phenomena, his willingness to use them as servants, as well as his questioning attitude-his refusal to accept them as masters-that comprise his greatest service. This most thoroughly warrants the honor the Institute pays each year to his memory. These traits I so respect and honor in any man that I glory in this opportunity to do reverence to him in whom they were so notably united.

Jan 1, 1939

By Zong-Xian Zhang, Charlie C. Li

It has been observed that the rock debris of a strain burst event are often in the mode of tensile fracture. Seismic waves could create tensile fractures in the material nearby reflecting surfaces, such as at the boundary of the fracture zone and the rock surface of an underground space. The fractured rock could be ejected to the space when the seismic waves are powerful enough. The average ejection velocity of the ejected rock is a measure of the magnitude of a burst event. The ejection velocity is directly associated with the released energy from the seismic waves and with the strain energy stored in the rock prior to the burst. In some cases, the seismic wave induced tensile fracture and the energy conversion occur in successive moments during bursting. In this paper, tensile fracture caused by seismic waves is investigated through an 1D model. The relationship of the average ejection velocity of the ejected rock in a rockburst event is analytically established with the energy of the seismic waves and the strain energy stored in the rock.

Apr 26, 2022

By K. Yamaguchi

To contribute highly efficient and environmentally conscious copper smelting process, several topics in chemistry of the continuous converting were discussed. Through the reviewing the authors' thermodynamic simulations, it is recognized that small amount and low copper content of the coexisting slag is preferable. Some discussions were added to the Takeda's diagram for Cu20-Fe0x-Ca0 ferrite slag, and the activity curves of the constituents were derived. Thermodynamic calculations were carried out on the copper contents of the slag during the blister copper formation. The dissolution of copper in slag decrease somewhat with increasing temperature, but the effects of increasing S02 pressure and decreasing %S in copper are considerable to increase in copper content of the slag. The optimum oxygen enrichment in the supplied air, and regulation of the oxidation degree for the blister copper are important in practice. The gypsum phase separation in the calcium ferrite slag was also evaluated thermodynamically, and concluded that decreasing temperature, increasing CaO content or S02 pressure, and extensive oxidation of the blister copper tend to separate CaS04. 0

Jan 1, 2007

By K. Yamaguchi

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

Jan 1, 2007

By C. H. Wright

Introduction The rapidly expanding and increasingly complex Canadian industrial structure, with the mining, metallurgical, and chemical industries as a large integral part, has, in recent years, brought greatly increased importance and value to our industrial minerals. In the modern economy of our mineral industry the importance which is due the non-metallics has been somewhat overshadowed by the great value of our large metal production and, in addition, by the glamour and fascination usually associated with the mining and treatment of gold ores. The term 'Industrial Mineral' is used in this paper in its usual sense and refers to non-metallics other than fuels. Coal and petroleum products, including natural gas, are considered as industrial minerals in those applications in which they are used for strictly chemical process purposes. Certain reduction metallurgical industries are so closely allied to chemical industries that for purposes been of this discussion no attempt has made to differentiate between them. Chemical industry in Canada today is a fairly large factor in our national economy, whereas in 1898, when the Canadian Mining Institute was born, it was very small indeed. Chemical concerns are largely dependent on industrial minerals for raw materials and process supplies and, as the country has developed industrially, so have the demands for non-metallics increased, not only by chemical industry but also by other large consumers, such as the construction and metallurgical industries. At the present time there is a greater than normal incentive prevailing for new discoveries, due to the serious lack of balance that exists in our import and export trade. This fact has resulted in intensive efforts to rectify the situation by locating new deposits and re-assessing those already known in an effort to enlarge and improve our home production of raw materials and also to extend their processing in Canada for our own needs and for export. The rapid advances in science and technology that have taken place since 1900 have also resulted in many cases of beneficiation and utilization of otherwise too low grade materials in order to satisfy current demands. The purpose of this paper is to indicate the history and the trends of the utilization of industrial minerals in established industry and to indicate the important part played by non-metallics in connection with the opening up of new industries. Some consideration has been given to the continual competition between natural and 'synthetic products and to the general tendency towards more rigid specifications.

Jan 1, 1948