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By Chen Feng

Compared to widespread successful deployment of robotic manipulators for repetitive and hazardous tasks in related industries such as manufacturing, the construction industry has achieved relatively limited benefits from robotics and soft automation. Unlike manufacturing, where robotic solutions benefit from the structured layout of the environment (e.g., factory assembly line), construction robots face unique challenges that arise from the rugged, dynamic, and unstructured environment of the work site, as well as the uncertainty and evolving sequence of occurring on-site events. This challenges any intended construction robots to not only replicate basic human motion, but also be capable of sensing and adapting to environmental changes, and making decisions based on the evolving state of the environment. Building upon recent advancements in robotic mapping, computer vision, and object recognition, the authors propose to introduce autonomous behavior at the basic task level for on-site construction robots to address these challenges in a flexible and extensible manner. This paper reports the outcome of the first phase of this research - a structured methodology for improved design and development of basic task automations - and focuses on algorithms developed for mobile robot navigation and relative pose estimation. The algorithms are implemented on a prototype mobile robotic platform, and evaluated in several experimental scenarios.

Aug 1, 2013

By Hung-Ming Chen

This paper presents a Cloud-based system framework for providing a web-based building information model (BIM) service. Cloud computing technologies were used to develop a BIM data center, which can handle the big data of massive BIMs using multiple servers in a distributed manner. In addition, the system allows multiple users to access the BIM data center online to submit and review BIMs concurrently. In this study, the advanced technologies/tools of web development and Cloud computing were applied and incorporated to develop a prototype system, named CloudBIM. On the client side, this study applied WebGL and HTML5 in the web-based interface development to achieve the 3D display of BIMs and the dynamic interaction with viewers through browsers. Users can access the services of CloudBIM by using PCs, laptops and tablets anytime anywhere to view the 3D model via browsers, which support WebGL. On the server side, this study used Apache Hadoop, an open-sourced distributed file system based on Google?s technologies, to establish a BIM data center. The Hadoop Distributed File System (HDFS) can utilize multiple servers to provide mass storage spaces in a distributed manner. Based on the use of Apache HBase, which provides Bigtable-like structured storage for HDFS, this study proposes database schema for storing the information from massive BIMs in two bigtables, named Object table and Property table respectively. In addition, Hadoop MapReduce, a Hadoop component for the parallel processing of large data sets, is utilized for model data acquisition by parsing the IFC files of uploaded models in parallel.

Aug 1, 2013

Over the years, efficient on-line monitoring of performance and status of an electrolytic copper refining process has been challenging due to the need for complex electrical measurement systems and the management of the enormous volume of data. Recent innovative developments by Kennecott Utah Copper Corporation and Outokumpu Technology in wireless cell voltage and individual cell temperature sensing opens new possibilities to improve and modernize tank house management. This paper describes the powerful Outokumpu CellSenseTM refinery monitoring system for efficient interpretation of data produced by wireless CellSensorTM system with traditional refinery measurements. Examples from commercial tank house installations demonstrate the benefits of the system to improved process control and operation. The Outokumpu CellSenseTM monitoring system is simple to operate and accessible to all the plant operation teams.

Jan 1, 2007

By S. Sundararajan, J. Brousseau, P. Bocher, M. Galopin, N. Barka

This research is committed to the prediction of the hardness profile produced by induction heating, using a computer-modeling software. The paper presents the simulation of the induction hardening process to analyse the sensitivity of the induction parameters on the hardness profile of a low alloy steel specimen. The developed numerical model includes the coupling effect between electromagnetic and thermal fields, and takes into account the non linear behaviour of the material properties. The study applies an enlightened experimentation method to build the feasible domain of the process and to achieve predictive empirical modeling. The ultimate goal is to replace the trial and error method that is usually used for the development of new parts, by costless experiments with the numerical model. Further development of this approach will lead to the computation of the residual stresses and finally to the assessment of the mechanical properties of the part. The end result will be the ability to shorten the development time and to improve the quality of the hardened part.

Jan 1, 2006

By M. K. Kim

This study presents a framework for quality inspection of precast concrete components using the 3D laser scanning technique. As precast concrete-based rapid bridge construction is getting standardized, quality assessment of the precast concrete becomes critical for preventing any failures during the construction process. Moreover, as Building Information Modeling (BIM) gains popularity in the construction industry, autonomous and intelligent inspection systems are needed. Current method for quality control of precast concrete components, however, heavily relies on visual inspection and contacttype measurements, which are time and labor demanding. Also, storage and delivery systems of inspection information such as the procedures and results of quality inspection are lacking. To overcome these limitations of the current quality assessment technique for precast concrete, this study aims to develop a BIM-based framework for efficient quality inspection of precast concrete with the use of a 3D laser scanner. First, we formulate practical guidelines including detailed inspection procedure, selection of optimized scanner and scan location, inspection criteria, and data storage and delivery system. Second, to investigate the applicability of 3D laser scanning to precast concrete quality inspection based on the proposed framework, a case study inspecting quality of a lab-scale object assumed as precast concrete component is presented for detecting defects.

Aug 1, 2013

By F. Filzwieser, K. Gamweger

The process of gas purging in molten aluminium has been an industrial practice in Europe for many years. The advantages are a reduction in the hydrogen content and impurities in the melt, as well as a homogenisation of the temperature and chemical analysis in the molten metal. Formerly used lances or impellers are being replaced by porous plugs which are installed at the bottom of the furnace. This special product of RHI Refractories has proven its efficiency in primary melting as well as in die cast, sheet and extrusion plants.

Jan 1, 2004

By S. F. LEAMING

Jade occurs with alpine-1ype serpe111iniIes in a be// of middle Paleozoic to Triassic rocks extending from southern British Columbia in10 Yukon Territory. Most known deposiIs are in BriIish Columbia and are associa1ed wi1h the Cache Creek Group. Jade deposits are generally small len1icular masses 1ha1 lie along con1acIs beIween serpenIinites and various countIy rocks; some are 1ec1onic inclusions wi1hin se1pen1ini1es. Qualify and quan1i1y of 1he jade varies widely. Deposi1s occasionally, but rarely, reach 3,000 /Onnes. The ma1erial may be rendered non-commercial by .frac1ures, impuriIies, inferior colour and poor IexIure. Because unit value of jade can approach $80.00 per kg, greaI incen1ive exisIs 10 exploi1 1his resource. Successful commercial operations, however, depend on large- *A more detailed version of 1hi paper occur in Leaming (1978). PHOTO I . Sawn blocks of nephrite ready for shipping. 270 volume sales, for which $6.00 to $15.00 per kg is more realistic. Many undiscovered jade deposits undoubtedly remain in the Canadian Cordillera.

Jan 1, 1984

By Marco Quirion

The Daniel-Johnson dam, formerly named Manicouagan-5 (Manic-5), is located 800 km northeast of Montreal (Quebec) in Canada. This is the largest multiple-arch concrete dam in the world consisting in 13 arches and 14 buttresses. Since its construction in 1969, various type of cracks have appeared on both downstream and upstream faces of almost all the arches of this concrete dam. As a part of the Daniel- Johnson’s dam safety assessment program, Hydro-Québec is currently performing structural analysis of the dam with advanced numerical models to better understand and predict the dam behaviour. Because the buttresses transmit all the arch loads to the rock mass, determination of the properties of the dam foundation should not be neglected in dam global safety analysis and also to insure that reliable input parameters are used in the dam numerical simulations. This paper summarizes the past and the more recent investigations of this foundation used to assess its safety and stability. Moreover, the use of rock mass classification to estimate the deformation modulus, based on empirical equations, gives values in the range of 30 to 40 GPa that are higher than expected values. Using those values in the numerical simulations for dam structural analysis gives an excellent correlation with displacements monitoring of the buttresses.

Jan 1, 2015

By G. R. Webber, P. J. Whittaker

"A multielement (Au, Cu, Pb, Zn, Ni, c-, Ag, As, Hg, Co, and S) geochemical rock sampling survey was carried out in 1977 in the Munro Township area of Ontario to assess the application of rock geochemistry for gold exploration in the region. Detailed sampling with analysis for gold and arsenic was done in 1986 in the immediate vicinity of the Croesus Mine.Samples of quartz veins and rock formations were taken in regional traverses and in more detail near old showings, prospect pits, and trenches. Quartz, graywacke, carbonate rock, and rhyolite contain the highest concentrations of gold for samples taken away from the old workings. Ultramafic rocks and gabbro have uniformly low gold. Basalt samples have slightly higher geometric means, but individual samples contain high gold concentrations. Multielement highs are mostly in mineralized quartz samples. Gold distribution is independent of other elements in most other rock types. Samples near old showings possess elevated concentrations of gold indicating that prospecting for individual mineral deposits by bedrock sampling is feasible. Concentrations of gold greater than 100 ppb are mostly within 30 m of old workings. Those samples which contain greater than 1000 ppb Au were obtained from quartz veins, basalt, graywacke, and rhyolite.High concentrations of gold were not notably concentrated near the Contact Fault although some anomalous samples came from near and on both sides of the fault. Arsenic concentrations are elevated near the Contact Fault. Detailed sampling near the Croesus Mine suggests that gold was introduced with faulting, alteration and quartz veining. Gold and arsenic have been added to the wallrock in the vicinity of the main veins."

Jan 1, 1989

By A. J. Hyett, N. Hedrick, J. Blackall

The Garford bulb anchor is a modified cable geometry developed and patented by Garford Ply Ltd. of Australia, and which has recently become widely available in Canada. It is produced by deforming the seven wires (including the central kingwire) of a standard cable into a bulb" (Fig. 1). Laboratory cable pull tests indicate that the bond capacity of the 25 mm Garford bulb anchor is comparable to the nutcase cable, in excess of the birdcage cable, and significantly higher than standard 7-wire strand. Its comparative advantage over the latter is most significant for tests at low radial confinement and high water:cement ratio grout, which corresponds to operational conditions of low quality rock (i.e. weak, highly fractured rock masses, foliated hanging walls, failed ground, etc.) and poor installation quality control (perhaps the most common explanation for cable bolt failures). It is under such conditions that cable bolting is often ineffective. The most impressive result is that for a reduction of the effective rock mass modulus by a factor of five, the Garford bulb cable capacity remains virtually unchanged.

Jan 1, 1995

By Antonio Fontana

"Environmental problems encountered with the use of diesel equipment in underground mining operations are discussed. The concept and procedure o implementing the Health Effects Index equation as a means of quantitatively assessing an underground working environment is outlined and sample calculations are present ed. Advantages and disadvantages of utilizing this method are also discussed.IntroductionWith the introduction of diesel-powered mining equipment in the 1960s there arose several question s for the environmental engineer to consider. These included: 1. What are the constituents of diesel exhaust and how can they be detected and evaluated?2. What are the toxicities and long-term health effects of these constituents?3. What is the ventilating volume required to maintain the concentration of these constituents below toxic levels?Diesel engines are a class of reciprocating, internal combustion engines in which relatively high compression ratios are used to generate high air-charge temperatures, which cause ignition of fuel to occur spontaneously. Ideally, perfect combustion of the fuel would produce an exhaust consisting solely of nitrogen (N2), water (H2O), carbon dioxide (CO2) and oxygen (O2). However, because no combustion process is perfect, relatively small quantities of imperfect-combustion products, or pollutants, are also generated. These include hydrocarbons (HC), carbon monoxide (CO), nitric oxide (NO), nitrogen dioxide (NO2), carbon (C) or soot, and sulphur dioxide (SO2).Currently, the Regulations for Mines and Mining Plants, made under the Occupational Health and Safety Act (Section 176), stipulate that weekly tests shall be made to determine the carbon monoxide (CO) concentration in the undiluted exhaust and at the operator's position, and the nitrogent dioxide (NO2) concentration at the operator's position. Also, the aldehyde (as HCHO) concentration in the atmosphere, at the operator's position, is to be measured at least every three months. Threshold limit values (TLVs) have been established for each of the three combustion products, and each is regarded as a separate entity. Consequently, this does not allow for consideration of interactions and possible synergistic effects between the various exhaust components."

Jan 1, 1982

By Alexander Levran

The main thrust of this presentation is to illustrate the growing contribution of solar energy to the mining industry by replacing existing mechanical and pneumatic tools and equipment with more effective and efficient electrical tools due to the increased efficiency and lower cost of solar energy generation. LCOE (levelized cost of energy/electricity) for solar energy is becoming highly competitive with other conventional sources of energy. The distributed architecture of solar power plants allows the supply of energy to highly remote and abandoned geographies. We will focus on the trend for this contribution to the mining industry over the next three years. Water desalination and delivery to the mining area will be topic of discussion regarding the contribution of solar systems in Latin America (LATAM) and other geographies. INTRODUCTION Increasing price pressure on the mining industry has generated a strong interest for mining companies to investigate energy costs and consumption. Currently, energy costs in mining economics contribute15% to 25% of the total commodity cost. In the past, most mines were operated by diesel gensets. Very high logistics costs for diesel supply, high and fluctuating diesel prices and theft led to very high energy prices. To overcome this problem, the mining industry has turned to solar energy, employing two main solutions: (i) adding a small scale (single level MWp energy supply) solar to an existing diesel system to create a hybrid solution operating as a microgrid environment; and (ii) replacing the existing diesel system with a large scale grid connected photovoltaic system financed by utilities or private IPP owners that signed a long-term power purchase agreement (“PPA”). In both applications, the near-term trend is to add storage and weather controls to optimize the electrical performance of the system. Use of concentrated solar solution (CSP) in the past was employed in a few remote sites to provide electrical energy to the mines. Currently this technology is not competitive with the photovoltaic (PV) systems. In some installations we have seen usage of a small hybrid system that is designed as relocatable, containerized and delivers scalable electrical power. In addition to the evolution of electrical energy sources, we see the trend of reduction of energy consumption in the mines by optimizing energy efficiency and generating load shifting solutions. Many studies of electrical energy in the mining industry support the growth of this trend in the mining industry.

Jan 1, 2019

By Christopher R. Davis

Resource modelling is the basis for any economic appraisal of a mining project and includes a number of steps from data acquisition and validation to resource reporting and classification. At each step in the modelling process it is necessary to define the specific objectives, the methodology proposed to achieve those objectives and to establish a set of checks and validation tools to assess the effectiveness of the proposed methodology. The data used has to be both reliable and relevant for the purpose of the modelling. QA/QC for database validation requires verification of sample location; including correct collar location, topographic modelling and down-hole surveying. Validation is also performed on assaying information such as checks for sampling bias and accuracy of core splits, proper use of pulp duplicates and standards, handling of calculated values, explicit/implicit absent data and data entry errors. The second step involves identifying the mineralized domains resulting from the mineralization process. This step requires a geometric interpretation of all relevant geological features that have influenced the spatial distribution of the mineralization including dykes, faults and alteration. In addition, a geologic reference system rather than a standard Cartesian system is established to measure distances between samples. Once the mineralized domains are established and the database has been validated, statistical and spatial description of the mineralized samples are examined in order to establish the histogram and the variogram of all variables of interest and their correlation. Results are also used to calibrate the global resource estimate within the mineralized domain and to establish the search strategy for grade interpolation. The mineral envelope is filled with polyhedral cells representing mining blocks. The average grade of these blocks is estimated using kriging techniques in order to eliminate global bias and to minimize the local error in the block grade estimate. Visual checks are made to validate the spatial trends in grade distribution while global bias and smoothing effect are assessed from the declustered sample statistics. When required, smoothing correction may be applied using ?change of support? techniques. Simulations are used to perform sensitivity analysis and the simulation models are used if severe smoothing of spatial variability makes the interpolated model inappropriate for mine planning. The keys to successful resource estimation are an integrated team of geologists, geophysicists, geostatisticians and mine engineers using the best available technology and reviews by independent auditors. The resource team is also responsible for performing a QA/QC program in order to measure the effectiveness of the methods in meeting the specific objectives at each step of the modelling process.

May 1, 2001

By V. I. Lakshmanan

Rare earth elements and yttrium (REEs+Y) are being used in the making of hybrid electric cars, catalytic converters, wind power generators, LEDs, hard disc drives, flat panel displays, and portable electronics. Currently China produces more than 95% of REEs+Y, which has made REEs+Y a critical strategic resource. Process Research ORTECH Inc. (PRO) has developed the innovative mixed-chloride (HCl+MgCl2) solvent extraction processes for recovery of REEs+Y from their ores. The HCl leaching system provides the opportunity to regenerate the acid, while the presence of MgCl2 in the lixiviant enhances the activity of the hydrogen ion by orders of magnitude, making the lixiviant very aggressive and resulting in high recoveries of REEs+Y. Solvent extraction steps are used for separation and purification of REEs+Y from other value metals or impurities including iron, zirconium, hafnium, uranium, thorium, niobium, tantalum and titanium. Direct individual separation of REEs+Y in a mixed chloride system allows avoiding the additional process steps of precipitation and dissolution in HCl. The resulting process has a simplified flow sheet that is closed-loop and environmentally friendly.

Jan 1, 2014

By John Eggert, Paul Benford

"Since 1982, Placer Dome Inc. -Dome Mine has steadily increased mill throughput. Tonnage has increased from a nominal design capacity of 3000 short tons per day, attained in 1985, to 4130 stpd by the end of 1992. Many minor and major circuit adjustments were tried to maximize tonnage.Having utilized most conventional means of increasing tonnage, further increases required a newer approach. This paper discusses the Dome experience in the development and implementation of an expert system.The Comdale/C system was chosen for a controlled trial. The criteria for acceptance were: increased tonnage had to be sufficient to pay for the system; the increase had to be visibly sustainable and the mill operators had to be willing to accept the system.The criteria for purchase were met during the trial and the system was purchased. The system continues to perform well. The tonnage throughput increase has been sustained while operator acceptance remains high.IntroductionPlacer Dome Inc. -Dome Mine is Canada's oldest operating gold mine. The mine was among the first established in the Porcupine camp in what is now Timmins, Ontario. The City of Timmins is located approximately 500 miles or 800 kilometres north of Toronto. Figure 1 shows a map of the province of Ontario and the mine location.In 1912, milling began at a rate of 350 short tons per day. With two minor exceptions, milling has been continuous since this time. The first of these shut downs was in 1918 during the first world war. The war created labour shortages which forced the mine to stop production for more than a year. The second was in 1930 when fire destroyed the mill."

Jan 1, 1994

By D. H. Schwarz

The performance of proton exchange membrane (PEM) fuel cells depends on catalyst layer composition and structure. Experimental observations reveal that state-of-the-art catalyst layers consist of microporous agglomerates of carbon-supported catalyst sites bound together by polymer electrolyte. In between the agglomerates are macropores which provide pathways for the transport of gaseous reactants. In this work, three-dimensional, multicomponent and multiphase transport computations are performed using a computational fluid dynamics (CFD) code (FLUENTTM) with a new PEM fuel cell module, which has been further improved by taking into account the detailed composition and structure of the catalyst layers using a multiple thin-film agglomerate model. In this model, it is assumed that thin films of polymer electrolyte and liquid water surround the catalyst sites. The results of CFD computations show that transport limitations associated with the thin film of polymer electrolyte and the presence of liquid water in the catalyst and gas diffusion layers have substantial negative effects on PEM fuel cell performance. Also, the results of computations with variable distributions for a given precious metal loading show that, in general, uniform catalyst loading provides the best fuel cell performance.

Jan 1, 2005

"This paper discusses the use of risk assessment and risk management techniques within the Australian underground coal mining industry, within the context of geotechnical risk. The industry works within a pro-active, “enabling” legislative framework, where companies and management apply a range of risk assessment tools as part of their everyday management processes. Different geotechnical risk factors and approaches are reviewed, together with application examples – ranging from mine planning and design, operations, and accident investigations.A particularly powerful resource in each of the above stages of geotechnical management is the RISKGATE system. RISKGATE is an assembled “body of knowledge” structured under different topics across the Australian coal industry, of which three topic areas address rock mechanics issues for both the underground and surface mining sector. This paper will provide an overview of RISKGATE in the context of risk-based rock mechanics applications in underground coal mining."

Jan 1, 2015

By G. Barbery, P. Dauphin

"In order to obtain reproducible and reproducible results in batch flotation, researchers have tried various approaches, from normalized testing, to modifying existing cells, and even designing new machines. The paper reviews the basic concepts that must be fulfilled in a laboratory flotation machine, and present the FLOTOMATEC design, which results from five years of testing and development. In addition to providing accurate measurements of air flowrate, power consumption, agitation speed, the cell eliminates most operator induced errors. Results of experiments comparing FLOTOMATEC to a conventional cell, as well as reproducibility tests are given. Introduction The use of batch flotation machines in mineral processing research and development is very common. These machines have been used for many years without almost any change in their design, instrumentation or automation. Various authors since Raffinot (1960) have criticized the available designs, especially with respect to the large errors that are introduced by the manual mode of operation. Barbery et al. (1986) have presented a review of the problems involved in laboratory testing in flotation research.Batch laboratory machines should have the following characteristics:"

Jan 1, 1989

By C. W. Chao, M. Melashvili, F. Hilário

The processing of a bulk concentrate containing copper as chalcocite, enargite, bornite and chalcopyrite along with pyrite and precious metals of silver and gold was studied. A leaching study was undertaken to examine the application of the atmospheric acid leaching process to a bulk copper concentrate for copper recovery followed by cyanidation or thiosulfate leaching for gold and silver recovery. The extraction of copper exceeded 90% under some conditions and the recovery of gold and silver reached a maximum of 44 and 45%, respectively. A sample of bulk concentrate was roasted in air to oxidize the sulfides with release of sulfur dioxide followed by acid leaching of the roaster calcine and cyanidation of the acid leach solution. The copper extraction reached over 92% and the gold extraction exceeded 88%. The sulfur dioxide may be captured for acid production. INTRODUCTION The processing of a large primary copper deposit in Indonesia is under investigation. One of the possible routes for processing involves flotation of a bulk copper-gold concentrate followed by treatment by an atmospheric leach/SX-EW process for copper recovery. The atmospheric leach residue would then be leached for recovery of gold and silver. A second route involves roasting of the concentrate followed by acid leaching and SX-EW for copper recovery. The leach residue from the roaster calcine would then be leached for recovery of gold and silver. The roaster off-gases could be used for sulfuric acid manufacture, enabling the production of a valuable by-product. The Cobre Las Cruces (CLC) process (Munoz, Garcia, & Delgado, 2017) was designed to treat a resource of copper discovered close to Seville, Spain. The process was developed by Outotec with MK Gold (original project owner). INMET Mining subsequently purchased the deposit from MK Gold and built the copper processing facility. The CLC process is similar to the Mt. Gordon Copper process; except that OKTOP reactors have been installed instead of a low temperature, low pressure autoclave process. The plant was designed to treat 1.3 mtpa of ore at a grade of 6.2% Cu to produce 72,000 tpa of cathode copper over a 15 year project life. The main gangue mineral at Cobre Las Cruces was pyrite. The Cobre Las Cruces ore is therefore similar to a rougher flotation concentrate containing copper minerals and pyrite. The roasting of a rougher flotation concentrate can be designed to produce hematite, basic copper oxides and sulfur dioxide off gas. The acid leaching of the basic copper oxides may produce soluble copper for SX-EW recovery of copper. The sulfur dioxide off-gas may be used to make sulfuric acid.

Jan 1, 2019

By Gaoming Wang

Outline 1. The Gangdese porphyry Cu-Mo belt 1.1 Regional geological background 1.2 Cu-Mo-bearing porphyries 1.3 Mineralization and alteration 2. Dating methods and results 2.1 Qulong porphyry 2.2 other porphyries 3. Geodynamic implications 4. Conclusions 5. Acknowledgements

May 1, 2004