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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 R. Vergunst, E. A. Devuyst, G. Robbins

"INTRODUCTIONThe Inca process for continuous cyanide removal from industrial wastewaters was patented in 1984 by G.J. Borbely, et.al. (1). The process requires SO2, air, lime and a copper catalyst. Both free and complexed cyanide are oxidized to cyanate in the pH range 8 to 10. Cyanide bound to iron is removed by precipitation as a ferrocyanide insoluble salt and other base metals are removed as hydroxides.The process was piloted in 1982 on barren bleed solution at Campbell Red Lake Mines Ltd., Ontario (2). Since 1982, the Inca SO2-air cyanide removal technology has been applied in twelve commercial installations. The process has significant advantages over other commercial processes in the completeness of cyanide removal and lower reagent requirements and costs.COMMERCIAL INSTALLATIONSBy the end of 1988 Inca will have applied its patented cyanide removal technology to twelve commercial operations. Three of these, namely Scottie Gold Mines, Dupont of Canada Expl. Baker mill and Carolin, all in British Columbia, Canada, have ceased cyanidation operations but SO2-air cyanide destruction results were good for all mills, particularly so for over two years for the Scottie mill.Removal of cyanide from CIL slurry tailings is applied at Equity Silver (9,500 tpd) and Inca's new 1,200 tpd mill at Inca/Golden Knight. Detoxification of CIP tailings is carried out by Colosseum California (3,600 tpd) and Canamax's Ketza River operation (360 tpd). Repulped tailings from Merril-Crowe flowsheets are treated at Total Erickson's Mount Skukum mill (300 tpd) and Skyline's Johnny Mountain mill (200 tpd) and barren bleed at Inco/Queenston's McBean mill (500 tpd). Lynngold's MacLellan mill (1,800 tpd) treats pond supernatant water. Plating shop cyanide effluents are decyanized at Kuntz Electroplating in Kitchener, Ontario. Many of the above commercial operations were described in some detail in previous publications (3,4). Typical installations are described in this paper. A summary of operating results is given in Table 1."

Jan 1, 1989

By P. A. Bahri, D. G. Dixon, T. M. Woodward

A comprehensive mathematical model of the Sherritt-Gordon ammoniacal pressure leaching process at K winana Nickel Refinery has been constructed. The process is comprised of six autoclaves functioning as a three-stage leach circuit, operating over the temperature and pressure ranges of 85-95°C and 750-1000 kPa, respectively. The process chemistry forms a complex series-parallel reaction network, characterised by: (1) the gas-liquid mass transfer and reduction of oxygen, (2) the oxidation of eight distinct minerals, (3) the oxidation of sulphur, and successive reactions involving various intermediately oxidised sulphur species, and (4) the oxidation of Fe(II) to Fe(III), and subsequent precipitation as a hydrated ferric oxide. Material balances were developed for species in all three phases, and an energy balance to account for all reactions and phase conversions. The multiple convolution integral (MCI) statistical reactor model was employed for the scale-up of particle kinetics. The model has been validated against plant data, and simulation results are in agreement with plant performance.

Jan 1, 2005

By M. Kamyab

The Deep Exploration Technology project, as part of the Australian Cooperative Research Centre, is developing technologies to drill deep boreholes for mineral exploration purposes. The aim of the initiative is to transfer drilling technologies from oil and gas into mining applications. Several modifications have to be pondered due to this technology exchange: smaller cuttings sizes because of using impregnated diamond bits; narrower annulus space; higher drilling fluid velocity and likelihood of turbulent flow regime in the annulus; and higher pressure loss. In particular the results of our lab experiments have shown that the increase in concentration of small size cuttings can significantly change the rheology of the mud when drilling in hard rocks. This, in return, could have a noticeable increase in the pressure loss encountered along the annulus space. As a continuation of the above study, numerical simulations were conducted to investigate the cuttings transport behaviour in small size annulus space. Fluid velocity, annulus size, cuttings concentration, cuttings density, and cuttings size were some of the parameters that were varied to see their effects on cuttings transportation and the pressure loss along the annulus space. The results indicate that, due to the differences between oil and gas and mining drilling, conventional oil well planning is not applicable for mineral exploration drilling and numerical simulation would help in this matter.

Aug 1, 2013

By Kenta Kusunose, Dadang Sundana, Ahmad Munib Fikry, Yosuke Unno

PT Smelting has operated the Mitsubishi Process in which feed materials are charged into the S- furnace through top lances using a pneumatic conveying system comprising 6 feeding tanks (S-Feeding Tanks). Each S-Feeding Tank was designed as a batch machine and had been operated in a batch mode so that feed materials are conveyed 70% of the operating time (conveying time). An S-Feeding Tank was revamped in August 2016 in order to attempt to achieve 100% conveying time during operation, aiming to reduce the furnace draft fluctuations and melt temperature fluctuations leading to reduced copper losses to slag and refractory wear on the sidewall in the melt zone. After two-year operation with some adjustments and modifications, it was concluded that the new system works as expected. During scheduled major shutdown in November 2018, the same modification was applied to all other 5 feeding tanks as the first one, while several modifications other than the S-Feeding system were also conducted for the purpose of expanding the capacity of the smelter. INTRODUCTION PT. Smelting (PTS) Gresik Copper Smelter and Refinery is located 30 kilometers north of the city of Surabaya, East Java major port. PT Smelting equity partners are Mitsubishi Materials with 60.5%, PT. Freeport Indonesia with 25%, Mitsubishi Corporation RtM Japan Ltd. with 9.5% and JX Nippon Mining and Metals corporation with 5.0%. PTS was established in February 1996 and started commercial operation of the Mitsubishi Process in 1999. The Mitsubishi Process is a unique technology which connects 3 stationary furnaces, namely the Smelting furnace (S-furnace), Slag-Cleaning furnace (CL-furnace) and Converting furnace (C-furnace) by covered launders. These features result in savings in manpower and energy, and make the process more environmentally friendly since there is no ladle transfer of melt. Figure 1 illustrates the outline of the Mitsubishi Process.

Jan 1, 2019

By Doris Stüben, Geoffrey P. Glasby, Akira Usui, Jörg-Detlef Eckhardt, Bruce W. Mountain, Zsolt Berner

"Abstract - Twenty-seven marine Mn and Fe deposits chosen for their diverse origins have been analyzed for five platinum-group elements (PGE). The PGE display their highest concentrations in hydrogenous Mn crusts and nodules, lesser concentrations in diagenetic nodules and two to three orders of magnitude lower concentrations in hydrothermal Mn and Fe crusts. This difference of behavior reflects the well-known fractionation of Mn and Fe from the other transition elements, rare earth elements (REE) and PGE in hydrothermal Mn and Fe crusts. Pt, Ru, Rh, and Ir show a close geochemical coherence in these deposits and are differentiated from Pd which shows a negative anomaly with respect to the other PGE in hydrogenous and diagenetic Mn deposits. Pd is less depleted than the other PGE and the Pd anomaly much less pronounced in the hydrothermal Mn and Fe crusts relative to the hydrogenous and diagenetic Mn deposits.Stability field diagrams show no evidence for the oxidation of Pt to the tetravalent state in seawater as suggested by some authors. Rather, Pt appears to be present in seawater as Pt(OH)2 0. Adsorption of Pt(OH)2 0 onto the surface of Mn and Fe oxyhydroxide minerals may explain the enrichment of Pt in marine Mn deposits. However, Pt metal is the thermodynamically stable solid phase of Pt under seawater conditions and reduction of Pt(OH)2 0 to Pt metal, particularly in the vicinity of the oxygen minimum zone, is possible, although the high Ce/La ratios of the Co-rich Mn crusts do not support this hypothesis. Pt, Ru, Rh, and Ir display their maximum concentrations in the Corich Mn crusts. This may reflect, among other things, the low growth rates of these deposits. The stability field diagram of Pd shows that Pd is undersaturated in seawater and occurs in seawater dominantly as PdCl4 2- and anionic mixed-hydroxide-chloride complexes. This would explain the anomalous position of Pd among the PGE with respect to its uptake into marine Mn deposits. A study of inter-element associations indicates that the incorporation of the PGE from meteoritic dust plays only a minor role in the uptake of these elements into marine Mn deposits. The PGE remain the most poorly studied group of elements in marine Mn deposits. The data presented here emphasize the need for the establishment of a more comprehensive database of the PGE in marine Mn deposits in order to understand more fully their uptake into marine Mn deposits and their pathways through the oceans."

Jan 1, 1999

By R. S. James, S. P. Goff, A. E. Armitage

"Abstract - Oxide-facies banded iron formation in the Third Portage Lake area is hosted by ultramafic and calc-alkaline volcanic rocks and related sedimentary rocks of the Archean (2.8 Ga) Woodburn Lake Group, 80 km north of Baker Lake. These rocks record at least two phases of metamorphism/ metasomatism. Greenschist facies metamorphism, in the temperature range of 370°C to 520°C and at pressures above 2.3 kbar, has affected all rocks on a regional scale. Later mineralization and alteration of banded iron formation (BIF) and associated volcanic rocks resulted from metasomatic fluids which carried Mg, K, Ca, S, As, Cu and Au. These fluids were confined to ductile to brittle, cross-cutting and layer-parallel micro-shears developed in the thickened hinge region of a shallow plunging recumbent fold. Metasomatic reactions yielded cummingtonite + biotite-bearing assemblages which are associated with strongly mineralized iron formation. Pyrrhotite is the dominant sulfide phase and occurs within ductily deformed iron formation where it pervasively replaces magnetite. Minor fine-grained chalcopyrite and arsenopyrite generally occur as inclusions within pyrrhotite and recrystallized magnetite, and rarely as individual grains. Pyrite is restricted to brittlely deformed iron formation, and to the contact between iron formation and altered ultramafic rocks, where it is associated with quartz veins. Pyrite typically replaces pyrrhotite. Native gold is associated with both pyrrhotite and pyrite, but higher gold concentrations are associated with pyrite. Grunerite/Ca-amphibole + stilpnomelane and sparse pyrrhotite and pyrite characterize weakly mineralized iron formation. Within adjacent ultramafic rocks, metasomatic reactions yielded assemblages of interlayered Ca-amphibole + biotite, and talc + Ca-amphibole + carbonate + biotite. K-Ar geochronology on metasomatic biotite from mineralized BIF yielded a 1791 ± 32 Ma age.An epigenetic model is favored for the emplacement of gold. The age of the gold mineralization in the Third Portage Lake area is uncertain, but may be Proterozoic based on the preliminary isotopic age and by analogy with Proterozoic gold deposits elsewhere in this part of the Churchill Structural Province."

Jan 1, 1996

By S. B. Mishra

Ni-20Cr metallic coating was deposited on a Ni-based Superalloy (3Fe-19.5Cr¬0.3Ti-Balance Ni) by a shrouded plasma spray process; NiCrA1Y was used as a bond coat. Erosion studies were conducted on uncoated and plasma-spray coated superalloy specimens using an air-jet erosion test rig at a velocity of 40 m/s and impingement angles of 30° and 90°. The coating has been characterized for porosity, microhardness and microstructure and X-Ray Diffraction (XRD). An electron probe micro analyzer (EPMA) was used to obtain X-ray elemental mappings of the coating along the cross-section. Scanning electron microscope (SEM) with EDAX attachment was used to analyze the eroded surfaces.

Jan 1, 2005

By R. S. James, S. P. Goff, A. E. Armitage

"Oxide-facies banded iron formation in the Third Portage Lake area is hosted by ultramafic and calc-alkaline volcanic rocks and related sedimentary rocks of the Archean (2.8 Ga) Woodburn Lake Group, 80 km north of Baker Lake. These rocks record at least two phases of metamorphism/ metasomatism. Greenschist facies metamorphism, in the temperature range of 370°C to 520°C and at pressures above 2.3 kbar, has affected all rocks on a regional scale. Later mineralization and alteration of banded iron formation (BIF) and associated volcanic rocks resulted from metasomatic fluids which carried Mg, K, Ca, S, As, Cu and Au. These fluids were confined to ductile to brittle, cross-cutting and layer-parallel micro-shears developed in the thickened hinge region of a shallow plunging recumbent fold. Metasomatic reactions yielded cummingtonite + biotite-bearing assemblages which are associated with strongly mineralized iron formation. Pyrrhotite is the dominant sulfide phase and occurs within ductily deformed iron formation where it pervasively replaces magnetite. Minor fine-grained chalcopyrite and arsenopyrite generally occur as inclusions within pyrrhotite and recrystallized magnetite, and rarely as individual grains. Pyrite is restricted to brittlely deformed iron formation, and to the contact between iron formation and altered ultramafic rocks, where it is associated with quartz veins. Pyrite typically replaces pyrrhotite. Native gold is associated with both pyrrhotite and pyrite, but higher gold concentrations are associated with pyrite. Grunerite/Ca-amphibole + stilpnomelane and sparse pyrrhotite and pyrite characterize weakly mineralized iron formation. Within adjacent ultramafic rocks, metasomatic reactions yielded assemblages of interlayered Ca-amphibole + biotite, and talc + Ca-amphibole + carbonate + biotite. K-Ar geochronology on metasomatic biotite from mineralized BIF yielded a 1791 ± 32 Ma age.An epigenetic model is favored for the emplacement of gold. The age of the gold mineralization in the Third Portage Lake area is uncertain, but may be Proterozoic based on the preliminary isotopic age and by analogy with Proterozoic gold deposits elsewhere in this part of the Churchill Structural Province. Copyright"

Jan 1, 1996

By C. S. Parsons

Introductory The steady advance in the price of lead and zinc in the metal markets of the world during the past few years has resulted in an active search for new deposits of these metals, and to the re-examination of known properties that are now idle. There are a number of deposits of these metals in eastern Canada, the best known of which are the Tetreault mine at Notre Dame des Anges, Que.; the Reader mine on Calumet island, Que.; the Stirling property in Cape Breton, and the Federal mine in Gaspe district, Que. . The author has run concentration tests on the ores from the first three mentioned properties. The ores from Notre Dame des Anges and Calumet island presented problems in concentration which were not successfully solved until the past year. Although considerable experimental work has been done by the Ore Testing Laboratories on the ore from the Stirling mine we have not been successful in developing a satisfactory method of treatment. Character and Types of Ores Metallurgically the lead-zinc ores of eastern Canada may be classified into three distinct types as follows: First: - Ore in which the sulphide minerals are fairly coarsely crystalline and can be freed by crushing to 40 or 60 mesh. The zinc blend has a high iron content (not marmatite) and gives a dark brown colour on grinding. The ores of Notre Dame des Anges and Calumet island, Que., may be cited as examples.

Jan 1, 1925

By Luino Jr. Dell'osso, Richard L. Every

The enormity of the methane-in-coal problem is discussed, with a brief summary of the state-of-the-art. Laboratory techniques and data on the desorption of methane from Pittsburgh seam coal are presented and discussed and include the effect of time, temperature and vacuum. Under laboratory conditions, it was possible to displace 90 per cent of the residual methane by flooding the coal samples with carbon dioxide. Carbon dioxide was found to be three times more effective than air and almost five times more effective than helium.

Jan 1, 1972

By W. A. Dixon Edwards

Industrial mineral production in Alberta, worth $468 million in 1997, comes from a dozen types of industrial minerals, mined by about 400 producers. Cement and lime from Paleozoic limestone formations exposed along the Rocky Mountains account for the greatest production value. Sand andgravel is the primary source ofmineral aggregate. Almost two-thirds of this aggregate is consumed in the Edmonton and Calgary regions. Sulphur produced at 48 sour gas processing plants and two oil sands plants was valued at $84.8 million in 1997 and accounted for 80% ofCanadian sulphur production. Four companies solution mine the Elk Point salt beds to produce chlor-alkali chemicals, industrial salt and sodium chlorate. Natural brine is also produced as a dust control product. Al $22 million, peat moss is a major industrial mineral product in Alberta. Other minerals with noteworthy production include shale, stone, silica and ammolite. The commodities with the greatest development potential are diamond, silica and oil sands tailings by-product minerals.

Jan 1, 2001

By E. Michelotti, M. Cardu

This paper presents the results of a new method that has been tested to recover metallic cobalt lost by diamond beads from rock cuttings. When dimension stones are cut using diamond wire saws, the beads become worn and, before the end of their cycle life, lose a certain amount of material; this material is prevalently made up of sintered metal and diamonds. The material is then washed away, together with rock debris, in a dilute pulp. In effect, this process involves the dispersion of economically valuable, but potentially polluting, materials (such as cobalt) that are used to confer indispensable technological features to the beads. This current research aims to develop a waste-processing pilot plant (High-gradient Magnetic Separator or HGMS) to recover metallic components from the pulp by means of a suitable separation. The research\u2019s purposes are two-fold: a. to remove the polluting components from the rock debris before their disposal and b. to start a recycling process of the valuable metals.

Jan 1, 2010

By H Zorychta

Based on underground measurements made at the Nova Scotia coal mines of the Dominion Coal Company, Limited, this paper presents a comparison between the physical properties of hardwood packs and steel friction props when used for longwall support. The probable loads sup-ported by steel friction props on a longwall face at both the Dominion No. 20 Colliery and the Princess Colliery are delineated, and the results of the tests are presented in graphical form. It is concluded that the steel friction props are more efficient than the hardwood packs that they replaced as roof supports. Introduction AN evolution in the methods of longwall face support is taking place in the Sydney coalfield. Longwall face support had consisted primarily of timber props and hardwood packs. In 1957, however, at the Princess Colliery, Sydney Mines, Nova Scotia, the first longwall was equipped with steel friction props. At the present time, eleven longwall faces are supported on wood and sixteen faces are carried on steel friction props.

Jan 1, 1965

By A. Warczok

Metal losses in discard slag are the main factor determining overall recovery. The metals are present both in dissolved form and as matte or metallic inclusions, varying in size from 2 to 1000 µm. Pyrometallurgical slag cleaning usually consists of heating the slag, reduction of oxides and settling of matte/metal droplets. Heating the slag decreases viscosity and accelerates reactions. Reduction of magnetite liberates inclusions and facilitates co-reduction of dissolved metal oxides. A significant amount of the matte and metal is present as very fine metallic inclusions, too small for settling. The coalescence of these matte or metal inclusions is required to remove them from the slag. The developed new concept of slag cleaning combines DC furnace technology with an extra magnetic field for vigorous slag stirring, enhancing mass transfer to the reductant surface, accelerating the rate of reduction, and destabilizing the emulsion of matte or metal inclusions. Intensive slag stirring increases the probability of collision of inclusions, will accelerate their growth and will therefore improve settling. The process is carried out in a patented DC channel furnace, where the liquid metal or matte layer acts as a cathode and the floating coke bed on the slag surface is the anode. In the first part of the furnace, a superimposed magnetic field induces a Lorentz's force causing the slag to start an intensive circular motion. The next furnace zone does not experience any stirring and is dedicated for quiet sedimentation of the inclusions. A mathematical model of gravitational coalescence combined with forced slag motion showed the possibilities of effective removal of copper matte inclusions. The results of laboratory pilot scale tests of continuous slag cleaning showed fast slag reduction and confirmed the improved matte removal from the slag. Conceptual analysis shows the potential use of the technology in various other non-ferrous industries, like for example nickel plants. It is also possible to use this technique batch wise.

Jan 1, 2007

By D. Stone, N. J. Aslin, W. Webb

In today's modem copper electro-refineries, increasingly higher average current densities are being employed. With these increases many refineries are approaching their limiting current density. The nearness of the average operating current density to the limiting current density has placed increasing emphasis on the need to maintain an even current distribution. This paper explores the importance of maintaining even current density and discusses the factors, processes and practices that are necessary to achieve and maintain high quality production at high operational intensity.

Jan 1, 2005

By A. C. Munro

The concrete work on the new Britannia mill was started in April, 1922. The erection of steel commenced on July 10th, following. The installation of wood work and machinery , began on November 4th of the same year and was pushed to completion in January, 1923. The new mill building is an all steel structure enclosed with galvanized corrugated steel. All main floors and foundations are of reinforced concrete, which makes the building practically fireproof throughout. The mill building rises on a steep hillside to a vertical elevation of 210 feet and has seven distinct floors, for the various opera-tions. Only one elevator, with 30-foot centres, is used in the entire mill. The building is exceptionally roomy and well lighted, both by day and night. The capacity of the mill, as originally designed, was to be 2000 tons daily, but this tonnage can be readily increased to over 3000 tons daily by making slight changes in the fine grinding equipment; in fact, an average of 2700 tons per 24 hours was maintained throughout the month of September.

Jan 1, 1923

By J. R. CAMERON

Gypsum is mined in all Atlantic Provinces except Prince Edward Island. It is generally thought to have been derived from the hydration of anhydrite in areas of minimal drainage. Late Devonian downwarping and crustal oscillation east of the Appalachian fold belt allowed the Windsor Sea to advance and retreat in a depositional trough and deposit about 1,000 m of sediments in Mississippian time, much of which were evaporites. The best areas for further gypsum development are lowland basins such as the Cape Breton Lowlands, the Hillsborough area of New Brunswick and the St. George's Lowlands in Newfoundland, all of which are already sites of gypsum quarries. Nova Scotia's gypsum is mined from the Lower Windsor Group, which is divided into subzones 'A' and 'B'; 'B' provides most of the province's gypsum production. The Atlantic Provinces gypsum industry has markets from the St. Lawrence waterway to the mouth of the Mississippi River.

Jan 1, 1984

By P. K. Gummer

Gold was fir t di covered on the Seabee property in 1947 by the Con olidated Mining and Smelting Company Limited. Acquired by Claude Resource Inc. in 1984, the property is now being explored by Placer Development Ltd . in joint venture with Claude Re ources. Between Augu t, 1985 and March, 1986, Placer completed 54 drill holes, extending the main o. 2 and o. 5 vein y tern to a depth of 1000 feet below surface and di covering two new satellitic gold zone 800 feet west of the o. 5 gold zone. Drill proven and probable geological re erve in four zone ( os. 2, 5, II, 14) to a vertical depth of 1000 feet, are approximately 1,120.000 tons averaging 0.32 oz. Au/ton.

Jan 1, 1986

By G. Anger, J. Enser, H. Antrekowitsch, S. Koch

Homogeneous chemical composition and microstructure are always necessary, but not always attained in practice. As-cast aluminium alloys tend to have a segregation microstructure. Features of the cast structure, which affect subsequent processing or properties, can be altered by the homogenization. The main task of the Department of Nonferrous Metallurgy was to investigate the effect of homogenization treatment on precipitation hardening of aluminium alloys 6061 and 6082. The effect of the solution heat treatment (SHT) temperature on the mechanical properties was also analyzed. The homogenized and non-homogenized rolling slabs were produced according to the usual conditions and methods. The metallographic investigations were carried out on the as-cast samples, after homogenization, after the hot and the cold rolling mill, and after natural and artificial ageing. Then, Brinell hardness measurements and tensile tests were conducted on both alloys in order to examine the influence of the homogenization.

Jan 1, 2006