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By Jennifer Abols

In July of 2013, Lundin Mining acquired the 2,000 tpd Eagle nickel and copper project from Rio Tinto. The project had been put on hold earlier in the year and construction was approximately 50% complete. Lundin immediately accelerated project activities and by September of 2014 the project was constructed, commissioned and ramping up. The newly commissioned facilities went on to reach design throughput, recovery and product quality targets by the end of the year. This was accomplished ahead of schedule and below budget despite numerous obstacles including the worst winter on record in the past 50 years for the area. What led to the success of the project, and in particular the commissioning phase of the project? This paper takes a high level look back and provides an overview of the methodology used, key issues encountered and lessons learned to answer this question.

Jan 1, 2015

By John Lamb

"The French Mine (formerly the Oregon) is 4 miles by road south of the Nickel Plate Mine. It lies on the steep eastern slope of the Similkameen River valley at elevation 4,000 feet, between Cahill and Winters Creeks.The property was discovered in .1901 and bought 4 years later by Messrs. French and Deardorf. It was developed in a modest way by the owners and by several companies until 1947, without success. The spectacular showings of bornite and chalcopyrite in the outcrop drew attention to its possibilities for copper rather than gold. Diamond drilling by the owners in 1947 yielded several high-grade gold intersections and created new interest. In 1949 the property was purchased by Kelowna Mines Hedley Limited. Exploration drilling and geological mapping outlined sufficient ore to commence production in 1950. Except for a few months each winter the operation has been continuous, and to the end of 1954 had produced almost 30,000 tons of high grade ore. The ore is crushed at the mine and hauled 8 miles by truck to the Company mill at Hedley, where it is treated together with the ore from Nickel Plate.Regional GeologyThe country rock consists of brown tuff, flows, limestone, and cherty formations belonging to the Nicola group (Rice 1947) of Triassic age. West of and just below the mine is a large mass of granodiorite which is part of the same body that underlies Nickel Plate Mountain. Bedding attitudes in the mine area are locally complicated, but dips are generally less than 45 degrees. To the south and below the mine the beds stand almost vertical, continuing downward with this attitude for 2,000 feet to Winters Creek. The main granodiorite contact is also steep, conforming to the sedimentary formations, whereas northward towards Nickel Plate it dips gently to the northwest, slightly flattter than the thick westerly dipping pile of sediments above it. The interpretation of this structure by Billingsley (1936) is that the French mine lies near the crest of the large northeasterly trending asymmetrical anticline which contains in its gently dipping western limb the Nickel Plate orebodies. The granodiorite body conforming roughly to this shape seems to occupy the core of the anticline. Sill-like prongs of granodiorite extend upward to the east from the main mass, outcropping over wide areas at the head of Winters Creek (Figure 1). There is a possibility that overthrusting from the west, similar to that on Nickel Plate Mountain, occurs not far below the French mine.An interesting feature of the granodiorite-sediment contact is that where it dips gently westward no alteration exists in the sediments, but where it has a steep front pronounced heat effects are indicated by the presence of a thousand-foot-wide zone of reddish garnet skarn."

Jan 1, 1949

By E. G. Langille

"The Premier mine; owned by Silbak Premier Mines; Limited; is 14 miles from Stewart at the head of Portland canal. Development of the property began in 1918; and since chat time a very large amount of gold and silver as well as some lead and copper have been produced from the mine.The area in the vicinity of the mine is underlain by greenstones tuffs, and sediments of Mesozoic age, belonging to the Bear River formation of the Hazelton group. These rocks are intruded by a stock 2 miles in diameter, composed of orthoclase porphyry and called the Premier porphyry. It sends numerous sill-like and dyke-like tongues into the Bear River formation, and is intruded in turn by a granodiorite outlier of the Coast Range batholith. The orebodies occupy fractures and fracture or shear zones. Primary ore consists chiefly of pyrite, galena, and sphalerite, with some chalcopyrite. The upper 300 feet, or locally 600 feet, contained presumably secondary silver minerals."

Jan 1, 1954

By Forrest A. Kerr

The subject of the Coast Range batholith and its eastern contact zone needs no introduction to British Columbia mining men. Because of its reputed potentialities, this zone has aroused much interest. Because it has touched the pockets of the people by actually producing dividend-paying mines, it has been able, more particularly in certain isolated sections, to retain and accentuate that interest. However, the Stikine River section of the zone has never had the good fortune to have a mine developed, which, through profits or lack of profits, could create such interest. The Cassiar district, beyond the Stikine River area, has been a lure to the prospector for over half a century and was still strong enough in the last few years to attract close to a million dollars in capital and labour. All of this has passed through the Stikine river area, has looked at it, and ignored it. Sufficient interest has never been aroused in the area to bring forth an effort to see what is there, in spite of the fact that it belongs to the same zone in which some of our richest mining camps are located. Because the contact zone of the Coast Range batholith has long been recognized as an ore producer of considerable potentiality, the Geological Survey some years ago formulated a plan to map as much of this area as possible in order to assist in promoting its development. This plan has been furthered during the last fifteen years whenever opportunity presented itself, until today a fairly large part of the area has been covered. The work which has been done on the Stikine during the last two years is the beginning on what is the largest remaining gap in the general plan.

Jan 1, 1928

By Bruce Macdonald

Operational reservoir management activities such as cyclical steam, water or CO2 injections frequently cause surface micro-deformation. InSAR monitoring from space based sensors of this surface deformation has become a valuable approach to confirm and monitor extraction and injection activities. Sequestration of CO2 into deep saline aquifers is discussed as an important long term solution to slow future climate change. This method requires reliable continuous monitoring to assure that captured CO2 is sequestered in the substrate for ?all time? (typical minimum requirement by law is 20-30 years). We have shown that combining flow and deformation modeling with spaceborne synthetic aperture RADAR interferometry (InSAR) measurement of ground uplift caused by the underground release and spreading of the CO2 can be forged into a powerful tool to monitor sequestration. We used a novel InSAR approach to resolve the surface motion over the In Salah, Algeria CO2 sequestration site. Our approach exploits all information contained in an interferometric stack by exploiting both persistent distributed as well as persistent point scatterers. Displacement time series are obtained with a network inversion approach applied after topographic error and preliminary atmospheric correction of the network (dual-scale technique). After inverting the original network data to common master we then use an advanced spatio-temporal filtering scheme to remove the remaining atmospheric phase components down to scales of 1 km or less. By comparing final displacement series from multiple interleaving InSAR stacks we show that the accuracy of our refined solution to detect uplift outside of significant temporal data gaps in the InSAR stack is significantly better than 1 mm per year. We further show that accuracy and robustness to data gaps are both significantly improved by co-inverting multiple datasets with the same and different sensors. This co-inversion method also allows the seamless continuation of the monitoring from one sensor to another.

Jun 1, 2012

By E. Herrera, L. Mariscal

"Ilo Copper Smelter operates since 2007 with an ISASMELTTM furnace as a single smelting unit (1,200,000 tpy) associated with two Rotary Holding Furnaces for separation of matte and slag, and which directly produces a discard slag. Southern Peru continually has been improving the slag chemistry of its ISASMELTTM furnace in order to reduce copper losses, given its big economic impact due to large slag mass generation. The present paper describes the influence of the CaO, Al2O3 and magnetite content in the slag of the ISASMELTTM furnace correlated with the SiO2/Fe ratio and its liquidus slag. Also it defines the best slag chemistry and operating practice in order to reduce the copper losses without compromise the bricks life of the furnace.INTRODUCTIONIlo Copper Smelter of Southern Peru (Grupo Mexico) is located on the southern coast of Peru, and treats mainly copper concentrates produced in its own mines (Toquepala and Cuajone).The modernized smelter was commissioned in 2007 and operates with an ISASMELT™ furnace as a single smelting unit (1,200,000 tpy), which is associated with two Rotary Holding Furnaces (RHF) for separation of matte and slag. This slag is directly sent to the dump. Figure 1 shows the smelter flow diagram.The ISASMELT™ process is a bath-smelting process using a single lance. The lance tip is immersed into a molten slag bath contained within the stationary, vertical, refractory-lined ISASMELT™ furnace. The injection of oxygen-enriched air, through the lance into the slag results in a highly turbulent molten bath. Feed material falling into the turbulent bath from above reacts rapidly, resulting in extremely high productivity for a relatively small bath volume."

Jan 1, 2012

By Mark Rantapaa

Measurable improvements in throughput have been documented at Barrick Goldstrike due to increased ore fragmentation through efficient drilling and blasting techniques. A decrease in throughput at the Autoclave, due to increasingly hard ore, was identified in early 2002. A team of individuals from the Open Pit and Process areas worked closely on the Drill-to-Mill (D2M) Continuous Improvement initiative to ensure that it would address the needs of both groups, with the target of actually improving throughput in future years, despite the projected harder ores. A series of tests were conducted to determine if adjustments to drilling and blasting could positively influence throughput. Better fragmentation and a subsequent increase in mill throughput were achieved through the use of: 1) Electronic caps for more precision and flexibility, as well as for allowing extremely fast shots. 2) Explosives with a higher velocity of detonation (VOD), to provide for improved shock energy. 3) Improved distribution of the explosives by decreasing pattern spacing. Early tests indicated a significant increase in throughput when processing identified harder ore. It is anticipated that the total process throughput (hard and soft ore) will increase by six tph in 2003 due to the improved fragmentation of the hard ore. Barrick Goldstrike?s D2M initiative includes roaster ?hard ore? (BWI >17), as well as autoclave ?hard ore? (BWI >15). Approximately six million tons of D2M material is expected be shot in 2003, a relatively small amount compared to the 150 million tons to be mined. The benefit of additional ounces produced should far outweigh the additional drilling and blasting costs.

May 1, 2003

By John D. Lupton

This paper will discuss the benefits and advantages of using 3D survey data in stope analysis. Obtaining detailed 3D survey data of underground mine progress and production is a challenge. It is almost impossible to ?see? around corners, underneath overhangs, or deep into dark, dusty, humid underground voids. Thus, valuable ore can remain permanently encased in backfill. Without the benefit of 3D survey data, underground mines have the difficult task of meeting grade quotas without the benefit of knowing exactly what has been mined. Lack of this data usually results in unfavorable month end Reconciliation factors, where grades must be adjusted to match grades assessed by the Mill.

Apr 1, 2005

By M. J. Bunyard, I. Mullany

"The pressures on mine operators are varied and constantly increasing, declining ore grades, more remote locations and increasing environmental concerns. The challenge facing the mining industry is to find new ways to process ores which are more efficient and less costly and to control them better. This requires a fundamental rethink in the way in which projects are developed, it is no longer good enough to just copy what has been done before. The process starts with the surfacing of the primary underlying constraints for the project and the establishment of new design principles to address these. The generation of new design criteria and processing options follows the well-established path of brainstorm, focus, brainstorm, refocus and economic evaluation. The aim is process intensification, doing more with less, as early as possible and better use of plant data. The methodology requires a complete geometallurgical understanding of the orebody to facilitate the evaluation of viable processing options. Examples of early stage processing considered are blast optimization and ore sorting to reject waste and reduce processing costs. Mine to mill integration, which starts with the optimization of blasting for separation, offers another way to significantly reduce operating costs and increase efficiencies.VALUE MODEL The mining industry has, over the past decade, experienced an unprecedented cycle of increased commodity prices and investments in new mining and processing capacity followed by a market collapse and fall in prices and confidence. Whilst there are now some signs of a return to investment in new capacity, the metals and mining industry is still wrestling with eroding margins and investor demand that companies achieve the full value of their assets. Metals and mining companies must work on all available levers to deflate their costs back to more manageable levels and capture the full value for their products. Levers include optimizing external spending, re-thinking make vs buy trade-offs, debottlenecking, improving availability and operating time of key equipment, more accurate and agile planning processes, value-in-use optimization, and tighter performance management. Figure 1 is a diagrammatic representation of a company’s value model. The three goals of a successful mining enterprise are social acceptance, environmental acceptance and sound financial returns to shareholders. Some of the KPI’s used to measure the success or not of achieving these goals are shown in the translation layer."

Jan 1, 2017

By Yi Yang, Mark Zoback

"We report laboratory studies of the time-dependent deformation of core samples from four different formations in the Williston Basin - the Lodgepole formation, the Middle and Lower Bakken formations and Three Forks formation. The laboratory tests reveal varying amounts of viscoplastic deformation in response to applied differential stress. The time-dependent deformation is generally greater in rocks with higher clay and organic content, and can be described by a power-law function. Because the magnitude of the creep strain is linearly proportional to the applied differential stress, we can utilize viscoelastic theory and geophysical logs to estimate the degree to which tectonic stress is affected by viscoplastic stress relaxation. We suggest that viscoplastic stress relaxation results in the Upper and Lower Bakken Formations act as frac barriers during hydraulic fracture stimulation in the Middle Bakken, but the Lodgepole and the Three Forks Formations are not frac barriers.INTRODUCTIONHorizontal drilling and multi-stage hydraulic fracturing in shale reservoirs are critical for successful exploitation of ultra-low permeability shale gas, tight gas and shale oil reservoirs. Characterization of the mechanical properties of the reservoir rocks is essential to understanding the behavior of rocks during drilling and completion. Previous laboratory studies have shown that the timedependent deformation in clay-rich shales can be characterized as linear/viscoelastic deformation (Chang et al., 1997; Hagin and Zoback, 2004a, b; Sone and Zoback, 2013b, 2013c). Sone and Zoback (2013c) showed that laboratory measurements of time-dependent deformation in various gas shale reservoir rocks, and demonstrated that the viscoplastic deformation of these rocks can be characterized by a power-law function. They interpreted the results in the framework of linear viscoelastic theory to quantitatively assess the geomechanical effect of viscous time-dependent deformation over engineering and geological time scales. (Sone and Zoback, 2014) further extended the theory and proposed a viscous relaxation model that can be applied to predict the continuous differential stress magnitude using the geophysical logs. They tested the validity of their model by comparing the stress prediction with the occurrence of drilling induced tensile fractures (DITFs) and the vertical hydraulic fracture penetration observed from microseismicity."

Jan 1, 2015

By Nessetech Consulting, L. A. Cisternas, E. D. Galvez, S. H. Kuan, L. H. Saw

"In Malaysia, there were two rare earths processing plants namely Asian Rare Earth (ARE) and the Malaysian Rare Earth Corporation Plant (MAREC) in Perak, which were operated until 1992 and were subsequently closed due to problems pertaining to disposal of large amount of radioactive waste. Recently, Lynas Advanced Materials Plant (LAMP) has become one of the largest rare earths processing plant in the world producing rare earth elements (REE) in Gebeng, Pahang. The primary raw material is lanthanide concentrate (LC) which is imported from Mount Weld mine in Australia and shipped to Malaysia. LC is produced from lanthanide ore after mining and mineral processing. The ore has a lower impact than Bayan Obo, Mountain Pass and adsorbed clay deposits, given the small footprint of the mine itself and the remoteness of the location. The type of ore being mined (rare earth phosphates: carbonatite, monazite) may have higher thorium content than bastnasite ore from the Chinese or American mines but still far below radiation concerns. This paper was written to review the processing flowsheet at the Lynas Advanced Materials Plant (LAMP), the environmental impact associated with the processing of the said ores and the sustainability of the operation.INTRODUCTIONRare earth minerals are one of a set of 17 minerals or chemical elements which consists of yttrium and scandium, as well as the 15 lanthanide elements (lanthanum, cerium, praseodymium, neodymium, promethium, europium, gadolinium, terbium, dysprosium, holmium, erbium, thulium, ytterbium, and lutetium). Despite their importance, rare earth minerals rarely exist in economically viable concentrations and they are usually difficult to extract. Rare-earth minerals create strong magnets when added to magnetic elements such as iron, and are useful for the production of electronics systems as well as electric cars. They are also used extensively in automotive catalytic converters, fluid cracking catalysts in petroleum refining, wind turbines, phosphors in colour televisions and flat panel screens, displays for mobile phones and laptops, rechargeable batteries, and various medical devices. The elements are typically split into two subgroups: the cerium sub-group of ‘‘Light’’ rare earth elements (LREEs) which includes La to Eu and the yttrium sub-group of ‘‘Heavy’’ rare earth elements (HREEs) which include the remaining lanthanide elements, Gd to Lu, including yttrium (Gupta and Krishnamurthy, 1992; Jordens et al., 2013; Trifonov, 1963). Scandium, however, when it is classified as a rare earth element, is not included in either the LREE or HREE classifications (Gupta and Krishnamurthy, 1992; Jordens et al, 2013). Half of the world’s 110 million tons of reserves exist in China while other sizable deposits are found in Russia, United States, Brazil, India, Australia, Canada, and Greenland. The countries known to be actively mining REE are China, Russia, India, Brazil and Malaysia (Hao et al., 2015). Among these countries, China has the largest REE production, accounting for more than 93% of global supply (Yap, 2015). The critical metal report (Moss et al. 2011) listed 14 economically vital raw materials that are prone to supply disruption and concluded that supply disruption would threaten the goal for cleaner transport and sustainable energy since rare earth metals are used in products using green technology, such as hybrid/electric vehicles, carbon capture systems, wind power generation, low-energy lighting, and energy efficient flat-screen displays."

Jan 1, 2016

By E. J. Burrough

MR. J. J. McIntyre (International Coal & Coke Company, Ltd., and McGi1livray Creek Coal & Coke Company, Ltd., Coleman, Alta): Mr. Burrough's excellent paper, Metallurgical Coals of the Crowsnest Area, seems especially timely now, when the need for developing iron industries in the west, as well as in the east, is receiving so much attention. His -thorough review of the 'coking' industry is an especially valuable contribution, along with which the following brief remarks on coking in the Crowsnest Pass area of British Columbia and Alberta may be in order. When the Crowsnest Pass line of the Canadian Pacific railway was built there were great expectations for the non-ferrous metal industry; quite a number of smelter's were al-ready in operation in British Columbia and the northwestern United States, and further expansion was confidently expected. The suitability of the medium-volatile coking coals of the Pass for making metallurgical coke had been recognized from the time the fields were first explored. By the time the mines were fairly well developed there was already a market to war-rant the building of coking plants, and a common belief that expansion of the market would require a large coking industry. The first coke production was from plants built by the Crowsnest Pass Coal Company, Ltd., at Fernie, B.C. in 1903, and the International Coal and Coke Company, Ltd., at Coleman, Alberta. These plants were followed by others built by the Crowsnest Pass Coal Company, at Michel, B.C., by West Canadian Collieries, Ltd., at Lille, Alberta, and by Leitch Collieries, Ltd., at Passburg Alberta, and by a plant at Hosmer, B.C.

Jan 1, 1951

By Changyoon Kim

Technological advances in mobile systems, such as smartphones and tablet computers, provide engineers with new opportunities to enhance the current facility management processes. Equipped with powerful system processors, touch screens, and wireless communication capabilities, mobile systems enable the experience of omnipresence of facility information. Building information modeling (BIM) also enables improvements in facility management. With an advanced data structure and visualization capacity, BIM can be used in numerous applications for facility management. This study aims to incorporate the strength of mobile systems and BIM in facility management. The proposed system, which utilizes smartphone technology, allows engineers to conduct facility management functions, such as maintenance planning, inspection, and assessment, irrespective of a user?s location. The integration of building information modeling in a system provides detailed visual information of the building components. A case study was conducted to verify the applicability of the mobile system in terms of the hardware functions, system design, and user interface. This proposed system, with its study results, provides a guideline as to how mobile systems can be effectively integrated with BIM for improved management of facility information.

Aug 1, 2013

By S. J. Cook

The system of mining statistics for Canada, as it exists today, represents the result of long years of progress, first by the Geological Survey, later and more comprehensively by the Mines Branch of the Department of Mines, and now by the Mining Branch of the Dominion Bureau of Statistics-all supplemented by the very comprehensive reports published by the several provincial departments of mines. It is the purpose of this paper briefly to state the development and present status of Canada's statistical service, more particularly in regard to information on mineral production, and to show that in its evolution continuous progress has been made in the elimination of factors tending to duplication and overlaping, with the result that the construction of an adequate statistical service has been carried out with the least possible expenditure of .public funds. For the purpose of this discussion, the subject of mineral statistics may conveniently be considered from two points of view. The technical difficulties in obtaining satisfactory and complete data from the variety of industries represented in the mining fields of Canada must be apparent to all. Methods of record-keeping are almost as numerous as mines and even the larger concerns which maintain elaborate records for their own information, often find it difficult to compile the statistical reports required of them, because the specific form of inquiry differs from the method in use in their offices.

Jan 1, 1924

By J. Ander

About fifteen years age some mines in western Canada commenced using Diesel engines, partly for development work but also for operations on quite a large scale. In the Eastern mining field, the Diesel engine made its appearance some eight years ago and has since, at quite a number of mining plants, proved to be a reliable and economical prime mover. As a result, it is today used more extensively than could have been foreseen only a few years ago, and it is reasonably safe to predict that the next few years will see the Diesel engine utilized to a still greater extent in the Canadian mining industry. It is not much more than thirty years since the first Diesel engine was put in operation. During the early years of this century, the Diesel engine took, so to say, its first faltering steps in public service. Since then it has reached a high state of perfection, and its importance has grown in a most remarkable way, until today it is used in practically every field where power is required. It is slowly but surely superceding steam for a great many purposes, as, for instance, for ship propulsion. While in 1921 only about 8 per cent of all tonnage launched was motor-driven, the proportion had grown to 38 per cent in 1927, and for 1929 it was slightly over 45 per cent. Some of the finest passenger liners afloat are Diesel-driven. In the early days, Diesel engines were built only in comparatively small units. Today engines with a capacity per unit of up to 10,000 horsepower, or even more, are being built for marine and stationary purposes.

Jan 1, 1930

By J. K. Shaw

The science of low temperature engineering is well entrenched in mining. Uses for common cryogens, including liquid oxygen (LOX), liquid nitrogen (LN2), and liquefied natural gas (LNG) in the gas and minerals industries are reviewed. Potential future applications are discussed within the scope of mining, particularly in refrigeration and ventilation. The second part of this paper focuses on the Linde cycle, which is at the heart of most liquefaction plants. Steady state equations describing the mass and energy flows are presented. The paper concludes by explaining the concept of a wind powered Linde- Hampson cryogenic cycle and assessing, with scoping calculations, the technological feasibility of producing cryogens with an intermittent source of (renewable) energy.

Aug 1, 2013

Diverse and considerable energies are associated with mobile equipment operated and maintained on mine sites. Loss of control of these energies is a common cause of injury on mine sites and this is well recognised by the mining industry. In 2006, 4 multi-national mining companies formed the Earth Moving Equipment Safety Round Table (EMERST), with the aim of engaging collectively with the manufacturers of equipment to accelerate improvements in mining equipment design. Originally focused on surface mining equipment, and particularly haul trucks, the focus of EMESRT widened to include underground and exploration equipment. Since 2006, EMESRT has maintained a program of regular visits and other engagements with a steadily increasing number of manufacturers. The membership of EMESRT has also increased, with 15 companies being members in 2012. An initial step undertaken by the EMESRT members was the development of ?Design Philosophies? which drew of the collective experience of mining companies to identify potential unwanted events which cause equipment related injuries and illness. A technique for analysing risks associated with operation and maintenance tasks, the Operability and Maintainability Analysis Technique (OMAT), was subsequently developed and trialled. In 2011, the EMERST members resolved to propose a common form of safe design information to be requested by all members companies during procurement, and the resulting EMERST Design Evaluation for Equipment Procurement (EDEEP) process was launched at MINExpo in Las Vegas in September 2012. The outcomes of OMAT risk assessment and control activities are integrated during this process into a common ?Safe Design Information? template for communication to prospective purchasers. The aims of requesting manufacturers to follow this process are to provide equipment purchasers with a common way of assessing how well the issues in the EMESRT Design Philosophies are addressed in the equipment design; and to provide manufacturers with additional information for use during equipment design. The process involves identifying priority tasks based on frequency and the severity of the consequences of potential unwanted events identified in the EMESRT Design Philosophies; undertaking a task-based risk assessment of priority tasks in conjunction with site-based personnel; evaluating the effectiveness of control measures; and providing information about safe design features in a standardised format.

Aug 1, 2013

By J. A. Hillier

The staff of the Hudson Bay Mining and Smelting concentrator have developed a new type of reagent feeder. Several factors encouraged the development of such a system: varying heads caused by the mixing of ores from several mines, the increasing number of flotation circuits operated and reagent feeding stations remote from the flotation operator's work area. The reagent feeders also had to be compatible with future plans for reagent control from an on-stream X-ray analyzer and computer system. The new feeder is a positive-displacement pump set to deliver a constant volume per stroke. At a remote panel, the feed rate is altered by changing the time between strokes. The feeders have been found to be reasonably trouble-free and accurate to less than 2 per cent error.

Jan 1, 1973

By D. Y. Kim

This paper shows an approach that a gondola-typed robot recognizes walls on building facades. It is applicable for autonomous or teleoperated building façade painting robots. The robot may react based on the wall classification data. This approach is based on 2D LRF(two-dimensional Laser Range Finder). The robot acquires relative distances to walls, and a Kalman filter decides correspondence of walls. An ARS(Attribute Reference System) sensor helps convert LRF coordinate to global coordinate. The experimental results demonstrate the conversion of LRF data.

Aug 1, 2013

By R. O. Suzuki, S. Natsui, R. Nashimoto, T. Kumagai, T. Kikuchi, H. Takai

A newly developed computational fluid dynamics model based on a multi-phase particle simulation is presented for predicting the entrainment behavior of liquid metal into slag due to rising single bubble. By comparing results calculated using this model against experimental data, it was found that the transient behavior of bubbles and the two immiscible liquids can be accurately estimated by this method. The rupturing of the thin water film surrounding the bubble was less reliably predicted, but this 3-dimensional unsteady numerical model still nevertheless provides valuable new information for directly predicting the change in the liquid-liquid interface over time. This model predicted the Young-Laplace pressure, and the interface shape was simulated with volume conservation using this model as opposed to the conventional particle method. This simulation model can calculate both of dispersed phase and continuous phase seamlessly.

Jan 1, 2015