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By J H. Dressel, J. E. Williams

This paper presents a brief review of what coal gasification is, procedures that are available today and processes that may be available in the future. Examples are given as to how the process might be used in power plant applications, the effect on pollution level and power costs, and some thoughts on the added burden that might be placed on mining and coal preparation.

Jan 1, 1973

By G. K. Quainoo

In the automotive industry, the awareness to meet Corporate Average Fuel Efficiency (CAFE) standards has evolved the need to reduce vehicular weight in new automobile designs, with the overall goal of reducing gas emissions into the atmosphere (Kyoto protocol), One efficient method has been to use lighter materials such as aluminum in outer body panels, Heat treatable AA6111 is one of the materials employed due to its unique combination of formability, paint bake strengthening and superior corrosion resistance characteristics, Researchers have applied various thermo-mechanical processes on 6000 series aluminum alloys and have found an improvement in the mechanical properties of these alloys, For a formed and painted automobile panel, the final mechanical properties involve a combination of strength components arising from cold work, strain aging and precipitation minus recovery. In this study, the evolution of microstructure resulting from the interaction of cold work and precipitation in AA6111 has been studied by means of transmission electron microscopy (TEM) after subjecting samples to various heat treatments, tensile testing and differential scanning calorimetry (DSC), This has been done to understand the evolution of microstructure and its influence on the properties of the alloy, The results show a considerable improvement in strength with a corresponding increase in strengthening precipitates with increasing level of cold work in the alloy. DSC results following the application of various levels of cold work also show acceleration in the precipitate phase formation, as precipitates are observed to form at lower temperatures, with increasing level of cold work/

Jan 1, 2005

By Harry Siewert, Tom Milner, Jack Stickney

"LocationThe Gibraltar mine is located in central British Columbia (NTS 93B/9W), 362 km north of Vancouver. Access is provided by 20 km of paved road from McLeese Lake, which lies 45 km north of Williams Lake on Highway 97. Latitude and longitude of the mine are 52° 30' and 122° 16', respectively.The total area of the McLeese Lake site is approximately 1700 ha (4200 acres). This includes the orebodies, dumps, surface drainage collection system, plant site, roads and tailings ponds.Brief Description of OperationOre is mined by open pit methods and is concentrated using conventional crushing, grinding and flotation processes. Copper and molybdenum flotation occurs at an average rate of 40 000 tons per day. Tailing is discharged to an impoundment area and the water recycled as process water. Additional copper is extracted from the waste dumps using sulphuric acid as a leach solution followed by solvent extraction and electrowinning.HistoryExploration by Gibraltar began in 1964, continuing until late 1970, at which time it was announced that the property would go into production. Construction started in early 1971, with initial production in March 1972. Target capacity of 30 000 tons per day was achieved by the end of March and is currently at 40 000 tons per day.Ore reserves as of January 1, 1998 were 184 384 000 tons grading 0.31% Cu and 0.010% MoS2."

Jan 1, 2000

By E. Uzun

"In this study, H2SO4 and HCl leaching behaviour of an ore sample containing 1.87% of Ni, obtained from the Karaçam (Eskisehir-Turkey) lateritic deposit that started operation recently was investigated. Acid concentration, temperature and reaction time were investigated as variables by comparative leaching tests and the optimum leaching conditions were selected on teh basis of Ni, Fe, Co and Mg behaviour. For H2SO4 leaching, optimum leach parameters were 95°C, a 12 normal H2SO4 concentration and 90 minutes of reaction time, and under these conditions Ni and Fe dissolutions were 97.6% and 95.4% respectively. On the other hand, 70°C, an 8 normal HCl concentration and a reaction time of 90 minutes were found to be the optimum parameters for HCl leaching, and Ni and Fe dissolutions found were 97.1% and 97.8%, respectively.INTRODUCTION Today, nickel and various nickel compounds are obtained from sulphide and lateritic nickel ores (Moskalyk & Alfantazi, 2002). Even though about 72% of the world's nickel reserves constitute lateritic ores, only about 42% of nickel is produced from these ores. The decrease in production from sulphide deposits, on the other hand, and increases in the use of nickel in the iron and steel, and battery production sectors, and especially the production of nickel cast irons in recent years, have accelerated the importance of making use of lateritic deposits (Luo et. al., 2010; Chang et. al., 2010). In the beneficiation of sulphide nickel ores, mostly pyrometallurgical methods are used. On the other hand, about 39% of lateritic ores are beneficiated by pyrometallurgical, and 61% are beneficiated by hydrometallurgical methods (USGS, 2009). In laterite beneficiation, the ore properties are of significance; that is to say, limonitic ores are eneficiated by high pressure acid leaching or via the Caron process, nontronitic ores are beneficiated by high pressure acid leaching or heat treatment (smelting), and ores containing serpentine by pyrometallurgical methods (Berezowsky, 2004; McDonald & Whittington, 2008a; Dreisinger et. al., 2015)."

Jan 1, 2017

By H. S. Price, F. N. Kissell, R. C. McCulloch, J. C. Edwards

"The methane em1ss10n from deep coalbeds which are actively mined is a serious problem facing the mining industry today. Pinpointing the source of methane and predicting the emission of this gas from these coalbeds is necessary if preventive techniques are to be effectively used to control methane emission. In general, because most coalbeds have water associated with them, the system to be studied may be either single-phase (methane gas) or two-phase (methane and water). Because coal mine geometry is complex and the fluids have variable properties as functions of pressure and methane concentration, the differential equations describing the flow of methane and water are not amenable to analytic solution, but must be solved numerically using high-speed computers. This paper presents the development of such a complex mathematical model along with some preliminary applications of the model to methane emission from one- and two-dimensional coalbeds with and without water present."

Jan 1, 1973

By C. I. Garcia, G. Zhou, W. Gao, A. J. DeArdo

The development of X-100 and X-120 linepipe steels was investigated using a series of low-carbon Mo-Nb-B steels. The laboratory steels were vacuum melted and processed using advanced thermomechanical processing (TMP) philosophies. Prior to the laboratory hot-rolling experiments, the grain coarsening temperature, the conventional T95 and T5 start-stop recrystallization temperatures and the transformation behavior of y were studied using a computer-controlled high temperature deformation MTS-458 and a Theta-IV High Speed dilatometer systems. The results from these experiments provided the guidelines for the design of the laboratory hot-rolling TMP processing experiments. The mechanical properties of the experimental steels showed yield strengths in the range 700-850 MPa and CVN impact properties of over 80 J at -20°C. The best balance of mechanical properties was obtained by using CCR+DQ+Tempering treatments. The major microstructural features responsible for the observed mechanical properties in order of importance were: a) substructural refinement associated with lower bainite, b) dislocation strengthening, c) fine recrystallized ferrite, and d) small amounts of retained austenite. Fine Nb(C,N) precipitates formed in ferrite were observed, however their contribution to the strength was minimum. Most of the Nb(C,N) precipitation took place in austenite. This precipitation was used to exert microstructural control of austenite during hot rolling. The physical metallurgy and optimum TMP to achieve the mechanical properties are detailed in this paper.

Jan 1, 2005

By N. Romani, R. Provost

"Commissioning of a circulating dry scrubber plant was recently completed at an existing facility, in order to treat the sulphur dioxide off-gas emitted from rotary kilns. Proper planning of the different commissioning stages and staffing an integrated team are the most important factors required for a successful plant start-up. A strong operational readiness plan must be in place as early as the start of construction in order to ensure a smooth transition from commissioning to operations. Plant performance can meet or exceed performance criteria within the required timeframe if the proper group dynamic and good communication is established between construction, commissioning and operations teams.INTRODUCTIONCommissioning of a circulating dry scrubber (CDS) plant was recently completed at an existing facility in Quebec, Canada. The CDS plant treats the sulphur dioxide off-gas emitted from rotary kilns in order to meet increasingly stringent environmental requirements. This installation enables the existing facility to reduce their sulphur emissions by over 90%.The CDS ProcessA general overview of the CDS process is presented in Figure 1 below. The combined, de-dusted off-gas from multiple kilns is sent to the CDS, which acts as an entrained fluid bed, where the gas is contacted with a water mist, re-circulated solids and hydrated lime. The SO2 from the gas stream and the available calcium hydroxide (Ca(OH)2) from the hydrated lime dissolve in the water and react to ultimately form calcium sulphites and gypsum. The solid residue (referred to as CDS residue), is the primary byproductof the process.Fresh hydrated lime and CDS residue is captured by the dust collection system and is re-circulated to the CDS via a fluidised transport system. Clean off-gas passes through the dust-collection system and is then sent to the atmosphere by a single exhaust fan.The CDS residue purged from the system is combined with the dust collected from the kiln offgas system and this mixture is wetted in the already exiting agglomeration system, to minimize dust generation during handling, and then sent to disposal."

Jan 1, 2016

By T. R. Kostecki

"Instrumented rock bolts are effective tools for assessing the reinforcement and condition of immediate roofs; however, instrumentation can have relatively high costs, which can be justified by high reliability and repeatable and representative data measurements. The instrument’s durability and operational life are of great importance, along with accuracy, applicability, and usefulness. This paper develops reliability models for three instrumentation technologies used in slotted rebar, drawing data from studies at five underground coal mines. Three case studies demonstrate instrument applicability and usefulness. Finally, two types of instrumented rock bolts are used to determine the direction of bend and maximum bending strain. RÉSUMÉ Les boulons d’ancrage instrumentés sont des outils performants qui permettent d’évaluer la consolidation et la condition des toits immédiats. L’instrumentation peut cependant se révéler très onéreuse, des coûts qui se justifient par sa fiabilité élevée ainsi que par des mesures de données reproductibles et représentatives. La durabilité de l’instrument et sa durée de vie opérationnelle sont très importantes, de même que son exactitude, son applicabilité et son utilité. En s’appuyant sur des données issues d’études menées dans cinq mines de charbon souterraines, cet article développe des modèles de fiabilité pour trois technologies d’instrumentation utilisées pour des barres d’armature nervurées. Trois études de cas démontrent l’applicabilité de l’instrument et son utilité. Enfin, deux types de boulons d’ancrage instrumentés sont utilisés pour déterminer la direction de la flexion et la contrainte de flexion maximale.INTRODUCTION Using instrumented rock bolts to monitor strain changes in a rock bolt array allows engineers to understand the per-formance and effectiveness of the rock reinforcement system and the response of the rock mass to such support; however, instrumentation remains a niche solution for solving complex ground-control problems—particularly for underground coal mines, which is where they are needed most. From 2000 to 2016, fall-of-ground fatalities still accounted for an average of approximately 30% of the total annual underground coal mine fatalities in the United States alone (United States Department of Labor, 2018). These tools would also be useful for deep hard-rock mining conditions. The main reasons for the lack of widespread use are not only cost but also accuracy, applicability, implementation procedures, intrinsic permissibility, and reliability (Peng, 2015). As a result, measurements of coal mine roof behaviour using instrumented rock bolts are quite scarce, not widely published, or inadequately presented to provide a seamless understanding of a roof’s response to support."

Jan 1, 2018

By L. W. Vollmer

Introduction During the past three years at least fifty strings of 9% nickel steel tubing have exhibited excellent resistance .to the variably severe corrosive conditions typical of many of the sweet condensate wells in Mississippi, Louisiana, and Texas. This experience, and the characteristically outstanding performance of other ?nickel alloy steels under hydrogen sulphide corrosive conditions, dictated the selection of 9% nickel steel tubing for the second well drilled in the sour condensate Pincher Creek field of southwestern Alberta. The damaging effects of the Pincher Creek reservoir fluids on well equipment had been manifested in the discovery well by the rapid and not yet fully understood failure of API Grade N-80 tubing, stainless steel wire lines, and alloy steel fishing tools. Two very unexpected failures in the 9% nickel steel tubing, after only six days of service in production tests, instigated an extensive and continuing investigation to ascertain the probable cause of failure. This discussion presents some of the results obtained thus far which cast a little light on the perplexing behaviour of steels in hydrogen sulphide environments in general, and in sour condensate wells in particular. History of Tubing Failures Walter Marr well No. 1, in which the 9% nickel steel tubing failures occurred, produces from the Madison lime at the depth interval approximately 12,200 to 12,750 feet. The gas-oil ratio is about 26,000 and the gas contains 10.2 per cent hydrogen sulphide and 6.3 per cent carbon dioxide by volume.

Jan 1, 1952

By J. B. Boisvert, D. S. Silva

"Drillhole placement involves benefits, costs, and constraints. Benefits are related to the drilling campaign value, which includes maximizing “indicated” and “measured” resources. Costs include drilling, rig movement, and access construction. Constraints include infeasible areas, maximum and minimum angles of drilling, maximum depth of drilling, and budget. Manually planning drillholes that meet these constraints is suboptimal. A framework for straight drillhole optimization that accounts for benefits, costs, and constraints is presented. The method aims to maximize the value of resources converted from “inferred” to indicated and measured. The framework is demonstrated for a Nevada gold deposit and outperforms manually selected drillholes.RÉSUMÉ Le choix de l’emplacement d’un trou de forage s’accompagne d’avantages, de coûts et de contraintes. Les avantages sont liés à la valeur d’une campagne de forage, qui comprend l’optimisation des ressources « indiquées » et « mesurées ». Les coûts englobent le forage, le déplacement de l’appareil de forage et la construction des routes d’accès. Quant aux contraintes, elles portent sur les zones impraticables, les angles maximums et minimums de forage, la profondeur maximale de forage ainsi que le budget. La planification manuelle des trous de forage répondant à ces contraintes est sous-optimale. Cet article présente un cadre relatif à l’optimisation des trous verticaux de forage tenant compte des avantages, des coûts et des contraintes. Cette méthode vise à optimiser la valeur des ressources converties de la phase « ressources présumées » à celle de « ressources indiquées et mesurées ». Ce cadre est appliqué à un gisement aurifère du Nevada et donne de meilleurs résultats que les trous de forage sélectionnés manuellement. INTRODUCTIONDetermining the optimum location of infill drilling has been studied because the high cost of drilling suggests that using fewer drillholes is preferred, and targeting locations of the deposit that are locally uncertain should result in better mine planning decisions and increased profit of the operation. Existing methods for optimizing drillhole locations consider minimizing the kriging variance (KV) as the objective and are mostly restricted to two dimensions (Soltani-Mohammadi & Hezarkhari, 2013a, b; Soltani- Mohammadi, Safa, & Mokhtari, 2016)."

Jan 1, 2018

By Dieter Birk

"The Atlantic Coal Institute illustrates the potential for high technology employment in Maritime Canada, by using local talent and the latest equipment to address a national market. Since I983, contract research for industry and government has generated 31 man-years of high-tech employment, added $2.3 million to the local economy and contributed new technology for Canadian coal. Industry now has access to new procedures for coal minerals analysis, pyrolysis, and geochemistry applied to industrial problems of exploration, beneficiation, conversion and combustion.Research at the Institute is market-driven, based on cost recoveries from contracts. The financial performance to date exceeds that of similar industrial research institutes in major cities and demonstrates that small isolated laboratories are cost-effective. Economic renewal of Canada's resource industries will require increased R&D which in turn can be a source of local employment and pride. Small research teams are more efficient but require an enlightened policy of contracting-out by big business and big government."

Jan 1, 1987

By E. Lee Cameron

The old mine workings on four barite-fluorite veins of the Lake Ainslie district, Nova Scotia, were opened recently and channel sampled. The samples were then forwarded to the Ore Dressing Laboratories, Bureau of Mines, Ottawa, for chemical analyses. Following the analyses, the sample rejects were combined to form bulk samples, representing ore from each vein, for small-scale batch test work. Tonnage samples from the veins, for pilot mill testing, were submitted when requested by the Bureau. The results of the analyses on the channel samples showed that there are two grades of ore in the di strict, represented, for test purposes, by the Trout River vein and Johnson vein ores. Small-scale and pilot-plant test work was undertaken on both these ores. The Trout River ore is amenable co concentration but, because of the high-barite-co-fluorite-co-calcite ratio, a fluorite concentrate was not obtainable from the Johnson vein ore as received. However, Johnson ore blended in a 1 :1 ratio with Trout River ore gave a mill feed that was readily concentrated. The test work on these ores showed that the following concentrates are obtainable : (a) A barite concentrate, with a recovery of 85 to 95 per cent of the available barite, analysing 93 co 96 per cent BaS04, 4 co 6 per cent CaF,, and 0.5 co 2 per cent CaCO3. (b) A fluorite concentrate, with a recovery of 80 co 85 per cent of the available fluorite, analysing 94 to 97 per cent CaF, , 1 to 3 per cent BaSO., and 1 to 3 per cent CaCO3

Jan 1, 1945

By Peter M. Power

A microscopic study was made of a series of simultaneous slag and metal samples taken from a low carbon basic open hearth heat. An attempt was made to identify the various micro-constituents found. As the various impurities in the bath are oxidized, the metal structure changes from that of high-phosphorus white cast iron to that of low.-carbon steel. A detailed study of phosphorus distribution is included. The acid run-off slag has an .acicular orthosilicate structure which changes on 'shape-up' to a very basic tri-calcium silicate and calciuim ferrite structure. Many unidentified minor constituents are present in the slags. Though metallography will never replace chemic.al analysis of the bath, the microsopic study of polished slags has some promise of being useful in slag control work.

Jan 1, 1956

By G. M. Dunn

Pressure leach autoclave circuits are employed in the leaching of ores, concentrates, mattes, alloys and intermediates for the recovery of metals into solution. Once the metals are extracted into solution the value metals can be recovered by hydrometallurgical means such as by purification followed by electrowinning, hydrogen reduction, pyrohydrolysis, crystallisation and other unit operations. In many of these integrated flowsheets the pressure leach step is pivotal to the recovery of the value metals from the host material. In an expansion or a new project, a large component of the capital cost can be associated with the pressure leach step and process engineers frequently look for opportunities to mitigate costs. This paper examines a new route for increasing the capacity of an exothermic pressure oxidation leach for sulphide concentrates, sulphide and phosphide mattes and alloys.

Jan 1, 2004

By Wenxue Chen

This paper presents a new type of bolt with full thread and uniform strength, and fabricated with a Glass Fiber Reinforced Polymer (GFRP) bolt-making machine designed by the authors. The mechanical performance of the new bolt is assessed with strength tests conducted with the bolt in acid, alkaline and saline water conditions, with increasing concentration. The purpose is to test the new GFRP bolt?s mechanical performance in harsh conditions, especially metal mines with acid or alkaline environments. Comparison of the color, weight, size and antistatic ability of the GFRP bolt before and after it is immersion in solution is presented. Changes in tensile and shear strength, torsion, and anchoring force were evaluated in the laboratory. The results show that the mechanical properties of the GFRP bolt are more sensitive in alkaline than in acid and saline water. However, the loss ratio of mechanical properties of the GFRP bolt is very small according to the results of tensile and shear strength, torsion and anchoring force. The new bolt can be useful for applications in acid or other harsh mines.

Aug 1, 2013

By Nitin Bhavsar, Kaushik Vakil, Lakshmikanth Reddy, Sanjay Sarkar, Tathavadkar. Vilas, Bhavin Desai, Raghavendra Adiga

Gold and platinum group metals (PGM) do not dissolve in sulfate electrolyte from anode during electro-refining of primary copper. The PGM form solid ‘slimes’ which accumulates at bottom of the electrolytic cell. Typically, 8 to 10 ppm silver is present in copper cathodes, which is equivalent to almost 2% of silver loss during electro-refining. The silver can be cemented with cathode copper as soon as it is dissolved into the electrolyte from anode or during entrapment of slime particles in cathode. Over a period of time, the concentrates grade has deteriorated and change in type & amount of impurities in concentrate has resulted in higher silver loss during refining process. Therefore, an in-depth investigation was carried out in both fire- and electro-refining processes to understand the root causes of higher silver loss in copper cathodes. The detailed characterization and the plant data analysis were carried out. The results of study revealed that higher silver loss in 3rd crop cathodes as compared to 1st and 2nd crop cathodes from same anode. In anode silver was present in two forms, dissolved in copper (solid solution) and in slime phases such as Cu2-xAgxSeTe. SEM-EDX study of anode cross section confirmed higher silver and oxygen content in central region (core) of anode as compared that in both air and mold sides. This is due to non-uniform cooling of anode which was confirmed by the solidification modeling. Higher concentration of oxygen & silver at core of anode rised Ag+ concentration in electrolyte and slime particles during 3rd crop. The results of study were used to optimize the anode cooling process and also electrolyte chemistry to reduce the silver loss. The details of study carried out are discussed in this paper using the results of modeling, characterization and experimental studies. INTRODUCTION In the electrolytic refining of copper, fire refined copper anodes are used as raw material. Anodes contains copper of the range 99.5 to 99.6%, rest being the impurities. Hence, the purpose of the refining is (1) to remove the impurities so that final cathode conforms to the LME specifications and also (2) to recover the precious metal from the anode copper. When anode is dissolved, most of the impurities reports to the anode slime settled at the bottom of the cell, and rest dissolves in the electrolyte. Dissolved impurities remains in electrolyte and are removed during electrolyte recycling. However, sometime dissolved impurities and slime particles get entrapped in cathode due to disturbances in operational conditions. Metals dissolving in the electrolyte are the elements such as Ni, Co, Fe, Zn. The electrode potential of As, Sb and Bi being close to that of copper, these elements partly dissolve in the electrolyte. Noble metals like Ag, Au, Pt and Pd are generally insoluble and are thus expected to report to the anode slime. A small amount of the sliver content from the anode is dissolved in the electrolyte. Because the dissolved silver electroplates on the cathode at a smaller applied potential than copper, the cathode typically contains up to 8 ppm of silver. This is referred to as ‘silver loss’ in cathode (Cooper, 1987). Fortunately, silver is a rather benign impurity in copper due to its electrical conductivity being higher than copper. However, higher silver loss in cathode is loss of revenue for Copper smelter due to significant difference in their LME price.

Jan 1, 2019

By X. -G. Chen, K. Liu

Nowadays, great interests are rising on aluminum alloys for the applications at elevated temperature, driven by the automotive and aerospace industries requiring high strength, light weight and low cost engineering materials. As one of the most promising candidates, Al-Mn-Mg 3004 alloys is found to possess considerably high mechanical properties and creep resistance at elevated temperature resulted from the precipitation of a large number of thermally stable dispersoids during heat treatment. In present work, the effect of Fe contents on the evolution of microstructure as well as high temperature properties of Al-Mn-Mg 3004 alloys has been investigated. Results show that the dominant intermetallic changes from a-Al(MnFe)Si at 0.1 wt.% Fe to Al6(MnFe) at both 0.3 wt. % and 0.6 wt. % Fe. In the Fe range of 0.1 to 0.6 wt.% studied, a significant improvement on mechanical properties at elevated temperature has been observed due to the precipitation of dispersoids, and the best combination of compression strength and creep resistance at 300°C is obtained in the alloy with an intermediate Fe content (0.3 wt.%) with finest size and highest volume fraction of a-Al(MnFe)Si dispersoids. The superior properties obtained at 300°C makes 3004 alloys more promising for high temperature applications. The relationship between the Fe content and the precipitation of stable dispersoids as well as the materials properties has been discussed.

Jan 1, 2015

By Jarrett. K. M.

Nobody has, as yet, made a perfect machine. Therefore, when a machine is operating and functioning as it is designed to do, there is always some vibration present. This is easily and simply measurable with present-day equipment and any increase in the amount of vibration will indicate a potential failure. When an increase is noted, vibration analysis can pinpoint the cause of the potential failure and remedial action can be taken before an unscheduled shutdown is necessary or a breakdown occurs.

Jan 1, 1972

By A. Warczok, C. M. Diaz, A. Bergman, T. Utigard, M. Barati

The world wide consumption of energy is steadily increasing and by 2030 it is forecasted to grow by another 50%, leading to mounting political and economic pressures. For any pyrometallurgical operation, it is therefore paramount to investigate and implement methods to decrease the use of energy. In the pyrometallurgical processing of steel, copper, nickel and other high temperature metals, a large amount of energy is lost in hot off-gases, molten slags, mattes and molten metals. Most of this energy is generally lost during the cooling and solidification steps with very little focus on energy recovery or reuse. In this paper we will quantify how much energy is contained in the various slag streams, then review previous attempts and methods employed to recover some of this energy, and finally evaluate some novel technologies that could potentially be employed.

Jan 1, 2011

By A. Alwasel

Musculoskeletal disorders (MSDs) threaten the wellbeing and livelihood of a large number of construction workers incurring a significant cost to society. We present a new method to monitor and diagnose MSD risks in the workplace. The sensing unit of the system is an optical encoder encompassed within a non-intrusive exoskeleton to measure the joint angle of interest. This sensor can be applied to ball-and-socket and hinge-type joints of the human body, such as the shoulder, elbow, and knee joints. The system is contactless and does not require markers or cameras. Angle measurements are acquired directly without mathematical post-processing, thereby avoiding numerical noise and drift challenges. The system is a simple, robust, and deployable, but it currently lacks resolution of parallel degrees of freedom.

Aug 1, 2013