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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 Eduardo Nunez, Asim Tuzun, Dan Graffi, Glenn MacPherson

"In preparation for the milling of a new nickel and copper mine ore, Nickel Rim South, Xstrata’s Strathcona Mill is undertaking numerous process improvement projects. Within the grinding circuit, several projects are under development and an automated grinding control strategy, consistent with the operating objectives, was identified as a key requirement. The grinding strategy is to maximize the throughput (quantitative objective) while maintaining the cyclone overflow within specifications (qualitative objective).This paper describes the implementation of a robust grinding control strategy using the existing control system. The implemented controls maintain the cyclone overflow density at the desired target, while continually optimising the rod mill feed rate to allow maximum throughput. This approach has the added benefit of improving the stability of the rougher flotation circuit down stream of the grinding and improving energy efficiency of the rod and primary ball mills. This paper discusses the comparison of the before and after the implementation of results.INTRODUCTIONThe grinding process is a size reduction operation used in the mining industry to liberate the valuable minerals from the gangue. Grinding is one of the most important and expensive processes in a concentrator (Xi-song, 2007; Pomerleau 2000; Najim 1995), often accounting for around half of the total operating costs in base metal concentrators (Wills, 1990), which has led to a focus on development and implementation of control and optimisation strategies. The grinding process prepares the ore for the subsequent concentration step, which for sulphide base metal operations, is predominantly flotation. The performance of the concentration (flotation) is very much determined by the feed characteristics of the slurry coming from grinding. The valuable minerals recovery process in flotation is very much influenced by the grinding process and the liberation of the desired minerals from the gangue minerals (McIvor, 1991).The true objective of grinding is to obtain a proper liberation of the minerals as defined by a particle size distribution referenced typically by d80 (80% passing size of product). Besides achieving the desired mineral d80 size, it is clearly desirable to produce as narrow a size distribution as possible to squeeze the maximum amount of the mineral value into the highest recovery region (McIvor, 1991). This is an important criterion for the mill in economically optimizing the grade and recovery for the concentrate product. It is important not to over or under grind, while keeping the specific comminution energy as low as possible (Nunez, 2005) to achieve the target liberation. In other words, maintain an optimal throughput depending on the ore conditions to the capacity of the grinding mills, while providing the flotation process with a constant and narrow size distribution, at a cut size selected to meet the metallurgical requirements (Bascur, 1991)."

Jan 1, 2009

By M. B. Ramachandra Rao

THE occurrence of copper ores at Garimenapenta, 14° 59 min 30 sec N Lat., 79° 33 min 10 sec E Long., in Nellore district, Madras State, India, has been examined and investigated on numerous occasions during the past two centuries.1 No tangible orebody was ever located as a result of all the ex-

Jan 4, 1953

By Takafumi Kasaya, Katz Suzuki, Yoshifumi Kawada

"INTRODUCTIONThe area beneath the seafloor preserves valuable resources that are inevitable to sustain our industrial society. Hydrocarbon resources such as petroleum and natural gases are one of the representative examples, which have been mined over a century (Brandt et al. 1998). In addition, submarine resources such as methane hydrates, ferromanganese crusts, and metal deposits of hydrothermal origin have long been known (Rona 2003; Kvenvolden and Rogers 2005), although methods of their mining have not yet been developed. All of these resources are distributed heterogeneously, and various exploration techniques have been developed and examined. The Japan Agency for Marine-Earth Science and Technology (JAMSTEC) is conducting a project on the development of exploration methods of these unexploited resources (Urabe et al. 2015; also see http://www.jamstec.go.jp/sip/images/pamphlet_e.pdf). The present study particularly focuses on our attempt on the developing an exploration method of hydrothermal ore deposits.Seafloor hydrothermal ore deposits are associated with submarine volcanoes of mid-ocean ridges, hot spots, and island arcs, and back arcs (Hannington et al. 2010). Active hydrothermal systems discharging high-temperature fluids can be detected above the seafloor as anomalies of temperature, turbidity, and acoustic impedance (e.g. Kasaya et al. 2015). However, because of the temperature limitation of mining (Boschen et al. 2013), the target of mining may be extinct and probably buried. To explore buried hydrothermal ore deposits from the vast seafloor area, geophysical surveys that can obtain information below the seafloor must be required. Several techniques including magnetic, electrical, and gravitational methods have been developed (e.g. Jones 1999; Kowalczyk 2008). Although physical properties taken by these methods are sensitive to the presence of hydrothermal deposits, difficulties are sometimes encountered. For example, anomalies of magnetic susceptibility and electrical conductivity, which characterize the presence of ore deposits, may be found above non-hydrothermal bodies such as volcanic bodies and reservoirs of hydrothermal fluids (e.g. Honsho et al. 2016). Thus, combinations of multiple methods must be used to specify the existence of buried hydrothermal ore deposits"

Jan 1, 2017

By John H. Archibald, Arthur L. Miller, George A. Savanick

As part of its continuing research on selective mining, the Bureau of Mines has made progress toward developing a tool capable of remotely extracting hard minerals through a borehole. As the successor to the successful borehole miner, which extracted soft materials through a straight borehole, this new device has several innovative features: 1) it can propel itself in and out of an 8-inch borehole; 2) it can cut hard rock with an abrasive jet and transport the cuttings to the surface; and 3) it can negotiate deviated boreholes--the feature that enables it to follow a vein and extract only the values. This paper describes the development and feature testing of the reamer/miner.

Jan 1, 1991

By M. Makarenko

The sandstone type Devladivske uranium deposit is located within the limits of Eocene pale-ovalley filled with alluvial sediments. Mineralization with uranium content up to 0.1% forms several ore beds divided by redox barriers. In the period 1962-1983 the deposit has been exploited over an area of 918000m2 by in situ leaching (ISL) using drillholes with a depth between 35 and 100m. During mining operation about 200,000 t of H2SO4, 6,300 t of HNO3, and 15,000 t of NH4NO3, have been pumped in the ore body. In 1983, the groundwater pollution aureole had a length of 4.5 km and a width of 400-600 m. There is a hydraulic connection between the uranium-bearing aquifer and both the upper and lower ones. The technological solutions used for ISL caused partial contamination of these horizons. After mining completion, dilution of the residual technological solutions with "pure" natural waters took place through gaps in impermeable sediments between aquifer horizons. Calculation of self-purification process kinetics shows that the sulfate ion pollution aureole will disappear approximately after 120-150 years at a distance up to 2.0-2.5 km from the western margin of the deposit. This means that there is no risk for contamination of the river Saksagan? that flows at a distance of 17km from the deposit.

Jan 1, 2005

By Rodolfo V. de la Cruz

This paper describes the development of a new method and device for determining the in-situ mechanical properties of rock masses. The method involves a self-recording mechanical deformation gauge for sensing-recording she deformation of the borehole wall when loaded hydraulically. The self-recording feature of the gauge eliminates the difficult technical problem of transmitting signals over very long cables for measurements at great depths. Adopting a mechanical gauge instead of electronic, electrical, optical or grid techniques eliminates delicate instrumentation and installation problems. Moreover, mechanical gauges are inherently rugged and suitable for use in severe borehole conditions including very high temperatures. The technique was tested in limestone, basalt and granite specimen. The calculated mechanical property values for 1 the tests agree with those obtained by conventional testing methods. The self-recording mechanical deformation gauge has a minimum reading of 50 micro inches (1.27 x 10-3mm), comparable with electrical resistance strain gauges, capable of reading deformations over a range of 0.25 inches (6.35mm). The sensitivity, ease and accuracy of the method recommends it highly for in-situ rock modulus measurements.

Jan 1, 1980

By Knud Sinding

Many industries have established their own systems for self-regulation. They often do so when companies operate in countries where financial, technical, environmental and social regulation is weak and when the industry is challenged by legitimacy issues related to behaviour in one of these areas. Mining is one industry that has progressed unevenly down the road of self-regulation in these areas. This paper examines how the development of self-regulation for mines and mining companies involves difficult questions of scope, rules, membership, assessment criteria and performance evaluation. Using a range of theoretical and empirical results from research on self-regulation, performance rating and corporate strategy, this paper analyses the strategic and operational issues related to the idea of self-regulation in the mining industry. The analysis indicates that while self-regulation may bring benefits to members, they are likely to take a long time coming; but when they do arrive they may be substantial. Using the fact that in relation to technical and financial issues the industry is quite experienced in self-regulation ? not least as it is more reluctant in areas such as environmental and social performance ? the case is made for a comprehensive and innovative approach, that draws on the areas where the industry is experienced and develops new institutional solutions in the areas where the industry is more reluctant.

Aug 1, 2013

By N. Kumar Kittusamy

The purpose of this study was to assess the adequacy of the cab design and to determine the percentage of musculoskeletal symptoms among workers. A questionnaire was designed to assess demographics, work information, job history, and musculoskeletal symptoms in operators of heavy construction equipment. Information concerning equipment included design of the seat/chair, levers, pedals, bothersome vibration, quality of egress from the equipment, proper preventative maintenance and repairs, and age of the equipment. The body regions that were evaluated included the neck, middle/upper back, low-back, shoulder/upper-arm, elbow/forearm, wrist/hand, hip, knee, and ankle/foot. One hundred and eighty nine operators completed the questionnaire. The results indicate that these workers are at risk for developing musculoskeletal disorders, the need to perform a larger survey to further substantiate the outcome, and the need to quantify risk factors (i.e., whole-body vibration and static sitting postures).

Jan 1, 2003

By R. L. Godfrey

The Custom Coals advanced coal cleaning plant will be designed with a unique blending of existing and new processes to produce two types of compliance coals: Carefree Coal? and Self-Scrubbing Coal?. Carefree Coal will be produced by cleaning the coal in a proprietary dense media cyclone circuit utilizing fine magnetite to remove up to 90 percent of the pyritic sulfur and correspondingly greatly reduce the ash. While may utilities can achieve full S02 reduction compliance with Carefree Coal, others face higher sulfur reduction requirements due to the higher sulfur content of their existing fuel supplies. For these circumstances, a patented Self-Scrubbing Coal will be produced by taking Carefree Coal and pelletizing limestone-based additives with the finest fraction of the clean coal. These technologies will enable over 150 billion tons of non-compliance U.S. coal reserves to meet compliance requirements.

Jan 1, 1995

By Fred N. Kissell

A self-sealing brattice intended for use during coal mine rescue and recovery operations has been designed and tested by the Bureau of Mines. The major design difference between self-sealing and conventional brattice is that the fabric is cut and sewn BS a hemisphere instead of as a flat sheet. This new type of brattice offers reduced weight, leakage, and installation time. Preliminary testing indicates that the concept is worthwhile, but that further developmental research is required.

Jan 1, 1976

To restore ventilation and prevent the accumulation of explosive or toxic gases by quickly installing substitutes for stoppings blown down by an explosion. Approach Temporarily replace blown down stoppings with a parachute-shaped brattice which can be erected in minutes. How It Works The self-sealing brattice is secured to the roof, ribs and floor by anchoring its nylon edge strip at several points using extensible poles, shads, or available projections such as roof bolts. The air pressure in the entry pops open the chute of lightweight sailcloth, forcing it tightly against floor, roof and rib. See Figure 1. This emergency brattice has been tested at two locations in the Bureau's Experimental Mine at Bruceton, Pennsylvania. In a test last December, one MESA inspector wearing full rescue apparel (including self contained breathing apparatus) installed a self sealing brattice in an entry at the Bruceton Mine. Although he did not have any previous experience with the device, he easily erected it in slightly less than 10 minutes, using two extensible supports (pogo sticks). Research to improve and refine the self-sealing brattice is continuing.

Jan 1, 1977

By Thomas Mütze, Michael Klichowicz, Mathis Reichert, Holger Lieberwirth

"Self-similarity is proofed to be a common feature when brittle material is comminuted, either in particle bed or single particle mode. Appropriate test work is well documented for particle sizes less than 7 mm in several publications. In contrast, almost no research has been done for coarser particles. The aim of this paper is to show that the fracture pattern of coarser material also tends to be self-similar. Hence, single particles of quartzite, granodiorite and dolomite were comminuted under compressive load. The focus was set on three different size fractions -3.15 +2.5 mm, -31.5 +25 mm and lumps -300 mm. According to the wide range of particle sizes, three different piston-die presses were used with a maximum compressive force ranging from 5 kN to 4000 kN. The force-displacement curves were recorded in order to calculate the specific comminution energy. Additionally, the -31.5 +25 mm size fraction was crushed in a laboratory scale jaw crusher and a roll crusher. Some authors report that the energy-size-reduction relationship of self-similar materials can be approximated by a linear function, which is independent of the comminution equipment. In their charts the slope can be seen as a product-size-independent grindability measure. Our tests show a self-similar breakage behavior when particles in a range of -300 +3 mm are comminuted in single particle mode. Furthermore, the products of the piston-die-presses and the roll crusher are similar to each other in a self-similar representation of the particle size distribution. The jaw crusher product, however, is not self-similar compared to the piston-die-press products. Finally, the linear energy-size-reduction relationships are confirmed for each fraction, but show size dependent slopes."

Jan 1, 2014

By F. Agterberg

In his 1978 monograph ‘Lognormal-de Wijsian Geostatistics for Ore Evaluation’, Professor Danie Krige emphasized the scale-independence of gold and uranium determinations in the Witwatersrand goldfields. It was later established in nonlinear process theory that the original model of de Wijs used by Krige was the earliest example of a multifractal generated by a multiplicative cascade process. Its end product is an assemblage of chemical element concentration values for blocks that are both lognormally distributed and spatially correlated. Variants of de Wijsian geostatistics had already been used by Professor Georges Matheron to explain Krige’s original formula for the relationship between the block variances as well as permanence of frequency distributions for element concentration in blocks of different sizes. Further extensions of this basic approach are concerned with modelling the three-parameter lognormal distribution, the ‘sampling error’, as well as the ‘nugget effect’ and ‘range’ in variogram modelling. This paper is mainly a review of recent multifractal theory, which throws new light on the original findings by Professor Krige on self-similarity of gold and uranium patterns at different scales for blocks of ore by (a) generalizing the original model of de Wijs to account for random cuts; (b) using an accelerated dispersion model to explain the appearance of a third parameter in the lognormal distribution of Witwatersrand gold determinations; and (c) considering that Krige’s sampling error is caused by shape differences between single ore sections and reef areas.

Jan 1, 2015

By T. Mütze

The progress in comminution is often described by the specific surface area and the energy utilization or the brakeage ratio and breakage function. The principal mechanisms of size reduction are therefore, well known. All four parameters share a common disadvantage: They are limited in describing the behavior of a feed material with fine particles and a wide particle size distribution. An alternative is to describe the progress in comminution with ? The particle size distributions Q(x) before and after the stress or ? The particle concentration ratio pcr(x), which combines these two states. In the case of a self-similar fracture behavior, (in short: self-similarity) the progress in comminution can be simplistically described by the relationship between a reference particle size and the stress intensity. Self-similarity means self-similar breakage functions of geometrically similar particles of the same strength, a certain stress situation and stresses up to the breakage point. Self-similar breakage functions show the same curve at different stress intensities when the fragment size x is normalized with a reference particle size xNorm. This behavior was demonstrated for single particle comminution repeatedly and unequivocally. In the field of particle bed comminution, these results differ in literature. Therefore, the self-similarity in particle bed comminution was systematically investigated at the Institute of Mechanical Process Engineering and Mineral Processing of the TU Bergakademie Freiberg as part of a research project. Limestone, quartz, silicon carbide and glass beads, were examined with a hydraulic press. The particle sizes covered monodisperse fractions in the range of 1-1000 µm, bimodal mixtures of these fractions and polydisperse fractions. The results obviously show that there is no self-similar fracture behavior in the case of glass beads, quartz and silicon carbide. Statements on the self-similarity of limestone are much more difficult: Only some of the investigated limestone fractions show a similar clear, non-self-similar behavior. Self-similar curves appear particularly for fine monodisperse fractions as well as bimodal mixtures, which stressed with pressures above 200 MPa. Considering the measurement accuracy of particle size analysis the coincidence of the curves can be explained by the fact that progress in comminution almost ends above 200 MPa. At this point, a hydrostatic stress state is reached in the particle bed which is known from the literature. This stress state inhibits further fractures. Overall, it has been verified for the investigated materials that there?s no self-similar fracture behavior in particle bed comminution. One reason for the diverse opinions in literature is that there are three types of particles after the comminution in the particle bed: ? Particles which are stressed below their breaking point, ? Particles which are stressed right up to the break point, and ? Particles which are stressed beyond their breaking point.

Sep 1, 2012

By R. Vasant Kumar

Measurement and control of trace elements in molten metal are often critical in order to achieve optimum production, refining, alloying or recycling. Solid electrolyte sensors for monitoring oxygen and very recently for hydrogen have made major impact in the metal industry. It has not proved straightforward to develop solid electrolyte sensors for many other elements that can be industrially applied in metal production. Novel self-tuning chemical sensors have been developed by the authors that may open up new technological opportunities. Three such examples will be presented in this paper: (i) a self-selecting oxygen-sulfur dual sensor using a composite beta-alumina/zirconia solid electrolyte; (ii) a copper sensor for liquid matte based upon cusicon solid electrolyte operating in a current reversal mode; and (iii) an aluminium sensor on solid NaCl containing channels of molten NaAlCl4 electrolyte formed by electrochemical charging in molten zinc.

Jan 1, 2006

By M. W. Franklin, D. W. Hendriks

"Changing ore types, feed grades and c1rculat1ng loads are some of the many factors that can make flotation feed-back control difficult. To control a flotation circuit using conventional fixed-parameter control algorithms, one must either tune the controllers very often or tune the controllers to the middle of the normal operating range. The former approach is very time consuming, while the latter approach can lead to long periods of either very sluggish responses or highly reactive responses which can lead to instability. The problem becomes compounded if feed-forward variables are introduced, creating even more variables to tune. An alternative to a fixed-parameter control algorithm is an adaptive control algorithm. An adaptive control algorithm continuously retunes itself based on previous reactions to its changes. Feed-forward control also becomes much more viable because the algorithm will tune the feed-forward parameters and the feed-back parameters simultaneously. Using the combination of feed-forward and feed-back tuning is an effective way to decouple the loops needed in flotation circuits where one circuit feeds into another. The advantages of adaptive controllers over conventional controllers will be introduced through the use of a simulator. Also discussed will the be the implementation of adaptive controllers at Brunswick Mining and some of the modifications that are available to help solve more difficult control problems.Brunswick Mining is located just outside of Bathurst, New Brunswick. The concentrator processes approximately 10250 tonnes per day of ore that assays at approximately 8.9 %zn, 3.6 %Pb, 0.3 r.cu and I 00 gram/tonne of Ag. The four products produced are zinc concentrate assaying 51 %Zn, lead concentrate assaying 34 %Pb, copper concentrate assaying 21 %Cu, and a bulk concentrate assaying 32 %Zn and 18 %Pb."

Jan 1, 1986

By R. E. J. Putman

Introduction Self-tuning regulators are a class of controllers built around the concepts of sampled data theory, and are especially suitable for implementation in a digital microprocessor or minicomputer control system. The algorithms used are distinctly different from those based upon analog control techniques and include automatic adjustment features which permit them to adapt to unmeasured changes (in, for example, ore grindability) or process nonlinearities (as exhibited by cyclone classifiers). They are also designed to handle transport lags in a simple manner, for example, anticipating the effects of a variable recycle rate on particle size distribution. The advent of distributed control systems will encourage the exploration of these techniques in the minerals processing industries, and particularly for improving the control of comminution circuits, which are especially energy intensive. This paper outlines some current work in progress on this topic. Background Those engaged in the practice of process control have long had two philosophical problems for which solutions have been actively sought - what is optimal control and how can we attain it in some heuristic fashion automatically. The basic analog controller can be represented by the differential equation: [V = Ko + K1 f y • dt + K2 dt(1)] where: v and y are the instantaneous values of output and error respectively and K0, K1, and K2 are tuning constants. The empirical rules for establishing the values of K0, K1, and K2, which provide stability, have evolved from the initial suggestions of Ziegler and Nichols(9) in 1942 and have served their purpose well. However, later analyses demonstrated that there are in fact many combinations of the values of K0, K1, and K2 which, besides being stable, behave better or worse in relation to other process control criteria; some examples are duration of error, amplitude of a damped response, magnitude or rate of movement of control valve or adjustment of speed regulator, etc. The definition of optimality had broadened. In 1964, Kalman(4) published his classic paper which tried to resolve these problems. He defined a

Jan 1, 1982

In 1984/85 financial year Australia produced 529 thousand barrels per day (kbd) of crude oil. By far the major contribution (453 kbd) was light waxy oil from offshore Gippsland, Victoria. When these discoveries were made in the latter 1960s, imported oil was available in abundant supply and at low prices. Because of this, the Gippsland producers persuaded Government to control the marketing and pricing of their crude, and thus provide the required security of offtake. Political events in the middle East created supply shortages during the 1970s, and dragged up government selling prices for OPEC crude oil. Thus Arab Light crude that sold for less than US$2/barrel (bl) in 1970 reached $34/bl in 1981. Following the consequent decline in world oil demand, in 1982, Australian refiners sought to evade their obligation to lift Gippsland crude. Hence, in 1983, the Government was forced to introduce a floor quota of 385 kbd of Gippsland crude liftings and to allow producers to export any additional production refiners did not require. On expiry of the old arrangements, Government introduced a partial free market from January 1985, whereby the balance in excess of 350 kbd may be sold to Australian refiners at negotiated prices, or exported as before. In 1984/85 exports were some 90 kbd and will be higher in the current year. About half this total has been exported by BHP, providing valuable experience and lessons which are described in the paper.

Jan 1, 1986

By Thomas D. Kaufmann

Whether pursuing hedging or speculative strategies, gold miners can increase sales revenues 1 % to 6% by constantly pricing production forward. Unlike other commodities, gold futures prices are consistently higher than spot prices. A Colorado School of Mines study showed theoretically and empirically that in the 15 years since the price of gold was released from government control, the forward price for gold has been higher than the current price almost 100% of the time. The reason why Metal traders know that holders of metal earn a bonus selling forward when the metal is in "contango." "Contango" is a mysterious word that crept into the trading vocabulary a century ago. It designates a situation when the price of a metal on the futures markets is higher than the price in the immediate or spot market. If the spectrum of spot and futures prices remains static over time, the forward seller who has contracted at a higher than spot price can make a profit equal to the contango by redeeming his commitment at the lower spot price when the contract matures. Consequently, when a seller in a contango market hedges, he makes a profit on the transaction in addition to avoiding a price change risk. On the other hand, buyers of the metal who hedge in a contango situation will sustain a loss equal to the contango. Producers of gold, however, are sellers of gold. For most metals and oil, there is no inherent reason why futures prices should be higher than present prices. Buyers and sellers decide that the price of the commodity will be lower or higher than present values for a variety of reasons.

Jan 1, 1991