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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 Daniel Lachapelle, Nuri Hmidi, Turgut Yalcin

"Simulation can serve as a convenient tool in studying the behaviour and performance of grinding circuits by facilitating the evaluation of various scenarios and identification of optimum operating conditions. This technique was applied to the St Andrew Goldfields Ltd.’s Stock Mine Mill which is a 1300 tpd gold milling facility, offering custom milling services as well as processing the Company’s own ores. Lack of adequate instrumentation in the mill poses a challenge in attaining optimum performance especially with changing ore types and characteristics. The grinding process is monitored essentially by manual measurement and adjustment of pulp densities at various streams. A simulation program was designed to assist in the effective implementation of this mode of grinding control. Product sizes from both the primary and secondary grinding circuits were correlated empirically to relevant process variables using a database formed from the results of past sampling campaigns. The simulator was created in Microsoft Excel whose data analysis and optimization tools coupled with its Visual Basic Programming capabilities were found to provide an excellent environment for the development of a cost-effective, efficient and user-friendly simulation program.INTRODUCTIONGrinding is often a very costly unit process in milling operations, mainly due to the excessive energy consumption associated with it. For example, for a Canadian copper-zinc flotation mill, grinding was listed as being the most costly item taking up 30.4% of the total milling expenses, followed by the flotation cost at 2 1 .O% (Kidd Creek Mines Ltd., 1982). A survey on 45 copper flotation mills around the world showed the average grinding cost to be 34.5% of the total milling cost (Weiss, 1985).Overgrinding aggravates the cost issue, while insufficient grinding either causes loss of valuable minerals to tails or results in low-grade concentrates. Therefore, it is essential that grinding circuits be carefully controlled and monitored. To this end, a great deal of effort has been devoted over the years to the modelling and simulation of grinding systems in order to assist in the efficient running of these processes."

Jan 1, 2001

By H. G. Wang

The production process of a coal mine can often be interrupted by all kinds of events scheduled or unscheduled and thus often needs gas drainage for a temporary or long-term sealed area. Gas drainage has a relatively high risk, therefore attention must be paid to its design to keep the process safe. Based on the conservation laws of mass and constituents, and under the conditions of the allowable gas concentration limit in the return air route, the relationship between gas concentration and gas drainage flow rate as a function of time during the drainage process is discussed in detail to build a mathematical model of gas drainage from a sealed area. With respect to the gas drainage process, two different conditions need to be considered: one with a methane free fresh air supply, the other with a low gas concentration. This paper presents the derived mathematical models for these situations and then shows that they can be incorporated into one model with some modification. This combined model can be employed to determine the optimum gas drainage flow rate with the shortest drainage time. The application is coded using the C# programming language within the .NET framework. Finally, the application program developed by the author is used to validate the mathematical model through an example of gas drainage with varying rate.

Aug 1, 2013

By M. S. Millman

Close monitoring of performance at each process stage, from raw material through to finished product, is vital for operational consistency and the production of high quality steel. However, many of the integrated iron and steelmaking process route stages operate under such severe conditions of temperature, dust, water, thermal radiation, vibration, pressure, vacuum, extreme dynamic events, high material flows, corrosion, erosion, electrical-noise, electromagnetic-noise, or audio-noise that, in general, it is a very difficult challenge to obtain useful information for control. Thus, state-of-the-art non-contact and remote sensors are applied to help monitor and control specific process operations. Often, these sensor systems have been developed especially for the steel industry and they are based on four principal technologies: Laser, Microwave, Electro-Magnetics and Thermal Imaging with supporting technologies such as: X-ray Fluorescence, Audiometry, Digital Image Processing, Radio Telemetry, GPS and many others. These advanced sensor technologies are reviewed with respect to their application at various stages along the integrated process route.

Jan 1, 2004

By L. H. McKay

Tailing Dams Three types of dam have been structed to impound tailings from the Allenby mill: 1.- By classifier unit 2.- By earth dam 3.- By direct deposition of tailings The first type, which includes two dams, was built across a shallow valley which sloped down to Similkameen river, just below the mill site. Two earth embankments, one below the other, were built across the valley. Tailings were then piped to Akins classifiers mounted on wooden wheels. The classifiers were set up at one side of the valley and gradually moved ahead on the sand embankment created by the sand discharge from these classifiers, the slime overflow going to settli.ng ponds formed by the dams. Decanting wells were built in the settling ponds by placing four six-by-six timbers vertically in the ground, two feet apart, to which two-by-six tongue-and-groove boards were nailed. The elevations of the ponds were raised, as required, by nailing additional two-by-six boards on the well and bolting on more six-by-six timbers when required. The bottoms of the wells were attached to a covered launder made of three-inch lumber laid on a one per cent grade. This launder carried the overflow through the dam. The second type of dam was built across a long, narrow valley, known as Hitchen's Flat, the upper ~n d of which was about 2½ miles north of the mill. This valley, an ideal tailings site, was 4,000 feet long and from 600 to 800 feet wide. An earth embankment with a concrete spillway through the top was built approximately 28 feet high across the lower end of this valley. Tailings were then dumped into the upper end of valley, with no further expense until the basin was filled up to the level of the flume where this entered the valley. When the upper end of the valley was filled to this point there was still room for more tailings at the lower end. Therefore, a pump was installed to elevate the tailings to build a wall around the upper end of the valley by depositing sands from a launder built up on 20 foot supports and sloping both ways from the pumping station around the upper end of the basin.

Jan 1, 1950

By J. K. Atherton

If the metals sector is to contribute successfully to sustainable consumption we must adopt principles and practices which address the entire life cycle of the materials we produce. Progress must be founded on a sense of shared responsibility for the resources we utilize and the materials we create - it is this integrated approach which lies at the heart of materials stewardship. Materials stewardship means mining and metals companies producing materials in a responsible manner and then working with others, beyond their site, to ensure that the downstream material flows and applications are managed properly to create maximum societal value. In September 2006 ICMM published 'Maximizing Value: Guidance on implementing materials stewardship in the minerals and metals value chain'. This document takes a practical view presenting structured guidance as well as good practice case studies. In the publication, materials stewardship is described in terms of the range of activities that can be undertaken to ensure that all parties work collectively toward the responsible use of metal and mineral resources. This paper introduces the materials stewardship concept as set out in `Maximizing Value' and describes the business case for implementation as well as the ICMM framework for promoting materials stewardship.

Jan 1, 2007

By David A. Orava, Richard C. Swider

"The technical knowledge and practical experience accumulated by industry and others in abating acid mine drainage (AMD) is being proactively applied at every phase of the mine life cycle. This paper traces the mine life cycle from exploration to post closure monitoring and maintenance, and reviews AMD abatement measures that have become an integral component of exploration and mining activities.Attention is increasingly being given to evaluating AMD potential as part of exploration work, and studies related to project feasibility and design. Mining, mineral processing, and waste management options are selected taking into consideration their suitability to inhibit AMD. These inhibition measures are typically committed to in closure plans submit-ted at the permitting stage. Mines are operated and decommissioned, often progressively, as planned and in accordance with environ-mental protection policies."

Jan 1, 1996

By A. McLean, X. Men

"With high quality sulphide ores diminishing, nickel production from low-grade oxide ores becomes increasingly important and a major concern is the high sulphur level in the resultant ferro-alloy. So, desulphurization of the ferronickel becomes an important consideration. Red mud is a waste product of alumina industry and causes adverse effects on environment. In the present study, experiments were conducted to determine feasibility of using red mud as a major ingredient of refining fluxes for ferronickel desulphurization. In view of their influence on slag-metal separation, contact angle measurements between ferronickel alloy and molten slag made from red mud were also determined. INTRODUCTIONNickel is a very important metal that finds a variety of applications including consumer products, building, automotive and electronics. There are two kinds of ores containing nickel, namely oxide and sulphide ores. Anthony and Flett [1] reported that about 55% of the world’s nickel production originates from sulphide ores while the balance of new nickel is derived from oxide ores. However, oxide ores count for about 70% of the worldwide reserves. Apparently, oxide ores will play a significant role in the production of nickel in the future. Most of nickel produced using oxide ores is from pyrometallurgical processes namely ferronickel smelting or matte smelting. So, we can draw such a conclusion that using nickel oxide ores to produce ferronickel will become more and more important .Before used to make stainless steel or other materials, the ferronickel need pretreatment to remove impurities especially sulphur and phosphorus that will cause negative influence on the properties of steel product. Red mud is a by-product during alumina production. Usually, about 1 to 1.5 tons of red mud will be produced when we get 1 ton of alumina. About 90 million tones of red mud are produced every year in the world [2].Red mud is deemed as a toxic industrial waste which needs treatment before discharge because of alkalinity and chemical and mineralogical properties. Until now, the main means to deal with red mud are to store it in impoundments or dump it in the sea depending on local environment. Nowadays, how to recycle red mud has become a pretty hot topic around the world. The last 40 years have witnessed a lot of patent applications concerning the ways of red mud utilization. However, a little amount of red mud is consumed until now due to the limitations of recycling red mud."

Jan 1, 2012

By W. Graham

"IntroductionEFFLORESCENCE is herein considered to be any deposit of salts on the surface of a masonry structure that is brought from within or through the structure by capillarity and deposited by evaporation. Usually, efflorescence is white although green, yellow, and brown efflorescence is sometimes observed.The common white efflorescence almost always consists of sulphates of the alkali and alkaline earth metals and calcium carbonate, although sodium chloride is frequently present in structures erected near the sea shore.The first and most obvious result of the presence of soluble salts in masonry is the unsightly accumulation of these salts on the surface. This is particularly noticeable early in its life and is frequently fugitive ( 1), as much of the salt is soluble and is gradually washed away by rain. This removal can usually be facilitated by scrubbing; the structure with dilute hydrochloric acid.A more serious effect is the continuous accumulation of soluble salts as a result of ingress of sulphur acids in rain water or water from the ground. This may eventually cause spalling and disintegration by crystallization of salts in the pores of brick and mortar. An example of this type of failure, resulting from the crystallization of calcium sulphate, is discussed by Hardesty (2). Butterworth (3) describes similar failure resulting from •crystallization of magnesium sulphate."

Jan 1, 1954

By James E. Wennen

The through-put and energy efficiency of an autogenous (AG) grinding mill are adversely affected by variability in rock size and rock competency. This applies to both fully autogenous and semi-autogenous (SAG) grinding circuits. In this paper we focus on an approach to overcome the problem of inconsistent mill through-put related to variability in mill feed size and rock competency. The focus is on ores containing hard, competent rock. This approach consists of preparing feed to an autogenous mill that contains 20% coarse media rock and 80% of material crushed to pass 37 mm. Results of pilot-scale testing for two iron-ores will be presented to show that a 10% to 12% reduction in unit energy consumption is possible with prepared feed, compared with feeding the mill with conventional primary crusher discharge.

Jan 1, 2012

By M. A. Nagle

Various strategic projects were carried out in 2002 to increase the capacity of Teck Cominco's integrated zinc-lead smelter at the Trail operations site in British Columbia, Canada. The lead smelter treats the iron residue from the zinc plant and optimizes the overall zinc recovery. This paper summarizes two options that were considered to reduce the zinc content in the leaching iron residue. The first option involved increasing the capacity of an existing hot acid leach circuit up to the iron loading constraints of the circuit. The second sought to maximize the hot acid leach capability by separating the ferrite-rich solids, followed by aggressive hot acid leaching (>100°C) and subsequent iron precipitation. Different forms of iron precipitation were reviewed in order to determine the most effective and economical approach. Among these, was a novel high temperature ferrite conversion process. The technical results and selection criteria are presented together with possible ways to integrate the process concepts into the current sulphide leaching plant circuit. The first option was selected for implementation and is currently being operated successfully.

Jan 1, 2006

By M. G. Stamatakis, C. Zagouroglou, C. Helvaci, J. Kanaris

"Abstract -Borate minerals, such as colemanite, ulexite and borax, have been reported in Tertiary continental basins of West Anatolia, Turkey, and Samos Island, Greece.Tuffaceous rocks interbedded with the borates are rich in authigenic silicate minerals such as zeolites, potassium feldspar and opal-CT, all of which have a genetic association with the borates. Chemical analyses of the tuffaceous rocks show variation in major elements due to the varying percentage of carbonaceous, detrital, and volcanic derived material.The volcanic activity in the vicinity of each particular lacustrine basin created ion-rich fluids from which a series of borates were precipitated under arid climate. Additionally, the saline-alkaline character of these fluids was responsible for the diagenesis of the silicic glass of the tuffaceous rocks, altering them to silicates and silica polymorphs."

Jan 1, 1993

By J. Dubinski

Passive tomographic imaging is a technique that can be used for assessing seismic hazard in mines with high seismic activity induced by mining. The basic idea behind such an interpretation is the assumption that there is a relationship between high values of seismic velocity and high values of stresses in the rock mass. This relationship was confirmed both in laboratory an in situ measurements and constitutes the basis for rock-burst and seismic hazard evaluation. In the paper seismic tomographic images of seismic P wave velocity and seismic P wave velocity gradient have been presented to determine rock-burst hazard and locate high seismic activity zones in the area of coal panel 306 in Zabrze Bielszowice mine. The zones of high values of P-wave seismic velocity gradient have been found to correlate with the distribution of high energetic seismic events. Passive tomographic images were obtained using modern bent ray tracing tomography algorithm with regularization. Recent study give rise to observation that not only high values of P-wave seismic velocity is important in seismic hazard assessment as many strong seismic events are located in the areas of high values of velocity gradient. This recent observation permits to increase quality of passive tomographic imaging for detection of seismogenic zones and is presented in the paper. The advantage of passive tomography comparing to active tomography is that sources of seismic waves are generated by rock mass itself and costly controlled explosions are not necessary. Another practical limitation of active tomography is the size of study area which usually do not exceed 200 m by 200 m. This restriction does not appear in passive tomography where area of study is usually 2000 m by 2000 m and the tomographic images delineate velocity structure in locations where mining induced seismicity take place. Passive tomography method utilized in analysis of rock mass state in underground mines encounter some difficulties concerned with the numerical stability of optimization algorithms. In the presented approach to passive tomography problem numerical stability is obtained by special regularization method and by application of very stable numerical seismic ray-tracing algorithm.

Aug 1, 2013

By Mory Ghomshei

Pebble Creek Geothermal Power project is associated with a massive recent volcanic eruption in Southwestern British Columbia Canada. Slim holes drilled to depths 1100 m in the prospect area, show very high temperature gradients around 80?100?C/km. The temperature and chemistry of the Pebble Creek hot springs indicate the possibility of a steam reservoir in the prospect area. In addition to high temperature gradients, presence of host rocks with high permeability, along with abundance of recharge waters (from the Lillooet River) provides clear signature of a high-grade geothermal power reservoir at depth 2000 to 3000 m. Data show that over five hundred Megawatt of green power can be generated from the prospect area in a commercially viable manner. The generated power will be base-load, which in comparison with large hydro has the advantage of lower capital costs and a significantly smaller footprint. The final hurdle to overcome, before starting the development phase, is deep exploratory drilling for resource confirmation. This paper is a summary of the data available on the Pebble Creek geothermal power prospect, presented in the context of viability of the resource for large-scale commercial power generation.

Aug 1, 2013

By P. Archer

The Blondeau Formation has been examined in a stratigraphic drill section at Barlow Lake. The formation contains pyroclastic flows and volcanogenic sediments throughout, but epiclastic sedimentary rocks dominate the upper parts of the section. Five distinct types of pyroclas tic flows are known in the section, as well as minor mafic lava flows. Volcanogenic sediments are commonly intercalated with the true volcanic rocks. Sedimentary rocks include fine-grained intraclastic sandstones, heterolithic sandstones and green and black shales. Interpretation of the origin and relative disposition of the volcanic and sedimentary rocks favours a model of near-emergent vulcanism in an upward shoaling environment.

Jan 1, 1984

By The Staff

"SummaryDetermination of uranium in ores may be made by measurement of their radioactivity.The method most commonly used is that of measuring beta radiations with the tray-type beta counter. This will give an accurate uranium determination provided the sample does not contain thurium and that the beta and gamma activities have not been disturbed from their natural state of equilibrium. Such a loss of equilibrium will result from mining the ore or from the weathering of the surface rock.A method is described which eliminates errors due to loss of equilibrium. The beta and gamma activities are measured simultaneously in one simple operation. This method is recommended for assaying samples of products from milling operations and its use is limited only by the presence of thorium in a ratio greater than one part of thorium to twenty parts of uranium.A third method is recommended for the analysis of exploration samples and diamond drill cores, which may be assayed in the uncrushed state.Rapid determinations of a large number of samples is possible with the pressure ionization chamber, which is sensitive to gamma activity."

Jan 1, 1950

By C Jincheng, L. Liang, L. Wenjun

"Considering overgrinding in a grinding process, the grinding characteristics of comminuted hematite products using a HPGR and a conventional CC were comparatively studied. The major properties including particle size, grinding kinetics and grinding technical efficiency (Et) were investigated. Individual size distributions (ISDs) of -2.0mm in a HPGR product showed a more significant “double-peak” characteristic than a CC product. As a result, HPGR products were finer and had a wider full-size distribution because of the greater proportion of fines. The parameters m and zi in m-th order grinding kinetics were analyzed by the partial-derivative method and the critical time tc(tc = exp (1/ zi)) was obtained. zi mainly affected the breakage rate when t < tc; otherwise, m mainly affected the breakage rate. In these tests, tc was considerably higher than the grinding times, and HPGR products yielded a higher zi-value than the CC product for the same sieve size. This indicated that HPGR products had a higher breakage rate and needed a shorter grinding time for a certain grinding fineness. Et was calculated by simulating the size distributions of batch grinding products. HPGR products gave a lower Et at a decreasing rate than the CC products for -2.0 mm feed and -0.5mm feed, and then showed a slightly higher Et for -2.0+0.5 mm feed. This indicated that overginding in HPGR full-size products was more serious under the condition of coarse grinding, whereas the efficiency was higher and overgrinding weakened significantly in HPGR coarse products because of screening-out fines. Based on the above research, a new process of “ultra-crushing in HPGR – classified grinding” was advanced, reducing ores tonnage into first stage ball mill significantly, improving grinding efficient and weakening overgrinding in the whole grinding process.INTRODUCTIONIn mineral processing, comminution accounts for a substantial portion (approximately 60~70%) of the energy consumed in plants. As an ultra-fine crushing equipment,the application of the HPGR for industrial comminution has been paid close attention because of its low specific energy, low steel consumption, high capacity and high ratio of reduction, among others (Schonert, 1998; Norgate & Weller, 1994; Fuerstenau & Kapur, 1995). HPGRs comprise two counter-rotating rolls that draw feed material into the roll gap. One roll is fixed to the mainframe, while the other movable roll is mounted on slides and positioned by hydraulic rams. The specific pressing force (SPF) (i.e., total force divided by projected roller area) is typically in the range of 3~9 N/mm2 depending on the application, while pressures of up to 1000 N/mm2 have been measured within the operating gap (Maxton , Morley, & Bearman , 2003)."

Jan 1, 2016

By D. Auerswald, M. Kotze, V. Yahorava, T. Udayar

Uranium can be recovered from lower grade uranium ores (<800 mg/kg U3O8), leach residues, and waste dumps cost-effectively via resin-in-pulp (RIP). Using this technology, no solid/liquid separation or washing of the leach residues are required. Furthermore, the uranium recovery can be higher than with conventional methods. RIP technologies have, however, been perceived negatively due to concerns around potential resin fouling and losses. This paper highlights the advancements made in RIP and discusses a number of potential applications where the technology could deliver economic and consequential environmental benefits by reducing the uranium levels in the waste.

Jan 1, 2014

By E. Krause

The oxidation of Fe(II) with S(IV) and oxygen can be used advantageously in leaching systems requiring both Fe(III) and sulfuric acid; e.g., heap leaching of sulfide-containing ores or concentrates. The oxidation of Fe(II) with SO2/air is several orders of magnitude faster than with air alone; rates of up to ?20 g/L&apos;h were observed at 25°C. The reaction proceeds via an intermediate orange-red mixed-valence Fe(II)/Fe(III) sulfite complex, which is present at an essentially constant concentration throughout most of the oxidation process. The oxidation rate of Fe(II) is approximated by the formula -d[Fe(II)]/dt = k [S(IV)] [02]0&apos;3. The concentration of the mixed-valence complex, and thus the iron oxidation rate, decreases with increasing acidity. Certain impurities, such as SCN- and thiourea, negatively affect the rate. The oxidation reaction 2Fe2 + SO2 + 02 4 2Fe3+ + S042- is accompanied by the side reaction H20 + SO2 + 1/202 4 H2SO4. The side reaction becomes particularly important at low temperatures and whenever the oxygen mass transfer is insufficient with respect to the rate of addition of S(IV). Thus, effective oxygen mass transfer is essential for achieving high oxidation rates with minimal acid formation. The activation energy was estimated as 141 kJ/mol over the temperature range 10-35°C.

Jan 1, 2006

By A. J. Pearce

MOST mines have a model of some kind to illustrate either geological structure, mining operation, or some special condition or feature of the property. The type used depends on the particular feature or use for which it is intended. At Dome Mines we have developed an interesting and practical application of the horizontal-type model. This model shows the workings of each level horizon plotted on glass. These glass panes are set in frames which, in turn, rest on drawers equipped with rollers which can be pulled out as desired into a light chamber. The features of this model are its rigid steel construction and that any desired number of level plans can be pulled out, eliminating any other interference from other levels. Figures 1 and 2 are photographs of the model cabinet and show its construction and general features. The cabinet is of steel construction with the following overall dimensions: width, 6 ft. 5 in.; depth, 6 ft. 7 in.; height, 5 ft. 2 in. When not in use it can be completely closed-in, making the cabinet practically dustproof. There are 30 drawers, one for each of the 29 levels and one for the surface. The glass in each drawer is divided into two panes, 36 in. by 36 in., of flatdrawn double-diamond &apos;lustraglass&apos; with about l/32 in. between adjacent edges. The panes are held rigidly in the frames, which are lined with felt strips, and may be adjusted by set screws, four of which on each drawer are shown in Figures 1 and 2. The level workings, on a scale of 1 inch equals 100 feet, are traced in ivory black Windsor & Newtons artist oil paint. Co-ordinate lines are shown in crimson lake, and main geological contacts are shown in their respective colours. Figure 3 is a photograph looking down on one of the levels. The lighting consists of 14 30-watt fluorescent bulbs, with reflectors, under frosted glass. These lamps are much more satisfactory when operated by 60-cycle rather than 25-cycle and, as we had available nearby a source of direct current, this was used. The electrical unit consists of a rotary converter from d.c. to 60-cycle. This arrangement gives perfect lighting, allowing most colours to be easily distinguished. Figure 1 was photographed using this source of light, Figure 2 using an outside floodlight.

Jan 1, 1945