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By C. Caballero, A. Warczok, K. Itagaki, A. Moyano, J. Font

The Codelco Norte Smelter process 2,500 tpd of arsenic-bearing concentrates with an arsenic content of up to 1.5% in one of its two main smelting units, the Teniente Converter. The product, 1,100 tpd high-grade matte or white metal, is traditionally fed to the PS converters, while the 1,700 tpd of slag is fed to the slag cleaning electric furnace for copper recovery. This is achieved in a very reductive environment which reduces the viscosity of the slag and enhances the sedimentation of the high-grade matte droplets. The behavior of arsenic in this non-oxidative environment was studied at lab-scale and fundamental thermodynamic data were obtained. Based on these data a thermodynamicbase model to assess the arsenic behavior in reductive environment was developed. It is based on a mass balance for the reduction and sedimentation stages performed in an electric furnace which allows the recovery of high-grade matte droplets after decreasing the viscosity of the slag. This model can be a very suitable tool for predicting fractional distribution of arsenic in the slag cleaning electric furnace, when the distribution ratio, vapor saturation degree, temperature, y As and pO2 are given.

Jan 1, 2007

By G. Szilvay, P. Kinnunen, J. Salminen, V. Miettinen, O. Salmi, J. Mäkinen

This paper demonstrates experimental studies on bioprocessing of different waste streams. In Part I of this paper three tailings from mining industry were bioleached with mixed acidophilic culture in order to solubilize valuable metals, like copper, nickel, zinc and manganese to leaching liquor. Bioleaching resulted in > 70 %, > 85 %, 100 % and > 70 % leaching yields for Cu, Ni, Zn and Mn, respectively. However, contaminants like arsenic and chromium were not leached efficiently and they will cause challenges in residual solids and sometimes also in metal recovery from leaching liquor. Bioleaching resulted in 99 % leaching yield for copper. Part II demonstrates mine water treatment and also gold recovery from process liquids with biosorption method. The novelty of biosorption was finding that certain fungal species were able to be cultivated to self-immobilized systems, which are easier to operate than traditional suspended biomass methods. Biosorption resulted in more than 90 % removal for all contaminants, but was also seen to be gold selective.

Jan 1, 2014

By Sabine Noelte, Mikko Petteri Rantamäki, Christopher Robben, Anssi Takala, Karl-Erik Rånman

"Sensor-based ore sorting is on its way to establish as a standard option for physical separation. The increasing number of installations in coal, iron ore, industrial minerals and hard-rock metal mining segments underlines the technological and financial potential that is beginning to be untapped. The Ma’aden Phosphate installation with 1.650 t/h sensor-based ore sorter feed sets a new benchmark for the possible capacity of stationary installations. Besides stationary installations, including multiple sorters parallel in different size ranges and multiple stages, containerised semi-mobile plants are applied. These offer two advantages, first being the reduction of transport costs when applied close to the mining face. The second is that semi-mobile systems enable processing of tens of thousands of tonnes of ore in a piloting phase with an approximate duration of 0.5 to six months, verifying the results laboratory mini-bulk tests on 5–10 tonnes of sample. This is especially important for low-grade metal ores because of the inherent Fundamental Sampling Error, as well as the Grouping and Segregation Error. The paper elaborates the results achieved within the I2MINE project, treating polymetallic ore at the Boliden Concentrator in Sweden.INTRODUCTIONSensor-based ore sorting (SBS) is becoming a standard option for physical separation, applied in all segments of mineral production. The Umm Wu’al project sets the bar for stationary SBS installations with 1,650 t/h feed (TOMRA, 2015). TOMRA Sorting Solutions has finalised an agreement in cooperation with Outotec to supply Outotec-branded sorting solutions for the mining and metallurgical industry (TOMRA, 2014). Especially for low-grade hard rock metal ores, an interdisciplinary approach is necessary applying experts for all aspects of mineral production. Due to the impact on the whole process stream, it is important on the end user side to have high level managerial support and involve all disciplines to ensure that all stake holders are involved in the analysis."

Jan 1, 2016

By L. Xia, B. Hart, J. Nigim, Z. Chen

"Grinding ore is an important step in the flotation process. Not only does grinding reduce particle size and liberate minerals, it also creates conditions for reactions to occur on particle surfaces that can aide or inhibit flotation. There have been numerous studies examining various grinding regiments and the effect on flotation pulp chemistry, including autogenous grinding and using media of variable composition. There have been however, few studies looking at the effect of variability in grinding media size on pulp chemistry and subsequent flotation. This study attempts to link changes in pulp chemistry in response to variations in grinding media size to flotation recovery. It uses probes mounted in the grinding chamber (pH, Eh, DO, and conductivity) to monitor pulp chemistry changes during grinding of a Cu-Zn ore. Surface chemistry analysis by ToF-SIMS was performed on sphalerite from the mill discharge. Activator and depressant species were monitored on the mineral surfaces and their presence was evaluated in the context of variability in pulp chemistry linked to differences in grinding media and its ball size.INTRODUCTIONIt has been widely recognised that not only does grinding reduce particle size and liberate minerals but the grinding environment has a large effect on the flotation of sulphide minerals. This effect is attributed to Eh change, iron hydroxide coating on surfaces, oxygen reduction, precipitation from solution and galvanic coupling (Grano, 2009). As early as 1960, it was reported that after grinding the ores in an iron mill the natural floatability of sphalerite was reduced significantly (Rey and Formanek, 1960). Kocabag and Smith (1985) studied on the industrial circuits showing that the depression of sulphides flotation in a steel mill is possibly due to the coating of iron oxidation products. Peng, Grano, Fornasiero, and Ralston (2003a, 2003b) found that iron contamination from grinding media plays a dominant role in depressing galena and chalcopyrite flotation. Huang, Grano, and Skinner (2006) reported the same observation in the flotation of arsenopyrite."

Jan 1, 2016

By I. Stanoev, V. S. Stoilov, I. Gradinarov, E. D. Visariev, I. A. Bonchev, Aurubis Bulgaria

"Aurubis is the leading integrated copper group and the world’s largest copper recycler. In Copper smelter Aurubis Bulgaria (Pirdop), the residual copper in the slags from Flash furnace and Converters is recovered by flotation. The slag processing comprises: pit cooling, crushing, two stages grinding (autogenous and ball) and flotation. The copper concentrate is thickened and then is filtrated by vacuum disk filter. The thickener overflow is sent to settler for additional clarification. A resent throughput increase resulted in higher solid content in the thickener overflow due to insufficient thickener area. Different scenarios to overcome the issue were evaluated (new thickener, reagents and reconstruction). An increase of the thickening area by installation of lamella modules was chosen as the most promising option. Three lamella modules (1 m3 each) were installed in conventional thickener for the test. Number of sampling campaigns was done to evaluate the effect on solid content in overflow. Parameters of the dewatering cycle were collected during sampling campaign. The products grain size distribution was defined - thickener feed, thickener overflow with and without lamella. The thickener overflow with lamella modules has 2.12 g/L less solid content. The decrease was 71.8%. According to the tests results, the whole conventional thickener was reconstructed with lamella modules. The thickener area was increased by more than 400 m2.INTRODUCTIONIn Copper smelter Aurubis Bulgaria, the copper in slag from the Flash furnace and the Converters is recovered by flotation. The scheme of slag processing is crushing, two stage grinding (autogenous and ball) and flotation. Till 2010 the grinding cycle in the plant was in two stages: the first stage was AG Mill 70×23 working with a classifier and the second stage was ball mill 3.6/5.5 working with a hydrocyclone. In 2010 a new AG Mill 65×78 with hydrocyclone was put in operation in order to increase throughput of the plant. The second stage of the grinding cycle was not changed."

Jan 1, 2016

By Jan Drzymala, Przemyslaw B. Kowalczuk

Froth flotation is widely used for upgrading of ores and other materials. Efficiency of flotation depends on many parameters, including type, chemical structure and dose of flotation reagents. Selection of a proper frother in flotation depends on the material used, necessary dose of frother and its selectivity. The selectivity of flotation can be characterized by proper separation factors and indices. In this paper separation selectivity and power of frothers were evaluated basing on separation data for a given material and frother, plotted as the recovery of the useful component in the concentrate versus the recovery of the remaining components in the tailing. Such a plot is called the Fuerstenau upgrading curve. The selectivity was defined as the location of the whole upgrading curve in relation to no and ideal separation lines, expressed on the scale from 50 (no separation) to 100% (ideal separation). In turn, the flotation power was defined as the dose of frother to reach a certain upgrading level at which recoveries of the useful and unwanted components are equal. The power and selectivity of frothers were determined for the Kupferschiefer stratiform copper ore floated in the presence of a fixed amount of xanthate and varying doses of frothers using a laboratory flotation machine. Basing on the separation results for different poly(propylene glycol) (CnH2n+1O(C3H6O)mH, CnPm) and poly(ethylene glycol) (CnH2n+1O(C2H4O)mH, CnEm) alkyl ethers, it was found that the concentrate yield and recovery of copper as the useful component in the concentrate were greatly influenced by the type and dose of frother. However, the same results plotted in the form of the Fuerstenau upgrading curve clearly indicated that the selectivity of frothers was similar, while their power was different. It proves that both selectivity and power of frothers are useful parameters for characterizing flotation systems.

Jan 1, 2016

By H. Perez, A. Lavoie, V. Prévost, P. Létourneau, P. Lind

The Home smelter is a custom copper smelter located in Rouyn-Noranda, Quebec. In 2005, the smelter produced 145,000 t of copper containing 807,000 oz of gold, 20,388,000 oz of silver in addition to 515,000 t of sulphuric acid. Recently, a flexible flow sheet has been developed incorporating the intermittent use of the Noranda Continuous Converter allowing for the increasing or decreasing of production based on market conditions, while attaining 90% or greater sulphur fixation regardless of operating mode. For 2006, the smelter is operating in full production mode and production is expected to be approximately 185,000 tm of copper. Mechanical modifications, process changes, metallurgical concepts, minor element treatments, and operational techniques that have allowed the smelter to develop this flexibility are presented. Current efforts to increase the productivity of the converter aisle and anode furnaces as well as improvements being made to address fugitive emissions are also discussed.

Jan 1, 2007

By D. Naden, D. J. King

"The high capital and operating cost of liquid-solid separation circuits in hydrometallurgical plants has led to an increased focus on the use of in-pulp systems for metals recovery in order to eliminate the need for solids washing and to reduce the need for liquid-solid separation.Carbon-in-pulp (CIP) has now been accepted in Canada and around the world as the leading process for recovery of gold and silver, replacing the Merrill-Crowe process and thus removing the need for CCD thickeners or belt and drum filters. The overall design of conventional CIP adsorption circuits was established in the late 1970s and it has remained substantially unchanged until now. Most of the development work since 'hen has been concentrated on improving methods of separating pulp and carbon and on reducing carbon losses during transportation and agitation.Resin-in-pulp (RIP) has been used for many years in uranium mills in the USA. However, most of the plants were built in the 1960°s and RIP was only chosen when liquid-solid separation of leach pulps proved very difficult. The plants are far from ideal as they have high resin losses and high maintenance costs. Consequently, there is room for improvement.Davy McKee has taken a fresh look at the engineering development of in-pulp contactors leading to a fundamental redesign of the adsorption units. The improved in-pulp technology uses a modification of the proven air-swept screen techno1ogy together with a new technique of process operation. The new contactor operates at high pulp throughput rates with high concentrations of carbon or resin in the recovery stages, resulting in a significant reduction in the contactor size over conventional design. As a result of this reduction in the size of the contactor by up to 80%, significant savings can be made in equipment and building costs. In addition, the plant 1s easier to operate than a conventional CIP plant."

Jan 1, 1987

By Somasundaran P., M. Vasudevan, Z. Dai, D. R. Nagaraj, T. Bhambani, P. Patra

Historically, efficient beneficiation of ultramafic ores has been challenging, partly due to a lack of clear scientific understanding of the effects of Mg silicates, particularly fibrous serpentines, on selective Ni recovery. Recent research at Columbia-Cytec as a part of a Vale JDP project has led to new insights into the mechanistic aspects of the adverse effects of Mg silicates. Our research has provided strong evidence to support the hypothesis that the adverse effects of Mg silicates are mediated through their large influence on pulp rheological properties, far more than any other pathway. The severity of the effect of Mg silicates is predominantly dependent on the aspect ratios of Mg silicates. For example, the pulp viscosity increases dramatically with increase in the fibrous nature of the gangue mineral leading to poor Ni separation. Various ways by which the suspension rheology affects flotation sub-processes, with implications for remedy are discussed. The insights and results have served to develop (or construct) a phenomenological model to adequately explain all of the ore flotation data, particularly the Mg silicate transport to the froth phase and the concentrate.

Jan 1, 2011

By W. Mirihange

Considerable mechanical property decline is always observed at the Heat Affected Zone (HAZ) of AA 5083, This occurred as a result of the thermal effect on the hardened material, It is highly beneficial to have a prospective metallurgical procedure to overcome this decline of properties. Therefore, experiments were set to evaluate the effectiveness of a quick post weld heat treatment process with the AA 5083, Optimum results were obtained at 473K and with approximately 600 seconds time, The interplay between the time, temperature and mechanical properties are possible to explain by the Lifshitz-Slyozov-Wagner (LSW) theory and by considering the composition of the material.

Jan 1, 2005

By E. Ghali, N. Sorour, G. Houlachi

"The binary Fe53Mo47 and ternary Fe54Mo30P16 coatings have been electrodeposited from citrate-based electrolyte on mild steel (MS) substrates. The electrodeposition has been conducted for 6 hours at 20 mA cm-2 and 30°C. The electrochemical tests were carried out in chlorate solutions containing 300 g L-1 NaCl and 4 g L-1 K2Cr2O7 at pH 6.4 and 80°C. A number of surface characterization techniques such as SEM-EDS, XRD and EMP were used to study the microstructure of the alloys. The electrocatalytic activity of these coatings was investigated using steady-state polarization and galvanostatic technique. This study revealed that the Fe-Mo-P coating could be considered as a promising cathode material for the hydrogen evolution reaction (HER). The results showed an important decrease of hydrogen overpotential for Fe-Mo-P alloy as compared to that of Fe-Mo and especially MS which is a traditional cathode in chlorate industry. The HER overpotential for Fe54Mo30P16 at current density of 250 mA cm-2 was decreased by 30% in comparison to that of MS (1029 mV), and by 16.5% to that of Fe53Mo47 coating (857 mV).INTRODUCTIONSodium chlorate is used for manufacturing of several daily consumption products. This chemical is mainly employed for the production of chlorine dioxide (ClO2) that is a bleaching agent used in the pulp and paper industry. The ClO2 is also consumed for generation of perchlorates, chlorites and other chlorates, as an herbicide and in uranium processing (Cornell, 2002). Sodium chlorate is produced industrially via following overall formula in un-divided electrochemical cell (Nylén & Cornell, 2009):"

Jan 1, 2016

By C. Okay Aksoy

In Turkey, the increasing demand for lignite has necessitated an increased emphasis on both lignite production and recovery. This emphasis has resulted in a gradual increase in the application of the retreat longwall mining method for both its product recovery and productivity benefits. Also, in order to maximize the recovery of the natural resources and to increase total production, it is necessary to take advantage of underground reserve before abandoning the mine. This means that at the end of the life of the mine, the main drift safety pillar and the shaft pillar will generally be extracted. This investigation a preliminary study of the stability of the main drift and the shaft at the Hustas Mine as the safety pillars are extracted. In this study, field surveys belonging to the underground colliery of Hustas Co. in Soma have been investigated with the help of LAMODEL working under the Laminated Displacement Discontinuity principle for the models calibrated as a results of physical model and finite element analyses. The convenience of Laminated Displacement Discontinuity Analysis has been researched in such studies. The results out of the models have been coherent with the previous studies.

May 1, 2004

By R. J. Grant, D. W. Scott, M. A. Cooper, E. R. Shannon

"The Brunswick No.12 site concentrator processes 10,500 tonnes per day of a complex lead, zinc, copper and silver ore producing four concentrates by differential flotation. Research over the years has led to increased understanding about the mineralogical and flotation characteristics of the ore. A pilot plant study conducted at Lakefield Research, primarily designed to investigate the technical feasibility of semi-autogenous grinding, provided an opportunity to test recent theories about grind size,, reagent schedule and flowsheet configuration.A fundamental approach was taken with each of the unit processes involved in grinding and flotation. Basic operating and metallurgical criteria were established in each area and a step-by-step implementation program initiated in the plant.Significant improvements in metallurgical and financial performance have been realized through the application of basic grinding and flotation principles using conventional milling equipment and without major capital expenditure. Current operating practice is detailed and metallurgical advancements cited.INTRODUCTIONBrunswick Mining and Smelting operates one of the world's largest lead and zinc mines near Bathurst, New Brunswick. Brunswick is a publicly traded company with majority ownership held by Noranda Minerals (63%). In addition to the No. 12 underground mine, the company operates a lead smelter and phosphate fertilizer plant in Belledune, N.B. and maintains a 25% interest in a joint venture with Noranda Minerals' Heath Steele mine near Newcastle, N.B. Through the four operations, a total of 2000 people are directly employed with fixed assets totalling Cdn$187 million (BM&S, 1991)."

Jan 1, 1993

By B. D. H. Knights, M. A. W. Bryson

Flotation of PGM ores, specifically UG-2, presents a number of technical challenges. These centre on the prevalence of chromite. Subject to over-grinding, chromite is primarily recovered to the flotation product through entrainment. This is of unique concern as it must be kept below a threshold for downstream smelting, with significant operational and monetary penalties being imposed should it exceed this concentration. A number of strategies have been developed to maximise PGM recovery in the presence of this unwanted contaminant. Specialised flowsheets form a vital basis and advanced control algorithms further enhance PGM recovery while minimising the recovery of chromite. Advances in Mineral Processing Science and Technology Proceedings of the 48th Annual Conference of Metallurgists of CIM Sudbury, Ontario, Canada Edited by

Jan 1, 2009

By Robert K. Jonas

Mining companies can improve production and reduce costs by using the best available technology to control their operations. Many mines are challenged to use multivariable predictive control due to limited experience or staffing, as well as being concerned over the robustness and sustainability of predictive controls. As a result many mines are not realizing optimal performance from their assets, and thusly are not realizing the production increases or cost reductions that this technology can deliver. Over the past few years, the application of multivariable model-based predictive control has gained acceptance in many mining processes and has proven to be robust and sustainable for some of the most challenging mining processes. New automated modeling and performance monitoring software have greatly simplified the effort to implement and maintain these solutions. In addition, many progressive companies have chosen to co-source the implementation and service of these solutions to assure project success and continued benefits stream. This technology has been successfully applied to a wide variety of processes; grinding mills, alumina digestion, CCD washer and thickeners, kilns, calciners, roasters, flash smelters, heat exchangers, evaporators, and most recently in the demanding process of flotation. This paper discusses the state-of-the art in advance control technologies in the mining industry, including the impact of these technologies on maximizing benefits, and implementing best practices for long term sustainability. Benefits from recent multivariable predictive control applications in copper mining will be reviewed, and the use of the latest predictive control technologies and practices in mining will be discussed.

Oct 1, 2009

By Weimin Fu

Chondrite-normalized rare earth elements (REEs) profiles and high field strength elements (HFSEs) in rocks and minerals represent important tracers of geological processes. Of these the birdwing-shaped profile with negatively-sloped light REE ((La/Sm)N >1), positively-sloped heavy REE ((Tb/Yb)N <1), and strong negative Eu anomalies is commonly associated with large-scale hydrothermal systems or granitic intrusions. In a different way, severe deviation of Nb/Ta, Hf/Sm ratios from those of chondrite may also indicate hydrothermal signatures in the rocks involved as these ratios are generally stable and chondritic in normal magmatism as a result of their nearly identical ionic radii and charge. In this study, we present a typical setting where birdwing-shaped REE profiles together with Nb/Ta, Hf/Sm ratios unusually higher than those of chondrite, are systematically developed in a series of garnetite, quartzofeldspathic gneiss, Fe- or Mg-rich aluminous gneiss, and sulfides and magnetite. These units and associated Cu-Au mineralization form a VHMS-style hydrothermal system in the granulite-facies 1.4 Ga -1.35 Ga volcano-plutonic, arc-related Bondy gneiss complex (BGC), western Grenville Province, Canada. Outside the recognized hydrothermal system of the BGC, such REE profiles are not observed. Instead the surrounding felsic and mafic gneisses display primary trace element characteristics of island-arc magmas, suggesting that granulitefacies metamorphism did not modify significantly the trace element signatures of the protoliths. Although magmatic fractionation of accessory minerals can produce birdwing-shaped profiles, it cannot explain the extreme fractionation of isovalent trace elements (Nb-Ta) and the high Zr content of the hydrothermal rocks. Neither is it compatible with the lack of significant Nd depletion that would normally incur during this process. Following our study, we demonstrate that F-rich fluid and mineral phases enriched in LREEs and HREEs respectively must have been involved in the main hydrothermal alteration and REE fractionation process in the BGC. Preferential removal of REEs from the interstitial glass of the volcanic protoliths together with dissolution of plagioclase and subsequent external influx of HREEs and HFSEs can produce birdwing-shaped REE profiles. In turn, such profiles and/or unusual Nb/Ta, Hf/Sm ratios can be used as a sensitive marker of hydrothermally altered rocks in targeting mineral exploration.

May 1, 2003

By B. Garitte, O. K. Mahabadi, P. Marschall, A. Lisjak, H. R. Müller, T. Vietor, G. Grasselli

Numerous research studies have shown that clay rock formations exhibit favourable characteristics for the deep geological disposal of radioactive waste. However, one main concern is that the favourable long-term isolation properties of the intact rock mass could be negatively affected by the formation of an excavation damaged zone (EDZ) around the underground openings. The goal of this paper is to present new rock mechanics insights into the phenomena involved in the EDZ formation and evolution processes in Opalinus Clay, a clay shale currently being assessed as a potential host rock for an underground repository in Northern Switzerland. More specifically, discontinuum-based computer simulations, using a hybrid finite-discrete element method (FDEM) approach, were applied to two case studies considering circular excavations in an anisotropic Opalinus Clay formation. In the first case study, numerical modelling was applied to the HG-A experiment, a long-term in-situ test carried out at the Mont Terri underground rock laboratory to investigate the hydro-mechanical response of a backfilled and sealed microtunnel. A mechanistic analysis of the fracturing processes involved in the EDZ formation was carried out. In the second case study, the long-term effect of the bentonite backfill swelling on the EDZ around an emplacement was numerically analyzed. Overall, the simulation results highlight short-term distinctive rock failure kinematics due to the bedded rock structure, as well as a long-term reduction of the excavation-induced fracture porosity in response to mechanical loading.

Jan 1, 2015

By K. Thuro, B. Sellmeier, M. Krautblatter

"Recent rockfall events, like the Tramin rockfall at January 21st, 2014, underline the significance of a comprehensive hazard assessment. A common way of estimating the hazard along infrastructure is the performance of run-out modelling using 3D rockfall codes like Rockyfor3D or RAMMS::Rockfall (Dorren, 2010, Bartelt et al., 2013). The potential block volumes are often roughly estimated from talus material and an overview of the source area, where the magnitude assessment is usually physically and intellectually demanding. Nevertheless especially for increased magnitudes, the volume estimation is crucial in terms of hazard analysis. Mid-Magnitude-Events exceed the load capacity of the most mitigation measures and their date of failure is hard to predict. Here we define the term Mid-Magnitude-Events as block volumes between boulder falls (10-100 m³) and block falls (100-10,000 m³) (Whalley, 1984).The current contribution provides an approach of integral process analysis for a 200 m3 carbonate block above the federal road B 305 near the city of Salzburg in the Bavarian Alps, Germany. We performed detailed analysis of the critical carbonate block exposed to planar failure. The block volume and the dimensions of the failure surface were mapped in detail, due to the unique occasion of an accessible failure surface. The discontinuity persistence was recorded to assess a minimal degree of fragmentation for a potential failure scenario. A maximum degree of fragmentation was estimated due to recording of block dimensions at the talus slope resulting from frequent rockfalls.We performed parameter studies in terms of run-out modelling using the code RAMMS::Rockfall (Bartelt et al., 2013), taking the recorded data for block fragmentation into account. In our contribution, we aim to demonstrate a comprehensive approach for hazard assessment of mid magnitude rockfalls, taking detachment processes, fragmentation and run-out analysis into account."

Jan 1, 2015

By Bonnie Cooper

3D printing by fused deposition can be used on lunar soil. The soil can be precisely size-separated to make the 3D printing process work efficiently. Using a MASER instead of a LASER would allow us to use the finest fraction of lunar soil, AS-IS, to manufacture things on the Moon.

May 1, 2013

By N. Hwang

There has been increasing interest in the use of robotic machines, and several prototype robotic machines have been developed to automate the grit-blasting process for the purpose of steel bridge maintenance. To utilize such a robotic grit-blast machine effectively, the first consideration is automating the determination of the rust surface area to blast, on the basis of standards of practice, in a rapid manner. This study aims to propose a method to rapidly and accurately determine the rust surface area on steel bridges to blast, with consideration for the standards of practice, from images acquired via a blasting machine. The first step is to perform a color space conversion to transform the input image from a red/green/blue (RGB) color space to a hue/saturation/intensity (HSI) color space. The next step is to detect the presence of rust, using pixel-level classification via the C4.5 decision tree algorithm. Then it is necessary to confirm the blasting area by verifying whether the rust detection result satisfies the specified criteria on the basis of standards of practice. The proposed method was validated on 39 test images with various characteristics with respect to the degree of rusting and rust distribution type. The experimental results showed that the average accuracy rate of rust area classification was about 97.63%, and the success rate of the final decision of blasting area determination was 100.00% for 39 test examples. The whole processing time took an average of only 0.86 seconds per image. The preliminary results demonstrated that the proposed method not only determined whether rust was present in an image and the amount of rust but also indicated whether blasting was necessary, and, if necessary, it rapidly specified the rust surface area that should be blasted on the basis of standards of practice. The proposed method could be successfully incorporated into a robotic grit-blast machine.

Aug 1, 2013