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By L. Hacini, N. Van L ê, P. Bacher, D. Thibault

Manufacturer welded components may suffer from high level of residual stresses which can cause premature cracking and decrease the life of the components if they reach values close to the yield strength of the material. In the present work, a robotized hammer peening technique is simulated by an impact machine and the residual stresses generated by the indentation are measured. To better understand phenomena behind residual stresses relaxation by hammer peening, the impact energy level was changed. 304L steel plates were hammer peened with 10 impacts. The contact between the hammer and sample surface was always at the same location. The strains on the surface close to the impact location were recorded during the test using strain gauges to follow residual stresses variations. At the end of the test residual stresses were measured indepth using hole drilling technique at 8mm from the impact center. The micro-hardness was monitored to evaluate the affected zone by the hammer peening. This approach gave a good estimation of the energy and number of blows to be used for efficient relaxation of the manufactured parts.

Jan 1, 2006

By P. E. Weidmark

"PART 1-Published PapersAllcott, G.A., and Archibald, D.E.; ""Description of pillar behaviour at Heath Steele Mines""; Can Min Metall Bull; 74:834:80-87; 1981.Baar, C.A.; Discussion of Theme 1: ""Physical properties of intact rock and rock masses""; Proceedings 3rd Congress Intnl Soc of rock Mechanics; 3:32-33; 1979.Baar, C.A.; Discussion of Theme 1: ""Physical properties of intact rock and rock masses""; Proceedings 3rd Congress Intnl Soc of Rock Mechanics; 3:37-38; 1979.Baar, C.A.; Discussion of Theme 1: ""Physical properties of intact rock and rock masses""; Proceedings 3rd Congress Intnl Soc of Rock Mechanics; 3:38; 1979.Baar, C.A.; Discussion of Theme 1: ""Physical properties of intact rock and rock masses"" ; Proceedings 3rd Congress Intnl Soc of Rock Mechanics; 3:41; 1979.Baar, C.A.; Discussion of Theme 1: ""Physical properties of intact rock and rock masses""; Proceedings 3rd Congress Intnl Soc of Rock Mechanics; 3:42; 1979.Baar, C.A.; Discussion of Theme 1: ""Physical properties of intact rock and rock masses""; Proceedings 3rd Congress Intnl Soc of Rock Mechanics; 3:46; 1979.Baar, C.A.; Discussion of Theme 2: ""Tectonophysics""; Proceedings 3rd Congress Intnl Soc of Rock Mechanics; 3:60; 1979.Baar, C.A.; Discussion of Theme 4: ""Underground openings""; Proceedings 3rd Congress Intnl Soc of Rock Mechanics; 3: 116; 1979.Baar, C.A.; Discussion of Theme 4: ""Underground openings""; Proceedings 3rd Congress Intnl Soc of Rock Mechanics; 3:116-117; 1979.Baar, C.A.; Discussion of Theme 4: ""Underground openings""; Proceedings 3rd Congress Intnl Soc of Rock Mechanics; 3:117; 1979.Baar, C.A. '; Discussion of Theme 4: ""Underground openings""; Proceedings 3rd Congress Intnl Soc of Rock Mechanics; 3:118-119; 1979.Baar, C.A.; Discussions (2) of Theme 4: ""Underground openings""; Proceedings 3rd Congress lntnl Soc of Rock Mechanics; 3:119; 1979.Baar, C.A.; Discussion of Theme 4: ""Underground openings""; Proceedings 3rd Congress Intnl Soc of Rock Mechanics; 3:120-121; 1979."

Jan 1, 1982

By Lionel C. Kilburn

"This geological engineering method is based on jour main characteristics of mineral properties, viz; location: inclusion of valuable mineralization; inclusion of geophysical and/or geochemical targets; and inclusion of geological targets. These are subdivided into a total of 19 subcategories, which are used to determine the value of the property.The nineteen subcategories are prioritized and assigned relative value factors from 1.3 to 10. Value of each mineral claim unit is determined by applying the appropriate subcategory factors to a base value of $400per 16.2 hectare unit. Property value is calculated by totalling the values of such individual claim-units.The boundary between ore grade and sub-ore grade must be estimated for each property under valuation, thereby making the method sensitive to mineral commodity prices.A clear and disciplined sequence of decisions based on personal experience forms the basis of this method. The method utilizes all factors normally used to value a mineral property.IntroductionIt is generally accepted in the exploration industry that valuation of exploration properties is a subjective rather than objective process (Roscoe, 1986; Lawrence, 1988; Lawrence, 1989; Woodcock, 1985), and that it is greatly influenced by the experience and qualifications of the person who is doing the valuation. However, the significantly low degree of objectivity in mineral property valuation at this point in time invites effort to achieve a more quantitative engineering basis.Value of a mineral property depends basically upon metal prices, recoverable grades, mining and metallurgical practices, commodity supply and demand , and political-economic conditions, all of which vary with time. Therefore, any valuation is valid for only that point in time when it is made. Mineral deposits can decrease as well as increase in technical value with time."

Jan 1, 1990

"The last thirty years have seen enormous changes in all aspects of the gold industry, from the technologies of mining and extracting gold to the role it has played in the fiscal policies of nations. In this time, the market price of gold has increased ten fold and mine production has more than doubled. However, the cost of mining and extracting gold has also increased exponentially, and the industry has struggled with declining ore grades and increasingly refractory ore bodies.With the major economic powers of the world shrugging off the uncertainties of the post cold war era and moving into a period of unprecedented political stability, economic growth and low inflation, gold is also losing its lustre as a hedge against inflation and a backing for national currencies. Consequently, countries that had accumulated and hoarded gold for decades are now disposing of these non-performing assets, resulting in major swings in supply of the metal. Fortunately, this has coincided with the end of communism in many parts of the world and a tentative move to free market economies in most of the developing nations. As a result, people are becoming wealthier, and this is creating more demand for gold, principally in the form of jewelry.On balance, the shift in the role of gold, from one in which a significant portion of new gold production lay dormant in bank vaults as insurance against political or fiscal instability, to one in which most new gold is now freely traded as an industrial commodity, responding to normal market forces of supply and demand, has had a negative impact on the price of gold over the last fifteen years. In that time, the gold price has declined from a peak of $850/oz in 1980 to an average price of about $400 through the rest of the l 980's, to a price of -$320/oz today (1997). In large measure, this has been due to the enormous inventory of gold metal that was held by central government banks in vaults around the world, and which has been dumped on the market as soon as the price has started to trend upwards. Even today, after ten years of fairly steady selling by central banks, about 3 0, 000 tons of gold (or -8 years' supply at the present rate of consumption) is still retained in vaults (Murray et al., 1997).The downward pressure on the price of gold has created exciting opportunities for the development and implementation of new technology. Increasing the efficiency of gold recovery from more and more refractory ore bodies, whilst at the same time lowering production costs, have become critical to survival in this industry. These challenges have been met by the development and implementation of new technologies such as heap leaching, carbon in pulp, resin in pulp and the sulphide ore pre-treatment process of pressure leaching, bacterial leaching and fluid bed roasting. For an industry that saw very little technological change in the first seventy years of the twentieth century, the pace of change over the last thirty years must have seemed bewildering at times."

Jan 1, 1998

By E. M. Córdoba

The effect of the Fe3+ lFe2+ redox couple on the chemical and biological dissolution of chalcopyrite was studied. All the tests were carried out in stirred flasks with 100 mL of a ferric/ferrous sulphate solution, in the absence or in the presence of bacteria (iron- or sulphur-oxidizing) and at low (35 DC) and high (68DC) temperature. The initial redox potential was controlled between 300 and 600 m V Ag/ AgCI and silver was used as chemical catalyst. The results showed that the oxidizing action of ferric ion on the chalcopyrite was controlled, in all cases, by nucleation and precipitation of jarosites on unreacted particles. The tendency of Fe3+lFe2+ solutions towards equilibrium favours the activities of both ions to be equal. Consequently, the dissolution rate was faster at relatively low redox potentials (between 400 and 500 mY) than at high values (600 mY). In this sense, the presence of ferrous ion in the system is a key factor to control hydrolysis and precipitation of ferric ion. Unlike jarosite, the elemental sulphur produced during dissolution of chalcopyrite was porous and did not act as a diffusion barrier.

Jan 1, 2007

By M. Dosoudil

"Continuous pressure filtration is a modern process for the mechanical dewatering of flotation concentrates of coal and similar coal slurries. This method will give a lower moisture content than classical vacuum filtration, the improvement lying in the range 5% to 15%. Eighteen coal slurries have been examined in this survey. They are representative of a wide spectrum of filtered slurries. IntroductionDuring the last five years, a number of coal slurries have been tested either in the laboratory or with a pilot plant. The test pressure ranged from one to six bar. The results have been evaluated by mean s of a computer. Determination of the filter capacity and the resulting moisture content and energy consumption has been made with respect to the continuous pressure filter, Amafilter construction-type KDF (Fig. I) . Standard sizes of these filters are 60 m2, 90 m2 and 120 m2.The continuous pressure filter is a horizontal filter with a level tank. Six filter axles are mounted on a rotating main shaft, each with a particular number of elements attached. The elements rotate on their axes and move along a circular trajectory. Periodically the elements submerge into and emerge out of the slurry. A constant air pressure is maintained above the suspension, thus providing the pressure gradient necessary for filtration. The filtrate together with the dewatering air flows through the elements into the hollow axle and out of the filter."

Jan 1, 1987

By E. M. De Souza

"The mining industry has developed a strong need for monitoring underground openings since bulk mining, used for increased productivity, has become the dominant mining method industry wide. The large stopes associated with bulk mining methods generally have to remain open and stable for several months, and monitoring is essential to provide an indication of ground response to mining and stope stability. The instrumentation data is also important during design optimization, which is used to maximize recovery, to minimize the dilution of ore and to minimize costs. Monitoring is essential to implement safety and is also critical in stope and mining sequence designs. The safety related aspects of monitoring include the protection of underground workers and the prevention of accidents by providing early warnings of the onset of any ground instability. The design related aspects of monitoring involve the development of data bases used for stope dimensioning and mine sequencing and timing and the monitoring of ground behaviour as a result of mining to verify the validity of the design thus allowing for remedial action during operation.Manual instrumentation data collection is, in a number of cases, economically unfeasible and, in many situations, dangerous as instrumented areas become inaccessible or extremely unstable. Also, because more and more complex instrumentation is being installed in underground operations, in several cases it becomes practically impossible to collect readings manually. The design and development of low-cost acquisition systems for mine wide monitoring would thus constitute an important step toward automation in excavation instrumentation. A unique menu-driven automatic 32-channel analog data acquisition and analysis system with a built-in rock failure warning mechanism has been designed and developed. This low cost acquisition system is capable of receiving, processing, displaying and storing the transmitted instrument data remotely and automatically. Computer software has been designed to provide data reduction and analysis immediately in the field and to automatically display results in graphical form for quick interpretation. Automatic data interpretation is used to show trends in rock mass behaviour and the system can be used to provide early warning of rock failure to the mine personnel working in there so that immediate remedial action can be safely taken."

Jan 1, 1992

By A. Vasebi, É. Poulin, A. Desbiens, D. Hodouin

Maximizing benefits generated by separation plants in the mineral processing industry is of prime importance. To achieve this goal, observers and controllers are both key tools playing a crucial role for economic optimization. Although these methods have been widely discussed in the literature and that numerous applications have been reported, coupling the different algorithms raises practical challenges. The economic function definition, the selection of the real-time optimization structure, the elaboration of observer and controller models, the controller development, and the tuning of stochastic and deterministic parameters strongly influence economic performances. The objective of the paper is to discuss the major difficulties related to the implementation of a real-time optimization system and highlight the benefits of linking data reconciliation and model predictive control for a simulated flotation plant. A systematic topdown approach is used to go through the main design phases and to comment on the different options available for the development of the optimization structure. An internal model predictive controller coupled with a stationary observer is applied for the direct optimization of a three-stage flotation plant simulator based on a phenomenological model. The results show performance improvements in terms of increased revenues brought by reduced grade variability and collector consumption. The discussion also proposes alternative avenues that could be taken to achieve comparable improvements. Finally, since the limited simulated case-study cannot provide a complete understanding of the benefits brought by a data reconciliation observer, recommendations for industrial applications, which are more complex, are provided to promote effective implementations.

Jan 1, 2016

By S. M. Bulatovic, D. M. Wyslouzil

"This paper presents the results of a study of the effect of flowsheet configurations on metallurgical results and describes a general method for developing and optimizing flowsheets used in the treatment of massive sulphide ores. The flowsheet configuration can have a significant effect on recovery and selectivity between valuable minerals and gangue minerals. Placing of intermediate products within the flowsheet, positioning of various pretreatment units, such as conditioners or regrinding mills, and the ability of the flowsheet to cope with wide swings in the feed grade and composition are the major parameters that determine the optimum flowsheet configuration. The complexity of the flowsheet is largely a function of the ore itself and of the number of final, marketable products that have to be recovered from the ore. INTRODUCTIONTechnological ExpansionThe trend of past decades has been towards larger equipment and a better understanding of the chemistry of the flotation process. Despite appreciable progress in these areas little attention was given to the study of the actual configuration of the flowsheet, although the arrangement of the flotation equipment significantly affects the overall performance of the circuit."

Jan 1, 1989

By Hyumng Sup Choi

The role of the interfacial electrical 'Condition on the adsorption of col-lectors on mineral surfaces has been studied by electrophoretic mobility and adsorption measurements made on zircon. From the investigation of the electrokinetic properties of zircon, H+ and OH-are seen to act as potential determining ions, thus controlling the electrical nature of this mineral. The isoelectric point of zircon occurs at a pH of approximately 5.0, and it is evident, therefore, that the zircon surface would be positively charged below a pH of 5.0 and negatively charged above this pH. The adsorption of collectors therefore de-pends strongly on the pH of the solution; anionic collectors are adsorbed on positively charged surfaces and cationic collectors on negatively charged surfaces. This, in turn, de-fines the effective flotation condition, with respective collectors, for this mineral. The above results have been correlated with the flotation behaviour obtained by the simplified flotation test using a modified Hallimond tube.

Jan 1, 1963

By Ferrin Prince

New Gold?s New Afton mine is an 11,000 tonne per day block caving mine, located 8 km west of the city of Kamloops, British Columbia. The reserve is estimated at 52.5Mt with grades of 0.65 g/t Au and 0.93% Cu. Block caving requires a considerable amount of infrastructure development before production can begin. Each excavation had its own challenges, often further complicated by interactions with the caving stresses and fault structures. The main areas of interest were: the production crusher complex, the surface to underground infrastructure, and the footprint interaction with the faults. The ore zone at New Afton is bounded by two very weak fault zones, with large fault affected areas and associated splays. The resulting rock mass rating (RMR) is 35-50, with some areas significantly weaker due to clay infill. These conditions created a unique and decidedly difficult environment in which to develop New Afton?s infrastructure. Despite these difficulties, the mine began production on schedule in July 2012. The main production crusher for the mine is a gyratory crusher that allows for direct truck dumping, with a smaller jaw crusher in series to facilitate the initial development and production. The crusher chamber was redesigned several times to minimize the chamber volume, resulting in a 40% decrease in volume without losing functionality. After drilling and geotechnical testing, the location of the crusher was changed to eliminate the threat of fault affected ground in the area; the entire complex moved a short time before mining began on the chamber. The mining techniques used enabled tight control of the crusher pocket excavation, while also allowing for the timely completion of the chamber. The locations of the surface to underground infrastructure were tightly constrained by geology, surface infrastructure, and an existing open pit. The VR5 raise was drilled and abandoned part way through the reaming process when the drill string became stuck in fault gouge material. It was relocated and successfully completed. The VR7 raise hit a region of poor rock strength and deviated more than 11 m. Poor ground conditions caused a 130m section of the raise walls to fail. An innovative rehabilitation program was undertaken to re-establish the raise for ventilation. A surface to underground slick line was also installed to ease the material movement underground. A layout of the Extraction level was changed from herring bone to straight through drawpoints that resulted in a net reduction of 1.3 km of development. The Apex level was added to aid in the breakage over the major apex pillar and allow for geological mapping. A portion of the caving footprint is located within the footwall fault. The low strength, high clay content, and small joint spacing of the material resulted in blast-hole cut-off and drift deformation. Drift rehabilitation was a key factor in the successful development of the cave footprint. Innovative drilling and loading techniques were used to keep the holes open and to impede movement along the joint structures.

Aug 1, 2013

By P. Hubert, J. P. Ildefonse, F. Qafssaoui, J. Poirier

Corrosion tests by corrosive alumina-lime slags were carried out on commercial high alumina bricks used in steel ladle linings and model refractories (with different raw materials : bauxite, andalusite, and different microstructures). Using (SEM) scanning electron microscope and (EDS) energy dispersive spectroscopy, microstructures of slag-corroded refractory interfaces were studied in detail. The monomineral and glassy phases, the composition of reaction products and chemical profiles were determined. A thermochemical analysis based on phase equilibrium diagrams has permitted to estimate the proportion and the composition of the high temperature intergranular liquid phase. These data were compared to the experimental microanalysis results. The viscosity of the high temperature liquids were calculated according to Urbain 's model and the relationship between the viscosity and the penetration of liquid phases were discussed. These theorical and experimental results were used to understand the complex phenomena of slag penetration and corrosion of andalusite and bauxite refractories at high temperature and to propose new ways of improvements for the formulation of high alumina refractories.

Jan 1, 2004

By H. E. Lake

VERY EARLY in the initial stages of underground development work at Eldorado's Beaverlodge operation, the decision was made to use mill tailings as a backfill product. Mining and milling commenced in June, 1953, using locally available sand as backfill, while test work and installation of a plant was carried out to prepare ?and deliver the tailings to the mining areas. The first use of tailings was made in February, 1954, a sandslime separation being carried out with hydraulic cyclones. To date (January. 1956), approximately l 40,000 tons of fill have been used in the stoping areas, providing very effective support in a 50 deg. Vein system of cut-and-fill mining. The recoverable portion of the mill tailings amounts to 40 to 45 per cent, which has resulted in a product giving a percolation rate of 6 to 10 inches per hour. Owing to the fact that Eldorado has milled from 15 to 2 5 per cent more ore than it has mined, through the purchase of custom ore, the degree of control on the sand-slime separation has not been as critical as it might normally be when the filling operation must depend only on the tailings from ore mined. A description of the conditions involved and of the plant as finally installed is given below. It might be mentioned here that, with the impending increase in milling capacity from 700 tons to 2,000 tons p.er day, the present plant will be considerably altered within the ensuing year to handle the increased tonnage and distribution.

Jan 1, 1956

By Laurier Juteau

"NOT TOO LONG AGO, the CIM Education Committee saw the need for an information campaign to promote interest in mineral industry careers among young people. Today, times have changed and the Committee has now placed emphasis on the definition and function of the mining engineer. This situation, we believe, is entirely normal and the change of emphasis is not due to a change in the needs of the industry but more to a diversification of these needs. In years past, the Canadian mineral industry, although a very important part of our economy, was looked upon as a specialized craft and, because of the richness of our resources, did not suffer too much from competition. Now, times have changed and we are increasingly at the mercy of the competition and damaging inroads of price fluctuations, etc. We will therefore answer the questions raised in this discussion in the light of the role played in the past and the role to be played in the future by the Canadian mining engineer. We will begin with the following premises : (a) If mining engineers are to be involved in the massive problems of society, their traditional background is not sufficient. (b) Councils for professional development are working on criteria for the accreditation of advanced degree programs in the United States as well as in Canada, and, simultaneously, three-year technology programs are being developed along with professional engineering degree programs. (c) The difference between European and American industries regarding philosophy of life is that in Europe they appreciate wisdom more than HPs while in America the HP seems to be more important. The Engineering Digest of February 1972 reported that in the United States, during June and July of 1971, the second highest rate of unemployment was for the 55 to 64 age group ( 4.1 per cent). This survey certainly applies to Canadian industry as well. (d) Degrees to be awarded in Canadian universities and technical schools in 1972 will be:"

Jan 1, 1972

By E. Poiate, P. A. L. P. Firme, D. Roehl, M. A. Carrion, A. M. Costa

Drilling high-pressure/high-temperature wells in salt rock formations is still a challenge for the energy industry. Creep and solubility is part of the salt rock physical-chemical behaviour, which must be considered in the design of the wells. The stress redistribution caused by drilling, in addition to thermallyactivated processes, triggers creep deformation, leading to borehole closure and the imposition of loads on the casing. The drilling fluid is designed by computer modeling in order to control the creep strain rate to a limit which allows the drilling operations and the casing setting. Depending upon the composition of the drilling fluid, chemical reactions on the salt wall may occur, especially in case of water-based fluids in highly soluble salt rocks. In those cases, cavities by dissolution (washouts) can be generated and the casing column remains uncovered by the cementation and laterally unconfined along the cavity length. This scenario is propitious to the loss of integrity of the casing due to phenomena such as plastic collapse, buckling and non-uniform loading on the casing provoked by the closure of salt formation around it. The casing should remain intact during the wellbore life-time. In this work, a section of a typical well crossing salt formation composed by halite and carnallite is considered. An idealized-cylindrical washout cavity inside a highly soluble salt layer is assumed. The purpose here is to evaluate the effect of the dimensions of the cavity on the integrity of the casing. Several typical diameters and lengths of the cavity are adopted. Numerical analyses are carried out with an in-house finite-element system composed by the pre-processor MTOOL 3D®, the simulator ANVEC 3D® and the post-processor POS 3D®. Salt rocks are modeled as visco-elastic materials. Creep is simulated by the Double Mechanism Creep Law, widely employed in Brazilian salt rock mechanics research. Cement and casing (steel) are modeled as elasto-plastic materials described by the Mohr-Coulomb and the von Mises criteria, respectively. Casing integrity is evaluated with respect to vertical and horizontal displacements. Vertical displacements imposed to the casing can provoke the failure of the column by plastic collapse or by buckling. Besides that, horizontal displacements of salt due to creep closure shall lead to the undesirable contact with the casing. Failure envelopes based on displacements are generated. The results of the simulations have shown that the casing failure by plastic collapse occurs preferentially in short columns, as well as buckling occurs in long and slender columns. The occurrence of both failure modes is more frequent in large-diameter cavities. Additionally, failure caused by contact between salt and casing occurs preferentially in short-diameter cavities.

Jan 1, 2015

By L. McFarlane, D. Rollwagen

"Madawaska Mines produces a uranium precipitate (83-85% u3o8) using a magnesium oxide slurry to precipitate the uranium from solution. The solution, at approximately 9""0 g/l u3o8 is neutralized to a pH of 7.0. At the Eldorado Nuclear Refinery in Port Hope, the precipitate is not acceptable as a single feed to the refinery process. It was discovered that a 2% silica impurity caused emulsion problems in the solvent extraction column.After extensive studies of possible solutions, such as two-stage precipitation and solvent extraction, an acceptable solution was found. The selective precipitation of uranium at a pH of 3.5-4.0 using Hydrogen Peroxide produces an almost silica free product of higher purity (90-93% u3o8) to that of straight magnesium oxide precipitation. Introduction Madawaska Mines Limited is located four miles southwest of Bancroft, Ontario. The annual production of u3o8 is approximately 610,000 pounds. To produce the final product or yellowcake, nine separate steps are required. These are (1) grinding, (2) dewatering, (3) leaching, (4) acid filtration, (5) clarification, (6) ion exchange, (7) precipitation, (8) washing, and (9) drying and packaging. To illustrate these steps, a complete flowsheet of the mill is displayed on page three.The yellowcake is sent to Eldorado Nuclear Limited in Port Hope, Ontario for further concentrating and refining. As part of their routine specification check, a test called the amenability test is performed. This test indicates how a particular dissolved yellowcake product reacts to solvent extraction. The Madawaska yellowcake did not pass the test."

Jan 1, 1982

By Jerry Handford

Investing in the Development of our Future Workforce ?Collaborative partnerships with educational institutions, industry associations, governments and other businesses. ?Programs: »Co-op / Discipline Student Program »Trades Development Initiatives »Operator Training Programs »General Student Program »Careers Next Generation / Community Careers Co-operative

May 1, 2006

By K. Iturralde

Dense transport infrastructure areas lack green facilities, they produce annoying noise and they are big energy consumers. As far as there is no free land or space, adding a vegetal covering to existing infrastructures has become a choice in order to get a more pleasant and comfortable environment. Noise barriers are getting spread all over the highways and sometimes they install photovoltaic panels. Is this just a hype or are there real causes? A green acoustic barrier with an energy generator could be interesting for covering the existing urban transport infrastructures. The specific geometry of the infrastructures requires a personalized product. If we measure the infrastructure environment's characteristics, which are humidity, temperature, sunlight and size, we can create an accurate 3D model. This model would be used for various purposes. For instance, it could be a useful tool to design and fabricate the customized prefab acoustic barriers and plant containers. And it would be helpful for adjusting efficiently the future performance of the vegetation and photovoltaic panels. But the insertion of vegetal elements in infrastructure surroundings can be a tough operation. It requires special skills and techniques. Nowadays, those tasks are performed almost manually and they require a big effort. The prefab containers for vegetal elements would ease the robotic assembly on site.

Aug 1, 2013

By J. Nsasi Bakambu

This paper describes an autonomous platform for exploration and navigation within networks of tunnels, as those typically found in underground mines and caves. In the exploration mode, a remotely located supervisor instructs the platform to move through successive sections of the network, gathering range data that is, then, concatenated into 2D/3D survey maps of the environment. In the navigation mode, the supervisor specifies high-level missions on the previously acquired survey maps. A motion planner, then, translates each mission into a set of consecutive navigation actions, separated by natural landmarks. Mission execution consists of detecting landmarks, self-localizing and performing the planned navigation actions.

May 1, 2003

By D. Mills, W. H. S. Lawson

"The need to make repairs is seldom a major consideration in the design, fabrication and installation of major components of electrical generation plants. Repair welding, however, is a fact of life in the electrical generation industry, for restoration of degradation in service, from cavitation of hydraulic turbine runners, to corrosion and fatigue damage in pressure vessels. In making weld repairs to carbon and low-alloy steels, the largest source of trouble is hydrogen embrittlement and related post-weld cracking. Various strategies have been developed to control problems from this source, including post-weld heat treatment, the use of nickel-base alloy filler metals and the temper bead welding technique. Each of these basic strategies is being applied as circumstances require; each strategy must, however, be implemented in a manner that reconciles weldment structure and hardness, degree of restraint and service environment with the consequences of unsatisfactory performance of the repaired component.IntroductionMajor working components of electric generating plants are specified and installed on the basis that, wherever technically and economically feasible, they will retain functional capacity without major repairs for the twenty-five-plus years of normal plant lifetime. Nevertheless, repairs are often required, and welding is usually an essential feature of the work. Remedial welding may be performed to correct design or fabrication errors which become evident only at the time of component installation. The most common causes of requirements for repair involve corrosion, fatigue or related processes which prove more aggressive than expected during service. Increasingly, our planning for future repair requirements is related to continual improvements which are occurring in nondestructive evaluation technology. As components are periodically reinspected during their service life, fabrication induced defects may be revealed for the first time quite late in the life of the component. When this occurs, repair must be considered wherever inaccessibility of a flaw makes it impossible to prove its inactivity. Finally, there are certain components, for instance in hydraulic turbines, which cannot be economically made or used without the expectation of service induced wear. Here, periodic maintenance welding must be regarded as a normal event."

Jan 1, 1981