Search Documents

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 Melissa Whellams

?? What is a social risk assessment (SRA)? ?? Why do a SRA? ?? When do you do a SRA? ?? How do you do a SRA? What is a social risk assessment? ?? SIA vs. SRA ? SIAs determine how a company?s project will affect social/cultural conditions in a region ? SRAs determine how social/cultural conditions will affect the risk profile of a company?s project Social risk context includes: ? review of human rights record ? analysis of conflict situation ? analysis of political climate ? stakeholder identification ? stakeholder concern/interest identification ? And so on?

May 1, 2008

By W. A. Jones

"The Ross mine, a subsidiary operation of Hollinger Consolidated Gold Mines, Limited, is near the north end of lot 1, con. II, Hislop tp., Ontario. The property comprises the north half of lot 1, con. II, and the south onethird of lot 1, con. III. It is readily reached by a good motor road from the village of Ramore, 7 1/2 miles to the southeast on the Ontario Northland railway. The mine is being developed to a depth of 1,500 feet, and the current daily production rate is approximately 300 tons. From the inception of operations in March 1935 until December 31, 1945, 692,000 tons of ore, with a total value of $5,762,685, was milled . The silver to gold ratio of 1.48 to 1 is unusually high for Ontario gold mines.TYPE OF 0REBODIES AND MINERALIZATIONThe orebodies consist of lens-shaped and pipe-like stringer lodes and tabular vein zones composed of parallel quartz stringers. The host rocks are steeply inclined eruptive breccias and tuffs, striking N.70°W., intruded by very small stocks of red syenite. The orebodies appear to be spatially related to an intricate system of fault planes. Hydrothermal alteration is widespread and is not zonally related to individual quartz stringers. The wall-rocks contain abundant fine-grained pyrite, but gold is confined to the quartz stringers.RELATIONSHIP TO REGIONAL STRUCTURELack of outcrops has prevented the detailed mapping of the Keewatin complex in the vicinity of the Ross mine with the degree of success that has been achieved in the Porcupine area.A northwesterly trending belt of slates and greywackes, bounded by faults, forms the central part of a broad anticlinal arch about 3 1/2 miles north of the Ross shaft. Lava flows forming the south flank of the structure face south toward the mine. If the sediments are to be tentatively correlated with the large areas of Keewatin slates and greywackes of the Porcupine area, it must be assumed that they are younger than the lava flows and that they have been down-faulted."

Jan 1, 1954

By Mark Hollingworth

"There is general consensus that as the world continues to change at an ever-increasing pace, companies must continually adapt their operations in order to remain competitive. Those that change fast enough, survive; those that don’t, perish quickly. Today, we hear that it is not worth the time preparing corporate business plans as they are out-of-date before the ink is dry. Within the corporate environment of the 1990s, we must “think” strategically, be a “learning organization”, keep our costs low, focus on our core competencies, stay as flexible as possible and create value. So-called “sustainable competitive advantages” can be obsolete before a patent is issued — if its even worthwhile patenting the advancement. This is industry in the 1990s.Now, while all this radical change has been underway in the global industrial environment, what have Canada’s universities been doing to keep pace with the change affecting one of their major stakeholders? Have they adapted their products and services to suit the new market conditions? Have they built closer links to industry to try to understand how better to serve this important client? Do they welcome industry input as to how to redefine their mission, objectives, strategies or their course contents? Do their students graduate with skills ideally tailored for the global mining industry? In the era of communication, can they write high quality reports in English, never mind speak French or Spanish?In an effort to provide Canada’s engineering faculties with a “blueprint” for the future, the Canadian Academy of Engineering pre-pared a report entitled “Engineering Education in Canadian Universities”, published in August1993, which concluded with the following recommendations:"

Jan 1, 1996

By M. Ataka

Magnesium alloys are not easy to plastically deform at room temperature and may suffer from edge cracking at high reductions, especially during sheet rolling. In this study, the authors attempted to improve the rollability by the low-temperature hot rolling method, in which the rolling temperature range is lower than that of hot rolling, and also by the edge-heating method, which locally heats sheet edges.

Jan 1, 2006

By O'Halloran. Gerard F.

"ECSTALL MINING has installed in their plants the most modern equipment in the mining industry. At the minesite, digital blocked frequency controls are used to monitor all crushers, conveyors, ventilation equipment and pumps from underground. Distant pumping stations are monitored and controlled by radio. Modern friction skip and cage hoisting systems have been installed with static power supply designed for automatic operation. Rotary-type compressors of recent design are in service in place of the conventional reciprocating-type units. At the concentrator, the 800- and 1500-hp synchronous motors driving the grinding mills have static field excitation and pneumatic clutches, still meeting modern-day concepts, having been• installed in 1966. The maintenance work load has increased annually for the past eight years. The modern plant, with all the present-day sophistication, must have a welltrained and well-organized force of skilled workers, and a maintenance system which will supply realistic facts and guidelines. This presentation will review the relative location of plants, utilities, maintenance and services, plant maintenance control and mechanical control. It is the hope that enough information will be presented to weigh the size of the job and how the resources are utilized for controlled maintenance."

Jan 1, 1974

By Xian Jian Guo, Lei Li, Hua Wang

Direct smelting of copper concentrate to blister copper has the advantages of energy saving and environmental protection. There has been a lot of effort invested in process development including test work and theoretic analysis in the past half century. However, the process has only been applied commercially to a few smelters that treat chalcocite types of copper concentrate. The main limitation to treating chalcopyrite types of copper concentrate is high copper content in smelting slag and low direct copper recovery. Thus intensive slag cleaning is needed. In this paper, the thermodynamic analysis was mainly carried out for the multiphase equilibrium of direct to blister copper smelting for both chalcopyrite and chalcocite concentrates. The practical problems in direct to blister copper smelting, which are mainly in copper content in slag, are clarified. The operational window of slag composition for different temperatures and oxygen partial pressure for the treatment of chalcocite type concentrates is identified. The process operation optimization for the blending of chalcocite, pyrite and chalcopyrite concentrates was done. INTRODUCTION The extractive metallurgy of copper can be divided into two broad groups of processes, namely, pyrometallurgy and hydrometallurgy, and the former is dominant. About 80% of copper in the world is produced by pyrometallurgy (Christopher et al., 2006). The first stage of conventional copper pyrometallurgy processing is to smelt copper concentrate to copper matte composed of FeS and Cu2S with slagging to remove a proportion of the iron (Gargul, Boryczko, & Bukowska, 2017). The smelting processes include bath and flash smelting. The second stage of the process is to convert copper matte to blister copper. In most cases, the copper matte is converted in Peirce Smith (P-S) converters, which are batch operations (Kubiszewski, 2015). The P-S converting can be divided into two periods, slagging and copper blowing. During slagging period, FeS in copper matte is oxidized to FeO, which reacts with silica flux forming slag. When the iron content in matte is less than 1%, copper begins to oxidize and reduce to form blister copper (Kucharski, Sak, Madej, Wędrychowicz, & Mróz, 2013).

Jan 1, 2019

By R. Erpelding

High Pressure Grinding Rolls (HPGR) are said to be a good option in new grinding circuits. Due to their low energy consumption compared to other grinding systems such as SAG milling, there is a strong incentive to check their behaviour for certain ore types. With rising energy prices the operation will become even more beneficial in future. As published in the past, the HPGR is claimed to increase the liberation of the valuable mineral component within an ore. An investigation at the research centre of Polysius was conducted to substantiate the liberation behaviour in finish grinding operations. A pilot scale HPGR test unit (POLYCOM MAGRO) with a roll diameter of 950 mm and processing capacity of 80 t/h was used. Grinding tests were completed with a screen and a two stage drying air separation process (SEPOL). Analysis included standard screen analysis, fractional XRF and modern MLA technology. A technique was developed to oppose the amount of produced slimes (resuming bad flotation) against the positive effect of producing high mass fraction at flotation-easy sizes. The paper shows how effective the use of a dry grinding separation could be in terms of production of mass of liberated metal.

Jan 1, 2012

By E. P. Wiechrnann, C. M. Castro, G. A. Vidal

In copper Eta plants the optimal current density setpoint depends on the electrolyte composition and temperature. However, conventional plants operate with large standard deviations. A value of 14% with current densities offsets up to ±50% is typical. For worst, during opencircuit or shortcircuit events this variation can be from -100% to +200%. Naturally, energy consumption and copper quality are compromised. Several devices have been successfully employed to reduce set point deviations. Last developments include; Optibar Segmented Intercell Bars, Outotec Electrodes Arranging Method and NTC Selective Electrodeposition Enhancers. This paper researches and compares these technologies. It is shown that short circuits can be effectively reduced in occurrence and magnitude. Moreover, 95% of the electrodes can be forced to operate within ±10% of the set point. The specific energy consumption is reduced from 2,000 KW per Ton to values close to 1,900 KW per Ton.

Jan 1, 2011

By K. Esmaieli

ABSTRACT We conducted a series of numerical experiments to investigate the influence of rock mass foliation on impact-induced damage on ore pass walls. The 2D Particle Flow Code was used to simulate three distinct rock masses surrounding an ore pass, characterized by foliation angles of 60°, 90°, and 120° (clockwise from horizontal). Subsequently, we projected a rock fragment against the ore pass walls at a constant impact angle and velocity. The resulting damage increase

Jan 1, 2014

By S. D. A. Hannot, H. Knapp

"High pressure grinding rolls (HPGR’s) are an energy efficient solution for comminution of industrial minerals and metal ores. The technology is successfully applied in an expanding field of applications throughout the minerals industry. HPGR’s compress and grind the particle bed in the operating gap between two counter-rotating rolls. The equipment provides a high capacity, low energy alternative for applications with conventional tertiary and quaternary crushing and grinding, with size reduction reaching from 100mm down to 25 microns product. In this process, maintaining a controlled and evenly distributed operating pressure between the rolls is very important. Due to feed segregation, the pressure distribution along the roll’s length can become uneven, resulting in a coarser product. This paper will show that the best approach to compensate and adapt for the uneven pressure is to allow the rolls to skew relative to each other. Coarser products are also caused by an inadequate pressure distribution: the much-discussed edge effect. To minimise the consequence of the edge effect, an optimised ratio for the roll length to diameter will be calculated. Furthermore, the design philosophy behind a cheek plate will be detailed. This cheek plate is used to retain the material between the rolls, reducing the edge effect while still allowing roll skew. Together these design considerations help optimise HPGR’s performance.INTRODUCTION Initially developed for the cement industry during the energy crisis in the 1980’s , high pressure grinding has been an accepted technology for many years. It has been successfully implemented throughout the minerals industry, with applications in base and precious metals, as well as industrial minerals processing. The comminution process relies mainly on size reduction through to compression and inter-particle crushing in a particle bed in the operating gap between two counter-rotating rolls. The equipment typically has a high unit capacity and low energy consumption, and is increasingly used as an alternative to conventional tertiary and quaternary crushing and grinding, in particle size ranges reaching from 100mm down to 25 microns. It can be applied to moist ores and dry material, in open circuit arrangement or in a closed circuit with dry or wet classification (screening, air classification)."

Jan 1, 2019

By John Canterford

Quay Magnesium Limited (QMG) listed on the Australian Stock Exchange in late September 2004 having raised approximately A$30 million with the object of designing, constructing, commissioning and operating a 15,000 t/a magnesium alloy production facility in Nanjing, China, Site construction commenced in February 2005 with installation of all major components completed by the end of October 2005, Hot commissioning was simultaneously commenced with the final stages of installation, leading to the first stage of continuous ingot casting by mid November 2005, Since that time ramp-up to the name plate capacity has been undertaken, This presentation highlights some of the more significant technical and logistical hurdles that have had to be overcome in order to meet the high quality product specifications required by a range of QMG customers.

Jan 1, 2006

By Keith C. Hendrick

"Metal prices are frequently the most critical and least predictable element in determining the profitability of mining operations. Short -term fluctuations can be offset in varying degrees by hedging or other market actions. Such solutions are not practical for the longer term, The paper investigates the nature and extent of metal price risks and evaluates methods to reduce them.IntroductionIt is management's responsibility to improve the odds by managing the-risks by identifying them clearly, assessing them accurately, minimizing them where possible-and, then, timing decision s success fully.In determining the profitability of current operations, preparing forward plan s or developing feasibility studies for new projects or expansions, pr ices are usually the most critical input. Being market determined rather than cost based, they can also be the most unpredictable As a result, commodity prices are frequently the greatest of all risk factors.Nature of Commodity PricesThe cyclical nature of commodity prices is well known. They are stable only when supply is in balance with demand and forecast to remain that way. An imbalance on either side of the equation can lead to a price reaction completely out of proportion to the actual or perceived surplus or shortage.This exaggeration arises through the cumulative effect of market forces. When the market senses an uptrend, consumers buy for the expected increase in activity. They also seek additional quantities for inventory before price s rise. Merchants defer spot sales anticipating higher price s, speculators go along for the same reason, and producers raise prices in response to demand. Events tend to confirm the expectation of each party and strengthen their reaction causing prices to move higher."

Jan 1, 1983

There are many inherent risks in creating a mine plan for a new ore zone in an underground mine; one of such risks is the redistribution of stresses that could be a cause of instability. Using numerical modelling tools, it is possible to model the planned stope extraction sequence and evaluate the influence of mining induced stresses on the stability of remnant pillars, and use this information to remedy potential setbacks. This paper demonstrates this approach through a case study of the short-term mine plan of the Lapa mine of Agnico Eagle Mines Ltd., an underground gold mining operation near Val d?Or. Three-dimensional boundary element modelling is used to compute the stresses induced by the stope extraction sequence as planned with a longitudinal retreat mining method. The proposed methodology can be generalized to other mines that require an understanding of the stress concentrations at the pre-feasibility stage of mine design.

May 1, 2009

By Brian Rausch

Agenda ?? Refresher: Victor Project Execution ?? Operations Capability roadmap: ? Operations staffing starter group: design participation ? Operations staffing build up for production start-up ? Training and commissioning integration ? Turning OPSCAP ramp-up into a project ?? Go Live! The Results

May 1, 2009

By G. G. Bowser

Introduction Flame shots are of very infrequent occurrence in the coal mines of Nova Scotia. Probably not more than one is recorded in three months. Many shot-firers have never experienced one, and many never will. As a consequence, although all such occurrences are very carefully investigated, information concerning the cause of flame shots is somewhat meagre. In the course of the years, however, something has been learned of the practices and conditions that are responsible for them. During the past ten? years, over seventeen million shots were fired in the coal mines of Nova Scotia and only fifty-two faulty shots were reported or investigated during that time. In thirty-nine of these, flames were reported; in five, sparks only; and in eight, smoke only. In eight of these occurrences, unburned explosive was found after firing. In one of these eight, flame was seen in the back part of the hole, and an accompanying hissing sound pointed to burning explosive. In four of them, there was no evidence that gas was not ignited. All samples of explosives from these faulty shots which were submitted for analysis were found to be normal, except two, in 1937, which contained excessive moisture. These two samples were from two following shots in the same room on the same day. The initial cause of trouble with all eight shots was one or several of the following: explosives in poor condition, separation of cartridges, incorrect priming, shot hole in poor condition or not properly cleaned. In the case of sixteen or seventeen of the thirty-nine shots which flamed, data are insufficient for conclusions to be drawn as to the cause of the flame.

Jan 1, 1947

By A. Y. Senchenko, Y. V. Kulikov

"In recent decades HPGR technology has proven itself in comminution circuits of mining plants. High technical and economic performance, lower specific energy consumption and reliability of HPGR equipment makes it an efficient alternative to conventional circuits using stage crushing and rod/ball milling, as well as to AG/SAG circuits. However, despite all the advantages of this technology the correct selection of key and auxiliary equipment is very important since errors at testing and design stages may lead to discrediting of the whole concept of HPGR application. There is a great variety of possible circuit configurations using HPGR, e.g. with circulation of edge product, with crushing of the whole discharge and circulation of screen oversize, successive two-stage crushing, etc. Each type of minerals will require its own optimal crushing circuit. In this context the testing methodology for selection of an optimal configuration becomes of prime importance. It is common knowledge that the best simulation of material crushing and softening within a HPGR can be obtained only in the course of a large-scale pilot test. The main approaches applied to this kind of testworks are described in this article. Special aspects of HPGR technology design and industrial operation are revealed as well. Some operational issues of HPGR equipment and of circuit as a whole were detected. They are related to regions specifics, plants location, and other factors. Process solutions proposed to deal with these issues are also indicated in the article. INTRODUCTIONDesign and construction of the processing plants involving High Pressure Grinding Rolls (HPGR) technology becomes more and more common in mining as this technology has specific technical and economic advantages against the circuits with autogenous/semiautogenous mills (AG/SAG) and other circuits. The main advantage of the technology is low energy consumption and low operation costs respectively. The presence of microcracks and increased content of fine size fractions in the crushed product contribute to reduction of energy required for further ball grinding. Besides, HPGR technology applies a special wear resistant liner that enables significant reduction of operation costs of grinding media and liner comparing with AG/SAG circuits."

Jan 1, 2016

By F. Hosseini

Shaping of metals by thixoforming relies on the unusual flow behavior of semisolid slurries containing nondendritic solid phase. The Flow behavior of metallic alloys containing both solid and liquid phases is investigated in the low solid fraction range (, 55%). This behavior depends on both the solid fraction and the shear rate. Four different shear rates is applied using back extrusion technique and flow stress versus true strain in different solid fraction is compared. It is well accepted that the flow stress s of alloys in their semi-solid state obeys to a thixotropic behavior, due to agglomeration and dissagglomeration phenomena during forming. The load-displacement curves produced from the tests may show an initial peak, believed to originate from a skeletal structure which rapidly breaks down under shear. Apparent viscosity obtained from this method is compared with other works and the proper power law of pseudo plastic state is introduced.

Oct 1, 2011

By J. Janeson

Wall control at the Pipe Open Pit is of primary importance in ensuring the long-term stability of the operation, while keeping costs to a minimum. Blasting techniques have been adapted to the variations in competence and structure of the wall rocks. A portion of the perimeter wall is being developed in incompetent peridotite . A recent change in pit slope design provides a wide safety berm on alternate benches. A support program which consists of pinning the crests of wide berms with vertical reinforced concrete dowels and horizontal bolting of walls shows evidence of increasing the stability of the pit walls. This paper describes the blasting and support techniques which are contributing to successful wall control in the Pipe operation.

Jan 1, 1979

By D. François-Bongareon

"In previous publications by the author, significant advances and generalizations of the theory of sampling of broken ores, prompted and confirmed by experimental results, have been presented. This paper shows how to implement these theoretical results in practice. The models to be used are reviewed, with a description of the various sampling parameters involved. Then the methodology for the experimental assessment of those parameters, including segregation factors, is described in simple and practical terms, along with the use of handy sampling protocol charts. Finally, the particularly important case of processing data from a sample-tree experiment is detailed, and examples of applications covering all situations and types of experiments are provided.IntroductionThe reliability of a sample of crushed material , i.e. the expected (average) deviation between its true grade and the true grade of the lot it comes from, mostly depends upon six factors:• the size (mass) of the sample (and to a minor extent, for small lots, the size of the lot);• the size of the rock particles (degree of comminution)• the nature of the mineralization at microscopic scale (i.e., within even the smallest particles);• the geological nature of the mineralization and mineral of interest;• the grade of the lot in the mineral of interest; and• in some cases, the state of segregation of the lot.In practice, one should first disregard segregation problems, and assess sample variability in the segregation-free case. Once the numerical parameters governing this variability have been assessed, then segregation factors can be assessed in turn. In the case of laboratory standard sample preparation procedures, segregation can usually be disregarded altogether."

Jan 1, 1993