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By Chen Feng

Compared to widespread successful deployment of robotic manipulators for repetitive and hazardous tasks in related industries such as manufacturing, the construction industry has achieved relatively limited benefits from robotics and soft automation. Unlike manufacturing, where robotic solutions benefit from the structured layout of the environment (e.g., factory assembly line), construction robots face unique challenges that arise from the rugged, dynamic, and unstructured environment of the work site, as well as the uncertainty and evolving sequence of occurring on-site events. This challenges any intended construction robots to not only replicate basic human motion, but also be capable of sensing and adapting to environmental changes, and making decisions based on the evolving state of the environment. Building upon recent advancements in robotic mapping, computer vision, and object recognition, the authors propose to introduce autonomous behavior at the basic task level for on-site construction robots to address these challenges in a flexible and extensible manner. This paper reports the outcome of the first phase of this research - a structured methodology for improved design and development of basic task automations - and focuses on algorithms developed for mobile robot navigation and relative pose estimation. The algorithms are implemented on a prototype mobile robotic platform, and evaluated in several experimental scenarios.

Aug 1, 2013

By C. Pichler, J. Antrekowitsch

During the production process of steel and other metals a lot of different by products are generated in high amounts. Some of these residues are recycled to recover valuable metals like zinc, lead, copper and others. Especially the treatment of steel mill dust presents a great challenge. The need for new technologies can be seen in the wide range of available recycling concepts for steel mill dust treatment, however most of them have significant disadvantages. An example is the waelz process, which generates about 650 to 700 kg slag during the treatment of 1000 kg steel mill dust. This so called "waelz slag" must be dumped in the most cases. To avoid a landfilling all generated products must be able to get reused in another application. A so called "Zero Waste Process" can be reached with the "2SDR Process" (Two Step Dust Recycling Process), in which the dust is treated on an liquid iron bath generating cast iron, inert slag and zinc oxide. These products have a further usage and can also be sold. The paper focuses on the process development through trials in lab and technical scale up to planned pilot scales, with an accompanying characterisation of the generated products were done.

Jan 1, 2014

By J. Dupre, A. Gontcharov, H. Pepin

Produced by the conventional TIG welding CMSX-4 welds had been studied. It was demostrated that microstructure of welds depended on filler materials, welding parameters and joint design. Epitaxial solidification of CMSX-4 clad deposits produced a directionally solidified structure while welding with the similar filler material. Defects free clad welds were obtained by TIG welding without preheating using similar and dissimilar filler materials.

Jan 1, 2006

By J. W. Coetzee, H. E. Deist

Carbon-in-pulp (CIP) and Carbon-in-leach (CIL) processes are used extensively in the gold mining sector to recover aurocyanide from solution. This paper discusses the modelling of these operations, using various simplifying assumptions, in order to simulate the effect of changing operating conditions on the dynamics of the system. It is assumed that the adsorption and leaching rates are a function of concentration difference between the source phase and recipient phase. The simulation was set up using Matlab's Simulink interface. Plant variables are solved using a medium scale Newtonian search algorithm in Matlab, where the differences between the actual and predicted plant outputs are minimized on a continuous time-line.

Jan 1, 2005

By R. Bridge

Mining companies are progressively finding themselves having to develop operations for more complex, deeper ore bodies, which require the use of more complicated mining and mineral processing methods. This coupled with the generally increasing trend of higher capital and operational costs have led to a need in the industry for improving ore body knowledge, mining and mineral processing. Geometallurgy is a relatively new concept that can link the three aspects, and when used effectively it is a method that can produce the necessary information for designing and building operations for reliable and optimum performance. Geometallurgy not only involves the integration of geological, mining, and metallurgical fields, but it can also be expanded to include environmental and economic information to produce a block model that can be used to obtain the best outcome in terms of plant response and plant sustainability. The geometallurgical program should not end once the block model has been populated. A detailed geometallurgical approach should be applied to all stages of the operation encompassing sample selection, through to equipment sizing and production forecasting. It can also become a useful optimisation tool thereby allowing the operation to be proactive rather than reactive against changes in the ore characteristics. With the development of metallurgical performance predictors it is possible to quantify how the ore will behave in the process plant in terms of throughput, recoveries, reagent consumption, etc. Therefore, in terms of responsible mining and sustainable resource development, a geometallurgical approach to operations is the logical step for plant development. In this paper we describe the state of the technology with respect to the application of geometallurgical modeling and its utilisation in the fields of design, forecasting and optimisation of mining operations.

Aug 1, 2013

By J. D. Stinnette

Traditionally, airflow requirements for diesel equipment operating in underground environments such as mines and tunnels were determined by multiplying the vehicle power by a ventilation rate that was either mandated by regulations(s) or determined empirically from known quantities. In some cases, utilization factors were further used to adjust (reduce) the total airflow calculations for a diesel equipment fleet. However, in light of the drastic reductions to diesel equipment emissions mandated by the US EPA Tier IV and EURO Stage 4 regulations, there is currently a great deal of uncertainty in the underground mining industry among those responsible for the ventilation of planned new mines or the expansion of current mines. Tier IV engine standards mandate a reduction of DPM and NOx of approximately 95%, but can ventilation rates at mines with Tier IV equipment (or equivalent) really be reduced by a factor of twenty? This paper outlines some of the factors that affect the airflow required for the ventilation of modern diesel-powered equipment and examines how they can be applied in determining a reasonable ventilation rate for Tier IV compliant equipment operating in subterranean environments.

Aug 1, 2013

By J. Lu, D. B. Dreisinger, G. Houlachi

"Zinc metal is primarily produced by electrowinning from sulfate solution. Zinc electrowinning is very sensitive to impurities such as Co and Ni. These impurities have to be removed to produce high-quality zinc and maintain a high zinc current efficiency. Zinc dusts are used to remove these impurities by cementation. However cobalt cementation is extremely slow and it is typically activated by the addition of Cu and Sb. Even with the use of Cu-Sb activation, cobalt is still difficult to remove. The zinc dust used for cobalt cementation is negligible compared to that consumed for hydrogen evolution. In some plants up to 6-7% of electrolytic zinc is used for cementation. This is a great waste of energy. Cu-Sb activation is not well understood. The objective of this study was to further understand the Cu-Sb activation and then find a way to reduce hydrogen evolution and promote cobalt cementation. The investigation reveals how hydrogen evolution (or zinc dissolution) and cobalt cementation and re-dissolution change with temperature, zinc dust dosage, the concentrations of copper and antimony and time. In the Cu-Sb activation, copper is deposited on a zinc particle to produce a porous shell. The zinc particle as an anode dissolves while the shell as a cathode provides a place where cobalt cementation and hydrogen evolution occur and they are catalyzed by antimony. A certain level of antimony (around 0.1 mg/L) is a key to maintain the catalytic effect of the shell. At a higher antimony concentration, cobalt cementation is accelerated slightly while hydrogen evolution is increased greatly. When a zinc particle dissolves to a certain degree, cobalt loses its cathodic protection and starts to re-dissolve. The change in cobalt concentration is determined by the rates of cobalt cementation and re-dissolution. The operation conditions can be optimized to maximize the cobalt removal and minimize the zinc dust dosage.INTRODUCTIONMost of the world’s zinc metal is produced by electrowinning from sulfate media. Many impurities such as iron, copper, cobalt and nickel are co-extracted into solution with zinc. Iron, mercury, indium, lead and tin are removed by co-precipitation as hydroxides. Copper, nickel, cobalt, aluminum, arsenic and germanium are partially co-precipitated with iron while cadmium, magnesium and chloride remain in solution. Cobalt, copper, cadmium, nickel and etc. are subsequently removed by cementation with zinc dust to achieve an acceptable current efficiency and high purity metal product for the economical production of zinc. Zinc provides a strong thermodynamic driving force for the cobalt cementation:"

Jan 1, 2016

By H. E. Johnston

There are currently a number of options in terms of plant feed comminution tests: Bond work index tests, JK drop weight and SMC tests, SPI, low impact crusher work index tests, to name a few. However, information regarding specific energy requirements for regrind mills is often requested, which can be difficult or very expensive when only a small mass of concentrate is produced from bench-scale flotation tests. This research was aimed at developing a test methodology that would produce a similar result as an IsaMill Signature Plot but require less sample mass allowing for preliminary estimates of regrinding power at a lower cost. Initially, the laboratory test methodology was completed on a single sample in comparison to the IsaMill Signature Plot for that sample. Results indicated a very good correlation between the laboratory tests and the IsaMill Signature Plot for this sample, though some parameters did impact laboratory regrind mill efficiency. The developed methodology is subsequently being applied to a range of concentrates, investigating a range of material particle sizes and material types, in comparison to a full IsaMill Signature Plot on the same sample. This new test procedure has been called ‘The Eliason Test’.

Jan 1, 2014

By H. Helmstaedt, P. Thurston, R. Harrap

"Evolution of the continental lithosphere over Earth’s 4.6 billion year history is one of the fundamental questions of geoscience. Much of the Earth’s present-day continental crust formed during the first 2 billion years, the Archean eon, of the planet’s lifetime and thus, Archean processes of lithospheric formation must be studied in order to address this question. Until recently, the processes of Archean lithospheric evolution were thought to be fundamentally different from present-day plate tectonic processes. However, subsequent evidence suggests that the growth of Archean continents may be explained in terms of modern tectonic accretionary tectonics similar to those presently operating in the southwest Pacific region. The evidence supporting this hypothesis was compiled largely by Canadian geoscientists working in the Superior Province of the Canadian Shield in northwestern Ontario, over the past 15 years. Study of Archean rocks is also economically important because the Archean rocks of the world, although comprising only a relatively small fraction of the exposed continental crust, contain much of the world’s mineral wealth, including more than half of the world’s gold, as well as significant base metal reserves. Furthermore, the vast majority of primary economic diamond deposits are derived from the lithospheric roots beneath Archean cratons.The LITHOPROBE Western Superior Transect is located within the western part of the Superior Province in northwestern Ontario (Fig. 1). The Superior Province is the largest and best exposed Archean crustal block in the world and forms the nucleus of the North American continent. The internal structure of the Superior Province records a history of the processes that formed the earliest lithospheric elements of the Earth into cratons, thus providing an ideal laboratory for investigating early crustal evolution. The Western Superior Province is characterized by a regional pattern of alternating, 100 km to 200 km wide geological belts (Fig. 2). The observed geologic relationships between and within these subprovinces have been explained in terms of a modern tectonic model of terrane accretion. Oceanic floor, volcanic island arcs, oceanic sediments and continental fragments were accreted successively from north to south against the southern margin of a cratonic nucleus (North Caribou terrane, Fig. 2) which grew steadily in size with the arrival of new terranes through geologic time. If this model is correct, it suggests that the tectonic processes operating today have been active without major variation over the past 3 billion years."

Jan 1, 1998

By A. Singh

Deformation structures after tensile and compression tests on Mg926Zn64Y alloy extruded at 250°C and 400°C are studied, in as-extruded and heat treated conditions. The icosahedral phase particles stimulate recrystallization during extrusion, resulting in fine grain size. Tensile and compression tests at room temperature show comparable yield strength, with a yield asymmetry ratio up to 0.98. c-type dislocations are observed in the grains near the submicron size icosahedral phase particles. The source of these dislocations is believed to be dissociation of <c+a> type non-basal dislocations. No dislocation pile-ups on icosahedral phase particles are found. {10 1 2} type twinning occurs in compression.

Jan 1, 2006

By F. W. Crossland

Losses of metal are often traced to incorrect pH/ORP signals in flotation, leaching, extraction, electrolysis, and precipitation processes, aggravated by pressure changes. IC Controls, a Canadian mining sensor manufacturer, developed a new superior pH/ORP sensor that stops metal losses, reduces environmental footprint and contributes to sustainability. The cause of incorrect pH/ORP signal is rooted in the reference. Reference junctions are designed to allow diffusion of reference chloride ions into the process but also allow process ions to diffuse into the reference. This development is important to mines and hydrometallurgists where sulphide, cyanide, ammonia and other poisoning ions are present in the process. These ions react with reference electrolyte components causing the signal to change, drifting from the correct process value. With fluctuating process pressure, ion in migration dilutes the electrolyte producing similar signal drifts. If process ion in-diffusion could be stopped, the pH/ORP signal would be accurate. IC Controls new pH/ORP sensor stops process ion in-diffusion, and remains accurate over long periods. New processes using higher pressure and fluctuating pressurized reactors will greatly benefit from stable pH readings. Similar to IC Controls&apos; proven model 642 Mining pH sensor, our new model 647 contributes to sustainability through reducing disposal costs from waste reagents, lost metal and fewer used sensors.

Jan 1, 2014

By D. Fredlund

The decommissioning of uranium tailings facilities often requires the design of a suitable cover system. In northern climatic environments there is a portion each year that can be considered to be ?inactive? while the remainder of the year can be considered to be ?active?. There are numerous engineering design assumptions required when analyzing both the ?active? and the ?inactive? portions of the year. Cover systems are subjected to complex boundary conditions and nonlinear unsaturated soil properties. The proposed paper describes the steps necessary for the preparation and the analysis of a multi-year climatic database for the design of a cover system in northern environments. The paper also explains how climate can be classified and how observed variations from one year to the next can be taken into consideration in cover design. The results of climatic records at two different sites are used to illustrate conditions that need to be taken into consideration when designing soil cover systems.

Aug 1, 2010

By A. Jafarnia

Aluminum alloys are frequently grain refined during solidification in order to promote the formation of an equiaxed grain structure in the casting. The application of Ti-based grain refiners and/or Ti containing master alloys for improving mechanical properties may result in formation of Al-Ti based intermetallics. Although the grain refinement produces many desirable qualities in aluminum castings such as improved castability and mechanical properties, the addition of Ti to Al-Si foundry alloys may lead to the formation of some undesirable intermetallic particles such as AlTiSi and cause a number of operational problems such as nozzle blockage due to segregation and agglomeration of aluminide particles within the nozzle. There are several questions to be clarified when minor amount of Ti is added to Al-Si alloys. They include nucleation and growth of AlTiSi particles, their morphologies and orientation relationships with aluminum matrix and the dissolution of these intermetallics during the course of solidification and/or post solidification treatments. The current study was initiated to study the process and possible mechanism of aluminide dissolution and the related phenomena such as segregation and agglomeration. It reports the results found during reheating of laboratory prepared Ti-added A356 alloy at three temperature ranges of below solidus, mushy zone and above liquidus.

Jan 1, 2004

By J. P. Harrison, G. F. Gambino

"This paper examines unpredictability in the parameters governing hydraulic fracturing (HF) as used in stress amelioration for underground excavations, with the aim of showing how this unpredictability may affect design decisions. Using uncertainty models that are appropriate to particular levels of information and degrees of uncertainty, this paper demonstrates how these can aid in decision-making related to feasibility assessments of HF arrays for stress amelioration.Cave mining operations produce large underground voids and high stress concentrations around critical mine locations. These stress concentrations increase the potential for rock burst events. Although de-stress blasting has a long history for redistributing high stress concentrations, to improve safety and reliability HF is now being trialled as an alternative.Unfortunately the HF process is extremely uncertain, and so predicting fracture propagation geometry is difficult. Although the major parameters governing HF propagation have been previously identified, no indication has been given regarding the contribution that uncertainty in these makes to unpredictability in the overall HF system. Using simplified models of HF and referencing a recently proposed characterization of unpredictability, we relate unpredictability in the various governing parameters to the effect it has on strain energy density (SED) in the surrounding rock. Within these models we analyse SED as well as the stress intensity factor (KIc) when investigating the effect of parameter uncertainty and its influence on various crack propagation criteria (Sih & Macdonald, 1974). These models are applicable to unpredictability associated with the development of new fractures; the case of pre-existing fractures is the subject of on-going work.The paper will assess in greater detail the various governing parameters, and investigate the appropriate use of other uncertainty models. As a result, we will show how assessment of uncertainty in HF parameters can be used to both guide feasibility studies and determine the optimal allocation of resources to improve the final design."

Jan 1, 2015

By Gaston Giuliani, Jérome Massot, Didier Bourlès, Lionel Siame

"Abstract - We present a new approach for the evaluation of the potential of emerald reserves in gem projects using beryllium (Be) mobility. The distribution of Be in the different phases of hydrothermally altered (albitized) black shale hosting Colombian emerald deposits indicates that Be mobility is associated with the breakdown of Fe-Mn oxyhydroxide phases. The amount of Be that can be mobilized (~0.7 x 10-6 g/g; i.e., 0.7 ppm) may represent up to 18 wt% of the total Be contained in the black shale. A mass balance calculation applied to a well-constrained alteration zone of the Chivor mines, and based on the quantification of Be that can be mobilized under hydrothermal conditions, gives an estimate of the total gem reserves of these mines. Resumé - Une nouvelle approche, basée sur la mobilité du béryllium (Be) pour l’évaluation des réserves d’émeraude dans des projets d’exploitation de gemmes est présentée. La distribution du Be dans les différentes phases minérales de schistes noirs hydrothermalisés (albitisés) qui contiennent les gisements d’émeraude colombiens, indique que le Be mobilisable se trouve dans les oxyhydroxydes de fer et de manganèse. La quantité de Be potentiellement mobilisable (~0,7 x 10-6 g/g; soit 0,7 ppm) constitue jusqu’à 18% poids du Be global contenu dans le schiste noir. Un bilan de masse appliqué à la zone d’altération hydrothermale des mines de Chivor et basé sur la quantification du Be mobilisable, donne une première estimation des réserves à émeraude de ces mines. rieur."

Jan 1, 1999

By Christopher W. N. Anderson

Induced hyperaccumulation of gold by plants was first reported in 1998 by researchers from Massey University in New Zealand who proposed the idea of mining gold using plants (phytomining). Since that time research has been conducted to understand the conditions under which plants can be made to take up economic amounts of the metal. One key focus has been on the geochemistry of gold-rich soils, leading to a diagnostic test that can predict how suitable a particular soil might be to gold phytomining. Field trials have been conducted at several locations around the world in collaboration with industry partners. A Decision Support System has been developed to assist in the design and management of phytomining operations, and economic modeling has been carried out to set targets levels for phytomining technology. Novel studies are now examining the form of gold in plants. Research suggests that plants may store gold as discrete metallic nanoparticles in leaf and stem tissues, an observation that may lead to new ways to recover the metal from harvested biomass.

Oct 1, 2003

By C. R. Edwards, D. G. Feasby

"Over the last 50 years disposal of uranium mill tailings has evolved from dumping untreated tailings into the nearest depression to depositing chemically-stabilized tailings into highly engineered management facilities. This paper describes the evolution of disposal methods and the criteria which have determined the development path followed. Remediation techniques to bring older and now unacceptable tailings deposits into satisfactory compliance with today's· regulations are reviewed.With the closure of the uranium mines in Elliot Lake, Ontario, considerable effort is being made on decommissioning the tailings areas by developing long term maintenance of water covers. The innovative methods being used to develop these water covers are detailed. Methods now under development in Saskatchewan for subaqueous deposition of high density or paste tailings for permanent disposal in mined out open pits are described.SummaryThe technology for uranium mill tailings disposal in Canada has evolved considerably over the past 51 years. This evolution has been driven by an improving understanding of how best to safely and permanently store tailings, in conjunction with stricter environmental protection regulations. Old sites are being decommissioned in situ, but may require long term care and maintenance. The use of water covers is an important technique in eastern Canada to prevent intrusion, radon evolution and, for the Elliot Lake tailings, acid generation. The major drawback of water covers in any above ground disposal method is the requirement that a long term maintenance and monitoring plan be put into effect for each site.New higher grade mines in Saskatchewan will increasingly use disposal in mined-out pits using the pervious surround method and/or paste tailings technology as a method to permanently dispose of these wastes and to permit “walkaway” after a few years of monitoring."

Jan 1, 1996

By J. Ipinza, J. P. Ibáñez, Casas J., S. Cortés

Copper powder generated during the treatment of electro-metallurgical bleeds by reactive electro- dialysis (RED) had totally reduced the content of ferric ions in acidic synthetic electrolytes (Cu (II)- Fe (III) – H2SO4). In batch and columnar experiments 100% of the ferric ions were reduced to ferrous ions with an extremely high kinetics. A preliminary conceptual design for reducing ferric ions based on an integrate RED- Column for treatment of electro-winning bleed system is discussed. This system is able to recover simultaneously sulfuric acid and copper powder, which will reduce ferric ions. INTRODUCTION It is well known the negative effect of ferric ions in the copper electro-winning process. The increase of ferric content in the electrolyte reduces the current efficiency, i.e., there is an increase in the energy consumption, and changes the surface morphology of the copper deposit (Das, Gopala & Krishna, 1996; Vargas & Parra, 2013). The increase of the specific energy consumption due to the loss of current efficiency occurs by the reduction reaction of ferric to ferrous ions in the cathode, at the anode the ferrous ions are slowly oxidized to ferric ions (Shaw, Dreisinger, Lancaster, Richmond & Tomlinson, 2004). To control the level of iron in the electrolyte, bleeds are needed; this bleed electrolyte containing copper, sulfuric acid, cobalt, iron and other impurities normally is waster, which increased the production cost of the plant (Milbourne, 2002; Mckevitt & Dreisinger, 2009). Then, permanent efforts oriented to treat those bleeds to avoid losses of valuables components are made; among them are use ion exchange resins (Shaw et al., 2004; Mackevitt et al., 2009), chemical precipitation (Izadi, Mohebbi, Amiri & Izadi, 2017) and electrodialysis (Cortés, Ipinza & Ibáñez, 2013). The last one allows to the simultaneous recovery of sulfuric acid and copper powder. If one of the valuables obtained by treating the bleed can be used to reduce ferric ion concentration in the electrolyte could be an important asset. This issue at laboratory scale is reported in this work, the use of copper powder, generated by reactive electro-dialysis when treating synthetic acidic electro-metallurgical bleeds, for reducing ferric ions in acidic electrolytes.

Jan 1, 2019

By J. Xie

In underground coal mining, the potential for an outburst of coal and gas is considered to be one of the major hazards. As such, considerable emphasis is given to understanding and preventing such events. A number of indices are used in the prediction of the outburst in a coal mine. The main indices include initial gas desorption rate, gas pressure, gas content, coal strength, gas flowrate from a borehole drilled in a coal seam, and combinations of the above. Some of these indices are considered to be inadequate, inappropriate or impractical for some coal seam conditions, such as those with soft and friable coal. The Huainan Mining Group (Huainan) in China and the Commonwealth Scientific and Industrial Research Organisation (CSIRO) in Australia have been jointly developing gas content based technologies to predict the risk of the outbursts. One of the major progressive achievements is a new method for determination of outburst gas content threshold values. The method utilizes empirical analyses, numerical modeling, and seam-specific knowledge . This paper describes the method and its application for the #11 Seam at Guqiao mine, Huainan.

Aug 1, 2013

By Charle Lawrence, Murray E. Blanchard

"A significant addition to Canada&apos;s commodity export transportation capabilities is being built by Ridley Terminals Inc. on Ridley Island in the Port of Prince Rupert on British Columbia&apos;s north coast.Site preparation began in early 1982. By the end of 1983 the terminal will be receiving coal from two major new mines being developed in B. C.&apos;s massive $2.5 billion northeast coal development.The RTI terminal will have initial capacity to transfer 12 million tonnes of coal a year from railcars to storage and to ships. Capacity will be doubled to 24 million tonnes as market opportunities are developed.The challenge of building this $220-million facility in less than 24 months, the benefits Canada has received from the work the project is generating, and the long-term faith in Canada that this project represents, are all part of the excitement which surrounds the Ridley Terminal and northeast coal developments.RIDLEY TERMINALS INC. (RTI) is building a very significant addition to Canada&apos;s commodity export transportation capabilities. The facility, on Ridley Island at Prince Rupert, on the north coast of British Columbia, is a key link in British Columbia&apos;s northeast coal development which in itself is a massive undertaking involving investment of some $2.5 billion. The entire project is making a substantial contribution to Canada&apos;s economy at a time when such contributions are sorely needed.The development is creating employment, not only in British Columbia where its various parts are being created by mining companies, railways and others, but also across the country where suppliers are manufacturing a wide variety of good s and equipment for the development&apos;s participants.The RTI terminal is no exception. It is a critical cog in this mega project&apos;s large transportation system and its construction is contributing substantially to job creation and to other economic activity, in the Prince Rupert area and in many other parts of British Columbia and the rest of Canada."

Jan 1, 1983