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By Mengmeng Gai

This paper introduces a model-based automatic object recognition and registration framework to assist heavy equipment operators in rapidly perceiving 3D working environment at dynamic construction sites. A video camera and a laser scanner were utilized in this study to rapidly recognize and register dynamic target objects in a 3D space by dynamically separating target object?s point cloud data from a background scene for a quick computing process. A smart scan data updating method has been developed which only updates the dynamic target object?s point cloud data while keeping the previously scanned static work environments. Extracted target areas containing 3D point clouds were orthographically projected into a series of 2D planes with a rotation center located in the target?s vertical-middle line. Prepared 2D templates were compared to these 2D planes by extracting SURF features. Point cloud bundles of the target were recognized, and followed by the prepared CAD model?s registration to the templates. The field experimental results show that the proposed rapid workspace modeling method can significantly improve heavy construction equipment operations and automated equipment control by rapidly modeling dynamic target objects in a 3D view.

Aug 1, 2013

By J. A. Jr. Carpenter

Expanding world economic prosperity, probable peaking of conventional petroleum production in the coming decades and environmental concerns require efforts to increase the efficiency of, and the development of alternatives to, petroleum-based fuels used in automotive transportation. In January 2002, the U.S. Department of Energy (USDOE) and the U.S. Council for Automotive Research (USCAR) of the "Big Three" traditionally-USA-based automakers, DaimlerChrysler, Ford and General Motors, formed the Freedom Cooperative Automotive Research (FreedomCAR) Partnership to fund high-risk, high-payoff research into advanced automotive technologies with the potential for eventually lowering the USA's nearly complete (95%) dependence on petroleum, 55% imported, for its transportation fuels. FreedomCAR replaced the Partnership for a New Generation of Vehicles (PNGV) which existed from 1993 to 2001. In January 2003, the energy-supply industry joined with the FreedomCAR Partnership forming the FreedomCAR and Fuel Initiative (FC&FI) to develop the technologies needed for the mass production of fuel-cell vehicles using hydrogen as fuel and the infrastructure needed to deliver the hydrogen to the consumer. The goal is to enable the automotive and energy-supply industries to make commercialization decisions in 2015 on large-scale introduction of such vehicles and on developing the infrastructure beginning in 2020. In addition to work on fuel cells and hydrogen infrastructure, the FC&FI conducts research on technologies with the potential for nearer-term energy efficiency and environmental benefits, such as new engine concepts, lightweight materials, and engine-electric hybrid propulsion systems. Lightweighting is seen as crucial for shorter and for longer term benefits because hybrid and fuel-cell powertrains are expected, at least in the early stages of adoption, to be heavier and more costly per unit of power than the standard internal-combustion, gasoline- or diesel-fueled powertrains they replace. Research and development (R&D) on casting of aluminum automotive components were major parts of the PNGV and R&D on casting of magnesium automotive components have been and are so under FreedomCAR. This presentation will review those efforts.

Jan 1, 2006

By Peter Wells, Gordon Marrs, Dominic Fragomeni, Warren Holmes, Daryl Macnamara

"LocationThe Strathcona mill ofFalconbridge Limited is located in Onaping, Ontario, 50 km northwest of Sudbury.GeneralOre from the Falconbridge mines in the Sudbury Basin (Strathcona, Fraser, Onaping, Craig and Thayer Lindsley mines) is processed through the Strathcona mill with 8500 t of nickel ore and 1500 t of copper ore being treated daily. Current capacity is -3 Mt of ore at 1.8% Ni, 1.9% Cu combined grade. Custom feeds are also processed. The valuable minerals in the ore are pentlandite (FeNi)9S8, chalcopyrite (CuFeS2) with some cubanite (CuFe2S3) and very minor nickel sulphides/ arsenides. Cobalt is present mainly in solid solution in pentlandite. There are small but economically important concentrations of precious metals including platinum, palladium gold, and silver. The common non-sulphide gangue minerals are feldspar, quartz, mica, talc, and chlorite while pyrrhotite (Fe7S8) is the major gangue sulphide. The pyrrhotite contains between 0.6% and 1.2% nickel in solid solution and additional nickel as exsolved pentlandite in micron sized blebs. The nickel and copper ores are batch-crushed in a two stage dry crushing plant and then ground in separate circuits. Concentration by flotation and magnetic separation produces a nickel concentrate assaying approximately 16% nickel plus copper and a copper concentrate assaying 30% copper and 0.4% nickel. The nickel concentrate is trucked as a slurry to the Falconbridge smelter while the copper concentrate is trucked as filter cake to the Kidd Division of Falcon bridge"

Jan 1, 2000

By Donald V. Currie

"The Alberta and Northwest Chamber of Mines was founded in Edmonton, Alberta in 1935. The organization represented private sector mining explorers and developers in the province and north west Canada. The Chamber aided and abetted the establishment of the two territorial mining associations. Because of corporate human resource department creation by north of sixty mine operators, the Chamber refocused on Alberta and broadened its perspective to include activities beyond mining. In 1977 the name changed to the Alberta Chamber of resources. The slogan (in more modern terms vision, mandate, goal, etc) remains as Orderly Development of Canada's Resources.The sixty-three year reputation of the Chamber, built on volunteer rather than staff contribution, is the principal reason for any success. The key has truly been the reputation, not an image, as all activities have been solution oriented.This presentation provides insight into the structure and methodology applied by the organization, and reviews some of the successes and failures during the period 1985 to present. Examples discussed include:• Canada-Alberta Partnership on Minerals 1992-1995• Regional Upgrader Business Plan• National Oil Sands Task Force• Lakeland and Waterways Railway"

Jan 1, 1998

By A. E. Hall

"This paper summarizes findings of a two-month investigation in Zambia and Zimbabwe and a one-month visit to Britain in1990-1991. United States contacts have supplied information about that country.Zambia's political unrest and severe devaluation, combined with developments in Namibia and South Africa, enhanced staff recruiting problems in the School of Mines. Zimbabwe has a strong and developing mining department. The departments of mining in the United States and Great Britain are readjusting and contracting due to the reduction in the scale of the industry.The above factors are reviewed and their impact on the countries evaluated.IntroductionCanada trains the majority of its mining engineers domestically but a significant number are recruited from other countries. Examination of the qualifications of 200 professional engineers registered in the mining discipline in British Columbia showed that125 received their first degree from a Canadian university, 33 graduated from institutions in the United States and 42 from the rest of the world including 30 from the United Kingdom. This is a rough and-ready sample but it indicates that developments in the education of mining engineers in the United States and in Britain are relevant to the Canadian mining industry.The recent changes in the world economy and political structure have significant implications for the mining industry and for the supply and training of engineers. Change in eastern Europe coupled with the downturn in mining, especially in the European coalfields, has enabled many engineers to travel freely to the West. The low gold price and the legislative changes in Africa that have improved access to education for Africans with the ability to fill responsible positions, have reduced the South African mining industry’s overseas recruitment to a minimal level. The Australian recession has also lowered their recruitment of mining engineers from other countries."

Jan 1, 1993

By M. Desjardins

The Hoyle Pond underground mine, located in the Porcupine Gold Camp, east of the city of Timmins, Ontario, Canada, is the cornerstone of Goldcorp Canada Ltd?s Porcupine Gold Mines. Cut and fill, shrinkage, longhole and panel mining methods are employed to excavate the narrow gold bearing structures. In order to meet increased flow requirements of 256 m3/s at the mine, a new Fresh Air Raise (FAR) and new surface fans were commissioned in early 2005. The newly acquired fans were capable of supplying the desired volume of air within a range of 1.5 and 2.0 kPa. Upon commissioning of the surface fans the total pressure was found to be exceedingly high; far beyond the design capabilities of the new installation. Consequently only one surface fan could be operated at any given time providing about half the required volume of air. Extensive work was immediately started aimed at reducing the system resistance in order to permit operation of the two fans in parallel and achieve the required mine flows. Larger booster fans were installed in parallel at the 900 m level, a 3 m raise bore linking the 450 and 900 m levels was developed to twin the existing fresh air circuit, and the FAR from surface to the 450 m level was twinned with the original FAR. This strategy, completed in 2012, resulted in a drastic reduction in system resistance and pressures, allowing the two surface fresh air fans to be safely operated in parallel and meeting the flow requirements. This paper describes details of the engineering design work and commissioning of the modified ventilation system, successfully ensuring the long term viability of the project.

Aug 1, 2013

By A. R. Miller, M. C. Bétournay, D. L. Barnes

"A number of successful proof-of-concept projects have been carried out to replace conventional power application, such as diesel and rechargeable batteries, in underground mine vehicles. This has led to the development and testing of the world’s first fuel cell production vehicle, a mine locomotive. A fuel cell loader is being built and tested.This paper provides an insight into other projects that are being carried out. Some are related to further underground applications, and some to further research, such as refueling options, power plant durability, and vehicle automation.Also outlined is an evaluation of the overall mining applications and advantages this technology can bring to underground mining, including the facilitation of automation and tele-remote operation."

Jan 1, 2003

By X. M. Zhou, T. Wu, He X. N.

"In order to study the support effect of concrete in the surrounding rock of a metal mine, the concrete and surrounding rock were comparatively studied. Firstly, the general situation of the ultra-kilometer deep shaft in Xincheng, surrounding rock and geological conditions are introduced. Secondly, the experimental scheme of material mechanical properties of surrounding rock and shaft lining concrete based on same standard dimension and shape are examined, and the mechanical tests of rock and concrete based on different shapes and sizes are carried out. The study shows that the compressive strength value and elastic modulus of the rock cube are 1.28 times and 1.78 times that of the cylinder, and the Poisson's ratio is 0.77 times. The dimensional effect law of the concrete cube and cylinder test data is consistent with the rock law. However, the test results of the concrete are less discrete than the rock; the test also shows that the strength and elastic modulus of the concrete lining of the main shaft of the Xincheng are much smaller than the surrounding rock that is also used as the concrete aggregate, which indicates that the support of concrete lining in the surrounding rock shaft behaved weakly. Based on the development of the modern NATM rock support theory, it is suggested that the mechanical test standard of artificial support materials should be unified into the mechanics test standard of natural rock, which will help to improve the accuracy and practicality of scientific calculation of geotechnical engineering.INTRODUCTIONConcrete and rock mass are usually attributed to a class of materials called frictional materials or geotechnical materials, of these two kinds of materials, the first is man-maded and the second is natural. The attentive scholar can find that there are many differences in the test criteria for the mechanical properties of the two kinds of materials among different industries or departments, reflecting the differences in their sources, tradition, and the application thoery of material strength among them.There is a situation wordwide, that there are many testing standards of the same material mechanical parameters such as elastic modulus, compressive strength, etc. The cube with a side length of 150 mm is adopted as a common sample in the architecture department in China, while a cylinder with a diameter of 50 mm and a height of 100 mm is as a standard specimen in geotechnical department.Knowing that mechanical parameter values are strongly affected by the the size, shape of specimen and loading rate etc, that is to say the mechanical parameter values of the same material are completely different when obtained from different test with different standards. However, such a problem has been long neglected in geotechnical engineering."

Jan 1, 2019

By Pierre Pelletier, Christian Pichetie, Dany Pelletier

"IntroductionDuring 1994, Barrick Gold Corporation, or American Barrick at that period, acquired Lac Minerals Ltd. properties. One of them was the Bousquet Complex. The Bousquet Complex is divided into three distinct sites: one mine (Bousquet 2), one mill (Est-Malartic Division) and one analytical chemistry laboratory (Les Terrains auriferes).The Bousquet 2 orebody was discovered in 1986. An extensive drilling program was initiated during 1987. Its purpose was to define the orebody extent. At the end of 1997, gold production from Bousquet 2 mine reached 1 290 000 oz of gold from a cumulative tonnage processed of 4 175 000 M t.From 1980 to 1990, the Est-Malartic mill was used for the treatment of ore from the following mines: Bousquet 1, Doyon, Francoeur (Richmont mines), Buckshot and 1-20 stope. At present, the mill receives ore from the Bousquet 2 mine.HistoryThe Est-Malartic mill is located close to the town of Malartic in northwestern Quebec. The mill has been in production since the mid-1930s processing mainly clean, free mill gold ore. Active mining from the Est-Malartic mine ceased in 1979 and the mill was switched to custom processing of ore from La Mine Doyon located some 45 km to the west. This custom processing arrangement continued until 1987 when the expanded mill at Doyon became available to process all of the Doyon production. In 1987, Lac Minerals commenced development of a second mine at the Bousquet site located 40 km west of Malartic. This mine, Bousquet 2, is the down dip extension of the La Ronde mine developed by Agnico Eagle. During pre-feasibility evaluations, it was determined that it would be economically more attractive to modify the existing Est-Malartic mill than building a new facility on site. The Est-Malartic mill modifications for processing the high-copper/gold ore from the Bousquet 2 mine began in late 1989 and new circuits were commissioned in mid-1990. Modifications included the addition of both gravity and flotation concentration circuits to recover coarse, free gold and the copper. The existing leaching circuit continued to operate on the copper flotation tailings with some minor modifications to the solution handling systems. A S02/Air cyanide destruction circuit was also added at that time."

Jan 1, 2000

By Chris Cross

A working group from Anglo American, BHP Billiton, Rio Tinto and Xstrata reviewed supply and demand for graduates from mining education departments in countries where they normally recruit: Australia, Canada, Chile, Western Europe, South Africa and USA. Departments are typically small and increasingly unsustainable, resulting in a steady rate of closure. Supply and demand for graduates in the minerals industry is cyclical, with supply lagging behind demand and trending downwards. Currently, supply is tight and the industry is trying to expand with an ageing workforce. Greater collaboration between universities and within the industry is recommended to address these issues.

May 1, 2006

By R. S. Douglas

THE Granby Consolidated Mining, Smelting and Power Company, Limited, is engaged in the mining and concentrating of copper ores, and, incidentally, in the mining of coal and the production of electric power. The Company has been engaged in these various operations both on the mainland of British Columbia and on Vancouver island for the past forty-five years. This paper will attempt to cover their present operations in the Similkameen mining district of southern interior British Columbia. GENERAL CHARACTER OF THE DISTRICT The Interior Plateau in southern British Columbia ranges in elevation from 3,000 feet to 6,000 feet. In the vicinity of Princet0n, a depression in the Plateau forms a well defined basin which is floored with a series of nearly flat-lying Tertiary sediments containing some workable seams of lignite. From this basin, the upland surface rises gradually t0ward the south, from an elevation of 2,000 feet at Princet0n to 4,000 feet at Copper mountain, and 6,000 feet in the upper parts of the Similkameen basin, where it merges into the rugged and diversified t0pography of the Cascade system, with glacier inhabited peaks rising to over 9,000 feet. The valleys of Similkameen river and its tributaries are wide, having flaring sides and gentle slopes, and are separated one from another by subdued rounded spurs, of which Copper mountain is typical. The drainage of this district is taken care of by Similkameen river and its larger tributaries, such as Pasayten river, and Wolfe, Friday, and Whipsaw creeks. The name Copper mountain is applied to a gently arched, nearly flat-topped spur between the deep valley of Similkameen river to the west and the shallower valley of Wolfe creek tO the east. The mountain is appro-priately named from the number of copper deposits occurring on its sides and summit, some of which have been developed int0 an important producer, known as the Copper Mountain mine.

Jan 1, 1943

By Karl J. C. Harries

"3.1. INTRODUCTIONThis chapter discusses briefly the common law concepts of fiduciary relationship, constructive trust, and breach of confidence. Following a discussion of confidentiality agreements, the last section of the chapter compares and comments on two common law cases, the LAC Case and the Metalore Case. Civil law readers should not ignore this chapter or § 3.5. the comparison as, to a large extent, the concepts and comments are universal, even though the procedures for applying them may vary.1It should be appreciated that, regardless of the legal system, if the Court sees that a wrong has been done, it will attempt to right that wrong, either by awarding monetary damages against the wrong-doer to compensate the injured party or by attempting to make the injured party whole again by such means as negating an agreement (as in the Metalore Case) or returning property to a wronged party (as in the LAC Case). The methodology for accomplishing either of these results will vary with the jurisdiction, and the two are not mutually exclusive.These two Ontario cases have been chosen, not because they are the only ones available – they certainly are not – but because both are relatively well known within the minerals industry and they deal with problems that may face any explorationist (although it is to be hoped that the facts of the Metalore Case do not represent “normal” behaviour). Each judgment offers useful guidelines, as well as insight into a judge’s approach to problems, the type of information he expects to receive, how his mind works, and, particularly in the Court of Appeal judgment in the Metalore Case, how he might reason through and “justify” his decisions.3.2. SOME LEGAL CONCEPTS In order to appreciate some of the matters discussed in this chapter, it is necessary to have some idea of the common law considerations of fiduciary relationships, constructive trust, and breach of confidence."

Jan 1, 2003

By E. Latorre, T. S. Golosinski

ABSTRACT; his paper proposes new methodology to define the pit limits that yield the maximum net present value (NPV) for a deposit, under a given economic scenario and for a given discount rate. The method uses an algorithm that combines dynamic programming and heuristics. It was tested for evaluating deposits with different sizes and various grade distributions. For the discount rate of zero, the results confirm that the economic pit limits are the same as that defined using Lerchs Grossman method. However, when discount rates higher than zero are used, the pit limits differ, yielding a higher NPV.

Jan 1, 2011

By M. Mohammadijoo, J. B. Wiskel, D. G. Ivey, S. Kenny, H. Henein

Cold-wire tandem submerged arc welding (CWTSAW) has recently been developed as a novel welding technique to replace the conventional tandem submerged arc welding (TSAW) process and improve the productivity of pipeline manufacturing. The process involves two electrodes with arcs and one electrically cold electrode. Since heat-input of the welding process is a key factor affecting the properties of the weld metal (WM) and the heat-affected zone (HAZ), and the additional cold-wire affects the heat introduced to the weldment, it is of interest to investigate property and geometry changes in the WM and HAZ when a cold-wire is added to the welding process. In the current research, the CWTSAW process is investigated and optimized by correlating the main welding parameters with the micro-hardness of the WM and HAZ and the geometry of the weld, i.e., the bead width (BW), penetration depth (PD), reinforcement area (RA) and coarse grained heat-affected zone (CGHAZ) area. Three statistical and mathematical methods are employed to optimize the CWTSAW process in terms of the mechanical properties and WM and HAZ geometry of a typical microalloyed steel used for pipeline manufacturing.

Jan 1, 2015

By Tao Long

Recently, the great amount of funds has been invested in the reconstruction of damaged infrastructure and house of subsidence area of coal mine and mine reclamation. This is a benevolent and popular work, which is highly praised. However, because of complicated collapse area problems in China, especially the less integrated control research in the collapse area of metal mine, and the technological weakness, how to effectively control the subsidence area, restore landscape and ecological environment, and utilize the abandoned mine land, are major issue related to the mining area of sustainable development. The research situation about the formation of metal mine collapse area at home and abroad is reviewed, and then the effect of the collapse area on the mine safety and ecological environment, the existing technical problems and development direction are analyzed. Lastly, the technical measures of the collapse area control and cooperative underground mining is put forward.

Oct 1, 2010

By A. W. White

Introduction To discuss all the technical details of incorporation laws, security laws, underwriting procedures, codes, and ethics-as laid down by varous associations -would be impossible in the time which has been allotted to me. My remarks, therefore, will be made in a very general way and will naturally be coloured with experiences which my firm and I have had. There is a common expression that "money makes the mare go". I hardly have to mention here that the best prospect in the country is of very little value unless its prospects can be developed-and this requires large capital expenditures. The art and problems surrounding the raising of this money is a long and interesting story. Since by its very nature mining is risky, the appraising of its risks in the many phases of its development programme is continuous. Very few men-if any-and very few corporations -if any -can afford to take all the risk of mining. Because of taxation policies-and the very scheme of present-day living -the truth of this statement can be seen throughout the whole industry by a close examination of the records. Since this is so, it is essential that the mechanics of distributing risk on a sound, and equitable basis be known to those engaged in the business and to the investor or spectator who proposes to risk his funds in the industry. Perhaps the greatest stimulant to modern business activities has been the creation of corporate bodies. It is evident, from the number of charters being granted by various jurisdictions, that this method of doing business is becoming more and more important. A limited company -or corporation-can be defined as a fictitious person existing solely in contemplation of the law.

Jan 1, 1951

By Linda Dufour

"Autoclaves have been in commercial use in the mining industry since the early 1950's the initial applications included tin, uranium, cobalt, nickel and copper extraction under both acidic and alkaline conditions. These circuits varied in batch or continuous operation. The geometry has been spherical, vertical, and horizontal type with up to six agitators, with throughput as high as 1000 stpd.Presently autoclaves are a good process selection for many refractory sulphide gold bearing ores. The first application of pressure oxidation in the gold industry was at the Homestake Mcglaughlin's Mine which was commissioned in 1985. This was an acidic pressure oxidation process treating 3000 stpd in three four compartment horizontal autoclaves 14' diameter and 53' long. Since the initiation of autoclaves for the treatment of gold bearing sulphides, there are presently 16 gold autoclaves operating worldwide varying in size up to 18'4"" inside diameter. There are seven autoclaves for the treatment of refractory sulphide gold bearing ores to be commissioned in 1997 and 1998.Autoclave technology has progressed extensively since the mid-eighties. Operational experience has made rapid progress and the result is much smoother and safer autoclave operation. There have been many advances in autoclave technology design. For example, the use of exotic materials for corrosion resistance to reduce down time for maintenance. The instrumentation involved in autoclave operation is very sophisticated which allows for many safety features. The advanced design has allowed for greater availability and as a result operating costs and maintenance costs have decreased. These technological advancements have made autoclave technology more safe and this has resulted in a greater acceptance of this type of operation. Many of the gold autoclave facilities operate up to 9 months continuously without shutdowns. The advancement of autoclave technology has inspired many new applications.Because of the outstanding operation of autoclaves in the gold industry, many other applications for autoclave technology are being considered. The following is a list of autoclave applications:"

Jan 1, 1997

By Mohsen Amir-Rahmat

The ore of Sarcheshmeh copper deposit that has been located in the south ?east of Iran, contains four type of rock that they have their specific hardness and strength according to their alteration type and mineralization. Blasting of these various types of mine rocks prepares various types of size for the product of mine as the feed of concentration. Along the crushing of this feed a few factors effect on the efficiency of the crushing unit. The aim of this project has been the consideration of the effect of ore size on the efficiency of crushing unit. For this investigation along the year 2000 A.D., six sample from feed and six sample from product of crushing unit have been prepared. The results of the screen analyze of these samples has shown that the size of feed has been lesser than the primary plan and the size rate of the product has been bigger than the primary plan. Also in this research the effect of feed size on the quality of product size has been considered.

May 1, 2003

By Marc Arpin

La Bolivie possède tout pour réussir. Son vaste territoire de plus d'un million de km2 et qui occupe une position stratégique au coeur du continent sud-américain recèle des ressources naturelles (forêts, minéraux, gaz naturel, etc) variées et abondantes. Elle a une frontière avec pas moins de 5 pays dont le géant que constitue le Brésil ainsi qu'avec l'Argentine, l'autre puissance régionale. Pourtant, malgré tous ces atouts, la Bolivie demeure l'un des pays les plus pauvres du continent. Ce paradoxe n'est nulle part mieux reflété que dans le secteur minier. Celui-ci fait face à une situation de crise en dépit d'une tradition minière de plus de quatre siècles et d'un potentiel géologique indiscutable ayant conduit à la découverte et à l'exploitation de fabuleux gisements d'argent et d'étain. Les habitants des districts miniers vivent dans des conditions de pauvreté extrême et les indicateurs de développement humain de ces régions sont parmi les plus bas en Amérique du Sud. La Bolivie réussit difficilement à attirer les compagnies minières alors que, chez les voisins, et particulièrement en Argentine, qui n'a pas de tradition minière, les investissements miniers majeurs affluent. Dans cette conférence, nous chercherons à expliquer les causes de cette situation et proposerons des solutions possibles.

May 1, 2001

By B. A. Strathdee

An arsenical ore containing both pyrite and arsenopyrite was heated to a temperature at which decomposition and distillation took place. The condensate consisted of metallic arsenic and arsenic disulphide, although the analysis of the ore showed that volatile arsenic and sulphur were present in proportion to produce a condensate of arsenic trisulphide and sulphur. Distillation tests on the mineral arsenopyrite also produced a condensate of metallic arsenic and arsenic disulphide. This arsenic sulphide gave a distinct x-ray diffraction pattern which was not listed in the A.S.T.M. data file. This same sulphide can be produced by heating a mixture of arsenic and sulphur in vacuo. Its chemical analysis corresponds to As2S2. The dissociation pressures of arsenopyrite and the vapour pressures of arsenic disulphide and arsenic metal were measured, using a quartz "spoon" gauge. The dissociation pressures of arsenopyrite were compared with the published data for the dissociation pressures of pyrite to account

Jan 1, 1961