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By Isabel F. Barton, J. Brent Hiskey

Chalcopyrite (CuFeS2) is the earth’s most abundant copper ore mineral, but is refractory to leaching with sulfates, chlorides, and other common lixiviants and oxidants. This has led to increasing research into alternative lixiviants for recovering Cu from chalcopyrite. Here, we review the leach kinetics of chalcopyrite in glycine, ionic liquids, and methanesulfonic acid, compared to baseline ferric sulfate and ferric chloride. Glycine (CH2NH2COOH) has long been used in applications such as biocatalysis and electroplating, and has recently been examined as a lixiviant for whole ores and concentrates of both copper and gold. It is nontoxic, biodegradable, and capable of strongly complexing Cu2+. Compatible oxidants are peroxide, dissolved oxygen, and ferric sulfate. Chalcopyrite leaching rate in glycine is chemical reaction-controlled, but the effects of grain size and the reaction orders with respect to lixiviant and oxidant concentrations and mass transfer vary. The use of ionic liquids as a leaching agent for chalcopyrite has been extensively investigated in recent years. This system is based primarily on the use of the imidazolium molecule (C3H5N2), which is a planar 5-member ring structure. This lixiviant has been applied to the leaching of chalcopyrite in the form of pure mineral, concentrates, and ores. Kinetics of ionic liquid leaching of chalcopyrite vary substantially depending on the type and concentration of ionic liquid. Methanesulfonic acid (HCH3SO3) is one of the newest lixiviants available in leaching, having only been examined in the last decade. It has been examined as a substitute for sulfuric acid, since it is less corrosive, is biodegradable, and breaks down to carbon dioxide and sulfate over time. The rate of copper leaching from chalcopyrite by methanesulfonic acid is controlled by diffusion and exhibits a strong dependence on oxidant type and concentration. Despite promising reaction rates and total extraction by some of these novel lixiviants, comparison with baseline ferric sulfate and ferric chloride systems makes it doubtful that any will be commercially viable in the near term. Only at very high reagent concentrations and temperatures, and/or very fine grain size, did any of the systems perform comparably to the much cheaper ferric chloride at extracting Cu from chalcopyrite. Most had similar overall reaction rates and total extraction to ferric sulfate, which is relatively common and cheap. However, the leaching kinetics of these novel lixiviants offer valuable insight into the dissolution behavior of chalcopyrite in various systems.

Jan 1, 2019

By A. Warczok

The mechanisms and kinetics of copper oxidation and reduction have been investigated in small scale thermal gravimetric experiments as well as in laboratory pilot scale, packed bed reactors. With blister copper flowing gravitationally down through a packed bed of ceramic particles, counter-current to low oxygen containing combustion gases, the rate of oxidation was found to be very high due to the large surface area created. Similarly, reduction by flowing copper through a packed bed of charcoal lead to rapid de-oxidation. Based on these laboratory measurements, fundamental rate data have been obtained. Modeling of industrial sized packed bed reactors using the laboratory results, opened up the possibilities of developing a new, very intensive, continuous process for copper fire refining. The developed mathematical model together with a computer process simulator, allowed for the design of the industrial-pilot installation to be built and tested at the ENAMI Paipote smelter in Chile.

Jan 1, 2007

By X Dai

This paper investigated the loss of cyanide via oxidation in CIP or CIL processes by relating the cyanide oxidation to its major oxidation product, cyanate. The results showed that the oxidation of both free cyanide and copper cyanide complexes are substantially enhanced by the presence of carbon. The rate of cyanide oxidation was found to occur in the order: Cu(CN)32- > CN- > Cu(CN)2-. The cyanide oxidation rate in the presence of copper and carbon increased significantly with increasing dissolved oxygen concentration, typical of CIL vs. CIP conditions. Cyanide oxidation rate of iron, zinc or nickel cyanide complexes was minimal.

Jan 1, 2011

By Lin Li, Ahmad Ghahremaninezhad

"In this paper, the electrochemical behavior of ferric and ferrous couple on the pyrite surface was studied by application of the chronoamperometry technique in an acidic solution at room temperatures and atmospheric pressure. The effects of the pyrite origin, ferric and ferrous ions concentration on the electron transfer kinetics of Fe3+/Fe2+ reaction were probed. Tafel behavior of all the test conditions were developed. The results showed that the ferric-ferrous reaction on pyrite electrodes with different origins have a common mechanism, despite different reaction kinetics. The exchange current densities of the redox reaction have the same magnitude of about 10-5 A·cm-2, which is far lower than the value reported for the gold and platinum electrodes, but larger than that of the chalcopyrite electrode. The cathodic transfer coefficients are between 0.4 and 0.5, while the anodic transfer coefficients appear unusual with the lowest value being 0.23. It was also demonstrated that an increase of one order of magnitude of iron concentration has no clear effect on the exchange current density and cathodic transfer coefficients of Fe3+/Fe2+ redox reaction.INTRODUCTIONPyrite, FeS2, is mostly considered as a gangue mineral which frequently coexists with valuable minerals and metals, such as gold, copper and nickel. Its separation from valuable minerals can be a costly process (Chandra & Gerson, 2010). In refractory gold ores, the fine gold particles are locked inside the pyrite structure. Oxidative leaching of pyrite is a hydrometallurgical method to destroy the structure of pyrite and expose the fine gold particles to the cyanide solution in the downstream cyanidation circuit. Pyrite oxidative leaching can be achieved by oxidation of pyrite via oxygen and ferric ion(McKibben & Barnes, 1986). In fact, pyrite oxidation by oxygen and ferric is a significant source of acid mine drainage(AMD), which adversely causes serious environmental problems(V. P. Evangelou, 1995).The pyrite oxidation mechanism is accomplished in three consecutive steps: (i) pyrite is oxidized by oxygen and ferrous ion formation (Eq. 1); (ii) ferrous oxidation by oxygen and ferric ion formation (Eq. 2); (iii) pyrite oxidation by means of ferric ions (Eq. 3). Hence, both oxygen and ferric participate in the pyrite oxidation process (Moses & Herman, 1991):"

Jan 1, 2016

By S. Joshi, E. Asselin

An electrochemical quartz crystal microbalance (EQCM) was used to study the leaching of pure gold in deaerated 1 M Na2S solution. Multiple cyclic voltammograms were measured between -0.76 and 1.242 V (SHE) at 20 mV/sec and 2 mV/sec and the frequency shift of the quartz crystal was simultaneously measured. Both the forward and reverse scans showed oxidation occurred between -0.40 to 0.20V. The frequency shift increased during both the forward and reverse scans in the potential range of -0.40 to -0.06 V indicating electrode mass decreased. Since at -0.40 to 0.20 V oxidation peaks were also observed, part of the oxidation was due to oxidation of gold. Eh-pH diagrams were constructed and showed soluble Au(I)-S(IV) species formed between -0.30 and 0.10 V (SHE). Atomic absorption spectroscopy of the test solutions and the mass change recorded by EQCM both showed about 0.015 mg of gold leached. Since the majority of the frequency shift increase corresponding to gold oxidation occurred at -0.40 to -0.06 V during multiple cyclic voltammogram measurement, the total leaching of gold could be approximated to occur at this potential interval to give a leaching rate of ca. 6.4x10-5 mg/s-cm2.

Jan 1, 2011

By A. Rodriguez-Prado, P. Kuschk, R. L. Legge, W. C. Lennox

Using constructed wetlands to chemically reduce hexavalent chromium Cr(VI) to Cr(III) from industrial and mining wastewater has proven to be feasible and efficient. Applying first-order kinetics to describe the process is simple, but in some cases a more accurate model is required to reflect the process. This paper studies the feasibility of using non–first-order kinetics to describe the reduction process. Results indicate that half- and second-order kinetics adequately described Cr(VI) reduction in laboratory wetland mesocosms. The organic carbon content played a relevant role, whether it was built up by plant growth or spiked into the feed water.

Jan 1, 2014

By B. Friedrich, N. Anastasijevic, S. Stopic

The extraction of nickel from Serbian and Western Australian lateritic ore by sulphuric pressure acid leaching (PAL) has been studied. The following parameters were tested: stirring rate, acid to ore ratio, reaction time, pressure and temperature. These studies were performed with ore samples from the Rudjinci, Serbia and Silcrete, Australia, both belonging to the laterite-silicate group of deposits. An increase of the reaction temperature and the stirring speed at a fixed acid/ore ratio showed a positive influence on nickel extraction. The decrease of the oxidation potential with time correlated with the increase in Fe(II) in solution and nickel extraction as the reaction went to completion for both ores. The target values of 95 % Ni extraction and 60 % Co extraction were attained in 5 min at 250°C for the Serbian silicate ore, at an agitation rate of 1500 rpm, 10 % solids, and acid/ore ratio of 0.40. Under similar conditions only 60 % Ni, but 69 % Co could be extracted from the Australian Silcrcte ore due to different mineralogy. The nickel extraction was shown follow a diffusion-controlled reaction model.

Jan 1, 2004

By E. Asselin, P. Sauve, H. Salomon-de-Friedberg

"Residues from the CESL Copper process were leached using the CESL Gold process. The kinetics of reaction were confirmed to be fast with over 50% of the gold consistently extracted within 2 minutes of leaching. Final gold extractions under the conditions tested here were between 80-90% obtained within 90 minutes. A model for the CESL Gold process was developed. This model is slightly different based on whether the copper concentrate leach residue was ground or unground prior to leaching: the gold leaching rate constant is approximately twice as fast for the ground samples. Unground residues had a P80 of 13 ?m whereas ground residues had a P80 of 10 ?m. The model predicts a 43% decrease in leaching time for ground residue versus unground residue to achieve the same extraction under otherwise identical conditions. The model was more accurate for the ground samples. INTRODUCTIONTeck's CESL Process (Jones, 1996) was developed to provide an economically attractive alternative to traditional copper smelting. It has since evolved to also deal with copper concentrates containing valuable impurities such as nickel and undesirable ones, such as arsenic, while reducing downstream costs. Effective recovery of gold and silver is essential to the economics of the CESL Process. The Brook Hunt 2007 copper concentrate assay data (Wood-Mackenzie, 2007) were examined to determine the ratio of gold plus silver value relative to the contained copper. As indicated in Figure 1 below, nearly two-thirds of concentrates have 10% or more of their total value tied up in their precious metals content.CESL has extensively examined the recovery of gold and silver at bench, pilot and demonstration scale, which has culminated in the present CESL Gold Process (Barr et al., 2007). The process targets the precious metal contained in the leach residues produced in the copper portion of the flowsheet. This residue has two primary components which influence downstream processing. The major iron-rich fraction (-75 wt%) of the residue is a mixture of various forms of iron oxide precipitates including hematite and jarosite (Sahu and Asselin, 2011). The iron fraction ranges from amorphous to crystalline in nature depending on the compound precipitated, upstream operating conditions and feed material composition. The lesser, but by no means less important, fraction is a mixture of elemental sulphur and unreacted sulphides (principally pyrite).Elemental sulphur formed during the oxidative leach of the copper concentrate reacts with cyanide to form thiocyanate (SCN-) making a traditional cyanide leach approach too costly. Since the SCN formation reaction strongly depends on contact time with the CESL residues (Po, 2007) short contact times were preferred. This factor guided the development work towards the eventual room temperature, pressure cyanidation process which results in near complete gold dissolution in 90 minutes. A recent CESL gold demonstration campaign treating 1.5 t/d of residue from the copper oxidation step achieved an average gold extraction of 91% (96% maximum)."

Jan 1, 2012

By Matthew Novak, J. Brent Hiskey

It is well known that when chalcopyrite is put in direct contact with copper in an acidic medium a galvanic cell is created. Chalcopyrite is reduced to iron and sulfur deficient defect phases such as bornite, chalcocite, and at very low potentials to elemental copper. Galvanic conversion experiments were performed using three chalcopyrite concentrates. The first chalcopyrite contained less than 10% impurity phases. The second concentrate had a high concentration of pyrite, and the third concentrate had a high concentration of pyrrhotite. The effect of temperature, acid concentration, chalcopyrite grain size, copper grain size, and agitation on the rate of chalcopyrite conversion was studied.

Jan 1, 2014

By J. G. Ross

IN the paper entitled Block Caving at the King Mine (1), which was presented at the Annual General Meeting held in April, 1934, at Quebec, it was pointed out that, owing to certain conditions and financial restrictions, it was advisable to provide a temporary shaft. This was raised from the )00-ft. level to the bottom of the pit, and a 45-degree incline track was constructed up the face of the pit to surface. The temporary shaft and incline were within the ore-body, but were to be used only until such time as the new shaft-the subject of this paper-could be sunk and made ready for operation. After a careful study had been made of all available information pertaining to the ore-body, including examination of diamond-drill core records and geological data, a shaft location was selected well outside the ore-body. Further, since the crusher and dryer buildings are located over part of the ore-body, it was necessary to plan the removal of these buildings and to construct a new crushing and drying plant. This, and the new shaft, must operate in conjunction with the present mill and rock storage bin, which would continue robe used as formerly. No part of this programme, with the exception of drifting toward the shaft site, was started prior to 1937. More than usual detail on technical features is given in this paper in the hope that some parts of it may be of assistance to other members of the Institute who have to undertake somewhat similar work. The engineering and operating staff designed and supervised the work, while at the same time carrying on regular production in four mines at the rate of 12,000 tons of rock mined per day, the output at the King mine being at the rate of 140 tons per hour. No additional engineers were required.

Jan 1, 1939

By C. Turek, R. Henderson

Mine planning is the foundation of value for a mining company. Good mine planning requires solid understanding of the ore body, rigorous standards and processes, robust and useful information technology and skilled people. Life of mine planning is key to identifying strategic direction for any mine and short range mine planning is key to delivering forecast and budget expectations. Mine planning at Kinross has been identified as a critical success factor and initiatives are being prepared to improve the quality of our plans and to build bench strength in our teams. The Kinross Way for Mine Planning (KWMP) has been developed and implemented to establish the standards to ensure a strong business foundation. This paper briefly describes the process used to develop the KWMP and presents a selection of mine planning best practice initiatives at Kinross mines.

Jan 1, 2011

By Junior Santos

Kinross Paracatu started the operation of the new gold processing plant in the end of 2008, being composed by one SAG mill and two ball mills. During the first year of operation the plant had several problems related to stability and throughput capacity, mainly due to low grinding efficiency of the ball mills. In this period many actions were taken to maximize the throughput rate. Among the actions are reducing the size of balls in the mills, increasing the ball charge in the SAG mill, changing cyclone configuration and return of circulating load to SAG mill. With better stability of the circuit, the second stage of improvements has begun with the objective of increasing throughput rate and also reducing operation costs. Among the actions are the optimization of ball charge in the mills and a better operational control of cyclone parts. After two years of operation was obtained a significant increase in plant capacity, but still requires the addition of a third ball mill in order to maximize the use of SAG mill, which has spare capacity.

Jan 1, 2012

By Jr. Santos, T. V. Pignaton, R. B. Gomides, W. Phillips, M. P. D. Gomes

Kinross Paracatu started the operation of the new gold processing plant in the end of 2008, being composed by one SAG mill and two ball mills. During the first year of operation the plant had several problems related to stability and throughput capacity, mainly due to low grinding efficiency of the ball mills. In this period many actions were taken to maximize the throughput rate. Among the actions are reducing the size of balls in the mills, increasing the ball charge in the SAG mill, changing cyclone configuration and return of circulating load to SAG mill. With better stability of the circuit, the second stage of improvements has begun with the objective of increasing throughput rate and also reducing operation costs. Among the actions are the optimization of ball charge in the mills and a better operational control of cyclone parts. After two years of operation was obtained a significant increase in plant capacity, but still requires the addition of a third ball mill in order to maximize the use of SAG mill, which has spare capacity.

Jan 1, 2012

By B. Morrison

"The Kiruna Electric System is a recently developed inclined ore haul age system for underground mining operations. Although an initial investigation was carried out at the Swedish underground iron ore mine LKAB almost three decades ago, it was not until 1981 that the resources of LKAB, ASEA and Kiruna Truck AB were combined to investigate, and subsequently develop an ""all- electric truck"" for the mining industry.It has long been appreciated, that major economical advantages could be realized by a mining operation through an extension of the cost-effective life of the existing ore hoisting system by the use of ramps to haul ore up to the main haulage level. Diesel truck s have been used and are being used for ramp haulage. Their use however, is limited due to ventilation and operating costs restraints.There are numerous instances of orebodies, located within a couple of hundred metre s of surface, or below an existing hoisting facility, being developed by ramp access while the shaft is being sunk. Development of an orebody via ramp access has many advantages to a mining operation where mechanized mining is to be practiced. These advantages are both practical and economical; generally falling within the over-all umbrella of the phrase ""cash flow"" mining.The decision to sink a shaft is a major committment by any mining company, regardless of size and financial reserves. Extensive diamond drilling, both shallow and deep must be carried out before a decision can be executed. This constitutes a major financial expenditure over an extended period of time.The decision to sink a shaft must be weighed against the reliability of geological interpretation of the deep diamond drilling results, the stability of the mineral market and potential fluctuation in ore prices and interest rates."

Jan 1, 1989

By Brock Morrison, Bernt Ling

"The Kiruna Electric System is an all electric ramp haulage system developed for underground mining. This electric truck haulage system is currently operating on three continents. This paper will review the technology of the system, existing installations as well as the economical benefits to the mining industry. The system was designed and developed to extend and exploit the economical advantages of ramp haulage. Performance information is provided. IntroductionThe Kiruna Electric System has been the subject of a number of technical papers over the past sever al years. During that period, the content of the presentations has changed from concept and theory to prototype testing to description of installed and operating systems.The intent of this paper is threefold:1. to present a brief review of the technical features of the Kiruna Electric Systems;2. to review the existing installations with performance data; and3. to provide a description of on-going developments within the Kiruna Electric Program during 1991.The Kiruna Electric is a high capacity ramp haulage system for underground mining operations due to an All-Electric Drive System, including two heavy duty electric traction motors. The high capacity of the K1050E results from three factors:• payload - 50 tonne• speed - 18 km/hr to 20 km/hr up a IS0J0 ramp (total resistance)• availability - over 90010 during a 12-month period"

Jan 1, 1991

By Å. Kruukka, H. F. Broicher

The iron ores of the Kiruna mine in Sweden are of exceptional quality except for the phosphorus content in certain zones of the orebody. The prevention of mixing ores high in phosphorus with those low in phosphorus has always been of significant economic importance. The ongoing introduction of tele-mining and automatic haulage by LHDs requires new means in the field of quality control underground, as the experienced miner as well as the underground laboratory assistant no longer are involved in the process. As of 1998, LKAB has been testing prototypes of LIF (laser-induced fluorescence) analyzers for non-contact and real-time measurement of the phosphorus content of ore being transported by LHDs from the stopes to the respective ore pass assigned to a certain ore quality. The principles of the analysis of laser-induced fluorescence, the different test phases and results are described and conclusions made. With bulk sorting of ore underground, the mining engineer supports the efforts of the metallurgist in the processing plant.

Jan 1, 2002

By C. J. Hodgson

"IntroductionThe Kitsault molybdenum mine is located 600 m above sea level on Lime Creek at the head of the inlet of Alice Arm, 140 km northeast of Prince Rupert, British Columbia (Fig. 1). The area of the mine is characterized by rugged topography and deeply incised creeks which drain into the Portland Canal - Observatory Inlet fjord system. Access is by air service or boat from Prince Rupert, or by secondary road from Terrace.HistoryThe deposit was first staked in 1911, at which time the main feature of interest was a polymetallic vein with values in silver located southeast of the molybdenum deposit (Woodcock and Carter, 1976). Turnbull (1916) was the first to describe the extensive zone of crisscross quartz stringers with Mo~ on the banks of Lime Creek which, although it clearly had the potential to contain a major deposit, was not then believed to be of commercial value.Following sporadic work through the 1920s and early 1930s, the ground lay idle unti11959 when Kennco Explorations (Western) Ltd. commenced a program of systematic diamond drilling on the stockwork-type mineralization adjacent to Lime Creek. In late 1964, Kennco announced the presence of an orebody of 36 million tonnes averaging 0.230Jo Mo~ which was to be put into production at a rate of 5450 tonnes per day under a new subsidiary, British Columbia Molybdenum Ltd., at a forecasted capital cost of $20 million (revised to $30 million).Between January 1968 and April 1972, 10.4 million kg of molybdenum were produced from 9.3 million tonnes of ore, at an average mill recovery of 90%, and with an average mill head grade of 0.206% Mo~. The ore was mined in an open pit with a waste to ore stip ratio of 1.5 to 1. The. operation was terminated in 1972 due to weak molybdenum prices and escalating costs.In May 1973, the deposit was purchased by Climax Molybdenum Corporation of British Columbia, Limited and in 1979 transferred to affiliate Amax of Canada Limited. In early 1979, following completion of detailed feasibility studies, Arnax commenced construction of the 10 900 tonne per day Kitsault mine and mill complex based on a mineable open pit reserve of 95 million tonnes at an average grade of 0.192% Mo~, sufficient for a mine life of 25 years. The original capital cost estimate was $143 million; it subsequently escalated to approximately $200 million."

Jan 1, 1995

By David Rahal, Des Erasmus, Ken Major

"Over the past twenty years there has been an increased emphasis on fine grinding in the minerals industry. This spurred the development of a range of new fine grinding equipment in the 1990s. At that time, the Knelson-Deswik mill was developed in South Africa for the pigments industry.Knelson Milling Solutions currently offers a wide range of laboratory, pilot and production scale mills. These mills bridge the gap between traditional low speed vertical mills and the high speed horizontal mills (tip speed < 3 and > 15 m/s respectively). They are designed to run at tip speeds between 10 and 12 m/s and are capable of operating with very dense grinding media. The result is a power intensity that is higher than the low speed mills and overlaps that of the high speed mills. This allows the mill to be customized for a wide range of grinding applications.A case study at Aquarius Platinum’s Kroondal Mine shows that the Knelson-Deswik technology can produce a consistent product size despite feed variations. It also shows that the throughput was proportional to the slurry density at Kroondal. The case study identified increasing the slurry density as a process change that can increase throughput and reduce the specific energy consumption.INTRODUCTIONThe increasing complexity and finer grain sizes of modern ore bodies have increased the importance of effective mineral liberation in obtaining acceptable grades and recoveries (Jankovic, Valery and La Rosa, 2003; Lichter and Davey, 2006; Napier-Munn, Morell, Morrison and Kojovic, 1996). This trend has increased the significance of fine grinding technology because the input energy increases exponentially as the required product size decreases from 100 to 10 microns (Gao and Weller, 1993a).The US Department of Energy recently provided the context for the potential energy savings in the US Mining Industry (BCS, 2007). They reported that grinding consumes approximately 494 TBtu/year. This was over double the consumption of the second highest equipment category, diesel materials handling systems (211 TBtu/yr). The proportion of grinding energy allocated to fine grinding can only be expected to increase as finer ore deposits are mined. It is therefore critical that fine grinding efficiency continue to improve through the selection of appropriate equipment and the development of best practices for existing applications."

Jan 1, 2011

By Kimiz Dalkir

Some things to keep in mind? ! What is your role in knowledge management? ! What knowledge-related challenges are you facing today? ! How does important knowledge get shared in your organization? ! Can you name factors that enable/block innovation and organizational learning in your work context? A brief history of KM? ! Top-down / imposed ! Rigid / bureaucratic ! Slow deployments ! Expensive ! Unpopular: empty libraries, info-junkyards, low adoption rates ! Problems measuring success ! The result: traditional KM is not the answer

May 1, 2003

By H. Son

The three-dimensional (3D) reconstruction of as-built industrial plant models plays an important role in revamping planning, maintenance planning, and preparation for dismantling during the lifecycle of industrial plants. Recently, the 3D reconstruction of existing industrial plants was conducted using laserscan data to make surveying processes more efficient. However, the current 3D reconstruction process from laser-scan data is still limited due to the need for significant human assistance. Although a great deal of effort has been made to efficiently reconstruct 3D as-built industrial plant models, the presence of objects?such as equipment, pipelines, and valves of different sizes and shapes?in existing industrial plants significantly increases the complexity of laser-scan data and makes automating the reconstruction process more challenging in practice. The purpose of this study is to propose a knowledge-based approach for the 3D reconstruction of as-built industrial plant models from unstructured laser-scan data. First, pipelines were extracted from laser-scan data based on surface curvature information and knowledge about pipelines&apos; sizes from existing piping and instrumentation diagrams (P&ID). Once entire pipelines were extracted, they were modeled based on skeleton features. Then, the remaining objects were clustered and grouped separately via the region grouping process. Afterward, clustered objects were retrieved and modeled based on global feature-based matching from the 3D database. Finally, the resulting model was checked to ensure that it was well-reconstructed according to the information regarding the relationships among objects abstracted from the existing P&ID. The preliminary results on actual industrial plants show that integrating knowledge into the reconstruction steps played an important role in the proposed approach and that this approach obtained accurate as-built industrial plant models from unstructured laser-scan data. The proposed approach could be successfully utilized to assist in many applications during the lifecycle of industrial plants.

Aug 1, 2013