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By D. Y. Kim

This paper shows an approach that a gondola-typed robot recognizes walls on building facades. It is applicable for autonomous or teleoperated building façade painting robots. The robot may react based on the wall classification data. This approach is based on 2D LRF(two-dimensional Laser Range Finder). The robot acquires relative distances to walls, and a Kalman filter decides correspondence of walls. An ARS(Attribute Reference System) sensor helps convert LRF coordinate to global coordinate. The experimental results demonstrate the conversion of LRF data.

Aug 1, 2013

By R. E. Phelan

Introduction The Flin Flon deposit was discovered by Tom Creighton, an experienced prospector and trapper, who in 1914 made his headquarters at The Pas, Manitoba, and still lives there. The discovery was made in the fall of 1914, and Creighton and his associates spent the next summer in investigating the find. In August of 1915 the first claims were located. The property was optioned to Hayden Stone & Company, and in the spring of 1916 they started a diamond-drill campaign. Hayden Stone spent $50,000 on the property and, among other things, completed over 7,500 feet of diamond drilling. The ore not being as high grade as expected, and also being complex in character, Hayden Stone then abandoned their option. In the spring of 1917, Messrs. Earle, Faskin and associates took an option on the property and started an extensive drilling campaign. This campaign accomplished approximately 18,000 feet of drilling and secured for the Faskin interests a 32 per cent interest in the property. In 1920, W. B. Thompson and The Mining Corporation of Canada secured an option, and, while this option was in force, sunk two shafts in the ore-zone and did a considerable amount of drifting and cross-cutting in the ore to study the manner in which it occurred in place, and, by actual channel sampling, to check the grade indicated by the previously accomplished diamond drilling. All of this work had indicated that an ore-body existed on the property containing at least 18,000,000 tons of ore, assaying as follows: gold, 0.074 oz./ton; silver, 1.06 oz./ton; copper, 1.71 per cent; and zinc, ). 45 per cent (1). Complete analyses of composites from the drill holes showed that the ore was very complex in character. It contained the above values in gold, silver, copper, and zinc, as well as large amounts of sulphur and iron, and traces of lead, arsenic, antimony, cobalt, and various other metals. Although the ore was obviously pyritic in character, pyritic smelting, the usual method of treating this class of ore, could not be used to beneficiate the ore with any reasonable expectation of making such a venture a financial success, since coke and coal landed at Flin Flon would be expensive, and siliceous flux was known to be scarce locally and low in grade. The property therefore lay idle until 1925.

Jan 1, 1935

By J. Lu, D. G. Ivey, H. Henein

Microalloyed steels are widely used in the oil and gas industry. They are a class of high strength, low carbon steels containing small additions of niobium (Nb), titanium (Ti), molybdenum (Mo) and/or vanadium (V). These steels have good strength, toughness and excellent weldability, which are attributed in part to the presence of nano-sized carbides, nitrides and carbonitrides. In the pursuit of developing higher strength microalloyed steels, it is of great interest to quantify the size, distribution, volume fraction and chemical speciation of these precipitates. However, characterization techniques suitable for quantifying fine precipitates are limited. Possible characterization techniques include SEM, TEM and matrix dissolution. A comparison is presented of the various techniques.

Jan 1, 2005

By Somchet Vongpaisal

This paper presents the R&D results on the development of a new knowledge-based system for predicting stope instability and associated unplanned dilution in deep underground mining operations. A new prototype was developed based on databases generated from 3D non-linear elasto-plastic finite element stress analysis, heuristic rules, and case histories. This prototype aims to assist mine operators to make decisions on strategic mine planning and feasibility in a quick and efficient manner thereby minimizing risk on ground failure and optimizing mining costs.

Jun 1, 2012

By R. B. Nourse, R. Hundermark, B. Masters, H. Joubert

The new 30 MVA slag cleaning furnace at Waterval Smelter, Rustenburg Platinum, South Africa, has been in operation since 10 March 2003. The furnace design and operation face a number of challenges including a wide variety of feed materials and resulting bath conditions. Furnace feed varies in combinations of granulated Waterval Ausmelt Converter Slag (WACS), hot fed Peirce-Smith converter slag, concentrate and reverts. Coke is added as reductant. The resulting slag composition varies considerably and regularly. For the case feeding WACS an almost pure fayalitic slag (60%+ FeO, 30%+ SiO2) with a very low viscosity results. Due to the widely varying slag conditions, including a superheated fayalitic slag with high fluidity, a robust sidewall design is required adjacent to the slag bath. For this reason the furnace sidewall is equipped with Pyromet's MAXICOOL® high intensity copper cooling system. The design and installation of the copper coolers as well as tap holes are discussed. To cope with the variation in bath conditions and high slag superheat (350°C when tapped at 1650°C), the copper coolers are capable of removing peak sidewall heat fluxes above 500 kW/m2. Feedback is included on the performance of the Pyromet MAXICOO® copper cooling system for the first two years of operation. The paper further includes an overview on the design and performance of the tap holes, furnace shell, furnace roof and copper slag spouts.

Jan 1, 2005

By J. Jung, W. Keller, N. Rohn

In hydrometallurgical minerals processing slurries are often processed at very small grind sizes and high solids concentrations. This normally results in flow anomalies of such slurries. Due to flow limits or yield stress the slurry tends to stagnate close to the vessel bottom, the walls and at any internals. The main mixing task therefore generally is not suspending of the solids but the homogeneous blending of the entire vessel volume. If not considered during the agitator design only a fraction of the vessel contents will be mixed. Therefore the knowledge of the slurry rheology as well as the variations in process parameters is vital to design e.g. storage or surge tanks. The integral mixing solution considers the motor power, the choice of the impeller type and number, the impeller diameter as well as the design of the baffles and feed and discharge positions.

Jan 1, 2014

By R. L. Bruening, N. E. Izatt, S. R. Izatt

"Rare earth elements (REE) are essential and unique components of many high-technology products without which functioning of modern society would be greatly impaired. Commercial deposits of REE are limited to a few geographical locations. Largely untapped sources of REE are available in endof- life (EOL) magnets, rechargeable batteries, and electronics. Presently, < 1% of REE in EOL wastes is recycled. Conversion of EOL wastes to liquid streams allows use of IBC’s Molecular Recognition Technology (MRT) process to selectively recover, separate, and purify target REE and associated metals at g/L to mg/L or lower concentration levels. The MRT process together with its applications to separations of REE and associated metals in recycling as well as in mining are described. Economic and environmental advantages of MRT are presented. INTRODUCTIONRare earth elements (REE) include the lanthanide series (La-Lu), Y, and Sc. These elements are not rare, but concentrated minable deposits are scarce (Cordier 2012; Haxel, Hedrick, & Orris, 2002). Over 95 % of the world’s supply of REE is controlled by China (Hanson, 2011a) where they are mined, processed, and the pure elements incorporated into a growing number of consumer and military products. The consumer products are marketed worldwide. Since REE are vitally important in consumer and military products, this situation has caused other nations to scramble to develop the capability to produce their own supply (Cordier, 2012).In the U. S., Molycorp has reopened the Mountain Pass REE mine in California and production has begun (Goldenberg, 2010). Development of a reliable internal source of REE is of high national priority in the U.S. (Hanson, 2011b; Hess, 2012: “Obama Announces”, 2012). These elements have in recent decades been incorporated into new consumer and military products that are essential to our economy and defense. These products range from wind turbines, high performance magnets, hybrid car rechargeable batteries, energy efficient lighting electronics, flat screen televisions, and smart phones to advanced weapons systems (Haxel et al., 2002; Levkowitz & Beauchamp-Mustafaga, 2010)."

Jan 1, 2012

By G. Belzil, F. Robichaud, M. Fullam

ABSTRACT The Goldex mining and milling complex is operated by Agnico-Eagle and is located in the Abitibi greenstone region of northwestern Quebec, Canada. Commercial production started in 2008. Average gold recovery is 93.5% with approximately 68% of gold recovery coming from the gravity circuit. During the first three years of production, three gravity audits were carried out to optimize performance of the gravity circuit. This paper presents results of the audits and the development of a model linking gravity and overall gold recovery, and outlines improvements made to increase gravity performance and reduce operating costs.

Jan 1, 2013

By E. Nolasco, J. Ouellet, T. Tikka

"Shaft bottom structural systems are used in underground mining to support transfer of personnel, equipment and ore to and from underground to the surface. This paper first summarizes the evolution of design philosophy from a concrete tower supported on a concrete plug to the current structural steel design arrangement with unlined shaft walls, clear shaft bottom area with only a concrete housekeeping pad. Then the paper reviews the design parameters, analysis and design, and construction methodology for this rather unique shaft bottom structural system consisting of three sets of hitch beams, with each having specific functional requirements. INTRODUCTION Shaft bottom structural systems are used throughout the world in underground mining operations to provide a means to support the transfer of personnel, equipment, materials, ore and waste entering and exiting a vertical shaft ready for transport to and from the surface via the hoisting system. The shaft bottom structural system, for the Service Shaft (SS) at the Jansen Mine, is designed to accommodate two skips, a personnel/equipment cage, counterweight, services, loading pocket, rope changing, arrestor system, crash (or catch) beams, access platforms, stairs and rope divider system. Stantec and BHP have engineered a unique structural steel shaft bottom system for hoisting system at a Potash Mine. The shaft bottom structural system connects to a fixed guide and cantilever bunton system, used in the vertical shaft (shaft barrel), above the shaft bottom. The geometry for the shaft bottom structural system, shown in Figure 1 a), features three sets of hitch beams, beams which span across the shaft excavation or barrel. At the top of the structural system are two upper hitch beams. These hitch beams support a 64 metre suspended rectangular braced tower (upper tower), complete with steel guides for the conveyances. The upper tower passes through the main station (potash or mining) level and then connects to the top of the arrestor (lower) tower structure via a sliding vertical connection. The potash level is supported by two hitch beams spanning the shaft and loading pocket excavations. The arrestor tower, a braced compression tower structure, is carried by a third set of hitch beams. Below the third set of hitch beams is a short suspended tower complete with access platforms, stairs and the rope divider system."

Jan 1, 2019

By L. G. Bergh

The experience developing a supervisory control and information systems in a SX pilot plant is presented. The plant is located at the Process Control Laboratory, Santa Maria University, in Chile. In this work, the problem of controlling this process is discussed and related literature is briefly reviewed. Then, an innovative control scheme organized in three levels, local, hydrodynamic, and metallurgical supervisory controls is presented in an architecture including field controllers, PLC, and PC networks. Operating decisions in the metallurgical supervisory control are taken with incomplete information from on-stream analyzers. The control proposed is based on metal and acid concentration predictions of intermediate and exiting streams through the use of dynamic and static models and flow rates and input concentration measurements. Preliminary results are presented. The main objectives are to develop and test intelligent techniques in a hybrid system, and to study measurement and supervisory control problems. It is expected to produce reliable results that will contribute to improve the efficiency of this emerging and important process.

Jan 1, 2007

By B. W. Steele

"Dofasco began operations in 1912 as a steel foundry located in Hamilton, Ontario. Today, Dofasco is a fully integrated mill that manufactures hot rolled, cold rolled, galvanized and tinplate steels. Customers include the automotive, construction, tubular, manufacturing, appliance, packaging and steel ser-vice centre industries. Raw steel production and purchased semi-finished steel processed in1994 was 3.5 million net tonnes. Dofasco employs 7300 people at its Hamilton facility.Environmental management at Dofasco is guided by its environment policy and associated commitments. This paper discusses Dofasco’s responsibility for its products as it relates to these commitments. Dofasco is com-mitted to:n the principles of sustainable development that require that activities be conducted in a manner that provides for the present without compromising the ability of future generations to meet their needs. These principles will be integrated into product design, manufacturing and business planning;n managing renewable and non-renewable resources through the responsible application of reduce, reuse, and recycle principles;n minimizing any potential impact of its operations and products on the environment, employees, customers and the community;n continuous improvement of the effectiveness and integrity of our environmental management systems;n developing understanding among all employees about their responsibilities, and assigning the necessary authority; andn meeting the standards set by relevant legislation and international agreements through participation with governments and the diligent application of economically feasible and scientifically sound methods and technologies."

Jan 1, 1996

By C. J. Clayton, A. J. Haynes, D. A. Hickson, B. Thiele

The Meadowbank Gold Project, formerly owned by Cumberland Resources Ltd. and currently owned by Agnico Mines Ltd., is currently being developed approximately 70 km north of Baker Lake, Nunavut, in the eastern Canadian Arctic region. The Meadowbank Gold Project currently consists of a series of gold-bearing deposits within relatively close proximity to one another, which are planned to be mined primarily as a truck-and-shovel open pit operation using conventional gold milling and extraction. The mining plan indicates that approximately 20 million tonnes of ore will be mined over a mine life of eight to ten years. The operation will generate approximately 160 million tonnes of mine waste rock and about 20 million tonnes of tailings. The site is located in an area of continuous permafrost with mean annual average air temperature of -11°C and average annual precipitation in the range of 100 to 200 mm. Lakes cover a large portion of the site, including some of the ore deposits. The location of the site and the physical environment pose challenges to development. This paper presents some of the designs considered to effectively manage and utilize the waste products of mining at the project. Note that volumes, tonnages, construction concepts, and data presented in this paper are accurate for the time of writing and are subject to change and modification as the project progresses, additional modelling is carried out, and additional data are obtained.

Jan 1, 2007

By A. Vasenev

The quality and durability of asphalted roads strongly depends on the final step in the road construction process; the profiling and compaction of the fresh spread asphalt. During compaction machine operators continuously make decisions on how to proceed with the compaction accounting for project specific aspects as: ambient conditions, road geometry, roller type, asphalt mixture characteristics and behavior of other machines. In discussions over quality improvement in road construction it is often suggested to robotize rollers. To operate such robots would of course require operational strategies and routines. The reality of this moment is that these operational strategies and routines are not documented. To identify the existing best working practices and, ultimately, to proceed with developing automated robotized compactors, the knowledge of machine operators should at first be explored and described in a formalized way. Unfortunately operators have difficulty verbalizing their expertise. Observation of behavior, as machine movement patterns, could be helpful to extract the operational strategies, but such observations are time and labor consuming. To overcome this burden we developed a Virtual Reality (VR) environment. In this VR environment operators perform compaction virtually, and their operational choices are traced and analysed. This paper describes this VR development and explains how it helps in following machine operators and extracting their (tacit) professional knowledge. The road geometry and the working conditions are visually represented; the operators show - rather than explain - how they would proceed with the compaction process in the given conditions. Movements of virtual machines are documented, analysed, visualised and discussed. This VR approach is expected to contribute to learning, to more formal description of operational strategies; stepping stones towards compaction algorithms for roller robotisation.

Aug 1, 2013

By J. Janeson

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

Jan 1, 1979

By Richard W. Hutchinson, Robert W. Hodder

"Pyritic massive sulphide deposits lie conformably above submarine volcanic rocks, and beneath siliceous and manganiferous iron formations. The massive bodies are often zoned, with a barren pyritic top grading downward into pyrite with sphalerite, and occasionally galena, and a chalcopyrite-rich base. They are frequently brecciated, like the lavas beneath them, which contain pyrite and chalcopyrite as coatings on joints and fractures and as dispersed grains. The lavas also exhibit propylitic, argillic and silicic alteration. These sulphide deposits appear to have formed on sea bottom from fluids escaping through the lavas during periods of exhalative and sometimes explosive volcanism. The process may be comparable to the present deposition of base metals from hot brines in the Red Sea. Some porphyry copper deposits resemble the altered, sulphide-impregnated lavas which lie beneath bodies of pyritic massive sulphide. In porphyry copper deposits, pyrite and chalcopyrite occur as veinlets and dispersed grains in intensely fractured tuffs, flows, sub-volcanic intrusions or other host rocks, characterized by propylitic, argillic and silicic alteration. Metal zoning is present; sphalerite and galena often occur in manganiferous veins peripheral to a shell of pyritic veinlets which encloses the mineable zone of chalcopyrite-bearing veinlets. This sulphide distribution appears to have formed from hydrothermal fluids escaping, either passively or violently, from solidifying magma. The fluids may be comparable to hot brines encountered by drilling in the Salton Sea area of California.There are also important differences between massive sulphide and porphyry copper deposits. The former usually occur in differentiated, mafic-to-felsic subaqueous volcanic rocks, whereas porphyry copper deposits are often associated with shallow plutons and subaerial volcanic rocks of intermediate to felsic composition. Calcic-sodic metasomatism accompanies the massive sulphides, whereas potassic metasomatism characterizes the porphyry cop.per deposits. Further, ages of massive sulphides range from Archean (Keewatin) to Tertiary, but porphyry coppers are Triassic to Tertiary in age. These similarities and differences suggest that massive sulphide and porphyry copper deposits are related tectonically and metallogenetically. The former were generated during early stages of crustal evolution, particularly in Archean time, and were repeatedly derived during early stages of younger, individual tectonic cycles. In contrast, the porphyry coppers developed during the later stages of crustal evolution - later in terms of both absolute age and relative age within younger individual tectonic cycles. They appear in younger rocks generally, and specifically in rocks involved in events of the middle and late tectonic stages of orogenic belts. The massive sulphide deposits are of early-magmatic eugeosynclinal affiliation, whereas the porphyry deposits formed in late-magmatic, predominantly subvolcanic settings at the edge of continental plates, where contemporaneous exhalative volcanism was mainly a subaerial phenomenon. Transitional types of deposits exist and are found on continental margins with flanking eugeosynclinal sequences."

Jan 1, 1972

By Rejean Gagnon, Fernand Rochefort

"Haulage costs, in most operations, represent a large portion of total cost. Quebec Cartier Mining Company came to the conclusion t hat an electric trolley assist providing more horsepower than available from dieselgenerator sets presented the best oppor tunity for improvement. Accordingly, a testing and development program was carried out which resulted in the design, installat ion and application of a practical system. This paper describes the development of the system, the equipment used as well as the actual operation. A projection is also made to indicate further improvement in productivity. A comparison is made of truck operating data before and after activation of the trolley assist system in order to determine its economic impact."

Jan 1, 1972

By J. Chretien

The ability to continuously monitor the air quality within a mine has become instrumental in becoming a low cost producer. The many considerations involved in monitoring air quality include sensor type, hardware placement, as well as data storage medium. BESTECH has had the opportunity to gain insight into these air quality monitoring considerations through deployments of NRG1-ECOTM, a minewide energy consumption optimization system. This paper explores the particular challenges overcome through these installations, and provides a set of guidelines for mines that want to maximize data capture while minimizing costs. It provides a view of additional benefits of air quality monitoring, such as ventilation control, reporting and trending.

Aug 1, 2013

By W. M. Tupper

Municipal governments recognize the importance of aggregates in the local economy and the need to manage this resource in the interest of the public good. They have encountered problems with regulating the industry and the dichotomy between the urban need and the rural source. They have suffered from a lack of financial benefit, an adequate aggregate inventory, provincial strategy, economic information and public understanding. A provincial strategy for ensuring the availability of aggregate supplies to developing areas of the Province is essential. The Province should also be responsible for licensing, research, technical expertise on rehabilitation, public education and financial assistance. Upper-tier municipalities (regions or counties) should assume responsibility for resource management, including resource availability, demand characteristics, truck routing, phasing of resource development and sequential land-use planning. Area municipalities (towns and townships) can best determine the social and environmental impact of a specific aggregate development proposal and should therefore have the primary responsibility for the location of new pits and quarries. They should also have the authority to supplement provincial regulations concerning operating standards and the phasing and standards of site rehabilitation.

Jan 1, 1978

By F. Channier

The paper provides the most recent information on the construction of the AP60 phase 1 plant of Jonquiere which is due to be commissioned and started up in the first quarter of 2013. HSE management on site by RTA, and cooperation with local equipment manufacturers and contractors of the Saguenay-Lac Saint Jean region are highlighted in this section. The AP60 phase 1 Jonquiere plant aims to demonstrate of the AP60 technology at an industrial scale and allows the further developments of the AP60 cell. The advantages of the AP60 cell technology in terms of productivity, power consumption and environmental footprint are also briefly presented in the paper.

Jan 1, 2011

By Ken McIntyre, Trodel Wolf-Dieter

"Sirius Minerals is a UK based fertilizer development company focused on advancing into operation its polyhalite project in North Yorkshire, England. The operation is known as the Woodsmith Mine which has an estimated 2.7 Billion Tonnes of reserves and is currently in the construction phase. DMC Mining Services was selected to carry out the construction of four shafts for the project, a production shaft of 6.75m diameter to a depth of 1594 m, a ventilation shaft of 6.75 m diameter to a depth of 1565 m, and two additional shafts to support the construction of the material transport system (the MTS and Lockwood Beck intermediate) to 360m in depth for servicing the underground conveyor network for transport of product from the mine site to the costal port facilities located at Teasside. This paper will review the status of the project to date and the innovative approaches that DMC is utilizing to ensure a safe and successful shaft sinking project. INTRODUCTION The Woodsmith Mine in North Yorkshire is a Sirius Minerals-owned deep potash and polyhalite mine located near to the hamlet of Sneatonthorpe, Whitby in North Yorkshire, England, approximately 75 km east of York. The area of interest is more than 700 km2. The £3.2 billion project is to develop the Woodsmith Mine to extract polyhalite, and a tunnel system to transport it to a materials handling facility and harbour at Teesside. The site is the world's largest and highest-grade deposit of polyhalite and is expected to produce 20 million tonnes of polyhalite, potash and POLY4 per annum, as well as create over 1,000 direct jobs and many more indirectly. It has the potential to generate over £2 billion of annual exports for the UK. As the project will require mining to be undertaken in the North York Moors National Park, many objections were raised about the mine. Sirius Minerals has gone to great lengths to ensure that the project is sensitive to the local landscape, including: mineshaft head frames that will be positioned below ground to reduce their visual impact; surface buildings will be kept to a minimum; and the entire site will be landscaped and screened by existing woodland to blend in with the surrounding area. The project will also abide by strict environmental limits which govern our activity during the construction phase."

Jan 1, 2019