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By R. Heikkilä

A large research and development program called RYM PRE (Process Re-Engineering) has been active in Finland since 2010. As a part of the program, a work packet Infra FINBIM is focused on the development of new national process model, specifications and requirements for the whole Finnish Infra Industry. In the Infra FINBIM, total 15 companies and main owners and 3 research organisations are included. The work is further continuing. The main achieved results up today have been the first specifications and requirements of the BIM based total process for infra sector, about 30 different pilot projects for testing of the new design and construction process models producing a lot of results and observations, a new open information transfer format Inframodel3 based on LandXML standard, the achieved acceptance of the Building SMART organization for support of international development, utilization and extension of the format within the whole infra industry, processes, software and other technical equipment. An evaluation of the results and this work will be drawn.

Aug 1, 2013

By V. D. del Valle, T. G. Joseph, J. J. Berezan

Aggressive driving patterns, rough and poorly maintained roads and pit floors, along with the occasional bump and poorly placed load from a shovel can create intense and sometimes serious vibration levels on a heavy hauler. The effects of high vibration have been shown to be of concern for the health of the operator as well as the reliability of the equipment. It is proposed that an onboard vibration warning system based on the ISO 2631-1 standard could be used to help operators reduce the vibration levels experienced in a heavy hauler. The onboard system would consist of a screen that displays the instantaneous vibration in the form of three lights: green (safe zone), yellow (cautious zone), and red (danger zone), as well as an overall vibration exposure or dose for the entire shift. With the utilization of the warning system, it is anticipated that the overall vibration levels will be decreased resulting in improved operator health, a reduction of vibration-induced maintenance, and improved haul roads through reduced impact loading and repair for localized trouble areas.

Jan 1, 2004

By L. E. Djingheuzian

Introduction For many years the immense deposits of bituminous sands of northern Alberta have been attracting the attention of our governments, engineers and .scientists ( 6). Undoubtedly these bituminous sands represent one of the greatest potential resources of liquid fuels in the world. However, their commercial development has been retarded by the complexities of the technological problem and by the economic factors involved in the processing of the sands. The technological problem has been attacked from several angles ( 2, 3, 1, 11), and cold water separation of bitumen is one of them. To the ore dressing engineer, the cold water process is of utmost importance since, by the use of standard ore dressing machinery, it accomplishes most efficiently and economically the separation of bitumen from bituminous sands. The significance of using ore dressing equipment was especially enhanced by the fact that the scientific principles which underlie the design of standard machines were demonstrated in the cold water separation process with an extraordinary clarity. This greatly facilitated the analysing of limitations and advantages of different machines during-the pilot plant investigations and helped to complete the investigations practically in the allotted time.

Jan 1, 1952

By J. L. Jambor, R. W. Boyle

"The Magnet Cove barite-sulphide deposit is a raking pipe-like body that replaced and partly filled a large brecciated zone at the junction of two faults at the contact between sedimentary rocks of the Horton and Windsor Groups of Mississippian age. The principal minerals in the deposit are siderite, barite, hematite, pyrite, marcasite, galena, sphalerite, chalcopyrite, tennantite, proustite, pearceite, acanthite and stromeyerite. The mineral assemblage and textural relationships indicate that the minerals were deposited from low-temperature solutions. The source of the elements in the deposit is believed to be the enclosing sedimentary rocks, with connate or ground waters as the transporting medium, and solubility products as the governing factor controlling the abundance and order of deposition of the minerals."

Jan 1, 1966

By Laura A. Sanders

Mineral scale formation is prevalent in numerous mining operations. Such scale formation can occur in the direct-contact heat exchangers ahead of an autoclave. In these heat exchangers, the incoming slurry comes into contact with steam in a stage-wise fashion, which is re-circulated from the downstream flash vessels to heat the slurry in stages ahead of the autoclave. Calcium sulfate scaling causes severe problems in mining operations where increased temperatures are involved due to rising temperatures promoting calcium sulfate scaling through a decreasing solubility. In a number of these operations, the scale formation can occur in the presence of mineral solids, where fine-grained charged particles are at concentrations in excess of 35%. Scale prevention is not difficult in standard aqueous systems; however, the presence of solids leads to significant deficiencies in the prevention of scale due to the adsorption of the polymer onto the charge solids instead of the polymer interaction with the scale. Therefore, a technical solution to prevent mineral scale build up occurring in presence of pulp slurry in mining operations is needed. Several novel antiscalant technologies were developed and evaluated which provided a substantial improvement in the scale prevention in such systems.

May 1, 2013

By R. I. Iacobescu, Y. W. Chiang, A. Van Audenaerde, R. M. Santos, T. Van Gerven, P. Knops

In this work, we explore a novel mineral processing approach using carbon dioxide to promote mineral alterations that lead to improved extractability of nickel from olivine ((Mg,Fe)2SiO4). The precept is that by altering the morphology and the mineralogy of the ore via mineral carbonation, the comminution requirements and the acid consumption during hydrometallurgical processing can be reduced. Furthermore, carbonation pre-treatment can lead to mineral liberation and concentration of metals in physically separable phases. In a first processing step, olivine is fully carbonated at high CO2 partial pressures (35 bar) and optimal temperature (200 °C) with the addition of pH buffering agents. This leads to a powdery product containing high carbonate content. The main products of the carbonation reaction include amorphous colloidal silica, chromium-rich metallic particles, and iron-substituted magnesite ((Mg1- x,Fex)CO3). Carbonated olivine was subsequently leached using an array of inorganic and organic acids to test their leaching efficiency. Compared to leaching from untreated olivine, the percentage of nickel extracted from carbonated olivine by acid leaching was significantly increased. It is anticipated that the mineral carbonation pre-treatment approach may also be applicable to other ultrabasic and lateritic ores.

Jan 1, 2014

By S. K. Sharma, Sanket Bacchuwar, Prabal Kumar Agrwal, G. V. Rao

"Iron ore processing industries play a vital role in the Indian economy. At present Iron ore of around +64% Fe is used for production of Iron through blast furnace. To produce +64% Fe from low/medium grade ores, crushing & beneficiation is compulsory. But during these processes, large amount of slime is generated. It is estimated that 18% -25% of tailing is generated during the processing of iron ore. The iron ore slime is discarded because of its particle size and chemical composition not being suitable as feed to the blast furnace. Although the fines/slimes can be agglomerated to larger particle, the alumina to silica ratio which is normally more than one pose serious problem during sintering process and subsequent smelting in blast furnace. The alumina content in the slime needs to be reduced for it to be used as the feed for blast furnace. The sample assayed 61.40% Fe, 7.68% SiO2, and 1.52% Al2O3, LOI 2.63% and all other elements were found in critical limit. A series of 27 tests were conducted by using a spiral for optimisation of process parameters to produce a pellet grade concentrate from the stacked slimes obtained from Kirandul. This paper deals with the optimisation studies of various parameters of a spiral concentrator and helps to utilize the fines from tailing ponds.INTRODUCTIONReserves of high-grade iron ores are diminishing all over the world at an alarming rate. As a result, alternative ways of augmenting and conserving precious and non - renewable natural resources are being seriously considered. One such attractive option is the recovery of metal values from slimes / tailings. Iron ore tailings containing around 48 - 60% Fe are generated from the iron ore washing plants and are disposed into tailing ponds without any further utility. These tailings in the form of slimes are not suitable in iron and steel making due to the presence of higher amount of gangue constituents. Several beneficiation techniques have been tried from time to time to reduce the gangue so that the beneficiated products could be effectively used."

Jan 1, 2016

By R. A. Sudisman, T. Yamabe, M. Osada

"Geological material can be subjected to some different loading conditions, mainly due to three inter-related physical processes which are mechanical, thermal, and hydrological. Freezing and thawing process of rock that occurs in sub-zero temperature condition may contain some or all those three physical processes depended on its initial condition. Those inter-related physical processes may lead the ground into failures. Therefore, understanding the physical properties such as deformation process of geological material under freezing and thawing condition is required for the artificial ground freezing projects and engineering construction activity in the natural cold region.In order to study the strain characteristic of rocks during freezing and thawing process, a series of freezing and thawing experiments of core samples of three different rock types and mortar has been conducted under varying temperature from -20 °C to +20 °C. Four core sample types are Sandstone, Granite, Tuff, and Mortar with 50 mm diameter and 50 mm height, which were naturally dried before the freezing-thawing experiment. Freezing-thawing experiment was conducted by submerging the vinyl covered core samples into a temperature-controlled liquid coolant box. Firstly, temperature of liquid (brine solution) was set at -20 °C so that the temperature of subjected sample was decreasing to as low as -20 °C. And then the temperature of brine was returning to initial room temperature after the coolant system was stopped. Strain gauge and thermo couple were attached on the core’s perimeter to measure strains and temperature changes.Sandstone and Mortar samples show relatively similar results than other two samples. Both presents linearly shrink with the temperature decrease and expand almost to its initial condition with the temperature increase. Granite shows less-linear strain-temperature relationship during thawing process, while the Tuff sample shows abrupt strain increase during thawing process on the temperature higher than +10 °C. Thermal expansion value of each rock types were obtained by fitting the major strain-temperature relationship on -19 °C to +10 °C temperature range. Overall, anisotropic deformation was observed on the entire samples and possible mechanisms for each hysteresis characteristic are discussed, which need to be confirmed by further experiments."

Jan 1, 2015

By Rolf Andreas Lauten, Yanhong Wang, Yongjun Peng

"In mineral flotation, bentonite as a kind of clay mineral imposes deleterious effects on the flotation of valuable minerals, possibly through its ability to increase the pulp viscosity. A higher viscosity lowers the amount of froth and affects the bubble-particle collision frequency. A previous study found that adding gypsum to a bentonite-ore mixture lowered the viscosity, possibly by inhibiting the formation of interconnected network structures. In this study, sulfate as an anion with different types of cations, Na+, K+, Mg2+ and Ca2+ were used to reduce bentonite viscosity and to improve flotation performance. It was found that at the same concentration, MgSO4 was the most effective salt in reducing bentonite suspension viscosity, while CaSO4 was not as effective likely due to the lower solubility of CaSO4. Na2SO4 and K2SO4 reduced bentonite suspension viscosity at high concentration. Flotation kinetics of ore blended with bentonite was increased with increasing the electrolytes concentration, which generally correlated with the reduction of bentonite viscosity. Meanwhile, significant discrepancies were found between flotation results and rheological measurements in the presence of monovalent ions. It is indicated that the morphology of bentonite aggregates in electrolytes solution is likely to influence the hydrodynamics in the froth zone.INTRODUCTIONClay is present in many ore bodies as a gangue mineral. Presence of clay presents several challenges in the processing of valuable minerals. They are soft compared to valuable minerals, which means that during grinding of the ore, clay particles are likely to obtain a smaller particle size than the valuable mineral. Often clay particles may be within the colloidal size domain (<20 µm). The smaller size increases the probability of entrainment in the concentrate. Another challenge is their anisotropic charge distribution, where depending upon the pH, edges (E) and faces (F) carry charges of opposite sign. This facilitates formation of aggregation structures that may impede percolation of bubbles through a froth, but also increase the viscosity more than expected from the mere change in volume fraction. In addition to lowering the froth mobility, a high slurry viscosity will have implications for the gas dispersion in the flotation column as it affects the dispersion of the suspended particles, and it modifies the bubble-particle collision rate and attachment efficiency (Bakker, Meyer, & Deglon, 2009; Shabalala, Harris, Leal Filho, & Deglon, 2011). A pragmatic approach to this problem is to blend high clay ore with ore of lower clay content, reducing the overall clay concentration. Alternatively, one may lower the solids content of the flotation slurry to counteract the viscosity-building properties of clay. While feasible, this approach has the disadvantage of increasing required flotation volume, and it also affects the properties of the froth. Thus, there are currently limited options in lowering the impact of clays and their tendencies to increase viscosity in flotation slurries."

Jan 1, 2016

By Donald Leroux, Asim Tuzun, Simon Gariépy, Luc Lachance, Hayley Halsall-Whitney

"The importance of coherent material balance results has long been recognized by mining and metallurgical companies. Although this is still true nowadays, various stakeholders are increasingly concerned about the origin and the accuracy of the reported numbers. The last decade has shown that most metallurgical accounting concerns can be addressed by making two important changes to plant performance monitoring practices. First, introducing data redundancy into the metal balance procedure allows the estimation of measurement errors. Second, the migration from spreadsheet-based to relational database based systems brings transparency, data integrity, traceability and auditability into metallurgical accounting. Relational databases also facilitate the production of reports that metallurgical accountants must issue routinely. Recognizing the caveats of the spreadsheet-based metal accounting method they had been applying for years, Strathcona decided to switch to a commercial relational database system in 2008. For the most part, the migration was seamless. Some challenges were raised but they could all be overcome and outweighed by benefits gained from day-to-day utilization of the system.INTRODUCTION Metal accounting (Morrison, 2008) has always been essential to high-quality corporate governance of mining and metallurgical companies. Although the importance of coherent material balance results has long been recognized, various stakeholders are increasingly inquisitive about how the reported numbers were obtained and how much accuracy can be attributed to them. This accrued scrutiny is obviously no stranger to the corporate governance tightening that happened through the years in response to outrageous accounting scandals. It is also in continuity with securities laws (such as NI-43-101 in Canada) that were passed to protect the public from other market fraud. Recognizing the importance of spotless metal accounting in their reports to the public, a group of global mining companies gave AMIRA International the mandate of developing a set of rigorous yet practical metal accounting guidelines for the mining and metallurgical industry. The AMIRA P754 project was launched in 2004 and the first version of the resulting Code of Practice was released the following year. Since then, the Code was reviewed twice and revised releases were issued (AMIRA, 2007). While some parts of these guidelines are in continuity with current commonplace practices, other parts recommend changes to inherited practices that may be significant. For example, they highlight the importance of data redundancy (Lachance & Flament, 2011) which in many operations is either already available but unexploited or achievable with reasonable efforts. These guidelines also stress the importance of state-of-the-art metal accounting systems, such as those based on relational databases, which are secure and entirely auditable by a Qualified Person. Because most spreadsheet software packages allow data and formulae to be modified at any time, without a trace and anonymously, they do not meet these requirements."

Jan 1, 2012

"Yara Siilinjärvi in Finland is the Western Europe's only apatite mine. Annually it produces one million tons of apatite concentrate, which creates 10 million tons of tailings. At the beginning of 2017, Yara replaced their conventional TSF with a new tailings treatment plant, which increased the solids content of the slurry from 45–48% to 66–68%, making it possible to deposit as a paste. This extended the life-span of the current TSF from 2020 to 2035. This paper presents the storyline of the Yara paste plant project. The project began with laboratory testing and then progressed to pilot-scale thickening and beaching trials. After successful pilot trials, the final process design was implemented. Process automation played a key role in the project. An advanced control system is needed to maintain process stability and the desired operation point in various operational circumstances. Since commissioning the paste plant has been running consistently with an underflow solids content of 66-68%, with average beach slope angles of 3.5 degrees in the tailings disposal area. Robust thickener operation also leads to the trouble-free high-density pumping and high availability of the plan. During first year of operation the plant’s availability has been very good, over 97%, and currently, the plant is operated remotely from the main concentrator plant.INTRODUCTION The Yara Siilinjärvi Plant is owned by Yara International, a Norwegian fertiliser company. Yara Siilinjärvi is Western Europe's only apatite mine, and it primarily produces apatite concentrate for its Siilinjärvi phosphoric acid plant. A portion of the concentrate is also dried and shipped to other Yara fertiliser plants. The site annually produces one million tons of apatite concentrate, which creates approximately 10 million tons of tailings. Extending the lifespan of the 1150-hectare tailings storage facility has been studied in Siilinjärvi for a long time. The aim has been to use the same tailings area footprint, without any new land purchases or major dam increases. An important part of the process has been to study the possibilities for using new technologies, especially thickened tailings technology (Ruhanen, 2014)."

Jan 1, 2019

By T. W. Wlodek

Abstract A simplified method of fatigue testing full-dimension, as-rolled, non-machined, mining drill rods is very desirable to the mining and steel industries in the classification of steels available on the market, through the evaluation of their fatigue limits and endurance strength. In this paper one such simplified method is presented and analysed. The preliminary results show many advantages of this method, such as simplicity and constancy of loading. The type of loading applied more or less simulates the working conditions of the outside fibres of the mining drill rods. Additional advantages of this method are the possibility of testing under dry and wet conditions, its quietness, and its ease of operation. Specially designed adaptors and specially applied techniques of fixing and preparation of samples make possible the breaking of a quarter-octagon hollow drill rod in a free length of uniform section in a rotating beam machine. At first glance this seems to be difficult to achieve. In the first preliminary test three different lots of steel were used. S-N curves under dry conditions were determined. These curves permit of the classification of the drill rods on the basis of the fatigue limit and endurance strength of the outside fibres of the metal, which is dependent to a greater or lesser extent on the effect of surface decarburization, surface imperfections, and special surface treatments. The average slope of the S.N curve in the damaging zone, and the fatigue limit in equal tension-compression rotating bending, were determined for SAE 1080, chromium-molybdenum and nickel-chromium-molybdenum mining drill rods. INTRODUCTION The fatigue limit and the endurance strength of mining drill rod steels are of interest to both the mining and the steel industries. These industries are greatly interested in lowering the cost of mining by reducing the consumption of these steels per ton of ore exploited.

Jan 1, 1951

By E. Gallestey, D. Groenveld, F. Kolb, M. Rozou

"Recent copper price evolution pushes modern mining industry even harder to achieve highest production with maximum efficiency. Operations are bound by numerous contractual and environmental conditions that bring a high degree of complexity to both the operators controlling the process and the plant managers assessing the circuit’s potential and setting the production goals.Advanced process control (APC) for grinding is one important tool to operate this most energy intense area in an optimal way, finding the optimal trade-offs between highest throughput, energy efficiency and product quality based on variable ore properties, production targets and management priorities.ABB’s state of the art control and optimization software platform enables user to design a controller based on model predictive control (MPC). The paper and the presentation show the technology used and the results achieved through an APC controller installed in a pilot project in Aitik (Boliden SA), Sweden. Furthermore, possibilities to interconnect grinding with other areas as stockpile management and flotation with various interconnected APC controllers will be shown. Finally, an example of the return on investment and the payback times based on the increased throughput and better product quality will be presented.INTRODUCTIONDepending on the ore characteristics and the targeted plant capacity, the design of the grinding circuit may vary significantly. Typically, the circuit consists of several mills (rod, ball, SAG, AG) in series and/or parallel with a number of classifiers and sumps at appropriate locations (see Figure 1).The main goal of the grinding section is to reduce the ore particle size to a level that enables efficient separation between gangue and precious metals in the subsiding processing step. The trade-off between quality and quantity has to be made. At the same time, it is also crucial to execute this process at the lowest possible energy and grinding media consumption."

Jan 1, 2015

By W. G. Worcester

Generally speaking, the term &apos;clay&apos; appears to convey but little to the average layman other than of a sticky substance to be rigidly avoided when making a cross-country drive in the family ark- especially so if the chains have been left behind. On the other hand, the technical ceramic; engineer, though his chariot be bogged in the self-same mud-holes, will, more than likely, be planning on ways and means for the conversion of the troublesome gumbo into paving bricks over which all might ride with pleasure and security. However, to come to the point, the term &apos;clay&apos; bears much the same relation to the ceramic world that the term &apos;ore&apos; does to the metallurgical; in other words, as there are many kinds of ores, so also are there many kinds of clays, and it therefore becomes necessary to classify and sub-classify them previous to a discussion of their relative values and importance. Hence, a brief digression will be made from the main topic of this paper in order to enumerate and classify a number of the more important types of clays. By so doing, the relative position of Saskatchewan clays, later discussed, will be better understood.

Jan 1, 1929

By B. Hart, J. Marois

"Scanning electron microscopy coupled with energy dispersive X-ray spectroscopy (SEM–EDX), and Time of flight secondary ion mass spectroscopy (TOF-SIMS)were used to analyze pyrochlore grains from Niobec froth flotation plant. Samples from the mill feed, pyrochlore rougher feed, pyrochlore rougher concentrate, and tail were analyzed in order to identify a potential relationship between pyrochlore matrix composition and selective separation. SEM-EDX analyses indicate that pyrochlore grains with high Fe content appear to be less recoverable than those with a lower Fe content and that the flotation response is related to matrix Fe rather than Fe occurring as inclusions. TOF-SIMS was used to analyse the surface of high Fe and low Fe pyrochlore, in order to identify a potential relationship between pyrochlore matrix composition and the related effect on cationic collector adsorption (tallow diamine). Surface analyses of pyrochlore from a conditioning test show that species indicative of the collector favour the surface of Fe poor pyrochlore relative to the Fe rich variety. The results from the conditioning test illustrate a negative relationship between collector loading and the presence of Fe and related oxidation species. This study identifies the link between pyrochlore matrix Fe content and, the presence of surface oxidation products, to collector loading. Poor Fe rich pyrochlore recovery noted in the Niobec froth flotation plant may be partially explained by this mechanism.INTRODUCTIONPyrochlore, the most abundant niobium containing mineral (Perrault and Manker, 1981) is economically recovered in Brazil, China, and Canada (Niobec) (Kouptsidis et al., 2008). Since 1974 Niobec has been extracting niobium from the St-Honorécarbonatite deposit. Niobec is the only operating Nb extraction facility in North American and one of the three major world producers of ferroniobium (Dufresne and Goyette, 2004; Belzile, 2009).Flotation is the preferred and most cost-effective method for pyrochlore recovery (Burks, 1958; Shapolov and Polkin, 1958; Zakharov et al., 1967; Razvozzhaev and Nikiforov, 1972; Bogdanov et al., 1973; Abeidu, 1974; Raby and Desrochers, 1975; Wilson, 1979; Biss and Nadeau, 1982; Biss, 1985). With the aim of optimising the flotation process for the Niobec ore, numerous experiments were performed on the influence of surfactants and type of water to optimise pyrochlore recovery and grade during flotation (Gomez et al., 1987; Rao et al., 1988; Dufresne and Goyette, 2004; Belzile, 2009)."

Jan 1, 2013

By J. Fixter, P. Prangnell, Z. Pinter, E. Eimer, B. Chehab

"High deposition rate Wire and Arc Additive Manufacture (WAAM) can provide benefits to the aerospace industry, including a reduction in lead time, reduced material waste and, through higher solidification rates, refinement of the as-built microstructure relative to a cast material. However, candidate 2xxx series high strength alloys for this process normally require a solution treatment, which is problematic for large near-net-shape components, and age hardening to achieve maximum mechanical properties. With each layer being subject to multiple thermal cycles, exploiting the thermal conditions in the WAAM process to avoid post-build solution treatment is therefore of interest. A solutionisation model has been developed for the WAAM process, based on diffusion controlled dissolution using DICTRA, which was validated through thermal simulations combined with 2D and 3D image analysis. The model has subsequently been used to simulate the solutionisation behavior during a typical WAAM thermal cycle and to explore what could theoretically be achieved by, for example, refining the starting microstructure.INTRODUCTION There is currently great interest in exploiting additive manufacturing (AM) in the aerospace sector due to several benefits it can potentially provide; including reduced material waste, shorter product lead times and greater design freedom (Herzog, Seyda, Wycisk, & Emmelmann, 2016). However, with aluminium alloys the material properties obtained are generally inferior to those of conventional high-strength wrought products; therefore more research is required to explore the potential for exploiting the unique process conditions in AM to improve the as-deposited microstructure. A range of AM techniques are now available (Debroy et al., 2018), which differ in terms of the feedstock type and power source and it is necessary to match the appropriate technology to a particular application. This generally requires a compromise between the build rate and shape resolution. Wire and plasma-arc additive manufacturing involves using an electric arc to melt wire onto a substrate, and fabricates a part by building up overlapping layers of deposited weld beads (Addison et al., 2015; Williams et al., 2015). The benefits of this process over other AM methods are the much higher deposition rates (e.g. kg’s/hour) achievable and lower capital equipment costs relative to powder bed techniques, which makes it suitable for large scale applications. However, limitations include a lower part complexity, lower solidification rates and a greater need for post-process machining (Frazier, 2014)."

Jan 1, 2018

By Humphrey Dean

"Canadian mining companies now operate numerous Koepe-type friction hoists in a variety of different shafts, most of which have a depth in excess of 3,000 feet. Rope performance reliability is an absolutely essential ingredient of most installations and, for this to be provided, a more comprehensive understanding of rope reactions to applied stresses is required.It is the intent of this paper to illustrate for the operators the importance of the critical stresses encountered and to provide a maintenance program designed to circumvent potential difficulties."

Jan 1, 1970

By V. Polotski

Initiated and financed by the Canadian Space Agency, Micro-Rover Platform with Tooling Arm (MRPTA) project has targeted the development of a robotic system with remote control and autonomous navigation capabilities for testing a large variety of analogous planetary missions. Although developed for planetary exploration, the navigation system is highly suitable to such areas of application as construction and in mining. Autonomous navigation system is capable of moving the platform to predefined position(s)/orientation(s) while continuously mapping the terrain, assessing its traversability and choosing most appropriate path to follow. Designed according to the JAUS (Joint Architecture for Unmanned Systems) framework, the system consists of several interconnected components. Following components are of particular importance: Pose Estimator (PE), Terrain Evaluator (TE), Map Manager (MP), and Path Planner (PP). The PE uses a minimal sensor configuration consisting of an azimuth gyroscope, inclinometer and wheel odometry. The PE provides reliable pose estimates in spite of pronounced slippage by employing extensive use of fused data. The TE uses a nodding laser scanner which continuously sweeps the area in front of the platform and constructs a ?traversability grid? (TG) of the surrounding area. Multiple TGs are constantly constructed along the platform motion path are combined into a terrain map maintained by the MP. The PP uses this map to compute a motion path Obtained path is executed by the motion controller and remains current until it is contradicted by the most recent map ? at which point it is re-planned. This paper addresses integration issues, lessons learned and also outlines the possible applications for construction and mining.

Aug 1, 2013

By K. Nagai

The Asian projects are now in their second terms after the five-year first terms. Ultrafined-grained steels were developed in lab-scale and/or in practical process. Basic approach has been performed to explore the evolution mechanisms of ultrafine-grained microstructures. There have been investigated two approaches to make the ultrafine grains: the "recrystallization route" and the transformation route. In the "recrystallization" route, heavy deformation at low temperature is necessary for the ultra-refinement. In the transformation route, making the high density of ferrite initiation sites in the deformed austenite, especially of the heavily compressed austenite structures, is essential for the ultra-refinement, and further hindering the ferrite growth is also inevitable to utilize the high initiation rate. Strength and toughness are dramatically improved by the ultra-refinement. Fatigue property is also excellent. The poor uniform elongation can be enhanced by the design of the second phase dispersion. At the same time the application has been also pursued from various viewpoints of engineering to take advantages of the ultrafine-grained steels. Bridge, ship, construction, automobile and other high strength parts are being attempted for the application.

Jan 1, 2004

By J. De Geoffroy, T. K. Wignall

The paper describes a statistical method based on regression and classification analysis which is designed to assist exploration management in the selection of prospecting areas and drilling targets in regional programs. The classification is based on three criteria which are formulated from sets of relevant geological, geophysical and geochemical factors: (a) regression estimates of expected ore values, (b) Bayesian probabilities of success and (c) expected utility payoffs. The advantages of the method are: (a) rational and unbiased ratings for areas or targets in a manner consistent with management's goals; (b) calculation of probabilities of success and confidence intervals for the ratings, and (c) rapid and accurate handling of a large amount of data by computer programs.

Jan 1, 1970