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By Yutaro Fukase

Various types of service robots have recently been developed for guarding facilities, caring for the elderly, carrying objects, and cleaning buildings. As barrier-free facilities improve and their use expands, these robots have more space within which to move inside buildings. Yet robots that move autonomously rely on position-detection systems. Though improving rapidly, these systems are far from perfect in determining positions in certain situations, especially when robots navigate large areas or cross various locations. Our group is working to solve this problem by developing a position-detection system using random-dot patterns on a floor. First, we construct a floor with a random-dot pattern and register the positions of all of the dots into a database. As the robot moves across the floor, a camera on the robot captures an image of the floor beneath it and crops the dot pattern in the image. The cropped dot pattern is matched to the dot patterns in the database to determine the position of the robot and the direction in which the robot is facing or moving. In this paper we propose a self-localization system and matching algorithms derived from a space technology and present the results of several experiments.

Aug 1, 2013

By W. Blum

Progress made in improving the creep resistance of Mg alloys is reviewed with the emphasis on microstructural interpretation. Experimental results on the increase of creep strain with time at constant stress a measured for limited times and strains are displayed in a transparent form as creep rate-strain diagrams from which the minimum creep rate stress is safely derived. In addition, data on the thermal stress component a derived from high-precision a-reduction tests are reported. Within a simple statistical dislocation model these data allow one to quantify the relation between dislocation velocity v and a . In combination with structure evolution laws this relation serves as a basis for modeling the creep rate. New alloys have distinctly higher creep resistance than AZ91 where precipitation hardening plays a minor role. This is due to hardening by intermetallic phases which may form a continuous skeleton along the grain boundaries (e.g. Ca-alloyed AZ91) and/or submicron-sized precipitates within the grains (MRI230D, Mg-Zn-Ca alloys).

Jan 1, 2006

By Narasimha Mangadoddy, Balraju Vadlakonda

"Bubble size distribution, bubble rise velocity and gas and solids hold-up are the key major hydrodynamic parameters that are extensively used for column flotation design and performance evaluation. The distribution characteristics of mean gas hold-up is studied using electrical resistance tomography (ERT) coupled with pressure transducers (PT) in column flotation. The ERT technique facilitates non-invasive and nonintrusive visualization of different flow regimes even in the presence of particles in a column flotation. The effect of superficial gas velocity, feed flow rate and slurry height in the column on mean gas hold-up and its radial distribution has been analysed for both two-phase and three phase flows. Experimental results show ERT coupled with PT is suitable as an online monitoring tool to provide useful information on the three-phase flow hydrodynamic parameters of the column flotation. The tomography images, which were generated using a modified sensitivity back projection algorithm, are employed to explore the influence of parameters in two phase flow in column flotation. Mean gas and solids hold-up values extracted from ERT have been critically analysed for the column operating in various flow regimes. Gas hold-ups and solid hold-ups results using ERT are in very good agreement with conventional estimation and correlations obtained using pressure transmitter methods. Meanwhile, the results show that the gas hold-ups in the centre region increase constantly with an increase in the superficial gas velocity, whereas solid hold-ups distribution is very heterogeneous for high gas velocity. Furthermore, the results also indicate that ERT is a very powerful tool for diagnosing the 'inside' flow behaviour of gas –liquid–solid three phase flow in columns operating for a wide range of flow regimes.INTRODUCTIONColumn flotation is perhaps the most significant technological innovation in flotation machinery and its successful introduction in mineral processing plants. There has been a lot of attention in understanding the various mechanisms that take place during operation. Due to many reasons column flotation has been found to yield better performance than conventional flotation cells, particularly with fine particles (Honaker & Mohanty, 1996). Due to complex flow behavior in nature, the performance of column flotation influenced by on flow characteristics of the process, (Jena, Biswal, Das, & Reddy, 2008). Previously basic research is carried out to evaluate the effect of the hydrodynamic parameters on performance of column flotation (Finch, J.A.;Dobby, 1991). Many techniques have been developed that could be used to experimentally analyse the hydrodynamics of column flotation. Tomography techniques are well sound to investigate the hydrodynamics for process equipment. Among that, Electrical resistance tomography (ERT) has been used in various industrial investigations for visualization of the concentration profiles and characteristics of the fluid dynamics in gas–liquid two-phase systems (Wang, Dickin, & Mann, 1999; Williams, R.A; Wang, 2000). ERT is an imaging technique to analyse the internal flow behavior non-intrusively. ERT provide very useful tools for measuring and monitoring of column flotation process on line. Due to its high speed capability, low cost measurement, robust sensors, ERT is considered to be the most powerful tool among other tomography techniques such as positron emission tomography (PET), magnetic resonance imaging (MRI), optical and infrared tomography. Application of ERT has extended in process systems due to its improved speed of data acquisition, sensitivity, flexibility and noise immunity. In multiphase flow of bubble columns, gas hold-up and solid hold-up are explored by using the coupling of ERT and difference pressure method (Jin, Han, Yang, & He, 2010)."

Jan 1, 2016

By E. Dernedde

Industrial plants located in the province of Quebec, Canada, are subjected to large variations of the ambient air temperature, Building ventilation systems of these plants must have some flexibility in order to meet industrial hygiene standards (TLV for chemical substances, heat stress and cold stress) at any time of the year, The building ventilation of a bath treatment plant of an aluminium smelter in Quebec was examined under summer and winter conditions, Part of the plant has periodic emissions of hydrogen fluoride gas and heat from hot anode butts, CFD modeling was used to optimise the building ventilation of the bath treatment plant, The present study proposes a modified building ventilation system, which improves the internal environment, complies with industrial hygiene standards and also reduces heating costs by 20 % during winter.

Jan 1, 2005

By V. Songmene, R. Khettabi, J. Masounave, R. D. Njoya

L'augmentation régulière des règlements environnementaux et de la sécurité au travail deviennent de plus en plus strictes. L'usinage fait partie des opérations industrielles qui peuvent causer des problèmes de santé au travail et sur l'environnement. La plupart des particules de poussières produites pendant toutes les opérations d'usinage à sec ou lubrifie causent des nuisances environnementales graves. Le travail propose étudie l’influence des paramètres de coupe, des alliages et des états des matériaux sur la formation des copeaux et sur la génération de poussière lors de l'usinage à sec. Deux modes d'usinage (le fraisage et le perçage) sont abordés. Une loi reliant la ténacité des matériaux aux émissions de poussières est proposée. Les effets des matériaux et de leurs conditions, ainsi que des procédés d'usinage sur la génération des poussières ont été mis en évidence. Des mécanismes de formation de poussières sont identifiés et reliés à la formation des copeaux.

Jan 1, 2006

By C. Hunt, J. Vivas, D. M. Allen

"In this paper we present the results of a combined remote sensing - numerical modelling study to improve our understanding of groundwater seepage in open pit and natural rock slopes, and to investigate the interaction between groundwater, in-situ stress conditions and brittle fracture. The location of seepage is a key element in the characterisation of rock slope stability in open pits and natural slopes; definition of the fracture network geometry and its inter-relationship with seepage, however, remains a challenge in engineering practice. Current techniques used to characterize groundwater seepage locations require direct access to the rock slope for a detailed and exhaustive investigation, and can be severely limited due to access and the limited coverage of the survey methods both with respect to the height and length of the sampled rock slope. Herein, we describe remote sensing methods, which allow the collection of structural and seepage information over a wide spatial area. Remote sensing techniques are shown to have the potential to provide additional insights into the orientation and general connectivity of fractures that may play a major role in the general stability of a rock slope. A preliminary methodology for the use of remote sensing in the characterization of seepage zones in a natural slope through the application of ground-based LiDAR and Infrared Thermography (IRT) is presented.One of the most challenging problems in rock slope engineering is the realistic simulation of fluid flow through fractured and deforming rock slopes. Deformation and the development of brittle fractures can cause significant local changes in the permeability and strength of the rock mass, potentially affecting rock slope performance. Understanding fluid flow through fractured and deforming rock slopes, especially in highly-stressed environments is of great importance for slope stability analysis. Changes in the interconnectivity of fractures during slope failure are an important, yet are relatively unstudied in rock slope engineering. We present the results of hydromechanical UDEC-Trigon rock slope models focussing on the potential role of brittle fracture in rock slope failure, its interaction with groundwater pressures, and the influence of the assumed in-situ stress ratio. Damage intensity parameters are used to characterize damage within different regions of a biplanar slope failure."

Jan 1, 2015

By S. Sundararajan, Z. Lin

ABSTRACT Fierce market competition and demand have made it imperative for mining companies to achieve higher productivity and operational efficiency. The selection of the best mining method and equipment combinations will enable companies to meet production and efficiency targets. Continuous mining is increasingly preferred by companies for its high efficiency and low unit costs. We developed simulation models for two continuous mining systems: the continuous surface miner (CSM) system and the at-face slurrying (AFS) system. Considering two different case studies, the paper discusses application of developed models to determine the optimal number of trucks and equipment capacities for the two systems.

Jan 1, 2013

By Lex L. Udy

External-detonation-generated plasmas, highly ionized zones of reacting material ejected from the surface of detonating explosive charges, are shown to be the cause of channel desensitization, i.e., the self-quenching of a detonating explosive column loaded in a borehole with an air annulus between the explosive and the borehole wall. The effects of this phenomenon on several explosive compositions and types are demonstrated and discussed. The explosives tested include aluminum-sensitized and explosive-sensitized slurries, ANFO, liquid explosives and dynamites. Various techniques are described that can be used to reduce or eliminate the plasma effect.

Jan 1, 1979

By W. J. Tough

THIS paper offers examples of some of the typical calculations which occur in the ventilation of metal mines. The fi.rst section of the paper discusses the problems associated with natural-draft pressure; the second section presents the more common of the calculations concerned with the operation of mine fans; the third section illustrates the integration of the individual problems covered by the preceding sections into the larger problem of determining the operating characteristics of a fan for a particular mine duty. There is a very definite limit to the extent to which pure arithmetic can be successfully applied to the solution of min<; ventilation problems. As mines advance from the exploration, development, and initial production stage to the rime when underground workings become exceedingly complex, there is a considerable increase in the relative importance o theory and judgment in the solution of ventilation problems. These calculations illustrate the application of mathematics to ventilation, but they also in-elude examples of instances where arithmetic cannot be conveniently applied, and important estimates, based on judgment compounded of experience and a knowledge of the theoretical consideration involved, must be made. The inclusion of such estimates is intended as a guide and a warning to the reader; a guide in assisting him to recognize and estimate his own incalculables; and a warning that the solutions must not be blindly applied to his apparently similar problems. These sample calculations are intended to assist the reader in applying the theory contained in the standard texts on metal-mine ventilation. They have been selected from the ventilation experience of a British Columbia mine.

Jan 1, 1942

By J. E. Dutrizac, J. B. O'Reilly

"Zinc is a relatively abundant element which occurs as both high-grade sulphide ores {sphalerite ZnS) and oxide ores which the ancients collectively termed ""calamine"" (smithsonite ZnC03 and/ or hemimorphite Zn4Si201(0H)2 - H20 and/ or hydrozincite Zn5(C03) 2(0H)6). Although oxidic zinc is readily reduced by carbon, the process becomes thermodynamically viable only at - 1000°C, and at this temperature the zinc is released as a vapour (B.P. 907°C). Casual cooling of the vapour results in its re-oxidation by excess combustion air or even the carbon monoxide product of the reduction reaction. ZnO + C = C09,, + Zn vapom Only fairly rapid quenching of the zinc vapour and the isolation of the reduction products from the combustion gases will yield metallic zinc; these conditions were not produced deliberately until the advent of distillation technology. Until quite recently, the principal use of zinc was in brass manufacture; galvanized iron was not discovered until the 19th century and zinc casting alloys are a relatively recent invention. As will be seen, brass could be produced without recourse to a pure zinc intermediary, and the discovery of brass preceded that of zinc by many centuries. The purpose of this paper is to outline the discovery and early development of both zinc and brass with special reference to the European scene."

Jan 1, 1999

By Adrianus (Adrian) Halim, Tomas Bolsöy, Stina Klemo

"This paper describes the ventilation system used in underground hard rock mines in Sweden and Finland, which is very different than the system used in other major mining countries such as Australia, Canada, South Africa, and USA. The system utilizes auxiliary fans with Variable Speed Drive to distribute primary airflow to working levels instead of regulators that are commonly used in other countries. Descriptions about Ventilation on Demand in this system and ventilation regulations in Sweden and Finland are presented in this paper. This paper also quantifies a comparison between the Nordic and the system used in other countries. KEYWORDS Auxiliary fan, Regulation, Ventilation on demand (VOD), Variable speed drive (VSD) INTRODUCTION The primary objective of an underground mine ventilation system is to provide sufficient airflow to dilute atmospheric contaminants that are produced by mining activities. Typically, a mine ventilation system consists of one to four primary fans, regulators to control primary airflow distribution to levels or panels, and auxiliary fans that distribute airflow to dead-end workings via ducts. Depending on circuit geometry, underground booster fans are sometimes used. This system is widely employed in many countries such as Australia, Canada, USA, United Kingdom, and South Africa. However, mines in Nordic countries such as in Sweden and Finland employ a different system, in which auxiliary fans instead of regulators are used to control primary airflow distribution, as well as distributing airflow to dead-end workings. This paper describes the general layout of Nordic ventilation system, its VOD and heating system, its comparison with the system that is widely used in other countries which is referred as “Non-Nordic ventilation system” in this paper, and the current ventilation regulations in Sweden and Finland. The comparison was quantified by doing simulations using Ventsim Design 5 software. DESCRIPTION OF NORDIC VENTILATION SYSTEM General System Layout Figure 1 shows a schematic of typical ventilation system used in Swedish and Finnish mines. The schematic was drawn by Franzen, Myran, Larsson, and Rustan from Stiftelsen bergteknik forskning (Swedish Rock Engineering Research Foundation) and the English translation is written next to the Swedish terminologies. The system is generally a push-pull system. None of Swedish and Finnish mines use exhaust system. As shown in Figure 1, the primary airflow is distributed to levels by auxiliary fans that are bolted to a bulkhead located in the access to intake raise/shaft. These intake fans are attached to ventilation ducts that distribute airflow to all working faces. The exhaust auxiliary fans, which are not attached to any ducts and also are bolted to a bulkhead located in the access to exhaust raise/shaft, then flow the exhaust airflow into the exhaust shaft. A small quantity of this exhaust air is directed into the ramp, which acts as another main exhaust airway. The deepest level is also equipped with booster fan(s) that draw air from the intake shaft/raise and direct it into the ramp to provide fresh air in the ramp. There is no free split in this system. Figure 2 shows a schematic of a level ventilation layout in the Nordic system. Figure 3 shows a photo of these auxiliary fans."

Jan 1, 2019

By Christopher Andreae

Years before iron and steel works were established at Sydney, several thriving although short-lived iron works operated in Nova Scotia. These furnaces reflected the general nineteenth-century North American experience with iron works. At the beginning of the century, small furnaces struggled to supply local needs. Charcoal was the principal fuel and water powered most furnace equipment. By the end of the century, a few huge primary iron and steel works dominated production for Nova Scotia and the rest of Canada. Two sites achieved prominence in the nineteenthcentury Nova Scotia iron industry: Londonderry and Ferrona (Fig. 1). Londonderry, the larger and longerlasting of the two sites, is today a small village on the south flank of the Cobequid Mountains, about 30 km west of Truro. Prior to the establishment of an iron works in 1849, no community existed. At the peak of operation in the 1880s, however, over 2600 people were located there. The second site, Ferrona, today is a mere crossroads on the map, about 10 km south of New Glasgow. Following the construction of a blast furnace there in 1892, a small village grew up around the furnace. But once the furnace was blown out in 1904, the population gradually drifted away.

Jan 1, 1999

By T. G. Ewart

INTRODUCTION FOR THE purpose of this paper, western bituminous coal is defined as steam coal produced in Alberta and southeastern British Columbia for sale primarily to railways and industries. Before examining present and future markets of this industry, it is proper to review briefly financial and operating conditions within the industry. The report of the Royal Commission on Coal, 1946, supplies financial data from which some conclusions may be drawn. In 1944, the industry as defined above had share capital of $24,886,696. In the fifteen years 1930 to 1944, inclusive, the industry produced: 44,364,211 tons of coal. The profit on this tonnage amounted to $4,678,382.58, which represented 10.6 cents per ton of production. Miscellaneous earnings increased the amount available for dividends to shareholders to a total of $8,487,952.41, which is equal to, 19.1 cents per ton of production. Dividends actually paid in this fifteen-year period amounted to $12,332,040.64, which represented an annual average rate of 3.40 per cent on share capital. It is worthy of note that, in 1944, the net current position of the industry, including investments, was $8,753,874.51. The writer believes that the financial position of the industry with respect to capital, current financial position, and net earnings, has not significantly changed from the fifteen-year period out-lined above. The figures quoted indicate the following situation: (1) The western bituminous coal industry is adequately financed. (2) The industry has followed a conservative dividend policy and has accrued funds for contingencies. (3) The industry has sold its production at very reasonable prices as evidenced by its moderate earnings per ton of production.

Jan 1, 1951

By Donald Leroux, Martin Suichies, Andy Trusiak, Chris Dechert

"In modem concentrators, the operation of flotation machines is often stabilized by simple control loops. Froth level, slurry density and aeration rate are all physical parameters typically controlled through classical PID loops. Few concentrators, however make use of advanced computing technologies for controlling the grade of flotation product streams. Technical challenges such as long process delay and the long and uneven sampling interval of on-stream XRF analyzers often restrain their implementation. Model Predictive Control (MPC) is known to have better performance than PID for controlling processes with long delays (such as flotation circuits). This paper describes the implementation of a multi-input/single-output (MISO) MPC algorithm and an FIR model identification routine using an object-oriented graphical computing environment.The MPC module (controller and identification) was implemented on an industrial control system and applied to many sulfide flotation circuits in the Brunswick Mining concentrator (New Brunswick, Canada). In most cases, the manipulated variable was the collector addition. As long as it is provided with decent process models, the performance of the MPC controller is good on all the flotation circuits on which it was applied. Significant reductions of grade variance are reported and the controller responds well to set-point changes. The user-friendly, graphical nature of the computing environment led to a high degree of acceptance by both the process engineers and the flotation operators.1. INTRODUCTIONOver the past three decades, much instrumentation has been developed for flotation machines. The introduction of instruments such as pulp density gauges and cell level probes was particularly well received by the plants where pneumatic and electronic controllers were available for implementing PID control loops. In a way, these simple loops revolutionized the mineral industry. The operation of flotation circuits could then be stabilized through the use of automatic controllers."

Jan 1, 1999

By M. Brochu

In this paper, we present a computer-vision approach developed for wall-thickness measurements of corroded pipes inspected by double-wall radiography. The main objective of the work is to optimize data collection and film interpretation using computerized image analysis. To date, the system is able to identify the inner and outer contours of a pipe and perform wall thickness measurements at each pixel of a radiograph. This will be presented by analysing pipes having different dimensions. Another important feature of the system concerns the algorithms&apos; adaptability to pipe wall texture. In other words, image analysis is automatically refined around rough or corroded areas. This allows more precise thickness measurements and shape identification in critical sections as will be demonstrated with examples. Finally a brief overview of results exploitation will be given and compared with human interpretation. It will show the reliability of automated image analysis and the many possibilities offered by complete output analysis.

Jan 1, 2005

By Filipe Beretta

This study investigates geophysical logging capacity to predict coal quality. It was analyzed for possible correlation, some parameters determined via laboratory analysis of coal against results for the same parameter derived from wireline logs recorded by a geophysical probe. These probes detect variations in some rock physical properties, such as their natural gamma ray emissions and electrical resistivity. Results showed a strong correlation between natural gamma and ash content, establishing a linear model to estimate ash content from geophysical logging data with a low estimation error (less than 5%). Besides, results showed that there is no correlation between sulphur content or volatile matter and resistivity, neither with natural gamma of the rocks. Ash content derived from gamma ray values can be used as secondary information to evaluate coal quality during resources estimation, using methods such as soft indicator kriging. The methodology is illustrated using a case study at a coal deposit in south of Brazil.

Oct 1, 2009

The importance of understanding the behaviour of cemented paste backfill (CPB) within the framework of the effective stress concept is highlighted in this paper. Only through an understanding built on this concept can problems such as barricade loads, the rate of consolidation and arching, be fully understood. The critical importance of the development of stiffness during the hydration process, and its impact on factors such as barricade loads, is used to illustrate why conventional approaches that implicitly ignore the effective stress principle are incapable of capturing the essential components of CPB behaviour.

May 1, 2007

By B. J. McKay, K. Schneider, H. B. Nadendla

"A series of experiments were conducted to assess the impact of zinc additions on the morphology and soundness of the interface of Al-Mg compound castings. It was found that high amounts of zinc (>15wt%) are necessary to affect the morphology and microstructure of the interface. At these zinc concentration levels, the formation of the zinc-rich phases t1 and ? were observed along with the Al-Mg intermetallic phases ß and ?. The micro hardness of all phases across the interface was found to be similar, ~200 Hv. This even hardness gradient is thought to avoid mechanical failure in the interface under load. In samples containing large concentrations of zinc (>15wt%), the formation of bubble shaped voids as well as the complete transformation of the aluminium alloy was observed. While the exact mechanism causing the voids has not been identified it thought to be connected to the Kirkendall effect. INTRODUCTION Conventional single material components are increasingly failing to meet the demands, in terms of cost and performance, of the transport industry. Compound castings have been identified as a promising alternative as they possess a number of benefits (Bührig-Polaczek, Röth, Baumeister, Nowack, & Sussmann, 2006). Compound casting is described as a process in which a metallic melt is cast around a solid metal shape. Preliminary research has concluded that for the stability of such a resultant hybrid structure it is imperative that both metals form a sound connection via form closure, force closure, or material bonding. A continuous material bond between the two metals is also highly desirable as the formation of a crevice between the metals could lead to galvanic corrosion, particular in a humid environment (Lao, 2013; Rübner, Günzl, Körner, & Singer, 2011). Even though Al-Mg compound castings could offer the biggest potential in terms of weight savings to date only a limited amount of research concerning such structures exists."

Jan 1, 2018

By G. G. Campbell

"HistoricalBARYTES was mined in Nova Scotia as early as 1874 from a deposit at Five Islands, on the north shore of Minas Basin. The first record of the presence of the mineral at the Walton site appears in a report by Selwyn in l893, who states: ""Barytes in considerable quantity occurs in veins in lime-stones at Walton and Pembroke"". The exact site of the present workings was marked •on a map published by Fletcher in 1905.The economic •possibilities of this deposit, however, were not recognized until 1940, at which time we were at war with Germany, who up to that time had supplied 50 per cent of the world's requirements.At that time the Nova Scotia Department of Mines, recognizing the need for certain strategic minerals, induced Canadian Industrial Minerals, Limited, to send prospectors into 'the area to look for manganese. No manganese deposits were found, but a deposit of barytes was directed to their attention, and exploration and development work on the occurrence was proceeded with.IntroductionThe south shore of Minas Basin between the Avon river at Windsor and the Stewiacke river at Maitland has long been known as a potential source of mineral wealth. It had attracted the attention of mineralogists and in the past had produced considerable tonnages of manganese ore and gypsum. Depletion of ore in surface and near surface deposits resulted in a dwindling production, until today only deposits of gypsum are worked."

Jan 1, 1952

By Laura Kelsey

Contaminant Robust In Situ Water Extractor CRIWE Nafion-based water clean-up Extract purified water from natural extraterrestrial sources In situ water processing for downstream electrolysis Chemically resistant to process contaminants such as acid

May 1, 2013