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By C. W. Hancher, B. D. Patton, W. W. Pitt

"There are a number of nitrate-containing wastewater sources, as concentrated as 30 wt % NO3 and as large as 2000 m3/day, in the nuclear fuel cycle. The biological reduction of nitrate in waste water to gaseous nitrogen, accompanied by the oxidation of a nutrient carbon source to gaseous carbon dioxide, is an ecologically sound and cost-effective method of nitrate waste disposal. These nitrate-containing wastewater sources can be successfully biologically denitrified to meet discharge standards in the range of 10 to 20 g N(NO3-)/m3 by the use of a fluidized bed bioreactor. The denitrification bacteria are a mixed culture derived from garden soil; the major strain is Pseudomonas. In the fluidized-bed bioreactor, the bacteria are allowed to attach to 0.25- to 0.50-mm-diam. coal fluidization particles, which are then fluidized by the upward flow of influent wastewater. Maintaining the bacteria-to-coal weight ratio at approximately 1:10 results in a bioreactor bacteria loading of greater than 20,000 g/m3,This paper describes the results of a bio denitrification R&D program based on the use of fluidized bioreactors capable of operating at nitrate levels of up to 7000 g/m3 and achieving denitrification rates as high as 80 g N(N03-) per day per litre of empty bioreactor volume. IntroductionThe discharge of wastewater containing nitrate at concentrations greater than stipulated by the Environmental Protection Agency (EPA) creates an environmental hazard and constitutes a civil and/ or criminal legal liability.(I.2) At present, we have three options: (1) recycle and reuse of nitrate streams the total economic and technical balance should be Closely examined; (2) use of an alternative acid, which may pose an entirely different set of problems ; or (3) disposal of nonreusable nitrate sources by an environmentally acceptable procedure."

Jan 1, 1980

By J. Aiello

"A brief history of previous mining activity on Coal Mountain, near Corbin, British Columbia, is followed by a description of the steps leading up to the resumption of mining in /974 by Byron Creek Collieries. New developments, including a preparation plant, a rail spur and a totally enclosed facility, as well as operating techniques, are also discussed. IntroductionThe Corbin Mine of Byron Creek Collieries Limited is located in southeastern British Columbia, approximately 110 air miles southwest of Calgary (Fig. I), 15 miles south of Highway 3 via a newly constructed provincial road (Fig. 2). Development of the area began on July 30, 1905, when D.C. Corbin, a prominent businessman from the northwestern U.S., and his associate E.J . Robert s, first visited the site of Coal Mountain on horseback. Coal was in great demand by railways and other industrial users, so the Corbin Coal and Coke Co. , after acquiring 15,000 acres of land in the area , began to develop a mine.F.J. Roberts was responsible for the construction of the 14-mile rail spur, the Eastern British Columbia Railway, which joined the mine to the CPR main line at the McGillivray Loop. Rail access to the mine and its developing community, Corbin, B.C., was completed in September 1908, the same year that the first underground mine began production.The Corbin Coal and Coke Co. operated six mines on Coal Mountain (Fig. 3), and production from 1908 to 1930 inclusive totalled 2,337,800 tons. This production was allocated to the mines as shown in Table 1. No.3, 4 and 6 mines were operated intermittently from 1931 to 1935."

Jan 1, 1980

By S. B. V. Stewart, W. W. Forsyth

"Since the Mathew's method for open stope design was first proposed by Golder Associates in 1980 it has been applied at a number of mine sites in Canada. The initial hypothesis was based on a relatively small amount of data and the intervening period has allowed the collection of a significant amount of new data to test the validity of the method.This paper examines a brief history of the evolution of rock mass classification systems to provide background and emphasize their empirical and non-rigorous approach. It also presents the new data which appear to indicate that the initial hypothesis was reasonably good. The modification to the original graph proposed by Potvin is discussed as well as the applicability of the method to predicting the onset of caving. The original graph has been updated and has been subdivided into four zones described as ""stable""; ""potentially unstable""; ""potential major failure""; and ""potential caving"". The method is recommended as a useful open stoping design tool provided it is recognized that it is not a rigorous design method.Finally the paper proposes a recommended approach for application of the method by would-be users and addresses some typical pitfalls that may be encountered."

Jan 1, 1995

By J. Grignon, C. Fleming

It is possible to reproduce the performance of an operating CIP or CIL plant in the laboratory, in small scale batch kinetic tests, coupled with mathematical models that translate kinetic data into predicted steady state gold profiles across multi-stage adsorption circuits. Once the performance of the commercial plant has been mimicked by the model, the plant operating parameters can be varied systematically in the model, and the likely response of the plant to the step wise change can be determined. In this way it is possible to inexpensively optimize the operating conditions of an existing plant, with no disruption to plant operations and no economic risk to the mining company. This approach had been adopted by IAMGOLD to optimize the performance of their Rosebel CIL plant following several major expansions in mill capacity since 2004.

Jan 1, 2011

By G. Major-Marothy

"INTRODUCTIONA beneficiation plant to upgrade earthy iron ores is being installed by the Iron Ore Company of Canada in Sept-Iles, Quebec.The crude ore for the plant will come from the Knob Lake area, located in Northern Quebec, where mining has been in progress since 1954.Some 170 million tons of ""direct 11 ores have been mined and shipped in the past eighteen years, with an overall silica content of 7 to 8 percent. No beneficiation - except the reduction of the top size to about 2 inches - took place during this period, but extensive research work has been carried out, in order to find a feasible process.Since “washing"", gravity separation, roasting and magnetic separation experiments did not indicate positive enough results, flotation was tried and found to be feasible.The beneficiation complex being installed will consist of grinding, flotation, dewatering - i.e.: thickening, filtering and drying - balling feed preparation, and agglomeration - i.e.: balling and induration.This process will result in a product superior to the ""direct shipping"" ores and will also expand the ore reserves by allowing material with a higher silica content to be utilized.THE OREThe Knob Lake ores are grouped by mineralogical composition and by grade.BLUE ORES, representing roughly two thirds of the reserves, carry their iron content mostly in the form of massive, blue hematite and martite.YELLOW ORES, about one sixth of the reserves, have predominantly hydrated iron oxides as the iron bearing minerals.RED ORES, the other sixth of the reserves, carry the iron mostly in the form of red hematite.The gangue in all ores is mainly quartz, but aluminum oxides and hydroxides are also present, particularly in the red ores."

Jan 1, 1972

By T. Sun, J. Kou, C. Sun, China Railway Resources Group Limited

"The polymetallic sulfide ore in Jiama county of Tibet contains 0.78% Cu, 0.046% Mo, 0.31 g/t Au and 17.9 g/t Ag in average. However, heavy loss of valuable metals was observed using high-pH process and Butyl xanthate as the collector. In this paper, the flotation was optimized through the adoption of a novel collector C-7, which is a mixture of xanthate ester and thionocarbamate. This collector showed better flotation performance under weak base conditions. The recoveries of Cu, Mo, Au and Ag increased to 93.24%, 84.60%, 78.13% and 75.41%, respectively, under 15 g/t of C-7 at pH of 8.0. The adsorption mechanism of C-7 was investigated by micro-flotation tests, zeta potential measurements, FTIR analysis and adsorption quantity measurements. Chemisorption of C-7 on chalcopyrite surface is demonstrated with adsorption density 3.8 times higher than on pyrite.INTRODUCTIONXanthates are the most commonly used collectors of strong collecting ability for separating copper sulfide minerals from gangue in froth flotation. However, the selectivity of xanthates themselves is poor to realize separation of chalcopyrite and pyrite whose floatability are quite similar (Heyes & Trahar, 1977; Chandraprabha, Natarajan, & Modak, 2004). High pH process with xanthates as collectors is proved effective in copper-sulfur separation and is widely used in treatment of copper sulfide ore flotation (Smith, 1996; Valdivieso, Cervantes, Song, Cabrera, & Laskowski, 2004). This method could get ideal separation results, but large amount of lime must be added, and could bring about increased cost, device corrosion and environmental pollution. In addition, there could also be high depression and heavy loss of associated noble metal such as Mo, Au and Ag. Consequently, a large amount of research has been conducted on substitutions of xanthates for selective flotation of copper sulfide ores under low pH conditions (Gholivand, Khodadadian, & Ahmadi, 2010; Li, 2010)."

Jan 1, 2016

By Michel Doyon

Canadian Context: Exploration ??Space Exploration is within the unique mandate of the Canadian Space Agency ??Global partnerships ??Maintain close relationship with our partners ??New knowledge in S&T ??Retain and attract highly qualified personnel ??Participation in missions leads to design roles in industry and academia ??Collaboration between government laboratories, industry and academia

May 1, 2009

By G. M. Ritcey, K. E. Haque

"Laboratory-scale sulphuric acid leach tests were conducted on Elliot Lake and Rabbit Lake ores in the presence of various oxidants, namely: Fe2(SO4)3, CI2, H2O2, NaClO3, MnO2, H2SO5, HNO3, Oxon e, K2Cr2O7, KMnO4, O3 and O2. Uranium extraction is significantly accelerated when an oxidant is present in the leach slurry. Uranium extraction of 96-99% can be achieved by maintaining the oxidation potential of the leach slurry in the range of400 to 500 m V (S.H.E.). A rough cost comparison of all the oxidant s indicates that the use of Fe2(SO4)3, 02, O3, C12, HNO3 or MnO2 is far less expensive than NaClO3 and the uranium extraction rates are similar to or better than with NaCIO3. For uranium extraction, it is concluded that gaseous oxygen (i.e., air or oxygen) would be the most effective and economical oxidant for the 24- to 36-hour leach of Elliot Lake ore; whereas for the 8- to I2-hour leach of Rabbit Lake ore, a strong chemical oxidant (e.g. NaCIO3, H202, 03, K2Cr2O7, H2SO5 or HNO3) would be a logical choice.IntroductionThe common practice for the treatment of uranium o res is leaching with sulphuric acid or with a carbonate-bicarbonate mixture. Generally, the latter process is ad opted when an excess (> 18%) of acid-consuming components (e.g., carbonate) is present in the ore. Irrespective of the nature of the leachant, the addition of an oxidant to the leach mixture is necessary to obtain a high uranium extraction.The maximum extraction of uranium can only take place when all the uranium is in the highest oxidation state (i.e.,U +6-uranic ion) . Because a certain percentage of uranium present in the ore is invariably in the lower oxidation state (i.e.,U+4-uranous ion) , the addition of an oxidant to the leach slurry is necessary to oxidize uranous ion to the uranic state."

Jan 1, 1982

By Frands Jensen, Erik Eriksson

"Haldor Topsoe’s Wet gas Sulfuric Acid (WSA) technology has been proven in a number of industries converting sulfurous gasses to concentrated sulfuric acid. In the metallurgical sector plants have been delivered handling SO2 gasses from copper, zinc, molybdenum, and lead ore. WSA has high energy efficiency and allows autothermal operation from feed gas strengths as low as 3.0% (volume). Recent variants of the WSA process have been developed that allow very high SO2 conversion efficiencies of over 99.9%. This paper describes the technology, its advantages and industrial achievements.The WSA technology is well suited for production of concentrated sulfuric acid of commercial quality from the sulfur dioxide (SO2) gas that inevitably emerges from the metallurgical processes. Some of the features that make the WSA technology attractive for this application are:- High SO2 conversion rates (up to 99.99%)- High energy efficiency leading to a low autothermal point (~ 3% SO2)- No need for gas cooling and drying to produce concentrated sulfuric acid- No production of waste- Very low cooling water consumptionThis paper describes the WSA process principles and highlights features that make this process attractive for handling SO2 gases."

Jan 1, 2014

By C. Greimel

Modern roadheaders provide a safe and cost-effective, yet very flexible way of mechanical tunnel and roadway excavation. In the last years, SANDVIK Mining and Construction has developed a NEW ROADHEADER GENERATION, which incorporates new features, allowing significant improvements of underground excavation. Partial face cutting machines such as roadheaders excavate the desired profile by means of a cutter unit mounted on a swiveling boom. This flexible method for mechanical excavation makes the roadheader suitable for a large range of profile varieties and most rock characteristics. Over 1,250 roadheaders have been delivered since the 1960s from the Zeltweg plant of Sandvik Mining and Construction, with the current products ranging from the light-duty, 130kW MR220 machine, widely used in the tunneling and coal industry to the heaviest 300kW tunneling and hardrock mining roadheaders. Roadheaders are generally used in coal mine development, salt/potash mining as well as construction and hard rock mining. This paper describes the technology behind the succesful introduction of hard rock cutting with roadheaders, and aims to offer best practise operation experiences from various hard rock cutting sites.

Oct 1, 2010

By Gérald Riverin, Bernard Boily, Daniel Bernard

"The Donalda gold deposit is located in the southern part of the Noranda camp, approximately 2 /em east of the Horne deposit. Combined past production and current reserves total over 1.5 Mt grading 6.9 grams of gold per tonne.The deposit consists of two main veins which are both narrow but persistent structures. The No 1 Vein, hosting about 80% of the gold ore, consists of an EW-striking banded quartz vein dipping on average 25° to the south. Although variable in thickness, it averages lessthan1 metre. TheNo2 Vein, located 300 m below the No 1 Vein, is similar to it except that it dips 50° south. Gold occurs mostly as fine native gold disseminated in quartz, with 2-3% pyrite and trace amounts of various sulphides and tellurides. The wall rocks are only weakly altered and mineralized with pyrite, hematite and sericite.Structurally, the Donalda deposit is centered on the Horne Creek fault (HCF) where the HCF is intersected by the ENE-trending DonaldaandCentralfaults.NorthoftheHCF,theNo1Veinishosted by the Quemont Rhyolite, whereas south of the HCF the vein is hosted by magnetic basalts and diorites of the Wilco Andesite Formation. The No 1 Vein extends across the HCF with only minor displacement, whereas the No 2 Vein has not yet been traced south of the HCF.A preliminary structural analysis of the mine shows that the HCF, which strikes 275° and dips 70° north in the mine area, has a reverse movement a lid that the flat dipping No 1 Vein is a tension vein. Both probably developed in response to the same stress conditions. Although the absolute age of the Donalda veins is not known, structural relationships indicate that they formed during the latest movements of the HCF, but prior to the intrusion of the Proterozoic D' Eldona Diabase. The occurrence along the HCF of gold-rich synvolcanic massive sulphides and much younger vein-type gold deposits (such as Donalda) indicates that the HCF was a very long-lived, deep-seated (?)structure which has controlled the circulation of gold-rich fluids over a long period of time."

Jan 1, 1990

"Eastern Canadian thermal coal mined at Minto, New Brunswick, and in western Cape Breton at St. Rose, Inverness County, Nova Scotia, contains 6-8 per cent sulphur. Both coals are high volatile bituminous. types. The Minto coal averages 18 per cent ash, 7 per cent sulphur and has a Btu rating of 11,900 per lb. Pyritic sulphur accounts for 75 per cent of the total sulphur and the remainder is largely organic; the amount of sulphate sulphur is negligible. This means that in a 7 per cent sulphur coal, 2 per cent is organic and 5 per cent pyritic sulphur. Pit-head St. Rose coal contains approximately 10 per cent ash, 7 per cent sulphur and 11 ,800 Btu/lb. The distribution of sulphur is different to that of Minto coal because about 12 per cent sulphate sulphur is present. Thus, a 7 per cent sulphur coal would contain 4 per cent pyritic, 2 per cent organic and 1 per cent sulphate sulphur.The iron sulphides, pyrite and, to a lesser extent, marcassite occur over a wide size range from large sulphur balls to crack fillings, lenses, and individual crystals and framboids. Coarse-grained pyrite and sulphur balls are easily separated during washing. It is the fine grain sizes, intimately mixed with the coal constituents, that are difficult to separate. Quantimet analyses of the fine grains in coal from both localities showed that about 50 per cent were smaller than 30 micron(1).No efforts have been made to wash the Inverness coal of Nova Scotia and in 1980 washing ceased in New Brunswick. Previously, the Minto coal was processed in an antiquated jig circuit which reduced ash from the strip operation run-of-mine value of more than 20 per cent to less than 18. More effective removal of ash and sulphur could clearly be obtained. Laboratory tests on both Minto and St. Rose coal have shown that ash rejection rates of 40 to 50 per cent at yields of 70-80 per cent were possible(2), Little information on sulphur removal was available."

Jan 1, 1981

By E. Laatio, W. McKay

"History of Tara Mines Ltd.Tara Exploration and Development Company Ltd. was formed in Canada by Irishmen in 1953. The discovery of an orebody approximately six miles from the historically famous Hill of Tara in County Meath was a wild dream . Nevertheless this dream became a reality. Tara Mines Ltd. was formed, and the mine developed some 35 miles northwest of the City of Dublin in the Irish Republic.Tara's original drilling program indicated a zinc-lead orebody of approximately 60 million tonnes grading at 10.1% Zn and 2.6% Pb. The terms of the mining lease stipulated that the Irish government would acquire 25% equity interest in the operation. The mine was thus owned 75% by Tara Exploration and Development Company Ltd. of which the principal shareholders were Noranda and Northgate, together with 25% being held by the Irish government. The mine was purchased in March 1986 by Outokumpu Oy, a Finnish mining and metallurgical company, and together with the 25% government stake are the current owners. Outokumpu Analysis on Tara Mines Ltd.Upon ownership Outokumpu carried out a comprehensive analysis on the operation and came to the following conclusions :1. Tara had a good orebody;2. Tara had a skilled, capable, stable workforce;3. Tara's concentrator and processing equipment was adequate to meet requirements;4. Tara's mobile equipment fleet was too old and too numerousin numbers; and5. Tara had too many employees, both staff and hourly paid .With ore reserves of approximately 50 million tonnes and at a planned extraction rate of 2.6 million tonnes it meant that the mine had a lifespan of approximately 20 years. To be a viable operation into the future, the mine had to become more efficient. Operating costs and manpower levels had to be dramatically reduced."

Jan 1, 1989

By Marcel Vallée

Frequently, costs overruns and defaults in mining project performance result in serious problems and headaches for all project participants and impact on corporate objectives, profits and image and, occasionally, lead to project failure. As mining professional s, we should be very concerned that, in a recent World Bank paper (Weber-Fahr, 2001), geological and technical risks were considered the most important ones facing mining projects. Whenever we manage to reduce or minimize these risks, we are in better position to overcome the environment-, market-, finance- and community-related ones. The causes of this situation seem rather systemic, as a fairly long list of industry problems with new pro jects has been described in industry papers in pas t and recent years. A brief review of industry problems with mining projects will be given first, followed by a review of the basics of the current Quality Management and Continuous Improvement perspectives that have evolved from earlier quality control and quality assurance systems and policies. Particular particular attention will be given to the work of W. E. Deming. As the system approach is an essential part of such policies, it will be described succinctly. Given that poor communications and interactions among geologists, mineral processors and mining engineers/operators ca n seriously affect project efficiency and profitability, these interrelated processes with in the mining systems will be analyzed and modelled and the impacts of such situations will be described through a number of anonymous case histories and examples. A synthesis of Dr Deming's management system, includ ing his Four teen P oints and System of Profound Knowledge, will be prese nted .

May 1, 2002

By Patrick Frenette

The Goldex Mine is an underground gold mine using a unique mining method where a single very large stope is being created. In order to maintain stability of the walls and roof of the stope which is 450m, 250m high and up to 120m thick, ore is left in the stope as long as possible and acts as backfill would do. At many occasions during the mining sequence, the walls will be exposed on height ranging from 30 meters up to 250 meters. A monitoring system comprising in-stope laser surveys, a seismic system and an array of extensometers and sloughmeters all remotely connected to surface is used to observe the shape and evolution of the stope. This paper will focus on the results obtained following some of the large blasts and on the long term monitoring of the stope.

May 1, 2011

By Y. W. Pan, Y. R. Liu

The disturbed natural rock mass tends to equilibrium state accompanying with non-equilibrium evolution process which has significant influence on the long-term stability of engineering structure. The deformation development in the non-equilibrium evolution is determined by two intrinsic processes, trend to equilibrium and damage development, which can be illustrated by evolution of excavated tunnel. Thus the creep and damage must be taken into account in study of non-equilibrium evolution process. Within Rice’s irreversible thermodynamics with internal state variable (ISV), the conjugate force function which equals to zero is a convex surface which divide the stress space into two parts, called equilibrium and nonequilibrium stress space respectively. The concept of effective stress of non-equilibrium has been proposed, in which the stress difference (d - d ) are the effective driving forces of non-equilibrium evolution process with hardening and damage effective. The formulations of inelastic strain rate and energy dissipation rate have been recast in the form of effective stresses. The inelastic complementary energy (ICE) is proposed to measure intensity of non-equilibrium evolution of material system. The specific equations of conjugated forces and kinetic equations of internal state variables are presented. The ICE and rate of energy dissipation are all calculated to be used to evaluate long-term stability of geo-engineering. The results show that rate of energy dissipation may be more convenience and flexible than ICE for internal state variable constitutive equation of rock mass.

Jan 1, 2015

By Muhammad Zaka Emad

ABSTRACT: Sublevel stoping mining methods with delayed backfill employs cemented rockfill (CRF) as a backfill material. It is used in underground mines to achieve ground control and reduce wall slough. In addition CRF serves to reduce development waste and provides a working surface for mining the upper levels. Efforts to optimize CRF practices have been published. This paper presents a detailed review of CRF practices in open stoping mining systems with reference to case studies. A new methodology is suggested in a simple stepwise approach, which can be adopted for site specific conditions. The need of laboratory testing and quality control program is discussed based on the published literature.

May 1, 2013

By D. R. Schmitt, N. Ong, R. S. Kofman

Shales and mudstones comprise about 75% of all the sedimentary rocks. In, particular, organic rich shales are considered as a petroleum source rock and more recently with the advent of hydraulic fracturing technology to be a reservoir in their own right. In this sense, the aforesaid motivates our work with laboratory measurements of elastic properties of these geologic materials, which are known to be anisotropic. As such, assuming Vertical Transverse Isotropy (VTI) symmetry, the dynamic and static moduli of a series of cores from various geological formations in Alberta, Canada are simultaneously investigated as a function of confining pressure using the ultrasonic pulse transmission method and strain gages. Dynamic moduli were obtained from ultrasonic P- and S-wave velocities measured on a prism cut with faces perpendicular, parallel and oblique to the assumed vertical axis of symmetry. Static moduli were calculated from strain-stress curves obtained along the directions perpendicular and parallel to the assumed axis of symmetry as well. Velocity measurements show that samples are highly anisotropic, but that the pressure-dependent behaviour of the wave speeds differs. VP(90°) and VSH(90°) both with layer parallel propagation and polarizations change little with pressure while VP(0°) and VS(0°) (both with layer perpendicular propagation) display significant nonlinear responses particularly at pressures < 25 MPa. These characters transfer to the derived full set of elastic constants. In order to effect a proper comparison of the dynamic and static moduli, we convert the dynamic elastic constanst to linear compressibilities pependicular (Kdyn1) and parallel (Kdyn3) which are directly comparable to the static tangent compressibiities obtained by differentiation of the observed strains. Both sets highlight the anisotorpic nature of the material but most interestingly Kdyn1 _ Ksta1 but Kdyn3 > Ksta3 by nearly 40% for one of the samples. The other samples measured respond similarly suggesting that conceptually the structure of such materials could be considered to be constructed of alternating stiff or compliant layers. This finding has implications in the response of the formation to stress particularly during hydraulic fracturing and the interpreation of acoustic logs in providing appropriate measures of elastic properties for engineering purposes.

Jan 1, 2015

By Ainul Akhtar, Steve Cockcroft, Jixiang Xu, Daan Maijer, Lu Yao

"Nitrogen rich Ti-N inclusions are one of the more difficult inclusions to remove during liquid metal refining of titanium. If present in the final component, they can significantly decrease the mechanical performance of titanium and its alloys in applications involving cyclic loading. Understanding the kinetics of dissolution of Ti-N particles during consolidation/melting of titanium can help us better operate and design the melting processes to minimize their occurrence in Premium Quality Titanium production. A numerical model based on finite difference method has been developed to calculate the dissolution of a spherical Ti-N particles in molten titanium. Analytical solutions were used to verify the finite difference code for calculation of concentration profile and the dissolution of spherical solids. Taking into account the limitations in these approaches for the different cases examined, the invariant field approximation showed good agreement with the results from the numerical analysis. Evolution of the size of a spherical Ti-N particle during dissolution was predicted by the numerical model and the particle dissolves in 163 s.INTRODUCTION Properties like low density, high specific strength and excellent corrosion resistance make titanium attractive for a variety of applications. Key characteristics in the processing of titanium and its alloys include its high sensitivity to impurities, especially atmospheric oxygen and nitrogen and its high reactivity in the molten state. Nitrogen rich inclusions Ti-N, also known as Type ? or hard alpha defects, usually have substantially higher hardness and lower ductility than the surrounding material. Because they can act as fatigue initiation sites, Ti-N inclusions can significantly decrease the mechanical performance of titanium and its alloys in applications involving cyclic loading, even in minor amounts (tenth of a percent) (Lampman, 1990; Moiseyev, 2005; Lütjering & Williams, 2007). Ti-N encompasses as a broad range of nitrogen contents from a few wt% up to stoichiometric TiN. The liquidus temperature of Ti-N titanium increases substantially with increasing nitrogen content. Consequently, depending on the concentration of nitrogen, the melting point of Ti-N inclusions can be above bulk liquid metal temperatures during melt processing. Thus, removal of Ti-N defects hinges on dissolution and not melting."

Jan 1, 2017

By Gary M. Bone

The autonomous control of vehicles interacting forcibly with their environment, such as dozers and tractors, is an unsolved and challenging problem. Forces and motions are inherently coupled between the tool and the means of vehicle propulsion. Furthermore, they are often operated within uncertain and unstructured environments, such as those encountered in underground mining. There is a growing industrial interest in the development of robotic vehicles to improve productivity, efficiency and safety in mining and construction. This paper focuses on the modeling and control of autonomous robotic dozing for a material removal operation. A dozing process model has been developed based on observations of both a fullscale dozer and a scaled-down version. The model characterizes the dynamic interactions between the blade position, material accumulation on the blade, material distribution in the environment, and the motions of the dozer. The dozing control objective is to remove the loose material as rapidly as possible by driving forwards at full power while automatically raising/lowering the blade in response to sensor measurements. Two different controllers were developed to meet this objective. The first controller is based on a set of heuristic rules, and the second is an optimal controller based on the dynamic model. An instrumented scaled-down robotic dozer and dozing environment, designed to emulate the full-scale operation, are used to implement the controllers and compare their performances over multiple dozing passes. Experimental results are presented showing that the model-based controller increased the material removal rate by 33% compared to the rule-based controller. Lastly, technologies for full-scale implementation are discussed, followed by proposed future work and conclusions.

Aug 1, 2013