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By Sergio Bustos

A significant expansion project is under way at KATCO?s Torkuduk In Situ Leaching (ISL) operation to increase uranium production up to about 4000 tU/year. Higher flows and lower uranium concentration are expected in the rich solutions coming from the well fields. Therefore, extra adsorption and elution columns and modified operating conditions are required to deal with the increased demand for uranium transfer from the ISL solutions to the eluate solution, which goes to the uranium precipitation section. Resin adsorption and elution performance have been interpreted and projected by using Mac Cabe-Thiele equilibrium diagrams. The resin load, the adsorption mass transfer coefficient, the adsorption zone height and the eluate concentration have been estimated for the expected changing operating conditions associated to the future mine plan. This information has allowed to improve the present operation results and to define the main process design criteria for the expansion project.

Aug 1, 2010

By E. R. Rivenbark

"The coal handling plant represents an investment of about $100 million in coal handling and storage equipment. The coal receiving is done by a continuous ship unloader that can handle ships in the 60 000 T range at Q rate of 1750 /ph. A unique feature in the system is a stacker/reclaimer unit which will work inside a dome storage structure. The coal for the unit will include any low sulphur coal that can be delivered by sea at an economical price blended with New Brunswick high sulphur coal.ThE flue gas scrubber is a wet limestone system capable of 95% SO2 removal. The scrubber will utilize about 150 000 tonnes of limestone per year and will produce commercial grade gypsum by the forced oxidization method.IntroductionWith the need for new generating capacity being required, New Brunswick Power reviewed, in 1985, its options for the next unit. The study indicated that the most attractive option for New Brunswick Power would be a coal-fired unit capable of receiving imported coal at a sea port. The site selection process resulted in three site options being considered.The existing Coleson Cove and Dalhousie sites, and the Belledune site were considered. To meet load distribution needs, it was then decided that the unit had to be located in the northern section of the province, thus eliminating the Coleson Cove site. The Belledune site was selected because it had the capacity to have additional units added where as the Dalhousie site would have only been able to accommodate one unit"

Jan 1, 1994

By A. Mellek, M. Pischtschan, M. Perrucci

ABB has received an order for one of the most challenging mill drive projects in its history. With one SAG mill and one ball mill to be added at an iron ore mine in Sweden, the customer’s plant managers wanted to have the most efficient solution for driving their mills but had the budget limitations typically faced by the majority of mining companies during periods of market downturn. To find the best balance between cost of acquisition and highest performance throughout the lifetime of the plant, ABB was selected to deploy a synchronized bypass solution, in which only one drive system is used for two different mills in series. However, being one of the first grinding mills in the world with such a solution was not the only challenge the ABB team faced: The inclusion of some mill application functions - e.g., frozen charge protection, automatic positioning and creeping mode - brought the demands on the engineers to another level. With only one frequency converter and one mill application controller available, the configuration logic and interlocks had to be meticulously designed and thoroughly tested to ensure a smooth and safe startup. The solution offers a footprint reduction and more operator flexibility at a reduced investment as each mill can be run in both directions, and wear on the mechanical components can be greatly reduced due to ABB’s premium ring-geared mill drive (RMD). This paper will describe the details of the project, the configuration developed and the tests performed to guarantee correct software functionality. Mill startup is scheduled for January 2016.

Jan 1, 2016

By J. George Gregr

"This paper gives a brief review of grinding mills installation procedures with special emphasis on future maintenance. The importance of cooperation between the customer, construction contractor and manufacturer's representative is discussed, as well as the imparlance of complying with standards, specifications and the keeping comprehensive installation records.Fundamentals of mill maintenance are explained with the aim being to maximize the equipment availability and to minimize unscheduled downtime. The paper also includes development of wear items design, based on operating conditions, drive components and bearings, and how to keep large gears healthy thus eliminating surprise failures.Experience with installation of a large gear on a 34-foot diameter mill in Lornex and successful application of a computer program for the gear alignment on the mill are given.IntroductionSuccessful operation of a concentrator begins with the engineering of the project and continues through selecting the right equipment, its installation , start-up period, and ends with final tuning of the process. machinery and the human factor into an efficient and viable industrial complex.The following is a brief review of grinding mill installation procedures with special emphasis on future maintenance. Fundamentals of mill maintenance are discussed with the aim being to maximize the equipment availability and to minimize unscheduled downtime, with some specific points on key grinding mill components such as bearings and drives.Finally, the experience is recounted with the installation of a large ring gear on a 34-foot diameter mill at Lornex, and the successful application of a computer program for the gear alignment on the mill."

Jan 1, 1985

By Ronald G. Hamm

"With the advent in Canada of large open-pit equipment, the associated wire rope required must keep pace, especially in design and construction, along with the field that leads to increased rope life.This paper will first describe the various types of shovels and draglines in use today and also the unique characteristics of the wire rope required to efficiently service this equipment.Emphasis will be placed on the special equipment and techniques required in the wire rope manufacturing, along with the maintenance procedures required for a profitable operation.IntroductionOpen-pit and strip mining is increasingly playing an important role in the Canadian mining industry.An integral part of the surface mining industry is the excavation equipment used both to strip the overburden and remove the actual orebody. Two of the more prominent pieces of equipment are the electric power shovel and dragline. These two types of equipment have increased significantly both In size and number over the last decade.Wire rope plays a significant part in the operation of these machine s. Proper selection of the correct wire rope as well as proper maintenance procedures, can result in a major saving of a mine's wire rope consumption.The most prominent ropes for shovels are the hoist ropes. Some shovels also employ crowd and retract ropes. Boom pennants are manufactured from both wire rope or galvanized bridge strand.The most prominent ropes for dragline excavators are hoist, drag, and dump ropes. Some dragline excavators have boom hoist ropes, and most large dragline excavators have a boom suspension system using galvanized bridge strand."

Jan 1, 1983

By G. S. Hume

Research thrives on ideas, and the theoretical considerations of today are either the discarded notions or the proven facts of tomorrow. The progress made in the past fifty years in the acquisition of knowledge of petroleum geology is no less astounding than is the tremendous increase in the production of oil on the North American continent from 61 million barrels in 1897 to 1,917 million barrels in 1947, an increase of 3,300 per cent, with production of natural gas expanding from less than 400,000 Mcf in 1897 to approximately 4,500,000,000 Mcf, or an increase of 11,000 fold in the same period. In the search for and discovery of the oil and gas fields that have yielded such prolific wealth, no idea has had a more profound effect than has the ?anticlinal? theory of oil accumulation, propounded in 1844 by Sir William Logan, the founder of the Geological Survey of Canada, after noting the position of oil seepages on the crests of anticlines in Gaspe peninsula. Sir William apparently was not much impressed with his own idea at this time, but after the Drake well discovery in 1859 and the publication by Henry D. Rogers, of Glasgow University, formerly of the Pennsylvania Geological Survey, of a paper in which he pointed out that the seepages in Pennsylvania were on anticlines, T. Sterry Hunt, an associate of Sir William Logan on the Geological Survey of Canada, published a reasonably comprehensive statement of the anticlina theory in the Montreal Gazette on March 1st, 1861. Hunt recognized the fact that the oil ?being lighter than the water which everywhere penetrates the rocks below the water level, naturally rises and accumulates along the crown of these anticlines". This was a recognition of the fact that gas, oil, and water in an anticlinal structure separate according to buoyancy or specific gravity. For some years the anticlinal theory does not seem to have attracted much attention, but when I. C. White in 1883 revived it and put it to practical use by prospecting for 'anticlinal' oil an gas structures in Pennsylvania, West Virginia, and Kentucky, its real value not as a theory but as a fact became widely recognized. Even today, the search for anticlines as oil and gas structures is being vigorously continued. In the past fifty years, however, it has become widely recognized that petroleum and natural gas collect in many different types of structures, and these have become known by the general name of 'traps'. About 1890, terrace structures were highly regarded because it was thought certain oil fields in Pennsylvania, New York, and Ohio were directly related to them. However, as Wilson (2, p. 437) has pointed out, it is recognized to day that ?'wherever the surface evidence is complete and dependable, other factors (than the terrace structure) are found to be in control'.

Jan 1, 1948

By J. A. Drozdiak, W. Tse, P. P. Rosario

"In a recent publication (SAG 2015), we presented a non-conventional high pressure grinding roll (HPGR)-ball mill circuit as a lower capital cost alternative to the “standard” HPGR circuit. The circuit was designed for the treatment of a hard ore and relatively high tonnage (50,000 t/d). That paper provided details such as flowsheets, layouts, and equipment lists for the two options and compared their calculated capital costs demonstrating significant savings for the proposed circuit. This paper extends the analysis to a third option, a traditional semi-autogenous ball crushing circuit, giving the same level of details and now including the operating cost estimates for all three options for a more comprehensive analysis. Moreover, this work also provides information about the strengths and weaknesses of the non-conventional HPGR circuit when compared to the “standard” HPGR option.This study demonstrates that the proposed non-conventional HPGR-based circuit not only provides a lower overall capital costs for the project if compared to a “standard” HPGR circuit but also brings the capital cost to the level of the traditional semi-autogenous grinding (SAG)-ball mill circuits. In addition, the innovative HPGR circuit provides similar operational cost savings of the “standard” HPGR and thus a significant advantage when compared to the SAG option. With the current capital cost sensitivity for most greenfield projects, the proposed alternative circuit should help make HPGR-based circuits more competitive and thus promote the utilization of a technology that enables higher energy efficiency and reduced greenhouse gas emissions. INTRODUCTIONThe application of high pressure grinding roll (HPGR) technology in comminution circuits is well established for the processing of cement, diamonds and iron ore (Broeckmann & Gardula, 2005), and over the past 10–15 years, this technology has slowly been applied to hard ores in high-tonnage precious and base metal operations. Unfortunately, under the current economic climate, the ability to finance large capital projects has become very difficult and companies tend to have an easier time securing funding if the capital expenditures (CAPEX) are low with a proven process method. The traditional semi-autogenous grinding (SAG) mill / ball mill circuits easily fit into this mould, having been installed in countless plants around the world over the past 30 years with relatively low capital requirements. In contrast, it has been well-documented that HPGR-based circuits are capital intensive with complex material handling systems (Seidel, Logan, LeVier, & Veillette, 2006). Although these circuits benefit from reduced operating costs with the increase in energy efficiency and the elimination of steel grinding media (Rosario, Boyd, & Grundy, 2009), if the company is unable to secure financing to build the plant, these advantages remain out of reach. With the current trend to retrofit existing SAG circuits with a secondary crushing circuit to achieve design throughput, the opportunity to circumvent this gross inefficiency by making HPGR-based circuits more capital friendly would greatly benefit the industry."

Jan 1, 2016

By P. J. Deveaux, M. J. Kreczmer

The Tartan Lake deposit 12 km northeast of Flin Flon, Manitoba, was discovered in March of 1984 during the investigation of a VLF anomaly. The discovery hole intersected 16.83 metres averaging 21 gm Au/tonne. Since then, 99 holes, over 21,000 metres, have been drilled outlining 419,491 tonnes grading 11.79 gm Au/tonne in a di stinct group of mineralized lenses referred to as the Main Zone. Three other mineralized zones are known on the property but no reserves have been allowed for these, the South , East and Base Line zones. The Main Zone consists of seven parallel, east-west striking, quartz lenses. The lenses dip steeply to the north and plunge steeply west to northwest. Lens number l strikes for 160m and extends vertically to the 90m level. Within th is lens there is a 60m interval of low grade materi al. Lens number 2 is located about 5-l0m within the foo twall of Lens number I. Near surface this lens stri kes for 40m, at 200m level the strike length increases to 200 m. To date the deepest mineralization on Lens 2 has been intersected at a vert ical depth of 527m. Five smaller lenses are located in the foo twall of Lens 2 , containing gold va lues similar to the two main lenses but erratically distributed. The South Zone, located 100m south of the Main Zone, strikes east-west fo r l00m above the 100m level. The East Zone, found 230m east of the Main Zone, strikes fo r 80m and may possibly be an ex tension of the South Zone. The Base Line Zone is located 275m south of the Main Zone. Sporadic, but very significant gold intersections have been obta ined1n all three zones. Gold-bearing quartz-ca rbonate tourmaline veins are generally confined to a silicous crystal tu ff hori zon. The crystal tuff exhi bits fi ve distinct types of alteration: silicification, sericitization, ca rbonati zation, chlorit ization and pyritization. Silicification has resulted in a perasive addition of silica and the generation of multiple quartz veins. Sericiti zation is restricted to the crystal tuff. All rock units are pervasively carbonatized . Ankerite is abundant in the quartz veins and within the shear zones, particul arly those located along the chilled margin of a nearby gabbro-diorite intrusion. Chloritization is widely spread th roughout the rock units, while pyritization fo rms a broad alteration halo associated with the orebody. Sulphide accesso ry minerals associated with the gold , whi ch fo r the most part appears to be free, are chalcopyrite and pyrite. Generally, the higher grade gold values are related to an increased content of sulphides in the qua rtz veins. The average sulphide content in the deposit is less than 5 %.

Jan 1, 1986

By Franco Chiesa, David Levasseur, Bernard Duchesne

A 500kg aluminium AlSi7Mg03 casting has been poured and the metallurgical quality at different locations inside the casting has been thoroughly investigated. It included measuring the local tensile properties (YS, UTS, El) in the T6 condition, the dendrite fineness (DAS) and the level of microporosity. A correlation was found between the microporosity level, the local solidification time and solidus front velocity; this correlation allows to predict the porosity level in large aluminium castings (solidification times between 20 and 200 minutes). Quite expectedly, properties varied widely within the casting and the actual mechanical properties were much less than the "textbook values" based on measurements carried out on separately cast standard specimens. A correlation between the secondary dendrite arm spacing (DAS) and the local solidification time was in keeping with previously published data. Finally the conditions to obtain an acceptable finish on machined surface were determined.

Jan 1, 2014

By Rodrigo Craig Cerello

The Brazilian economy has always presented a strong correlation with the mineral activity. Since colonization days, due to the territorial expansion caused by the explorers search for gold, mining in Brazil became a basic sector of national economy. Currently, the Brazilian mineral sector¹ estimates a 550% production increment (Figure 1A) in the last 10 years, reaching the US$ 50 billion value, reflecting the increased global demand for raw materials from mineral origin. According to the Brazilian Constitution², mineral resources belong to the Federal State and, consequently, their exploitation must be authorized, under penalty of engendering federal crime. Furthermore, activities of this nature are prone to cause environmental degradation such as, but not limited to, deforestation, pollution, soil deterioration and water contamination. The GPEMA represents the forensics group of the Brazilian Federal Police responsible for the technical analysis of traces related to crimes against the environment and consequently, illegal mining cases.

Aug 1, 2013

By W. B. Evans, D. P. Taylor

"ANFO has two major disadvantages as an explosive low density and no water resistance. ANFO can be blended with more dense, water-resistant explosives to form ""Heavy ANFO"". The use of emulsion or slurry explosives as a matrix is an attempt to correct deficiencies on the basic ANFO while maintaining cost effectiveness.This paper will deal with four main topics.1. Product description, general properties, strengths and weaknesses.2. Technology of ""Heavy ANFO"" , the emulsion matrix concept and the range of products.3. Relative performance and economics in various rock types.4: Current status in Canada and worldwide, and the expectations for future use.IntroductionANFO has been in use for roughly three decades and remains the explosive of choice where conditions are suitable. ANFO has not become the universal explosive - despite its undoubted superiority in cost effectiveness - because it has serious flaws as an explosive. The most serious of these flaws are the low density and absence of water resistance in ANFO. Low density implies a low concentration of explosive energy in a borehole. The amount of energy available can be increased by. adding an energetic material, generally aluminum, or by drilling more holes. Both solutions add considerably to the over-all costs. The absence of water resistance in ANFO is inherent and can only be overcome by changing the fundamental nature of the product. The history of research in the explosives industry since the advent of ANFO is mainly the story of the various attempts to overcome one or both of ANFO's shortcomings.Many technologies and products have been developed to compete against ANFO, among them slurries, emulsion s and the so-called Dense ANFOs (ANFO with an extra nitroalkane liquid sensitizer). None of them was cost-competitive with ANFO so their market penetration has been limited to wet holes or specialized applications. The exception to this result is Heavy ANFO. The aim here was to have the best of both worlds, the high density and water resistance of emulsions or slurries plus the low cost of ANFO. The concept is very simple. ANFO is about 50 % air, roughly 30% in the prills and 700,10 between the prills . The air in the prills provides the necessary sensitivity but the air between them is waste volume. If one fills this volume with a high density, waterproof product, the resultant mix will be denser and more water resistant than ANFO and with very little added cost. This basic concept was invented by B. Clay in the 1970s and is covered by Canadian Patent No. 1 115 959. The water resistance and/or density of the mix can be tailored by changing the emulsion level. Because Heavy ANFO is relatively inexpensive while providing good in-hole densities and water resistance, it can compete successfully against all other bulk products. It competes against ANFO and Al / ANFO by allowing pattern expansion and reducing over-all costs while it competes against emulsions and slurries on price."

Jan 1, 1987

By Adam J. Szladow

"INTRODUCTIONThe low calorific value and the high moisture and ash contents of run-of-mine (r.o.rn.) lignite limits the utilization of Saskatchewan lignites to thermal power plants in Saskatchewan, Manitoba and western Ontario. On the other hand, the low sulphur content and the low mining cost make lignites potentially attractive for new coal markets, if suitable processes can be found for upgrading. Economic upgrading to a higher quality fuel would make lignites more acceptable for industrial and utility boilers.This paper presents a summary of the process engineering evaluation of coal upgrading technologies conducted in support of a study of selected lignite upgrading processes. The summary presents the relative advantages and offers specific comments on the application of coal upgrading technologies for lignites. ResourcesLignite comprises the largest fossil fuel energy deposits in Saskatchewan. The total resources of immediate and future interest exceed 27 billion tonnes. The measured and indicated lignite resources of immediate interest are large enough to last for over 200 years at the current production rate of about 10 million tonnes per year (Table 1).Saskatchewan lignitedeposits are present in three different geologic formations: (I) the Ravenscrag Formation of Paleocene Age in southern Saskatchewan; (2) the Swan River Formation of Lower Cretaceous Age in central north Saskatchewan; and (3) the Judith River Formation of Upper Cretaceous Age in central west Saskatchewan. The deposits in the Swan River and Judith River Formation are not currently of economic interest.The Ravenscrag deposits are confmed to four lignite basins, namely: the Estevan, the Willow Bunch, the Wood Mountain and the Cypress basin (Fig. 1). The estimated resources of immediate interest in the four basins are over 7 billion tonnes (Table I). These resources include lignite seams at least 1.5 m thick, at depths of less than 45 m.The average quality of lignite varies relatively little between the four basins considering the distance between deposits (Table 2). There is, however, a progressive increase in moisture and ash content, and a decrease in calorific value and carbon content as one moves westward from the Estevan to Wood Mountain and Cypress basins. The Estevan area deposits are of higher rank despite the fact that they are stratigraphically younger than the Willow Bunch deposits (Cameron and Marconi, 1979).In upgrading lignite to a higher quality fuel, it is important to know not only the average proximate and ultimate analysis (Table 2) but also other lignite characteristics influencing the product quality . For example, Figure 2 shows the effect of lignite HIC ratio on the product equilibrium moisture for hydrothermal treatment of lignite. It is apparent that lignites with a higher HIC ratio, or high liptinite content yield much better quality product for the same hydrotreatment conditions. Other examples of lignite characteristics which are important in upgrading include distribution of sulphur forms and mineral matter, maceral composition and degree of surface oxidation."

Jan 1, 1989

By T. V. Simpkinson

Abstract A brief history of the electric arc furnace process of steel-making is given. The greater relative importance of this method of steel manufacture to the Canadian steel industry, as compared with its importance in the steel industry of the United States, is shown. The scope of the process is outlined and brief mention is made of the difficulty of obtaining melting stock low in alloy content. The physical chemistry of steel-making is discussed at length in simple terms, with emphasis on oxidation, de-oxidation, and the role of hydrogen. Carbide-type and silicon-type slags are described and the particular usefulness of each is outlined. The importance of various factors in the melting practice is evaluated on the basis of practical experience. Introduction Although electric furnace steels constitute only a small portion of the total weight of steel used in industrial operations, their importance is relatively much greater than is indicated by comparative tonnage figures. Tool steels, which are vital to all industry, are made almost exclusively by the basic electric arc furnace process, as are stainless steels, valve steels, and the higher alloy types of the class usually referred to as "alloy steels'. For many applications where steel other than electric furnace quality is often used, and when first cost is secondary to performance in service, the extra steel cost of electric furnace quality material is usually returned with interest by consistently longer service life. The electric furnace is pre-eminent in the quality alloy steel field because of the control that may be exercised over conditions of oxidation, de-oxidation, and temperature, the fundamental operations in steel making.

Jan 1, 1948

By R. M. de Carvalho

Empirical and phenomenological models of SAG and AG mills have dominated the scene for the last few decades, being used nearly every time a mill is scale-up or an attempt is made to improve its performance. However, in spite of their success, these models fail to describe the details of both the grinding environment and the breakage mechanisms. The result is a generally good track record, with a few ? but very important ? instances when these models fall short in their predictions, which can be very costly. Further, nearly all of these models require detailed calibration to industrial and pilot plant data, being costly in their application, although still with limited predictive capabilities. Recognizing these challenges, a new model framework has been proposed which overcomes the limitations of currently used models by coupling the microscale population balance model, the discrete element model and functions that describe internal classification at the mill grate. This model framework has already been applied to describe breakage in ball mills, with showing very promising results. However, in the case of SAG and AG mills a much greater level of complexity is involved in the model, given the interaction between the mechanical environment that is formed totally or, in part, by the ore itself, and the breakage response in the mill. The paper describes the model framework, demonstrating how it can address appropriately effects such as mill speed, mill filling and size distribution, on the response from the mill. Some of the advantages of the model are related to its intrinsic multi-component and dynamic nature, which allows simulating appropriately mixtures of ores of different competences in a transient manner.

Jan 1, 2012

By H. R. McCabe

"The study of a detailed series of structure and isopach maps of the Palaeozoic strata of southwestern Manitoba indicates that the principal Palaeozoic tectonic elements -the Williston Basin and Elk Point Basin -have been modified to a considerable extent by major tectonic features of the Precambrian basement. The principal basement feature is the break between the Churchill and Superior provinces, which coincides roughly with the Manitoba-Saskatchewan border. East-west-trending orogenic belts within the Superior crustal block may also be reflected to some extent in later Palaeozoic movements. In addition, the Superior crustal block, as a whole, appears to have had a slightly different response to the tectonic forces, giving rise to both basin subsidence and basin uplift. During periods of deposition, especially during Ordovician time, the Manitoba portion of the basin appears to have undergone a relatively higher rate of subsidence, whereas during periods of erosion relatively greater amounts of uplift and truncation have occurred. As a result, the depositional and erosional patterns for most of the Palaeozoic formations in southwestern Manitoba are somewhat anomalous relative to the regional basin framework.Some prominent Palaeozoic structures probably are the result of salt solution and differential compaction caused directly or indirectly by relatively minor tectonic movements related to Precambrian basement features. In particular, the prominent hinge line at the edge of the Devonian Prairie Evaporite salt basin may be due, in large part, to salt solution. Numerous other small structural lows, structural highs and isopach thicks, probably resulting from salt solution, occur along the salt edge and have been important in modifying and controlling Mississippian oil accumulation in the Daly-Virden producing area."

Jan 1, 1967

By M. A. Perras, H. A. Kasani, G. Walton

The development of an underground repository for the storage of spent nuclear fuel relies on a multi-barrier system to isolate the used fuel from the environment – ultimately, the biosphere. These barriers include engineered copper and steal canisters, dense bentonite, and the natural rock as well. In order to reduce the potential flow pathway along the excavation induced damage zone, various slots perpendicular to the excavation axis have been proposed. These slots are called cut-off seals and generally are filled with bentonite as it has high swelling potential and very low permeability. Many different geometries have been proposed, but clear guidelines on the selection of the optimum geometry have yet to be developed. In order to assess the optimum geometry, three shapes have been selected for this numerical study, including a trapezoid, a triangle, and a thin rectangular slot. The cut-offs were modelled for a conceptual shaft constructed in the Queenston Formation from Ontario over a stress to strength ratio that has been found at many underground research laboratories. It was found that the excavation of a triangular and thin slot cut-off had the smallest increase in the damage as quantified based on the extensile volumetric strain within the plastic yield zone. Both shapes showed an increase in the damaged zone by 13 cm at a stress to strength ratio of 2.75. The trapezoidal cut-off damage zone increased by 20 cm at the same stress to strength ratio. Further study is required to better define the optimum cut-off shape for wider variety of conditions and other geological formations.

Jan 1, 2020

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

By J. E. Armstrong

"IntroductionT'HE PRODUCTION of gravel and sand may be considered to be the major mining operation in the Lower Fraser Valley of British Columbia. At least thirty pits are in operation with a yearly production probably in excess of two million yards and a value in excess of one million five hundred thousand dollars before crushing, washing, and sizing. The value of the finished products would probably be double the above figure.Since 1949, the writer and his co-workers have been engaged in the geological investigation of the Lower Fraser valley and adjoining Coast mountains for the Geological Survey of Canada. The study, which is not yet completed, includes both bed-rock geology and geology of the unconsolidated sediments lying above bed-rock. In a rapidly expanding industrial area, .an advance knowledge of the geology may• greatly aid in future 'planning, and in many cases may .prevent not only the wastage of large sums of money, 'but possible disaster. Some of the present and future applications in which geological information in the Lower Fraser valley should be of value are as follows: the development of domestic, irrigation, industrial, and municipal groundwater supplies; drainage for industrial sites,, roadbeds, and farmlands; flood control along the Fraser river and smaller streams in the area; the location of dam sites, of major tunnels for water supply •and sewage, of road-beds, of foundation sites for large buildings .and other engineering undertakings in which geology may aid; the evaluation of oil and gas •possibilities; the production of building stone; and the production of sand and gravel, the subject with which this paper is primarily concerned."

Jan 1, 1953

By A. Saigal

A finite element analysis based investigation using DEFORM software was undertaken to model the extrusion of 15% alumina and 15% silicon carbide reinforced aluminum metal matrix composites. The study dealt with predicting the extrusion load as a function of ram displacement and initial billet temperature. The finite element simulation was also used to determine the maximum extrusion load, temperature distribution, maximum temperature, strain rate, velocity and stress distributions in the billet during the hot extrusion process. The constitutive equation used was of the type: Z = E exp(Q RT) = A{sinh(ao-)}" where Z is the Zener-Hollman parameter (temperature compensated strain rate), s is the strain rate, Q is the activation energy, R is the gas constant, T is the absolute temperature, a is the flow stress and A, a and n are constants. Based on the work of Davies et al and McQueen and Konopleva, the values of Q (KJ/mol), a (MPa-1), n and A for aluminum 6061 composites reinforced with 15% alumina and 15% silicon carbide used are 181, 0.024, 4.15 and 1.33x10'2 and 233, 0.052, 2.60 and 1.26xl0'4, respectively. Even though the individual parameters are quite different, it was found that the predicted maximum extrusion load, temperature distribution, maximum temperature, strain rate, velocity and stress distributions are quite similar and differ by no more than 1-2 percent between the two composites indicating that the deformation behavior is primarily controlled by the matrix material and is not a function of the type of reinforcing ceramic particulates.

Jan 1, 2004

By W. J. Jenner

"Introduction The Saskatchewan Power Corporation is a provincial crown corporation which operates under a mandate to supply all customers within Saskatchewan with electricity and natural gas. The Saskatchewan Power Corporation operates two coal mines within the province of Saskatchewan. The Souris Valley Mine is located a few miles south of the city of Estevan and produces approximately 300 000 Mg of lignite per year. The lignite is shipped about four kilometres by truck and burned at the 882 MW Boundary Dam Power Station, also owned by the Saskatchewan Power Corporation. The Poplar River Mine is located just south-west of the town of Coronach, Saskatchewan which is some 190 kilo metres west of Estevan. This mine produces approximately 1 675 000 Mg of lignite per year. The lignite is shipped seven miles by rail to the Saskatchewan Power Corporation's Poplar River Power Station. The Poplar River Mine is the sole sup plier of fuel to the Poplar River Power Station, which generates some 300 MW of electrical power. A second 300 MW unit is due to be commissioned at the Poplar River Power Station in mid-1983 and the Poplar River Mine will have doubled its capacity to approximately 3 350 000 Mg per year by that time: Souris Valley Mine Geology The Souris Valley Mine extracts lignite from the Estevan seam of the Ravenscrag Formation. This formation is of Tertiary age and was deposited during the Paleocene Epoch. The Ravenscrag Formation outcrops throughout southern Saskatachewan and all coal mined in the province occurs in this formation. Ravenscrag sediments are deltaic in origin and are composed of a series of fine sands, silts, clay and lignite deposits."

Jan 1, 1985