Search Documents

By Zhen-lu Zhao

The manipulators possibly used in underground mining must deal with unpredictable obstacle while keeping certain positions and orientations of end effector, and in some cases, are required to possess redundant joints in order to be more flexible. This kind of manipulators might be fitted with jumbo drill or platform as auxiliary to potentially deal with some utility works in versatile way, such as installing rock bolts, guniting, blasting, charging, surveys and measuring work, etc.. This paper describes numerical procedures of performing inverse kinematic problems for redundant manipulators .The procedures, based on the generalized pseudoinverse of Jacobian matrix, are developed to lead to kinematic solution at both singularity and ill conditioning, and to guarantee continuous sequence of positions of the end effect or. Furthermore, the solution to optimization and obstacle avoidance is investigated. A numerical example is shown to illustrate the approach.

Jan 1, 1989

By V. L. Richards, S. N. Lekakh, S. A. Dutler

"This study presents determination on the thermal properties of investment casting shell molds used in casting process modeling. Superheat and latent heat from solidification and cooling of a casting can either be accumulated by ceramic shell for thin-walled casting or transfer to environment for massive casting. Heat capacity and thermal conductivity both play important roles in casting solidification. Thermal properties of ceramic shell depend on shell composition and fabrication techniques as well as thermal history during shell preparation process due to multiple phase transformations. Inverse modeling was combined with corrected Laser Flash method to determine the applicable thermal properties of the shell during casting solidification. Pure nickel was poured into ceramic shells containing two thermocouples and experimental cooling curves were obtained. These curves were then fitted to the model by adjusting temperature dependent heat capacity and thermal conductivity.IntroductionCasting solidification in investment casting shell affected by shell thermal properties including specific heat capacity and thermal conductivity. For relatively thin walled casting, most of the melt superheat and part of latent heat are accumulated by the shell. This process is mainly controlled by shell heat capacity. In the case of massive casting, significant part of latent heat transfers to environment through the shell so that this process is mainly controlled by shell thermal conductivity."

Jan 1, 2012

By Yimin Ruan

"An inverse design method is developed to obtain the optimal cooling conditions for the continuous quenching of precipitation hardenable sheet alloys to achieve the required yield strength. The yield strength of a precipitation hardenable alloy is obtained by allowing solute to enter into solid solution at a proper temperature and rapidly cooling the alloy to retain the solute in the solid solution. An aging process may be needed for the alloy to develop the final mechanical properties.The objective of the design is to optimize the quenching process so that the required yield strength can be achieved. With the inverse design method, the required yield strength is specified and the sheet thermal profile at the exit of the quenching chamber can also be specified. The conjugate gradient method is used to optimize the cooling boundary condition during quenching. The adjoint system is developed to compute the gradient of the objective functional. An aluminum sheet quenching problem is presented to demonstrate feasibility of the inverse design method.IntroductionQuenching is a critical step in metal production to achieve desired material properties, such as yield strength, hardness, etc., for precipitation hardenable alloys. In most cases, rapid quenching from the solution heat treatment temperature is necessary to obtain the required material properties, but rapid quenching may cause other problems such as excessive distortions of the quenched materials.In a solution heat treatment, the alloy is heated to a suitable temperature, held at that temperature to allow the soluble alloying elements to enter into the solid solution, and cooled rapidly (quenching) to retain the alloy elements in the solid solution. An aging process, which controls precipitation of fine particles at room (natural aging) or elevated temperatures (artificial aging), is generally followed after the quenching process to develop the final mechanical properties of the heat treated alloys."

Jan 1, 1998

By J. Asfahani

"The inverse slope method (ISM) was applied to reinterpret vertical electrical soundings (VES) data from pits at the Al-Sharquieh phosphate mine, in order to demonstrate applicability and suitability of the ISM for interpreting VES data from sedimentary phosphatic environments. The ISM overcomes limitations of the curve matching method and the complexity of lithological sections. The ISM geo-electrical interpretation results correlated well with lithologies of the pits. This method characterized resistivity and thickness of the phosphatic layer, and identified favourable phosphate-prospecting areas using the newly developed thickness/depth parameter. The ISM is recommended for interpreting VES measurements in similar sedimentary phosphatic regions.RÉSUMÉ La méthode d’inversion de la pente (ISM) a été utilisée pour réinterpréter les données de sondages électriques verticaux (VES) effectués dans des puits de la mine de phosphate Al-Sharquieh, afin de démontrer l’applicabilité et la pertinence de cette méthode pour interpréter les données VES dans des environnements de sédimentation de phosphates. Cette méthode (ISM) surmonte les limitations de la méthode de comparaison de courbes et la complexité des sections lithologiques. Les résultats de l’interprétation géoélectrique ISM correspondaient bien aux lithologies des puits. Elle a permis de caractériser la résistivité et l’épaisseur de la couche phosphatique et d’identifier les secteurs favorables à la prospection pour le phosphate en utilisant le paramètre nouvellement développé épaisseur/profondeur. ISM est recommandée pour l’interprétation des mesures VES dans des régions semblables où se trouve du phosphate sédimentaire."

Jan 1, 2016

By T. Langthaler, H. W. Engl, H. Holl, K. L. Schwaha

"The trend towards near net shape casting requires the development of more complex design and control algorithms for continuous casting ""machines in particular with respect to the solidification process.Compared to conventional continuous casting the reduction in casting thickness allows to influence more directly the solidification rate by control variables like surface cooling and/or casting speed.In order to enable the determination of these control variables for a given solidification profile, an algorithm (inverse solidification analysis) has been developed based on nonlinear constrained optimization. The application of the model is illustrated by practical examples ranging from conventional continuous casting to advanced thin slab casting.IntroductionProcess development in the Iron and Steel Industry is directed towards the realization of continuous process sequences. Since the direct linkage of processes imposes some restrictions onto the individual process steps, more complex algorithms are needed for design of equipment and control of operation. In particular the recent trend to reduce casting thickness, i.e. to cast thin slabs, has made the direct coupling of continuous casting and rolling absolutely necessary. The prospective development in strip production is schematically shown in fig. 1."

Jan 1, 1988

By Patrice Baby, Joselyn Medina

Recent reports indicate potential for metallic mineralization in the Ucayali Subandean fold and thrust belt related to a mineral system with a magmatic source. In this work, we show the control of Andean tectonics in metallic mineralization in Ucayali and discuss the key components of the mineral system.

May 10, 2023

By Oscar Pugliesi

Dado que la minería es una de las actividades económicas más importantes del Perú, su desarrollo y aprovechamiento depende de un plan de recuperación económica que se implemente en el país. En este sentido, el objetivo del texto es realizar un análisis estructural del sector minero, preveer el cálculo de las inversiones requeridas en el sistema en el sector minero metalúrgico a corto plazo y mostrar las perspectivas y proyecciones de las exportaciones metales y concentrados para el período 1978-1980

Nov 20, 1978

By Flierman GA, Van Toor CH

Investigations were carried out of burden distribution using a full scale model of the furnace top. Various charging sequences were used and large differences were found between ore charged as sinter-pellets and as pellets-sinter. These were attributed to the differences in the angle of repose between the two materials. Permeability index was defined which was independent of the driving rate from which a furnace resistance index was obtained for use in weekly reports. Results are summarised as a single expression between blast rates and pressures and the values of Qbl and Qmax are continuously measured to aid the operators in controlling the wind rate in the safe AP region. Results also indicate a reserve in capacity of No. 7 BF.

Jan 1, 1975

By Luis Henrique Torres Dantas, Maycon Athayde, Rossano Augusto Pilon Nunes

The objective of this work is to evaluate the physical quality achieved in the iron ore pellets and the temperature profile in the pellet bed by applying an inversion in the flow during the cooling. The firing of pellets requires a minimum residence time in the sintering temperatures of the hematite grains [1]. The applied concept aims at raising this time to pellets located at the bottom of the bed which would provide an improvement in the physical quality of the product. The tests were carried out in a pot-grate type oven and the samples of fired pellets were divided into three aliquots according to the loading position of the pot termed top, middle and bottom, the pellets were sieved and subjected to physical tests and the compared to conventional indurating flow with the same ores and inputs. It was possible to show an increase of 7 to 8% in the compressive strength of the medium and bottom layers, maintaining the top layer results. The objectives of the research were achieved and the tests will be extended to assess the impacts on the mass and energy balance of the indurating machine and its components.

Oct 1, 2019

By Enrique Mansilla Navarrete

El presente texto describe las investigaciones recientes sobre el uso del caolín como "rellenador" en las diferentes industrias y artes. Los "rellenadores" o "fillers" son materiales qúimicamente inertes, cuya acción es básicamente física. Entre las características de los "fillers" tenemos la densidad aparente, tamaño de partículas, capacidad de absorción, abrasividad, porosidad, comportamiento térmico y una velocidad de sedimentación adecuada. De acuerdo a estos parámetros señalados, se desarrolla un programa exploratorio, los métodos empleados y la descripción de su uso en algunos depósitos encontrados en Cajamarca.

Nov 8, 1982

By C. O. Browner

Dados los altos costos que implican la explotación de una mina a tajo abierto, se ha previsto excavar los taludes de las minas lo más erguidos posible. En este sentido, el objetivo del texto describe los métodos actuales para evaluar la estabilidad de los taludes en roca. Para ello, se revisa la influencia de las estructuras rocosas, el agua subterránea y la voladura sobre la estabilidad de los taludes de los tajos. Asimismo, se consideran las condiciones de roca intemperizadas, las lluvias y los temblores presentados en algunas áreas del Perú. Producto de esta revisión, se analizará los problemas típicos de estabilidad para diversos proyectos mineros.

Nov 20, 1972

By Aquiles Figueroa L

Dado que en el altiplano existen yacimientos de estaño que requieren de nuevas tecnologías para una mejor recuperación metalúrgica, se ha diseñado pruebas experimentales de flotación del estaño con los relaves de San Rafael, adecuándola a las necesidades de la mina misma. Para ello, se describen los procesos de concentración de estaño (flotación de sulfuros, concentración de estaño) y las pruebas experimentales respectivas.

Oct 14, 1980

By Zhao-Qun Ke, Wen-Feng Tan, Jiang Diao, Yu-Hao Liu, Bing Xie, Zhang Tao, Wang Zhou, Hong-Yi Li

An effective way to decrease the dephosphorization burden in the current vanadium extraction-steelmaking process is slagging with CaO in vanadium extraction step. The phase composition of vanadium slag with different basicity and the regularities distribution of elements have been investigated by X-ray diffraction analysis and scanning electron microscopy combining with energy disperse X-ray spectrometry, respectively. The results indicate that V mainly concentrates in the spinel phases; Ca and P are rich in the silicate phases. Fe2SiO4 transform to CaFeSiO4, while the basicity of vanadium slag is 1.3. With further increase of basicity, 2CaOSiO2 could form in the silicate phases. Moreover, the phosphorus-containing phase will transform from Ca3(PO4)2 to Ca3(PO4)2-nCa2SiO4. With the increase of P2O5 content, the crystallization rate of spinels decrease obviously. Furthermore, the peak temperature for crystallization of spinels decrease 5 K with the P2O5 content increasing 1 wt%.

Mar 1, 2017

By C. Thiart

Kriging is an interpolation technique for predicting unobserved responses at target locations from observed responses at specified locations. Kriging predictors are best linear unbiased predictors (BLUPs) and the precision of the BLUP is assessed by the mean square prediction error (MSPE), commonly known as the kriging variance. Both the BLUP and the MSPE depend on the covariance function describing the spatial correlation between locations and on specific parameters. The parameters are usually treated as known, whereas in practice they invariably have to be estimated and the empirical BLUP (that is, the EBLUP) so obtained. The empirical or estimated mean square prediction error (EMSPE), or the so called ?plug-in? kriging variance estimator, underestimates the true kriging variance of the EBLUP, at least in general. In this paper five estimators for the kriging variance of the EBLUP are considered and compared by means of a simulation study in which a Gaussian distribution for the responses, an exponential structure for the covariance function, and three levels of spatial correlation ? weak, moderate, and strong ? are adopted. The Prasad-Rao estimator obtained using restricted or residual maximum likelihood (REML) is recommended for moderate and strong spatial correlation and the Kacker-Harville estimator for weak correlation in the random fields.

Jan 1, 2014

By Ihsan Berk Tulu

In the Analysis of Retreat Mining Pillar Stability (ARMPS) program, the magnitude of the abutment loading adjacent to a gob area is calculated using an ?abutment angle? concept. The extent of the abutment loading is determined solely as a function of depth from an empirically derived equation. In the recommended calibration method for LaModel, it was believed that the empirical equations for calculating the magnitude and extent of the abutment load, as used in ARMPS, were the best available methods for determining these critical overburden loading values. Therefore, similar calculations were implemented in the LaModel calibration method. However, the latest in situ stress measurements of abutment loading performed in the United States and Australia have shown that there can be significant deviations in the measured abutment magnitude and extent as compared to the predicted values from the empirical formulas used in ARMPS and LaModel. It seems reasonable that the overburden geology, depth, extraction panel width, and mining height should have a significant effect on the extent and magnitude of the abutment load. However, the current empirical formulas do not incorporate many of these significant parameters into determining the abutment load on the pillars. In this paper, stress measurements from US and Australian mines were back-analyzed by using analytical and numerical methods to investigate the measured abutment extent and loading. Ultimately, it was determined that the original empirical abutment extent formula in conjunction with the original ALPS square-decay stress distribution function was supported by the case histories in this paper. Also, for depths less than 900 ft, the average 21° abutment angle was supported by the case histories; however, at depths greater than 900 ft, the abutment angle was found to be significantly less than 21° and should be calculated with a new proposed equation.

Jan 1, 2012

By R. Dehghan, M. Zarei, A. Tohry, S. C. Chelgani

Typical depressants for selective reverse flotation of iron oxides from complex silicates do not generally show high levels of efficiency. Therefore, as a hot topic, there are several ongoing investigations in this area. The main aim of this paper is exploring the potential of using humic acid (HA) as a depressant in reverse cationic flotation of hematite from complex silicates. For such a process, the wettability and flotation behaviour of pure minerals (hematite and silicates) was investigated at pH 10 in the presence of HA and cationic collector. Adsorption mechanism of HA on these minerals was measured by zeta-potential and FTIR. Results of flotation tests showed that at the lower concentrations of HA, selective separation of silicates from hematite is beneficial, where the floatability of amphibole was higher than pyroxene. A higher separation efficiency of hematite through reverse flotation was observed in the presence of amphibole, in comparison with the presence of pyroxene. Wettability studies showed that HA has a significant effect on reducing the hydrophobicity of treated minerals with the collector. The adsorption, ZPC and FTIR test results indicated that HA was adsorbed on both silicates and hematite. However, the absorption intensity onto hematite was much higher than silicates. It was found that the adsorption mechanism of HA on hematite takes place through both strong H-bonding and ligand exchange. Keywords: Reverse cationic flotation, humic acid, iron oxide, complex silicates, surface adsorption

Jan 1, 2020

By G. M. Evans, S. Mitra, A. V. Nguyen

As an alternative to the conventional flotation method, there has been continual research in an effort to enhance base metal ores and combustibles recovery using ultrasonics. These studies however were largely limited to the pre-treatment of ores for the removal of surface contaminants while the effect of ultrasonics on the bubble and pulp-phase interactions remained somewhat unexplored. Noting this deficiency, this study aimed to investigate the mechanistic effect of an ultrasonic field in an impeller less flotation cell specifically focusing on the bubble-particle interaction dynamics. A lab-scale flotation cell (capacity 1 litre) was designed, involving a vertically oriented ultrasonic probe (20 kHz, rated at 1.2 kW) and operated in the output power range from 1 to 20% with continuous liquid recirculation. Particle suspension was achieved by the combined action of recirculation and ultrasonic pulses. Interactions of coarse size glass ballotini particles (D32 = 314 μm) with bubbles (< 1 mm diameter) in the presence of a surfactant were studied, using high-speed imaging. Application of an ultrasonic pulse in the aqueous medium resulted in the generation of numerous microbubbles which increased with increasing input power and duration of the ultrasonic pulse time. Such periodic pulses introduced at a high level of turbulence in the pulp phase facilitated adequate bubble-particle contacts. Microbubbles played a key role in forming particle clusters which were observed to be floatable even in the absence of any carrier bubbles. When carrier bubbles were introduced, some of these particle clusters attached to the bubble surface and conveniently floated. It was noted that a favourable state of bubble-particle interaction was achievable to produce stable bubble-particles aggregates by suitably controlling the input power and period of the applied ultrasonic pulse. Keywords: Flotation, bubble-particle interactions, collision, attachment, detachment, ultrasonic pulse

Jan 1, 2020

By Joshua Hoffman, Catherine Johnson, Braden Lusk

The practice of dual initiation using precise timing from electronic detonators in boreholes is thought to be beneficial for increasing fragmentation at a desired location in the rock strata. This increased capacity for fragmentation is understood to be a product of both the collision of detonation waves in the explosive column and an increased energy liberation rate, each resulting from dual initiation. In addition, the collision of shock waves from two adjacent blast holes is suggested to improve fragmentation at the location the two shock waves meet, which can be controlled with precise timing. This paper presents the results from scaled laboratory experiments where converging detonation waves and shock waves were studied.

Jan 1, 2014

Current mine production planning, scheduling, and allocation of resources are based on mathematical programming models. In practice, the optimized solution cannot be attained without examining all possible combinations and permutations of the extraction sequence. Operations research methods have limited applications in large-scale surface mining operations because the number of variables becomes too large. The primary objective of this study is to develop and implement a hybrid simulation framework for the open pit scheduling problem. The paper investigates the dynamics of open pit geometry and the subsequent material movement as a continuous system described by time-dependent differential equations. The continuous open pit simulator (COPS) implemented in MATLAB, based on modified elliptical frustum is used to model the evolution of open pit geometry in time and space. Discrete open pit simulator (DOPS) mimics the periodic expansion of the open pit layouts. Function approximation of the discrete simulated push-backs provides the means to convert the set of partial differential equations (PDEs), capturing the dynamics of open pit layouts, to a system of ordinary differential equations (ODEs). Numerical integration with the Runge-Kutta scheme yields the trajectory of the pit geometry over time with the respective volume of materials and the net present value (NPV) of the mining operation. A case study of an iron ore mine with 114 000 blocks was carried out to verify and validate the model. The optimized pit limit was designed using Lerchs-Grossman?s algorithm. The best-case annual schedule, generated by the shells node in Whittle Four-X yielded an NPV of $449 million over a 21-year mine life at a discount rate of 10% per annum. DOPS best scenario out of 2 500 simulation iterations resulted in an NPV of $443 million and COPS yielded an NPV of $440 million over the same time span. The hybrid simulation model is the basis for future research using reinforcement learning based on goal-directed intelligent agents.

Jan 1, 2008

By R. Kramer, A. Habibi

"Diesel Particulate Matter (DPM) measurements were taken at Tronox’s Westvaco Trona mine in Wyoming. Both shift-average and real-time monitoring using Elf pumps and Airtec analyzers, were used. The mine’s underground transportation fleet consists of more than 250 diesel-powered vehicles. A vehicle monitoring log tracked fleet usage during the test; logged data consisted of vehicle type, direction of travel, and time. The log was used in analysis to determine the DPM spread rate, of normally operating equipment, in the different entries with respect to vehicle location. Airflow velocity measurements at the stations were taken during the survey. The survey results also identified vehicles with higher emission rates. An ECOM gas and a MAHA DPM analyzer, both located in the mine’s underground emission shop, were used to obtain various vehicle emission rates. The correlation of the workshop and field measurements was investigated with regard to the machine activity, fuel usage and atmospheric conditions. The results were used to identify and execute a ventilation project to reroute 45% of diesel shop air back to intake entries, by interlocking an automated door and a regulator. The result is reduced DPM downstream. INTRODUCTION DPM has been classified as a potential occupational carcinogen by the National Institute for Occupational Safety and Health (NIOSH).The Mine Safety and Health Administration (MSHA) rule governing DPM exposures in metal and nonmetal mines cites total carbon (TC), a summation of elemental carbon (EC) and organic carbon (OC) obtained by NIOSH Method 5040, as a surrogate for determining DPM exposures (Noll, 2006). MSHA personnel use the 1973 sampling criteria outlined by the American Conference of Government Industrial Hygienists (ACGIH) for collecting compliance-based respirable and inhalation samples in metal/nonmetal mines. Instrumentation developments are allowing improved real time monitoring of ventilation parameters. DPM is within the aerodynamic particle size range of the samplers used for respirable and inhalable dust measurements. If a sampler used by MSHA to collect inhalable or respirable dust samples in underground metal/nonmetal mines was used to collect DPM, both the DPM and mine ore dust would accumulate on the sample filter (Noll, 2006). To comply with the requirement and lower the DPM exposure, mines are implementing a variety of control technologies such as emission based maintenance programs where adjustments or repairs are performed on the vehicles (McGinn, 2000)."

Jan 1, 2016