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By M. Salimov, J. Sattarvand

The conventional visualisation method of remote equipment is through the installation of one or more cameras on the machine, and sending a live feed to the operator’s flat display. However, the performance of the teleoperation can be enhanced using better visualisation through virtual reality (VR). This paper presents the process of the design and manufacturing of a robotic platform that will be used in the next phase of the project for a VR-assisted teleoperated excavator. The robot consists of a loading boom and arm arrangement installed on the undercarriage of a CAT300-9D. All hydraulic cylinders are replaced with electric actuators, and crawling motors are substituted by electric motors. The pieces of the boom and the arm, as well as the bucket were designed in Autodesk Inventor, and manufactured from aluminium sheets using a desktop and CNC machine. Parts are joined by pins and welding as needed. An Arduino-based control system is developed for the robot, and motor controllers are used to convert the power commands from the microcontroller to the high-amperage actuators. The control system is capable of communicating with a wireless Play Station controller to operate remotely. The manufactured robotic excavator is planned to be utilised in multiple autonomy research projects.

Sep 1, 2021

By T. Rockley, B. Goertz, S. McDaniel, J. Brune, K. Bakhsh

"Researchers at the Colorado School of Mines, under a project funded by the Alpha Foundation, have developed a working prototype of a dust sample collection device designed to determine if sufficient rock dust has been placed in an underground coal mine to prevent coal dust explosions. When used in conjunction with the Coal Dust Explosibility Meter (CDEM), the device will provide near instantaneous results on the quality of rock dusting at the tested location. The sampling device applies a pulse of air to a testing surface and collect a representative sample of mine dust based on the pneumatic entrainment process during a mine explosion. The use of both physical testing and Computational Fluid Dynamics (CFD) modeling has allowed researchers to refine the design to accurately represent the particle entrainment and optimize the sample size collected for the CDEM. The prototype is being tested in a mine environment to produce information of usability and practical aspects of mine dust sampling. This paper is a progress report summarizing the current status of sampler development. Researchers expect to have a fully developed and tested sampler in early 2016. INTRODUCTION Underground coal mines face the danger of methane and coal dust explosions. The disaster at Upper Big Branch mine (2010) has demonstrated the impact of a violent coal dust explosion that fatally injured 29 miners. Reviewing the history of coal dust explosions, researchers found that that mine operators and mine inspectors do not have a reliable method of collecting dust samples to assure that sufficient amounts of rock dust have been places to inertize the coal dust. This is a problem specifically with small mines that do not have dedicated safety departments to track rock dusting work. The aim of this research is to develop a simple, portable device that can help underground mine examiners collect dust samples from workings and test the explosibility of the sample near instantaneously. Researchers determined that the current brush-and-pan sampling method required by MSHA (MSHA 2013) is flawed in several aspects: Mechanical sampling with a brush exerts forces on the mine dust that may differ significantly from those present during an explosion. Also, U.S Bureau of Mines research (Nagy 1965) has determined that only the top 0.125 inches of the mine dust layer will be entrained in a coal dust explosion. Using a handheld pan and brush, it is difficult to correctly and repeatably sample a layer of this exact thickness. The following will describe the CFD modeling and experimental testing for the development of the prototype sampler. Researchers analyze the accuracy and performance of the prototype during the course of the build process."

Jan 1, 2015

By J. A. Brusset

Introduction I am indebted for most of the information in this paper to Mr. P. S. Lea, Deputy Chief Inspector of Mines of Great Britain, and Mr. A. E. Crook, Engineering Inspector of Mines, Ministry of Fuel and Power. Other coal-mining men in Canada may be as surprised as I was to learn that there are twenty-five Diesel locomotives in service underground in British gassy coal mines. Many more are in use underground in non-gassy coal mines and in metal mines. Approval has been granted for an additional fifty flame-proof locomotives to be used in gassy mines, and these should be in operation by the end of 1946, or as soon as manufacturing facilities permit.

Jan 1, 1946

By Charles A. Kelliher

In November of 1957, the Aliquippa Works started operation of the third basic oxygen furnace shop in North America. This high speed basic steelmaking method provided a very economical increase in capacity at the Works. The success of these two (2) 81-ton furnaces led to the construction of a second B.O.F. shop, producing heats of 230 tons at J&L's Cleveland Works in 1962. The experience gained operating both shops provided the background for the design of the new steelmaking complex at the Aliquippa Works. This new complex consists of a three (3) furnace shop with two (2) furnaces blowing alternately producing heats ranging from 120 to 207 tons. This variation in heat size is predicated on the requirement that approximately 20% of the shop production will be used to supply steel to a six (6) strand casting machine, producing 4' through 7" billets. The new B.O.F. shop has replaced all other steelmaking units including the #1 Shop, where operations were discontinued in September of 1968. With the advent of the strand casting facilities in September of 1969, many of the standard shop practices had to be changed to compensate for higher tap temperatures, longer handling times, and reduced ladle availability. The subsequent changes in these areas led to the evolution of the strand cast ladle practice which is described in this paper.

Jan 1, 1972

By Yael Miron

Coal mines that undergo self-heatings, and specifically mines that sustain both floor heave and self-heatings, would benefit from the use of sealants to minimize air ingress to susceptible areas. The U.S. Bureau of Mines (USBM) evaluated three sealant systems for this purpose, bentonite-water mixtures, silicate gel, and guar gum gel. The guar gum-based gel was the only sealant that possessed the desired properties of elasticity, ease of preparation, adaptability to the mine, and a long life. In addition, since the gel consists mostly of water, it could quench or cool nearby heatings. Optimal formulations were determined in laboratory tests, and then tested in the USBM Safety Research Coal Mine. Two for-mulations resulted in stable gels that lasted for at least 12 months in the mine. Semicontinuous preparation of gel using an eductor was evaluated and appears feasible. Although guar gum gel is expensive, selective use to prevent heatings in specific areas would be cost-effective, both in terms of productivity and enhanced mine safety.

Jan 1, 2010

By Uday Kumar

This paper presents details of an availability study for a fleet of diesel engine operated load-haul-dump (LHD) machines used in a Swedish mine. For the purpose of this study, the LHD machines have been considered as a system comprised of many subsystems like engine, brake, transmission, etc., in series. As availability is dependent on both the reliability and maintainability characteristics of the system, together with reliability, the concepts of maintainability are also discussed. The need for exploring the data for the presence of any structure, which is very common in repairable system data sets, is emphasized with suitable examples. Simple graphical techniques are used for verifying the independent and identically distributed (IID) assumption for the data set. The error introduced due to the use of the exponential distribution in place of more appropriate distributions in estimation of availability and reliability characteristics is analysed.

Jan 1, 1989

By K. V. Fedotov, G. I. Sarapulova

The study is devoted to the earth's surface protection and is aimed at improving the ecological safety of the territories in the mining industry. Identification of the diagnostic signs and quantitative criteria for the disturbance of soil geochemical properties and water chemistry represent an important scientific task in anthropogenically disturbed landscapes in the context of comprehensive exploitation of mineral resources. The study is aimed at geological and ecological analysis of the migration peculiarities of the man-caused chemicals and elements in soils and soil-surface water environment. We received new results. These results assist in estimating the peculiar features of distribution of heavy metals total and mobile forms (Cu, Ni, Zn, Pb), depending on the physical and chemical parameters of the disturbed soils. We obtained the empirical relationships describing heavy metals localization and accumulation processes depending on buffer properties of soils (pH, N, Corg), salinization factor and contamination with oil products. Anthropogenic geochemical barriers spontaneously formed in the area of industrial facilities were revealed in the territories of industrial facilities. These barriers prevent the further distribution of elements and pollutants in the landscapes. This makes it possible to create their artificial analogues in order to limit further migration of pollutants and to immobilize valuable components. Analysis of diagnostic features of soils geoecological state and factors influencing the distribution of heavy metals in the soil-surface water geosystem allows the identification of the geochemical barrier type with the aim of elements immobilization in a limited area of the territory. We applied modern physical and chemical methods of analysis, a package of statistics programs in Excel and modeling techniques. The proposed approach is innovative and therefore can be attractive. The accumulation of useful components losses in mineral resources exploitation is a promising reserve for their recovery from the soil with specifically arranged properties. The methodology of this research is also promising for the prediction of the environmental emergencies of the anthropogenic nature. This is consistent with the requirements of state control of environmental safety in the course of comprehensive exploitation of mineral resources.

Jan 1, 2018

By Angel Rafael Fernandez, Yahya Khader Al-Harbi, Benjamin Cebrian Romo, Antonio Morato Medina

The kingdom of Saudi Arabia has set the goal to diversify their economy from oil into different fields including mining. As the vast Arabian Peninsula is explored, orebodies of Aluminium, Copper, Gold and Phosphates are found in high grades and tonnages. Hard rock is present in most of the projects and require high quality blasting in regard to ore dilution, wall control and fragmentation. Maaden Gold has currently 4 open pit mining operations 1 new opening and 2 underground. More projects are coming online in the next few months and years. A new generation of mining engineers need to apply drilling and blasting techniques that compete with modern and efficient open pit and underground mines.

Feb 6, 2023

By Amar Prakash, V. M. S. R. Murthy, Ajoy Kumar Singh, Avinash Paul, John Loui Porathur

Weak, layered, and fragile rock mass formation, if not supported properly, is subject to roof failure thereby affecting safety and productivity in underground coal mines. Though Central Mining Research Institute – Indian School of Mines Rock Mass Rating (CMRI-ISM RMR) based well-defined support design guidelines are established, still occurrence of roof failures in underground coal mines is a real matter of concern for mining engineers and researchers. Numerical modeling techniques are successfully used by several researchers by simulating rock mass condition for stability assessment of mine openings. The analysis becomes crucial in case of weak and fragile rock formation. The present research envelops the determination of 31 cases of rock load by CMRI-ISM RMR under different geo-mining conditions followed by the development of modified Rock Mass Rating (RMR), i.e., rock mass rating dynamic ( RMRdyn) by incorporating P-wave velocity as a new parameter. The rock load determined using RMRdyn and numerical models was correlated and found in close agreement. In addition, the deviation in rock load determined by all the three approaches, i.e., CMRI-ISM RMR, numerical modeling, and RMRdyn, was compared with the actual field data. The percentage deviation obtained in RMRdyn and numerical modeling is less compared to CMRI-ISM RMR.

Sep 1, 2023

By J. R. Kiji

The Cerro Matoso S.A. mine and smelter, in the Cordoba lowlands of northwestern Colombia, consist of a dedicated laterite nickel mine, ore blending, drying and an RKEF process to produce high-quality ferronickel. At a project investment of $400M, first production of ferronickel was in September 1982, and in its inaugural year CMSA produced 6,150 tons of contained Ni from a mined ore grade of 3.2% Ni. Initial operational difficulties resulted in a number of furnace run-outs, which impacted ramp up to design ore throughput of 128 dry t/h Since then CMSA has steadily incorporated process improvements and initiatives to take the single line operation to an ore throughput of 175 dry t/h. A second 175 dry t/h line was added in 2001 (investment of US$ 300M) to consolidate CMSA as one of the world's lowest cost Ni producers with an installed annual production capacity of 50-55,000 tons Ni. The most recent addition is commissioning of Phase I of an ore-upgrading project to counteract the effect of declining ore grades. Keywords: Laterite, ferronickel, pyrometallurgy, smelter.

Jan 1, 2004

By Edouard Asselin, Tasawar Javed

This study was conducted as a part of ongoing work to characterize sulphide concentrate leach residues generated under CESL (Cominco Engineering Services Limited) and Vale pilot and demonstration plant medium temperature (150 °C) process conditions. Three different samples were analyzed. Derivative samples were prepared by extracting gypsum, sulphur and amorphous/poorly crystalline iron oxyhydroxide phases from the leach residues. Thermal behavior of the samples was studied by thermal gravimetric analysis (TGA) and differential thermal analysis (DTA) in the temperature range 25 to 800 °C in both air and nitrogen atmospheres, with XRD analyses both before and after heating. Thermal transformation temperatures for different iron oxides/oxyhydroxides present in hydrometallurgical leach residues vary over a wide range which suggests the variable crystallinity of the phases. Raman spectroscopic analysis was carried out to help identify the type of iron phases in the residues. Furthermore, hydroxylamine hydrochloride (HaHC) and oxalate extractions were used to compare the fractionation of the amorphous/poorly crystalline iron phases in the residues. Given the compositions of the residues, any thermal events in the temperature range of 200 °C to 480 °C were attributed to amorphous/poorly crystalline iron phases.

Jan 1, 2014

By Brian Hart, Stamen S. Dimov

"The naturally occurring carbonaceous material (CM) in gold bearing ores often exhibits strong-preg-robbing properties. It can adversely affect the process of gold recovery during the cyanidation due to its ability to adsorb, or preg-rob gold from the cyanide leach solution.Treatments of carbonaceous ores with chemical surfactants as blinding agents to limit preg-robbing have shown promising results but at the same time have demonstrated that, if not properly used, could have a strong detrimental effect on the gold recovery process. High dosages of surfactants used as passivating agents for carbonaceous matter could lead to unwanted partial passivation of the activated carbon added during the CIL process and severely impact the gold recovery. Optimal dosage for various surfactants would strongly depend on the ore mineralogy and the parameters of the pulp (temperature, pH, surface area and maturity of the carbonaceous material, etc).This paper describes an experimental study on the effectiveness of various commercially available blinding agents used to minimize the preg-robbing capacity of naturally occurring carbonaceous matter. The scope of the study was to: i) establish the optimum addition of blanking agent (surfactant) to minimize the preg-robbing capacity of the CM in the ore, and ii) establish maximum threshold amounts of blanking agents to be used before it negatively impacts the preg-robbing capacity of the activated carbon used in the CIL process. The study procedure involves standardized doping tests to evaluate the maximum preg-robbing capacity of treated CM, coupled with surface analysis with ToF-SIMS to monitor the presence and the degree of loading of these chemical surfactants on both the naturally occurring CM and the added activated carbon.INTRODUCTIONNaturally occurring carbonaceous material (CM) in gold bearing ores often exhibits strong-preg-robbing properties. Thus, it can adversely affect the process of gold recovery during cyanidation due to its ability to adsorb, or preg-rob gold from the cyanide leach solution. The preg-robbing properties of this naturally occurring carbonaceous matter can vary widely between ores, and within a single ore body (Dunne et al.,2013;Helm et al.,2009;Miller et al.,2005). The degree of preg-robbing related to the CM within an ore is defined by several parameters: total organic carbon (TOC) content, surface area, maturity (i.e., crystallinity) of the CM and the presence of various functional groups on the surface of the CM. Preg-robbing gold ores continue to be a significant challenge because of the lack of a single or universal solutions."

Jan 1, 2016

The Atlanta Mine is located in east central Nevada, in Lincoln County, 116 km (72 miles) south of Ely and 80 km (50 miles) northeast of the old mining town of Pioche. From this famous district, high-grade copper ore was mined and shipped to a smelter in Wales in the 1850s; an early day lead blast furnace was also in operation. The Standard Slag Company began operations in May 1975 on the well known Atlanta Mine, which was operated by Roy Hardy in the 1930s. The mill is currently processing 450 mtpd (500 stpd) of gold-silver bearing ore. Mining by open pit is in a brecciated zone occurring between limestone-dolomites on the foot wall and tertiary rhyolites on the hanging wall. The quartz breccia is considered among the most abrasive in the world - shovel teeth must be replaced every week. Stripping ratio is 3.9 to 1.0. Because of the hard abrasive ore, the crushing plant consists of four units: two jaw crushers in series, one Hydrocone, and one Gyradisc. Mine feed to the primary crusher is limited to 610 mm (24 in.) in size. The remaining crushers work in closed circuit with screens to produce a mill feed of 6 to 13 mm (0.25 and 0.50 in.). Hardness of the ore is demonstrated by the fact that the reversible liners of the primary jaw crusher had to be replaced in early 1978 after handling only 39,000 mt (44,000 st) at a cost of $0.095 per mt ($0.086 per st). Another example of the extreme abrasiveness of the breccia ore was the total cost per ton in 1977 for all wear parts in the comminution circuit, including screens and grinding media. This amounted to $2.84 per mt ($2.58 per st). The Atlanta grinding plant consists of three ball mills to grind the 7 mm (1 /4 in.) crushing plant product to 85 to 90% minus 150 microns (100 mesh). Feed rate to the primary Tricone mill is determined by maintaining a cyclone overflow at 28 to 38% solids, which controls the grind mentioned above. A mixture of 90 and 65 mm (3.5 and 2.5 in. ) balls are charged to this primary mill. Both the secondary mills are charged with 50 mm (2 in ) balls. Total ball consumption is 2 kg per mt (4 lb per st). All three ball mills use rubber liners. Primary mill cyclone underflows are fed to the secondary mills close circuited with the same cyclones.

Jan 1, 1981

By D. L. Paulson

The Bureau of Mines used 50-and 800-kva electric-arc furnaces to confirm the feasibility of producing ferronickel in electric-arc furnaces from pre-reduced concentrate from the Yugoslavian FENI project. The relationships were established among metallic iron concentrations (degrees of prereduction), ferronickel grades, and nickel recoveries. Smelting the concentrate containing 1.27 wt-pct nickel and metallic iron levels between 2 and 3 wt-pct, produced 15 to 20 pct ferronickel. Higher or lower metallic iron concentrations were compensated by adding oxide pellets or carbon to the electric-arc furnace charge. Over 90 pct of the contained nickel was recovered when up to 20 pct ferronickel was being produced. Data obtained while smelting 16 tons of prereduced concentrate in the 800-kva electric-arc furnace indicated ferronickel can be recovered at an energy consumption of 530 kwhr/ton of prereduced material.

Jan 1, 1977

By Jerzy A. Mielczarski

The separation of albites from quartz by flotation applying the conventional HF-methods is no longer acceptable from an environmental and health point of view. Therefore, the search for a new reagent scheme without using HF depressor for separation of albite from quartz is under consideration. The flotation behaviour of ore mineral components depends on the produced hydrophobic or hydrophilic surface coverage (chemical functionalization). Currently we have excellent possibility of monitoring surface composition and structure at molecular and atomic levels at surfaces of natural minerals contacted with aqueous solutions of collectors, activators, depressants which is vitally important for the understanding of the surface chemistry that govern selective and efficient flotation. Detailed surface characterization of minerals before and after their exposition to different solution conditions was performed by the most modern spectroscopic techniques such as developed by us the infrared external reflection technique combined with spectral simulation and X-ray photoelectron spectroscopy (XPS). It is possible to monitor surface reactions which facilitate the separation process and those which bring disadvantage to selective flotation. At first we found that a small amount of ?mineral impurity? presented in natural ore could play important role in selective hydrophobization process. It was found that the pH of solution (parameter possible to control) and natural mineral impurities present in mineral samples (parameter related to ore origin) play a very important role in the separation process. Another important parameter is interaction between minerals, quartz and albite, present in aqueous solution. The limitation of flotation separation resulting from chemistry will be discussed. Moreover, the most promising scheme for separation of albites from quartz will be examined.

Jan 1, 2014

By J. S. Wozek

In metallurgical applications, coal fulfills dual roles as a chemical feed stock and as a fuel source. These applications range from cokemaking, ironrnaking (including pulverized coal injection), foundry, basic oxygen furnace / electric arc furnace coal additions, direct ironrnaking, Corex, and the futuristic direct steelmaking. In all steelmaking related processes, chemical reactions are simultaneously temperature and chemical dependent. Therefore, coals used in these processes must consistently comply with specific quality parameters in order to promote efficient operations. This paper limits discussion of Metallurgical Coal Quality to cokemaking and ironmaking applications. Its purpose is to present the customer's perspective on the control of critical coal and coke properties.

Jan 1, 1994

By B C. Povey, K Lagutin, M Mryasov, V Noll

The current Stoilensky magnetite concentrator comprises a three-stage crushing circuit followed by three stages of ball milling, grinding and concentration to produce a magnetite concentrate with 66.5% iron (Fe). The plant is built in four lines, three lines having four mills and one line with five mills, to treat 32 Mt/y of ore and produce 13.9 Mt/y of concentrate.NLMK, the owner, is Russia’s third largest steel maker and while the ore from the Stoilensky Mining and Beneficiation Plant (SGOK) provides the bulk of their supply, they still must buy ore from external sources at world prices. A decision was taken to expand the SGOK operation to supply all the NLMK concentrate, including the production of pellets.To commence the expansion, high pressure grinding rolls (HPGRs) were introduced as a fourth stage of crushing ahead of the first ball mill. This was a relatively low capital cost expansion and increased production by 12 to 15%, the cost being much less than an additional grinding line. The importance of this development was that earlier introductions of HPGRs in Russia had presented several problems so there was some reluctance to the initial concept. The even greater significance was that nearly every magnetite plant in Russia had a three-stage crushing circuit so the successful introduction of HPGRs was of interest to many operators.The design was developed by a team, consisting of Worley Parson, Mineralconsult and PiterGORproject (PGP), for the first four units to fit inside existing building structures. The first two units were commissioned in March 2016 and the next two units in May 2016, and production improved by over 12%. The design of the installation of the final four units is in progress and the installation is expected in late 2017.CITATION:Povey, B C, Noll, V, Lagutin, K and Mryasov, M, 2017. Introducing HPGR quaternary crushers in a Russian magnetite operation – challenges and solutions, in Proceedings MetPlant 2017, pp 84–100 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 11, 2017

Primary sulphidic gold ores in the Archean provinces of Western Australia can be broadly sub-divided into pyritic, pyrite-telluride, arsenical and antimonial types. Pyritic ores contain only native gold, and are essentially not refractory. Arsenical ores almost always carry some invisible gold, and may vary from mildly to highly refractory. Pyrite-telluride ores contain gold-bearing tellurides, and are refractory to varying degrees. Antimonial ores usually contain aurostibite, and may be very difficult to process. A classification scheme for metallurgical processing, based on mineralogy, is proposed for the ores, and implications for processing are discussed.

Jan 1, 1995

By M. Maldonado, P. Olivares

"A submersible sensor for real-time gas holdup measurement in the collection zone of industrial flotation machines is introduced. The working principle is based on the generation and measurement of a pulp flow using a gas-exclusion cell immersed in the aerated slurry. The gas exclusion cell consists of a variable-area open vertical tube designed to be filled only with pulp by preventing gas bubbles entrance. The higher density of the fluid column within the cell generates a downward flow of pulp; the rate of this flow is proportional to the gas holdup outside the cell. The gas holdup measurement is achieved by tracking the velocity of the pulp flow leaving the gas-exclusion cell, using a magnetic flowmeter. Construction details of a prototype and its testing in two- and three-phases are discussed.INTRODUCTIONFlotation process optimization consists of finding and maintaining operating conditions that maximize flotation performance measured in terms of recovery and grade. The selective separation of mineral particles proceeds in two interactive zones where different and simultaneous phenomena take place: in the collection zone, the valuable particles are separated by collection on the surface of bubbles, while in the froth zone, the bubble-particle aggregates are gathered, drained to remove entrained particles, and taken into the concentrate stream. The cell overall performance, which can be determined from proper stream sampling, is a function of the recoveries in the individual zones. These zone recoveries cannot be independently measured nor calculated from operating variables. Progress in the assessment of these recoveries has been slow because on-line and reliable sensors to measure properties of the drastically different dispersions existing in both zones are not available.In the case of the collection zone, it has been demonstrated that the recovery of hydrophobic particles on the surface of bubbles, considered as a process with first-order kinetics, correlates with the bubble surface area flux (Finch et al., 2000; Hernandez, et al., 2003; Lopez-Saucedo et al., 2012). Bubble surface area flux (bubble area generated per unit time and cell cross-sectional area), is a variable affected by gas flow rate, bubble size distribution, and frother type and concentration. Gas holdup (volumetric fraction of gas dispersed in the slurry) is also affected by the same variables, and as such, carries information on the interacting variables that define the performance of the process. Therefore, a correlation between gas holdup and bubble surface area flux was expected and demonstrated (Finch et al, 2000), and since gas holdup is easier to measure as no bubble size is required, it has the potential to be the basis of a cell control and optimization strategy if a continuous sensor is available."

Jan 1, 2016

By Willard L. Hunter

A series of steel heats, one low-alloy and nine carbon, was made by the Bureau of Mines in a 1-ton arc furnace from ferrous scrap from incinerated refuse, steel cans, and detinned steel cans, both alone and blended with heavy-melting scrap. Two additional control heats, one of carbon steel and one of low-alloy steel, were made from electric furnace heavy-melting scrap to pro-vide comparative data. The steel products were cast into two 4-by 4-inch nominal 50-pound ingots; in most heats, an 8-by 8-inch nominal 7S0-pound ingot was also obtained. Tests of these ingots indicated that reinforcing bars of acceptable quality can be made from urban refuse components such as steel cans.

Jan 1, 1976