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By P. L. Sibrell

Previous research by the U.S. Bureau of Mines has shown that autoclave cyanide leaching of used automobile exhaust catalysts for recovery of platinum-group metals (PGM) is technically feasible. The purpose of this work was to investigate the chemistry of the dissolution of PGM in cyanide solutions in more detail. Where possible, samples of pure, elemental PGM powders or foils were used instead of automobile exhaust catalysts, because of their greater purity. Ultraviolet spectra revealed that Pt and Pd were solubilized as the square planar tetracyanometallate (II) complexes, while Rh was solubilized as the octahedral hexacyanorhodate (III) complex. This explained the poor recovery of Rh from solution by carbon adsorption, solvent extraction, and ion exchange observed in earlier research, because of the higher anionic charge and size of the octahedral complex. Leaching rate studies showed that the rate of solubilization was greatest for Pd, followed by Pt and Rh. Although the rate of chemical reaction was the controlling step for the dissolution of elemental Pt and Rh samples, the rate of pore diffusion was rate limiting for PGM in catalyst samples.

Jan 1, 2010

By L. A. Cornish

Pt-based alloys for high-temperature applications in aggressive environments have been under development for over 10 years, and are targeted to be used as either as bulk, or as coatings. The alloys comprise Pt, Al, Cr, and Ru, and the microstructure has been improved by composition to a best possible analogue of the nickel-based superalloys, which these alloys could partially replace. This was necessary because the previous best alloy had a strengthening precipitate volume proportion of only approximately 40 vol.%, whereas the nickel-based superalloys have around 70 per cent, and a lower volume would mean that the strength would not be the best that could be obtained. The microstructures were assessed using electron microscopy, and have been related to the alloys? hardness values. The current microstructures are much more like those of NBSAs, with a high proportion of the strengthening ~Pt3Al precipitates. Since the samples have to be small (platinum is expensive), hardness has been used as an indication of strength. Nano-indentation studies showed that the hardness and Young?s modulus were higher for ~Pt3Al than the (Pt) matrix. More extensive oxidation studies have been undertaken on the previous optimum sample, and the effect of cooling rate after heat treatment has also been ascertained. In addition, the samples were studied after different heat treatment times, and cross-sections were made in order to characterize the alumina scale that formed. The oxide scales of Pt-11Al-3Cr-2Ru (at.%) up to 100 h exposure did not spall, and were at least as good as those of the ternary alloys. There was no discernable Al depletion zone in the substrate, although it could have been at a greater depth than thickness of the samples studied. Further additions to the Pt-Al-Cr-Ru alloys have been studied, to increase the melting temperature as well as to reduce the platinum content without compromising the properties. Reduced platinum content would have the benefits of reduced density and cost. The target elements include vanadium and niobium, of which vanadium is of special interest, since it is a South African product. Before these additions could be made, phase equilibria studies were undertaken so that the maximum addition could be ascertained, and also to check any possible ternary phases, which could be deleterious. Work on the Pt-Al-V system revealed a ternary phase, ~V27Pt54Al19 (at.%), which has a eutectic reaction with (Pt). The maximum V addition is likely to be around 15 at.%, otherwise ~Pt3V or the ternary phase will form, and not the required (Pt)/~Pt3Al phases.

Jan 1, 2012

By Louis A. Panek

An improved centrifugal-testing apparatus has been designed and built in the Bureau of Mines laboratory at College Park, Md., which is unique in that it incorporates the use of resistance gages to measure directly the strains in a rotating model without testing it to failure. Owing to this feature, a more rapid testing method can be used; furthermore, model materials need not be restricted to those of the prototype. The behavior of any structure in which strains of significant magnitude are produced by its own weight may be studied in a small model subjected to simulated gravity loading. The model is rotated in a centrifuge to induce in it centrifugal forces, which, like the gravitational forces in the full-size structure, act on the volume elements and are proportional to the masses thereof. Centrifugal testing is, therefore, applicable to the design of mine openings and to the study of similar ground-control problems. It constitutes an experimental method for determining the state of strain in a structure for which analytical methods are excessively laborious or even impossible. In previous applications of centrifugal testing by other investigators, the models usually were tested to failure, and the analysis was made from-the type of break produced. The models were made of the same materials as the proto-type, and the test results were applied only to the particular prototype represented by the model. Beam deflections were measured from photographs of the rotating model, but no means was employed either to determine the actual distribution of stress in the model or to determine quantitatively the degree of restraint imposed on the ends of the loaded model beam, that is, to determine whether the loaded model behaved as a beam with rigidly fixed ends or as some other type of beam. With the apparatus described, it is possible to determine the state of strain, and thus the boundary conditions, in a rotating test model weighing up to 90 lb., which can be subjected to centrifugal forces up to about 2,600 times the force of gravity. The load-strain relationship, applicable directly to the prototype, can be determined from a Single model test. The test results can be presented as quantitative relations between the loads, strains, and dimensions and mechanical proper-ties of the structural members and can be applied to any prototype, whatever its component materials, that satisfies the similarity requirements.

Jan 1, 1952

By K. J. Aglias, M. Jeffery, J. V. Simmons, J. A. Johnston, S. G. Fityus

"Shales and mudrocks undergo weathering in the near-surface geological environment, and degradation when directly exposed at the surface. Despite having superficially similar appearances, many shales have very different degradation behaviours. For example, some shales break down readily upon exposure whilst others remain more or less intact. Further, for those shales which break down, the style of degradation can vary greatly. A phenomenon is described where fresh shale blocks that are exposed at the surface undergo rapid breakdown to a fragmented texture which then persists for relatively long times, without further breakdown to finer soil particles. This is illustrated for some coal mine waste rocks. Furthermore, this metastable fragmented texture seems to be particular to each particular type of shale. The paper presents a conceptual model for this physical breakdown of shales which accounts for the differences in fragmental texture that are observed. The importance of several factors including strength, permeability and expansive clay content are identified for their contribution to the degradation behaviour of different shales.INTRODUCTIONShales and MudrocksThe term shale is applied widely to a class of mudrocks having a range of distinctive but gradational appearances and mechanical behaviours. Mudrocks are sedimentary rocks primarily composed of silt and clay sized particles (Tucker 1982). Mudrocks form in low to very low energy environments such as flood plains, lakes and deltaic environments, where the finest detrital particles are able to settle out of suspension (Reeves et al., 2006; Stow, 2005; Tucker, 2001).Unlike coarser siliciclastic sedimentary rocks, mudrocks do not present with a wide variety of sedimentary structures and textures. The most common texture is a preferred orientation of clays and micas parallel to the bedding plane. This textural component is related to the property of fissility or the ability for such textured mudrocks to split along smooth planes that are parallel to the bedding. Another common structure is lamination, formed by variations of grain sizes and types during deposition, Massive texture describes the situation where no sedimentary structures or textures are apparent (Boggs Jr., 2009; Tucker, 2001). The term shale varies between sources and contexts, with Reeves et al. (2006) stating that a shale is a fissile mudrock, where “fissility is a property that has developed at a certain stage of weathering”."

Jan 1, 2015

By Elizabeth Wademan

Recessions Eventually End ??Companies aggressively cutting production and inventories ??these will come in-line with demand ??U.S. home inventories are declining ??Housing becoming more affordable ??Global trade recovering after collapsing ??Lower oil prices should act as a stimulus Protracted Deleveraging Process Beginning ??Era of leverage-driven consumption is over ??Greatest destruction of consumer wealth since WWII ??Consumers will no longer be able to substitute capital gains for savings ??Shift towards savings will be a headwind to economic growth ???Paradox of Thrift?

May 1, 2009

C. W. GOODALE,* Butte, Mont.-I notice Mr. Newton refers very briefly to the carbonate ores of manganese, rhodochrosite, but he does not go into any special description of the treatment of that material. In some of the veins in Butte, Mont., there is a large amount of rhodo-chrosite, and a large tonnage of that material has been shipped to the East for making ferromanganese. At the works of the Anaconda company at Great Falls they treated several thousand tons of this manganese ore, running about 37 to 38 per cent. manganese, in electric furnaces, giving a product of about 78 per cent. of manganese. But just at that time the demand for ferromanganese from the West was discontinued and the material, about 1000 tons of 78 per cent. manganese, is on hand at the works at Great Falls. With the higher-grade manganese ore, running, we will say, 37 or 38 per cent., there are large bodies of ore perhaps 20 or 25 per cent., but containing too much silica to be valuable in their present condition. Some efforts have been made for water concentration of that material, but owing to. there being only a difference of about 1 in the specific gravity of the quartz gangue and the manganese mineral, water concentration has offered some difficulties, I have been told, however, that some very satisfactory experiments have been made with magnetic concentration of this material. I think it is a new idea that this manganese ore can be treated successfully by magnetic concentration.

Jan 4, 1919

By J. J. Stokes

Literature on the electrolysis of aluminum from cryolite melts and on the structure of these melts is surveyed critically. Data on density, freezing point, and other properties are reviewed. Theories of the electrolysis are examined in the light of these data. Two theories are presented which account equally well for the observations. ALTHOUGH the production of aluminum is a large-scale industrial process, consuming approximately 3 pet of all of the electric current generated in this country, the mechanism of the Hall Process remains a 70-year-old mystery. It is a remarkable fact that the aluminum industry, which was established largely through research and owes much of its growth to research, still employs as its basic process the one developed by Charles Martin Hall while he was still a young man working in a woodshed. There are, of course, modifications in detail and a tremendous expansion of the size of the units used, but basically the process employs carbon anodes and a carbon-lined iron vessel as a cathode for the electrolysis of alumina dissolved in molten salt. Of the almost infinite variety of salts available, the relatively minor Greenland mineral, cryolite, 3NaF.A1F3, is still the only one which gives good performance in the electrolysis. In the early days, the process was thought of as a simple one. The dissolved alumina dissociated and, during the electrolysis, the aluminum was carried to the cathode where it was discharged and collected in a pool of metal. The oxygen was carried to the carbon anode where it reacted to form primarily carbon dioxide together with some carbon monoxide. About the only virtue that can be claimed for this hypothesis is that of simplicity. The actual mechanisms must be tremendously more complex. This paper is devoted to a rather narrow part of the whole subject, namely, what ions are present in the bath, and by what mechanism the current is carried. The complexity of the literature on this system is demonstrated in Table I, which shows the ions postulated as being present during the process. This system is not easy to investigate. Cryolite melts at about 1000°C, so that all the investigations are at relatively high temperatures. Molten cryolite fumes in air, particularly if excess aluminum fluoride is present. The cryolite changes composition on heating at 1000°C, principally by reaction with moisture in the air, but apparently also by reaction with oxygen. Cryolite reacts with most of the customary materials of construction, and those that are not attacked by cryolite seem inevitably to react with molten aluminum. Graphite is the only common material that is inert to the electrolytic bath. Pure cryolite can be held in platinum. There is hope that some of the newer refractories will stand up in bath, and their development for this purpose would be a major advance in the field. The techniques to be discussed, then, are not the most advanced ones. Rather, they are examples of old standardized methods applied under difficult conditions. The principal methods that shed real light on the mechanism are density, electrical conductivity, freezing-point lowering, transport number, viscosity measurements, and reactivity of bath with carbon dioxide. The first measurement to be discussed is density. This procedure is relatively straightforward. A hollow platinum bob is suspended by fine platinum wire from an analytical balance into the melt being investigated. Density1-4 of the system sodium fluoride-aluminum fluoride is shown in Fig. 1. There is a maximum in the density near the cryolite composition, but actually the maximum is on the NaF-rich side of cryolite, close to the composition NaF - Na3AlF8. Density measurements are also useful in giving a clue to the nature of cryolite-alumina melts.1, 4 On the first addition of alumina, density decreases, Fig. 2, although the density of alumina, either solid or liquid, is higher than that of cryolite. These density results indicate that the systems are not simple. A great deal of effort has been spent in measuring the electrical conductivity of molten cryolite and of cryolite with various additives. Conductivity measurements are quite easy for fused salts that can be measured in a dip cell, but no successful dip cell has been made available yet for cryolite. Recourse is had

Jan 1, 1959

By Rose L. Ballard

This chapter summarizes data on crude nonfuel mineral production for the United States, its island possessions, and the Commonwealth of Puerto Rico. Included also are the tables that show the principal nonfuel mineral commodities exported from and imported into the United States and that compare world and U.S. mineral production. The detailed data from which these tables were derived are contained in the individual commodity chapters of volume I and in the State chapters of volume II of this edition of the Minerals Yearbook. Although crude mineral production may be measured at any of several stages of extraction and processing, the stage of measurement used in this chapter is what is ordinarily termed "mine output." It usually refers to minerals or ores in the form in which they are first extracted from the ground, but customarily includes the output from auxiliary processing at or near the mines.

Jan 1, 1983

By F. L. Casey

"Part 1 – Published Papers Baria, G., and Boshkov, S., ""Insights into Undercuttingin Block Caving"", Proc. 5th Rock Mech. Symp.,Mines Br. - Information Canada, 41-58, 1970.Barron, K., Coates, D. F., and Gyenge, M., ""ArtificialSupport of Rock Slopes'', Mines Branch ResearchReport R228, July, 1970.Barron, K., ""Criteria for Brittle Fracture Initiation inand Ultimate Failure of Rocks and Their Applicationto Fracture Zone Prediction"", Proc. 2ndCongr. Int. Soc. Rock Mech., Belgrade, 1970, 3-37.Bauer, A., and Calder, P. N., ""Projectile Penetration inRock"", Proc. 5th Rocle Mech. Symp., Mines Br. -Information Canada, 157-170, 1970.Bauer, A. M., ""Site Development and Rehabilitation ofPits and Quarries"", Canadian Mining Journal,Vol. 91, No. 7, 77, July, 1970."

Jan 1, 1971

By Robert Archer

IT is now well known that the structure of aluminum-silicon alloys can be refined in a rather remarkable manner, with consequent improvement of physical properties, by certain treatments applied to the molten metal shortly before casting. The differences between the treated and the untreated alloys are so marked that special terms are used to distinguish them, the untreated alloys being referred to as "normal" and the treated alloys as "modified." The first practical method of accomplishing this result was that of A. Pacz,1 which consists in treating the molten metal with a, salt flux of which the, active ingredient is sodium fluoride. The result can also be brought about, and in a more economical manner, by the addition of small quantities of metallic sodium (or potassium) to the molten alloy shortly before casting.2 The action of the Pacz flux evidently consists essentially in the production of free sodium by the reaction of sodium fluoride with aluminum. The changing of a normal alloy to a modified alloy is referred to as "modification' and any process for accomplishing this result is a "modifying" process. Modified aluminum-silicon alloys were introduced several years ago, and it has been demonstrated both in the laboratory and in commercial practice that it is no simple matter to produce castings having the maximum or nearly the maximum properties which under favorable circumstances can be obtained. The alloys are rather sensitive to small changes in chemical composition, and the modifying process must be carried out in a very particular manner to obtain the best results. Extensive experimental work has been carried out in the laboratories of the Aluminum Company of America with the object of determining the conditions that must be observed to make these alloys of the greatest possible

Jan 2, 1926

By R Dunne, D Yan

In flotation where a bulk flotation concentrate is produced or a gangue sulfide such as pyrite contaminates a concentrate, residual collector has to be removed from the sulfide surfaces to allow selective separation in a subsequent flotation step. Depending on the sulfide mineral, the main species that needs to be removed when using a xanthate collector is either a metal xanthate or dixanthogen. For the identification of surface species, specific solvents may be used to remove each species û metal xanthates are known to be soluble in acetone whilst dixanthogens are known to be soluble in non-polar solvents such as diethyl ether. Xanthates break down with time, temperature and pH into various decomposition products. The major decomposition product is dixanthogen which can aid flotation but other products such as perxanthate and carbon disulfide can have an adverse effect on flotation. Various analytical techniques can be employed to monitor the formation of decomposition products on the surface of the mineral and in solution. The best of these is ultraviolet spectroscopy as it has diagnostic peaks for decomposition product determination. In this work two approaches were taken to understand the relationship between the flotation of a chalcopyrite and pyrite from an ore containing these two minerals. One approach was to remove the xanthate species with an organic solvent and then use ultraviolet spectroscopy to determine the concentration of dissolved species. The second method involved measuring xanthate decomposition in solution by measuring the residual xanthate concentration using ultraviolet spectroscopy. These experiments confirmed the species adsorb at the surface of the mineral and how these species affect the recovery and grade of the valuable mineral. In both cases pH and temperature were varied and two xanthate collectors (SEX and PAX) were used to study these relationships. These relationships could be applied to industrial flotation systems and allow for more accurate determination of optimal xanthate dosage and hence save on reagent costs.

Jan 1, 2005

By Ulf Marklund, Manfred Lindvall

Fighting the challenge of diminishing ore grades, low base metal prices and a changing pattern of ore supply, Boliden has now taken the second generation of the fully­autogenous grinding concept on stream, Using new design and a highly-developed process control system the benefits of conventional two stage autogenous grinding technology are obtained with a wide range of ore types. The APC grinding system has been developed further. A new design of the Boliden Pebble Extractor together with an advanced control strategy make the performance of the APC concept superior to all other grinding systems with any ore quality. The capacity and simplicity of the autogenous grinding concept is equivalent to the best SAG installations but the operational costs are up to 25 % lower than for SAG or other primary ball or rod mill systems. The concept is as flexible as conventional crushing and rod mill installations but investment and operating costs are of the order of 25 % lower. Also, from the metallurgical point of view, the different types of autogenous grinding system outperform all other comminution systems including SAG. From 1989 to 1991 four fully autogenous grinding sections have been installed at various concentrators at the Boliden company. Old crushing plants and rod and pebble grinding circuits have finally been replaced by highly productive and cost-efficient autogenous grinding equipment. Significant savings in operational costs have already been reported. Power consumption and maintenance costs have been reduced significantly. Productivity expressed as milled tonnes per operator has been improved. Metallurgical results have developed favourably.

Jan 1, 1992

By L. C. Galloway, P. M. Tiley

"Some progress has already been made in defining the parameters which will determine the performance of a guidance system in a mine shaft. Very little information is available, however, to help designers or operators predict the effects of varying these parameters in new or existing installations.The experience we have gained from monitoring a variety of installations has led to the development of a model which simulates the motion of a conveyance as it moves through a mineshaft, restrained by fixed guides.This paper presents a general analysis of the performance of the guidance system used in several installations, as well as a detailed description of the problem encountered at one mine and the steps taken to solve it.IntroductionOur company has investigated in some depth the problems that arise in the guidance of mine hoist conveyances.We have a telemetering accelerometer which we obtained to test mine hoist brakes. Frequently, during brake tests, the mine owners request us to use this instrument to measure the lateral motion of the conveyance ""to check guide alignment"". We have made such tests in shafts that have guide s of different kinds, including wooden guides, steel rail s and tubular steel guides. From these tests, we have gained some valuable information about guidance systems.In a well-aligned guidance system that is designed within common and well-known practice, the conveyance will experience very little shock most of the time. However, on rare occasions, shocks up to .5 g will occur. That is, the conveyance exerts a force of up to half its loaded weight on the guide. If the guide slips or is damaged by this force, it will be misaligned for future trips and become the cause of future shocks. In time, the whole guidance system can become misaligned."

Jan 1, 1982

NEW MEMBERS The following list comprises the names of those persons who became members during the period Apr. 10 to May 10, 1915: Members ADMAN, WILLIAM, Supt., Susquehanna Coal Co Lykens, Pa. BARTH, CARL G., JR., Min. Engr 6151 Columbia Ave., Philadelphia, Pa. BOOTH, ERIC EDWIN, Min. Engr., Mount Elliott Mine, Selwyn via Cloncurry, North Queensland, Australia. BOYDELL, HARRY CYRIL, Asst. Mgr., Randfontein Central Gold Min. Co., Box 42, Randfontein, Transvaal, South Africa. BRADY, SAMUEL HOWARD, Mine Supt Bohemian Club, .San Francisco, Cal. Buses, HARRY EDWARD, Mine Supt., Engels Copper MiningCo Keddie, Cal.

Jan 6, 1915

By J. L. Thornton

Introduction The importance of coal in our economy is well established, but it may not .be so generally realized how important a part it plays in our daily life. Select a product - any product - and, if it is made in America, bituminous coal has touched it first. Everywhere we will find coal, derivatives of coal, or functions made possible by coal. Apart from the well known major uses of coal for domestic purposes, coking, utilities, railways, and manufacture of steel and cement, there are over 200,000 products derived from coal, from lipstick colours to nylon products and perfumes. An item of interest is the recent action of the Canadian Government in voting $90,000 for development of coal deposits in Yukon Territory to make coal available to the settlers in that area. The value of this move, in case of some emergency, is very evident. Coal in its several stages of formation as peat, lignite, sub-bituminous, bituminous, semi-bituminous, semi-anthracite, and anthracite, has been used for centuries. Coal, as such, was not very well known to the ancients. First reference to "magic stone', or coal, was in 371 BC by Theophrastus, a pupil of Aristotle. This substance was said to burn like wood coal or charcoal and was used by the smiths. The first record we have in modern times was in 852 AD, when sea coal was gathered by the cowled monks of Durham, in Britain, and even at that time a major problem was transportation. Our first record of coal in this continent was near Richmond, Virginia, in 1700. Commercial mining was not under way, however, until 1750. The anthracite fields (presumably in Pennsylvania) were opened in 1793. Even so, there was no extensive mining until about the year 1820. The famous Pocahontas coalfields were opened in 1883. The earliest record of coal mining in Canada is about 1746.

Jan 1, 1950

By W. R. Reed, G. W. Luxbacher

Mine worker exposure to respirable coal dust and silica dust can result in coal workers’ pneumoconiosis and silicosis which are occupational respiratory diseases that have no cure and are ultimately fatal. In 2021 the Mine Safety and Health Administration reported just over 11,000 operating metal/nonmetal mines with the potential for silica dust exposure for just under 200,000 miners. The National Institute for Occupational Safety and Health (NIOSH) conducts respirable coal and silica dust research associated with mining through its Office of Mine Safety and Health Research. NIOSH respirable coal and silica dust research began under the U.S. Bureau of Mines (USBM), which initially examined silica dust, progressing to include coal dust, with a stronger focus after 1969 with the passage of the Federal Coal Mine Health and Safety Act. A review of extramural research to develop real-time respirable silica dust monitor is presented along with a brief history of silica dust regulation.

Feb 1, 2024

By Stopford Brunton

For many years it has been accepted as axiomatic that the greater number of 'veins' or 'leads' in the gold districts of Nova Scotia are of the 'interbedded' type. The corollary to this hypothesis is that the vein or lead will have a continuous hanging-wall of one kind of rock, and a continuous footwall of the same or another kind of rock; but the essential point is that the foot and hanging walls are, according to this theory, both continuous and of uniform composition throughout; and that the vein or lead conforms to the bedding of the adjacent strata. With regard to the deposition of the gold in the rocks, the probability is that the key of the problem is contained in a statement by E. R. Faribault, of the Geological Survey of Canada: "The combined effect of cleavage, jointing, and stratification is to cause the rocks, especially the quartzites, to break into rhombohedral blocks". It is essential to comprehend that the rocks of the Province are no doubt folded into anticlines and synclines; but also it must be fully realized that the gold deposits and pay-shoots do not depend so much upon these as upon the fractures resulting from the disturbance caused by the intrusion of granite masses, and controlled by the combined effect of cleavage, jointing, and stratification. These fractures would form the channels through which the ore-bearing vapours and solutions would rise, and at the junctions of these fractures, where the fracturing was greatest, the easiest passages would be afforded to the ore carriers, with the result that the ore-shoots would be found at or near the intersections of fractures. It is a significant fact that in at least thirteen different districts throughout the Province, operators have at various times remarked upon the occurrence of rich ore at the intersection of 'leads,' 'veins,' 'beds,' etc.

Jan 1, 1928

By Lloyd A. Morley

Previous research conducted for the USBM by Penn State personnel (Grant GO-101729) found that a need existed to physically model a typical a-c/d-c coal mine section electrical system. Its purpose would be to permit preliminary evaluations of electrical problem solutions prior to launching full-scale investigations. Such use can result in greater flexibility than afforded by present computer models. Furthermore, numerous problems, which would be virtually impossible to incorporate in a computer model at this time, are more easily analyzed with physical simulation. The development of this system is now proceeding at the USBM's Bruceton Research Facilities. However, electrical specifications of scaled down components for its construction are required. This project is a result of that need and has been funded as an extension to Grant GO-133077. The following report covers these specifications. Scope of Work To represent a mined a-c/d-r. coal mine section, the typical component specifications must detail at least: a. one a-c continuous miner, b. two a-c or d-c shuttle cars, c. one a-c or d-c roof bolter, d. one a-c section fan, and e. feeder cables. Further, each machine should be portrayed by each of its general

Jan 1, 1974

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 Kaixi Jiang, Chaozhen Zheng, Shuchen Qin, Hao Ma, Yufang Wang

The study investigates the behaviors of zinc and iron in neutralized residue during pressure and hot acid leaching. It examines the effects of temperature, acidity, leaching time, and oxygen partial pressure on zinc extraction. The results indicate that the acid to zinc mole ratio is crucial for the extraction process, with a zinc extraction rate reaching 98.0% under optimal conditions.

Feb 14, 2022