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A discussion on simulation tools to aid the development of robotics platforms is presented. The focus of the work is towards mining robotics platforms where operations are typically in unstructured, unpredictable environments and a high degree of dependability in their operations is required. It is argued that a test-based development approach leads to more robust solutions and faster development cycles than traditional single-track field-only development and that the key enabling technology for this development paradigm is the judicious use of simulation tools. The future direction of simulation for use in online applications such as active planning and as a means to assist tele-operation in high latency communication applications is also brief y considered together with the requirements for a useful simulation environment in terms of the simulator architecture. Finally, a case study is presented on the application of the discussed methodologies to an unmanned ground vehicle (UGV) for earth-moving tasks, which is being developed in an accelerated time frame with a transient development team.

Dec 6, 2010

By Jan A. Nilsen

This paper describes a key element in the construction of a major project undertaken by Harbourfront Corporation in its efforts to rejuvenate the central Toronto waterfront. The Spadina Pier forms one of the two major structures of the $10 million marina complex. Completed in early 1986, the 150 metre(490 ft.) long by 43 metre(140 ft.) wide pier structure will contain a 320 car parking garage as well as providing the foundation of a 17-story residential tower and a two-story retail/commercial complex. However, the pier structure posed a considerable challenge to its developers due to the the many restrictions imposed on the site by the environmental authorities which ruled out the construction of dykes or the placing of other fill materials on the highly contaminated bottom sediments. In addition, access at the site was restricted by its proximity to the main harbour navigation channel and a grain elevator berth. The original design called for a cofferdam to form an integral part of the finished structure. However, the contractor chose to regard the cofferdam as a temporary structure and proposed to construct the pier in the dry by enclosing the 10,000 square metre(107,600 sf) site with a 450 metre(1480 ft.) long single wall steel sheet pile cofferdom 7.5 metres(25 ft.) from the final pier structure. This paper will describes the design and construction of the cofferdam. Prior to finalizing the pier design, a geotechnical investigation of the shale bedrock was undertaken as well as a small sheet pile test cell program to evaluate the feasibility of driving a Canadian manufactured cold-rolled sheet pile into the bedrock. Relying on the design parameters for the shale bedrock, Foundation designed the cofferdam utilizing a post-tensioned bipod bracing system to resist a 7 metre(23 ft.) hydrostatic head as well as the maximum wind and wave forces expected at the site. The bipod bracing system consists of diagonal H-pile raker piles and verticle pipe piles anchored to bedrock with post-tensioned anchors grouted into bedrock.

Jan 1, 1987

By R. C. Bryce

"Selbaie is located northwest of Joutel, in what is known as the fourth east-west volcanic sediment group in northwestern Quebec. The main metals produced are copper and zinc, with important contents of both silver and gold. Production comes from an open pit mine on the A-I zone and from two underground mines on the B zone and the A-2 zone. Each mine gave rise to important capital investment programs for construction and mine development, all of which were managed and staffed with company-hired, non-union personnel. Production from all sources now exceeds 7000 tonnes per day, with a workforce of540 regular employees. Of particular interest technically is the high recovery of B zone reserves underneath 40 m of overburden cover, the low-cost capital development of the A-2 zone, the computerized control of open pit mining, and the successful copper-zinc separation of the A-1 zone ore. Due to the low grades of the mineral deposits, efficiency in all aspects of the production process, is essential to the success of the operation.LocationThe Selbaie Mine is located 82 km northwest of the locality of Joutel in northwestern Quebec (Fig. 1). Access to the mine is by an all-weather road, 32 km of which is paved. A second road access to the site is via La Sarre, 134km to the southwest. Employee access, materials transport and haulage of copper and zinc concentrates take place over both of these roads."

Jan 1, 1990

By Robert L. Parsons

This paper describes the results of a detailed analysis of a loess deposit at the deep foundations test site established by the Kansas Department of Transportation. Multiple CPT, SPT, and pressuremeter tests were conducted as part of the investigation. This paper includes an evaluation of the effectiveness of common correlations used with the CPT, SPT when used for classification of loess and estimating its properties. Results show that common correlations must be used with caution as significant errors in estimation may result from using methods developed for other soil types. Laboratory testing included direct shear, triaxial, collapse, and consolidation testing, with many of the tests conducted on both vertically and horizontally oriented samples to evaluate anisotropic behavior. The results showed that strength properties could be considered to be isotropic.

Jan 1, 2009

Exerting the Advantages of National Key Discipline, Outstanding the Training of Engineering Capability, Cultivating Talent to be with Innovation Ability

Sep 13, 2010

By Thomas J. Peters

The Goat Rocks RARE II further planning areas contain no known mineral resources and have very low mineral potentials. County mining records show only one mining claim area; however, no mineralized material was found at the described location. Andesite suitable for building stone may be present, but similar material can be quarried more economically elsewhere. Several anthracite coal prospects are near the area, but the likelihood of finding an economic deposit of coal or other fuel is very low.

Jan 1, 1981

By X. Yuan

"The processing behaviours of ores such as their liberation characteristics in comminution and their response in separation processes are affected by their mineralogical characteristics. Key ore characteristics which are relevant to processing, such as mineral proportions, mineral grain size, grain shape and mineral associations are routinely measured at the micro-scale in polished section using optical microscopes and SEM-based automated mineralogy systems. The application of X-ray micro-tomography to mineral processing provides the means to quantify these important micro-textural characteristics in three dimensions, removing the stereological issues encountered when measuring volumetric information in two-dimensional polished sections. In this paper we present several examples of ore textures to illustrate where X-ray micro-tomography can be applied successfully to obtain quantitative measures of ore characteristics which are useful in a variety of process modelling applications.INTRODUCTION X-ray tomography has been used as a tool in medicine for some years and is being applied in a wider range of fields including geology, palaeontology and mineralogy. In this paper we present some applications of X-ray tomography in mineral processing applications being developed at JKMRC. The availability of SEM-based automated mineralogy systems such as MLA and QEMSCAN has seen the increased use of quantitative mineralogical data measured in two dimensions in the design, operation and simulation of mineral processing plants. When the ore is amenable to measurement by X-ray tomography this technique can provide quantitative data for characteristics such as mineral grain size, shape, mineral associations and liberation in three-dimensions. The advantage of measuring these characteristics in three-dimensions is that the stereological issues which bias measurements made on polished sections are removed. X-ray tomography also quantifies the location of mineral grains relative to one another in space - a useful descriptor of ore texture. Like many measurement techniques X-ray tomography has advantages and disadvantages when compared to other techniques. One limitation is that the ability of the X-ray tomography system to discriminate between minerals is a function of the X-ray attenuation of those minerals. While the X-ray attenuation of many common minerals is sufficiently different for X-ray tomography to distinguish between them, there are some where the overlap in X-ray attenuation makes discrimination on the basis of this characteristic alone impossible. An example of this would be chalcopyrite and magnetite. However where the ore mineralogy is suitable to apply X-ray tomography, the technique provides some exciting opportunities to explore the relationship between texture and ore processability."

Jan 1, 2012

Kudremukh Iron Ore Company Ltd, a wholly owned Government of India Enterprise, was established in the year 1976 to develop mine and plant facilities to produce 7.5 Mtpa of high-grade iron ore concentrate at Kudremukh. The mine and plant facilities were commissioned in 1980. In view of high demand for iron oxide pellets in iron and steel industry worldwide and as a diversification activity, a pelletisation plant of 3.0 Mtpa capacity was commissioned in the year 1987 at Mangalore for production of high-quality blast furnace and direct reduction grade pellets for export. The pellet plant capacity has been increased to 3.5 Mtpa by technological improvement which included installation of roll press for quality and productivity improvement. In addition, the pellet capacity is being increased to 4 Mtpa by the addition of Shaft Pelletising Furnace plant.

Jan 1, 1999

A commercial Philips X-ray Fluorescence (X.R.F.) analyser was converted to an experimental instrument suitable for determination of the accuracy to be expected of X.R.F. on line analyses of concentrator slurries. Problems with stability of slurry sample presentation were eliminated by a number of minor modifications.By the use of multiple linear regression techniques instrument calibration equations including error terms were determined for copper flotation feed slurries. Results indicated that the accuracy of copper and iron analyses of flowing slurry samples could approach that of static pressed powder samples.Possible means of reducing the error terms to a level of at least that of pressed powdel' samples involve alternative methods of compensating for the per cent solids in the slurry, Design is under way for installation of a plant unit.

Jan 1, 1968

TowerMill - Advantages in Wet Grinding Applications The TowerMill, which has now been in existence for no less than 50 years, is one alternative to the horizontal ball mill and offers several advantages. The TowerMill is widely used in (coal-fired) electric power plants for the grinding of raw material for the FGD (Flue Gas Desulphurisation) process involving very high throughputs, very fine product sizes and high availability. Some companies in the mining industry also looked at the use of such optimised grinding machines several years ago and found that many of the advantages offered in other industries are transferable to new applications. Much development work has been undertaken to improve the TowerMill for new applications and, as part of that work, tests have also been conducted to make direct comparisons of their performance with that of ball mills. Grinding tests were performed using the same raw materials and comparable machine sizes. Some of the results are discussed in this paper, along with a comparison of the advantages and disadvantages. The conclusion provides an outlook for some worthwhile future applications. The test results, which are described and analysed, show that the TowerMill offers significant advantages in relation to operating costs and operational safety. An example based on the wet grinding of limestone is presented.

Sep 13, 2010

By D Cumming-Potvin, S W. Jacobsz and E Kearsley, J Wesseloo

This paper describes a physical modelling program that recreated block cave propagation in a geotechnical centrifuge. A brief description of the design of the test along with the sample material and monitoring equipment is given. The samples tested showed caving behaviour and fragmentation distributions that one would expect from caving mines, with one cave deviating due to pre-existing major discontinuities in the sample. A series of fractures formed ahead of and parallel to the cave, implying that an extensional failure mechanism may play a larger role in cave development than previously thought. The results of acoustic emission monitoring of the tests show a seismogenic zone advancing ahead of the cave; however, the quantity and quality of the data is too limited to draw any further conclusions.CITATION:Cumming-Potvin, D, Wesseloo, J, Jacobsz, S W and Kearsley, E, 2016. Results from physical models of block caving, in Proceedings Seventh International Conference and Exhibition on Mass Mining (MassMin 2016), pp 329–340 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2016

By A. Wahab Khair, John G. Oldsen, John C. Stankus, Song Guo

During the last several years, implementation of trusses, in lieu of wood cribs, has been successful for supplemental tailgate support in the Pittsburgh seam. This paper reviews, the truss support system provided by the new high strength 0.6" tensioned cable truss, which is now also being used in cribless tailgates. Cable loading and roof deformation were monitored to evaluate roof and floor performance. The test results indicate that the cable truss system successfully controlled the roof and floor during the first and second panel extraction. This paper will describe the advantages of cable trusses and their load transfer mechanism as well as mine evaluation.

Feb 24, 1997

By A. R. Miller, G. Desrivières, T. MacKinnon, H. Bursey, M. C. Bétournay, B. Replogle, D. L. Barnes, P. Laliberté

"A mine production locomotive, the world’s first applied industrial fuel cell vehicle, has been designed and tested in the context of a number of proof-of-concept projects supported by the Fuelcell Propulsion Institute, an international consortium of stakeholders dedicated to facilitate the commercialization of fuel cell vehicles.The locomotive’s simple electric-powered motor and controller system was ideal to study a number of requirements related to fuel cell power application: hydrogen power plant operation, underground hydrogen use, risk and regulatory requirements, production performance versus the conventional battery- powered locomotive version under measured duty cycles and production requirements, power plant design improvements for other fuel cell vehicles, and cost benefit aspects.This article will focus on the design and testing aspects of this project which has led to successful performance demonstrations of the vehicle under surface and underground conditions at two mines. It will also present information on the creation of a safe, reliable, and efficient power plant that fulfilled its design objectives, including longer productivity time for a given vehicle fill-up."

Jan 1, 2004

By F. J. Tavera, J. A. Finch

A probe suitable for on-line measurements of gas hold-up in industrial flotation systems has been developed. It is based on an open cell for measurement of slurry-gas conductivity and a novel syphon cell for measurement of slurry-only conductivity. The desired behaviour of the two cells was demonstrated and estimates of gas hold-up were shown to be in good agreement with independent measurements. The gas hold-up probe was used as a diagnostic tool to assess the operation of flotation columns. Differences in gas hold-up between baffled sections in two industrial columns were detected

Jun 18, 1905

By A. V. Roschin, V. E. Roschin

Composite ores are more often used for production of iron in connection with reserve depletion of traditional ore crude in the regions with developed metallurgy. In particular, the majority of perspective ferrum-ore deposits of the Urals are presented by titanferous magnetite ores which contain a significant amount of titanium and vanadium alongside with ferrum. Thus, the deposits of titanferous magnetites of the Southern Urals on the average contain about 20 % of Fe, 8,7 % TiO2 and 0,24 % V2O5. Due to a high content of titanium oxides it is impossible or it is inexpedient to process such ores in blast furnaces. During work just on titanferous magnetite ore refractory titanium-containing slags are formed in a blast furnace, and in case of its dilution by ores of different types the titanium due to the small content in slag is thrown out. It is often impossible to separate such ores into ferriferous and titanferous concentrates because ferrum and titanium are present in the same minerals. This work attempts to selectively reduce ferrum in solid oxide and to separate metallic iron from titanferousslag with fast fusion. Solid-phase reduction of ferrum has been carried out with carbon at temperature of 1000? 1300°?. In products of solid-phase reduction the extremely disperse mix of metal iron and only partially reduced titanium oxides have been achieved. It is impossible to separate such a mix mechanically. However, the fast fusion of the mix allowed separating it into cast iron and slag with the high content of titanium. Thus the cast iron contained less than 0,1 % of titanium, and the slag did not contain practically any ferrum.

Jan 1, 2007

Worldwide minerals exploration slipped in 1992 from 1991 levels. Although industrial production figures showed the US economy emerging from recession in early 1992, it was not until February 1993 that the lagging indicator of unemployment dropped to 7%. Most other industrialized countries are still in recession. Preliminary data for 1992 showed industrial production dropping in Japan (5%), Germany (1.4%), the United Kingdom (0.5%) and France (1.4%). The slowdown in industrial production led to reduced mineral demand. This resulted in lean cash flows from mining operations, which squeezed exploration funding. Although mineral prices were steady during most of 1992, some mineral commodity prices began falling in late 1992 and early this year. Exploration 1991-1992 According to Metals Economics Group (MEG), planned 1992 exploration expenditures were down by about 5%. Geographically, the leading exploration target was the United States with 21 % of the expenditures, followed by Australia (19%), Canada (18%), Latin America (15%), South Africa (9%) and the western Pacific (7.5%). The remaining 10% was split between Europe and Africa. There were absolute increases in exploration expenditures in the United States and Latin America. Latin America showed the largest increase. The change in the Mexican mining law allowing foreign ownership of mines should result in the inflow of direct foreign investment in Mexico's mining industry.

Jan 1, 1993

By M. R. Dion, K. Frenette, R. K. Jonas, S. Simard, F. Robichaud

"In 2011, a site study indicated that the application of Honeywell’s Multivariable Predictive Control Technology (MPC) to the Goldex processing facility would provide significant opportunities for improvement. Grinding MPC was implemented in the SAG Mill in June 2015. This pilot application, called Phase 1, featured one of the first Multivariable Predictive Controllers to be installed in a Canadian mineral processing plant. Since the implementation of MPC, gold recovery from the gravity circuit has increased. MPC contributed to a decrease in flotation feed particle size (120 to 112 µm) and an increase in the SAG feed tonnage (8.5% increase). MPC also increased and stabilized the % solids of the SAG feed, which can have an impact on cost reduction (mechanical maintenance). Additionally, MPC increased productivity, providing grinding operators with more time to perform other tasks. Further anticipated benefits include the standardization of the grinding circuit operation from one team to the next, thereby minimizing circuit disturbances resulting from different operating philosophies. This paper will discuss the advanced control project development and justification, the technology and rapid implementation process, the performance results and the benefits obtained.IntroductionGoldex is an underground mine located near Val-d’Or that is owned and operated by Agnico Eagle Mines Limited (AEM). Between 2008 and 2011, mining focused on the Goldex Extension Zone (GEZ). In 2011, the project was halted due to geotechnical problems; operations ceased until late 2013. Goldex operations resumed in September 2013 with the M and E zones, for which there were 0.7M gold ounces of proven and probable reserves, 2.1M ounces of measured and indicated resources and 1.2M ounces of inferred resources, totalizing 4M ounces. Life expectancy was extended until 2024."

Jan 1, 2017

By Phil Keele

Canadian Natural ??Business Approach Efficiency and Execution ?Drive to be the low cost producer ?Focus on exploitation ?Augment exploitation with strategic acquisitions ?Maintain Discipline and Strength while Delivering on the Defined Plan ?Maintain flexibility and control allocation of capital ?Strive for balance (asset portfolio) ?Maintain financial strength

May 1, 2010

By John McDonald, Peter C. Raleigh, Christopher Dishlip

This paper will discuss how the construction management team and the contractor working together on the City of Los Angeles, North East Interceptor Sewer project, managed information on a daily basis. Data was synthesized from various sources including: inspection, survey, instrumentation, laboratory and the tunnel boring machine data logger systems to produce state-of-the-art reports and graphics which will become industry standard. Special emphasis is placed on how the data is managed and interpreted in a clear and objective manner, permitting the tunneling processes to be carefully monitored and suggesting appropriate action to be taken by the construction management team and contractor.

Jan 1, 2005

By Jared M. Green

This paper presents the wall stabilization design and implementation for a 541 linear ft masonry and concrete gravity-type retaining wall flanking the west perimeter of a 7.37 acre parcel in Bronx, New York. This paper will discuss the results of static and dynamic stability analyses performed for the pre- and post excavation phases for the proposed 300 ft wide open-cut of up to 14 ft of contaminated soil below the toe of the retaining wall. The wall stabilization consisted of over 74 inclined drilled and grouted anchor dowels, and 55 tiebacks drilled and grouted to the underlying mica schist bedrock. Three over-lapping rows of jet grout columns were chosen as the foundation solution for the existing retaining wall. This paper focuses on the design, construction and performance of the jet grout curtain wall. The jet grout wall served three purposes: 1) underpinning and excavation support for the removal of contaminated site soils, 2) permanent hydraulic barrier, and 3) resistance against a deep seated failure within the thick clay layer present at the site. The originally designed jet grout wall had unexpected negative effects to the existing retaining wall. The jet grouting program was modified while the Observational Method (Peck 1969) was employed to keep wall movements to a minimum. This paper discusses the diagnostic methods used to determine the cause of retaining wall movement; the implementation of a remedial ground improvement program; the modification to the jet grout installation procedure; and the ultimate performance of the jet grout wall.

Jan 1, 2011