Vision-based operations of a large industrial vehicle : autonomous hot metal carrier

Hot metal carriers (HMCs) are large forklift-type vehicles used to move molten metal in aluminum smelters. This paper reports on field experiments that demonstrate that HMCs can operate autonomously and in particular can use vision as a primary sensor to locate the load of aluminum. We present our complete system but focus on the vision system elements and also detail experiments demonstrating reliable operation of the materials handling task. Two key experiments are described, lasting 2 and 5 h, in which the HMC traveled 15 km in total and handled the load 80 times.

Autonomous hot metal carrier: Navigation and manipulation with a 20 tonne industrial vehicle

This paper reports work on the automation of a hot metal carrier, which is a 20 tonne forklift-type vehicle used to move molten metal in aluminium smelters. To achieve efficient vehicle operation, issues of autonomous navigation and materials handling must be addressed. We present our complete system and experiments demonstrating reliable operation. One of the most significant experiments was five-hours of continuous operation where the vehicle travelled over 8 km and conducted 60 load handling operations. Finally, an experiment where the vehicle and autonomous operation were supervised from the other side of the world via a satellite phone network are described.

Autonomous hot metal carrier

This paper reports work involved with the automation of a Hot Metal Carrier — a 20 tonne forklift-type vehicle used to move molten metal in aluminium smelters. To achieve efficient vehicle operation, issues of autonomous navigation and materials handling must be addressed. We present our complete system and experiments demontrating reliable operation. One of the most significant experiments was five-hours of continuous operation where the vehicle travelled over 8 km and conducted 60 load handling operations. We also describe an experiment where the vehicle and autonomous operation were supervised from the other side of the world via a satellite phone network.

Selection of desulfurizing agents and optimization of operational variables in hot metal desulfurization

The growing demand for steels with tighter compositional specifications led the Companhia Siderúrgica Nacional (CSN) to develop more efficient processes. To solve this problem this paper aims to identify the operational variables more impacting in the desulfurization process, specifically in torpedo car, as well as its causes and solutions. Then select and test, with laboratorial and industrial tests, desulfurizing agents based of CaC 2, CaO, CaCO3, and Mg to assess the cost per quantity of product desulfurized. The mixture with best results was not that one with highest content of CaC2. It is believed that this mixture showed better efficiency because of the increased agitation of the bath, produced by the releasing of gas from compound CaCO3 present in this mixture. Copyright © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Hot metal desulfurization by marble waste and fluorspar

The objective of this paper is to present an analysis of the use of residual marble mixtures in the pig iron desulfurization process. The study involved the use of: marble waste, fluorspar, lime, and hot metal. Four mixtures were made and added to a liquid hot metal - with known chemical composition - at a temperature of 1450ºC. The mass of each element was calculated from its chemical analysis and compared with an industrial mixture. All of the four mixtures used in the experiments were stirred by a mechanical stirrer. Samples were collected by vacuum sampling for times of 5, 10, 15, 20, and 30 minutes, and analysis was performed to check sulfur variation in the bath with time. The results were analyzed and they verified that it was possible to use marble waste as a desulfurizer.

American standard safety code for forging and hot metal stamping.

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Redundant sensing for localisation in outdoor industrial environments

We describe our experiences with automating a large fork-lift type vehicle that operates outdoors and in all weather. In particular, we focus on the use of independent and robust localisation systems for reliable navigation around the worksite. Two localisation systems are briefly described. The first is based on laser range finders and retro-reflective beacons, and the second uses a two camera vision system to estimate the vehicle’s pose relative to a known model of the surrounding buildings. We show the results from an experiment where the 20 tonne experimental vehicle, an autonomous Hot Metal Carrier, was conducting autonomous operations and one of the localisation systems was deliberately made to fail.

Experiments and experiences with dependability for a large autonomous industrial vehicle

This paper describes the experiences gained performing multiple experiments while developing a large autonomous industrial vehicle. Hot Metal Carriers (HMCs) are large forklift-type vehicles used in the light metals industry to move molten or hot metal around a smelter. Autonomous vehicles of this type must be dependable as they are large and potentially hazardous to infrastructure and people. This paper will talk about four aspects of dependability, that of safety, reliability, availability and security and how they have been addressed on our experimental autonomous HMC.

Thermodynamics of Phosphorus and Sulphur Removal during Basic Oxygen Steelmaking

Removal of impurity elements from hot metal is essential in basic oxygen steelmaking. Oxidation of phosphorus from hot metal has been studied by several authors since the early days of steelmaking. Influence of different parameters on the distribution of phosphorus, seen during the recent work of the authors, differs somewhat from that reported earlier. On the other hand, removal of sulphur during steelmaking has drawn much less attention. This may be due to the magnitude of desulphurisation in oxygen steelmaking being relatively low and desulphurisation during hot metal pre-treatment or in the ladle furnace offering better commercial viability Further, it is normally accepted that sulphur is removed to steelmaking slag in the form of sulphide only However, recent investigations have indicated that a significant amount of sulphur removed during basic oxygen steelmaking can exist in the form of sulphate in the slag under oxidising conditions. The distribution of sulphur during steelmaking becomes more important in the event of carry-over of sulphur-rich blast-furnace slag, which increases sulphur load in the BOF. The chemical nature of sulphur in this slag undergoes a gradual transition from sulphide to sulphate as the oxidative refining progresses.

Mathematical model of COREX melter gasifier: Part I. Steady-state model

The COREX melter gasifier is a countercurrent reactor to produce liquid iron. Directly reduced iron (DRI), noncoking coal, and other additives are charged to the melter gasifier at their respective temperatures, and O-2 is blown through the tuyeres. Functionally, a melter gasifier is divided into three zones: a moving bed, fluidized bed, and free board. A model has been developed for the moving bed, where the tuyere region is two-dimensional (2-D) and the rest is one-dimensional (1-D). It is based on multiphase conservation of mass, momentum, and heat. The fluidized bed has been treated as 1-D. Partial equilibrium is calculated for the free board. The calculated temperature of the hot metal, the top gas, and the chemistry of the top gas agree with the reported plant data. The model has been used to study the effects of bed height, injection of impure O-2, coal chemistry, and reactivity on the process performance.

Behaviour of biofuel addition on metallurgical properties of sinter

Blast furnace gas yield is essentially controlled by a gas-solid reaction phenomenon, which strongly influences hot metal manufacturing costs. As a result of rising prices for reducing agents on the international market, Companhia Siderurgica Nacional decided to inject natural gas into its blast furnaces. With more gas inside the furnace, the burden permeability became even more critical. To improve blast furnace gas yield, a new technological approach was adopted; raising the metallic burden reaction surface. To that end, a special sinter was developed with permeability being controlled by adding micropore nucleus forming agents, cellulignin coal, without, however, degrading its mechanical properties. This paper shows the main process parameters and the results from physicochemical characterisation of a sinter with controlled permeability, on a pilot scale, compared to those of conventional sinter. Gas flow laboratory simulations have conclusively corroborated the positive effects of micropore nucleus forming agents on enhancing sinter permeability.

Corrosion behavior in graphite refractories impregnated with ZrO 2 and CeO 2 carrying solutions

This paper investigates corrosion behavior in graphite refractory hot metal impregnated with ZrO 2 and CeO 2 carrying solutions used in Blast Furnace hearth, consisting of 50% graphite and 50% anthracite. Corrosions tests were carried out by means of finger test method in an induction furnace, using bar-shaped 30×30×280 mm test specimens and hot metal from CSN#2 Blast Furnace runner. The temperature chosen for this test was 1520°C and sixty-minute isotherm. Upon test completion, test specimens were characterized by their dimensional variation, X-ray diffractometry and Scanning Electronic Microscopy (SEM).