Abstract: A process for removing mineral matter from coal is disclosed. The process involves creating ultrafine coal by pulverizing the coal feed material and mixing it with an aqueous amine solution. The coal/amine solution is fed into a flotation cell and gaseous carbon dioxide is charged into the cell. The carbon dioxide reacts with the amine solution to form bubbles which carry the "clean" coal component of the coal feed material to the top of the cell for subsequent removal from the cell. The bubbles are reduced in size as they move up within the cell. The mineral matter, which is heavier than the clean coal, stays at the bottom of the cell and can be removed separately. The amine and the carbon dioxide used in the process can be recycled. An associated apparatus is also disclosed.

Abstract: A process for removing mineral matter from coal is disclosed. The process involves creating ultrafine coal by pulverizing the coal feed material and mixing it with an aqueous amine solution. The coal/amine solution is fed into a flotation cell and gaseous carbon dioxide is charged into the cell. The carbon dioxide reacts with the amine solution to form bubbles which carry the "clean" coal component of the coal feed material to the top of the cell for subsequent removal from the cell. The bubbles are reduced in size as they move up within the cell. The mineral matter, which is heavier than the clean coal, stays at the bottom of the cell and can be removed spearately. The amine and the carbon dioxide used in the process can be recycled. An associated apparatus is also disclosed.

Abstract: A system for allowing a robot to be moved and set up quickly to perform a variety of work tasks at different work locations is disclosed. Once roughly positioned at a work location, the robot uses position sensors to establish in its computer memory a set of coordinate axes which match precisely the intersections of the three planes of a reference structure which is in a fixed position relative to the work location. All robot movements required to carry out the work task are made with respect to this set of coordinate axes so that the work task program remains the same independent of the exact position of the robot. A sensor holder and sensor storage bracket which uses the straight line horizontal and vertical movement capability of the robot to permit a programmed pickup and storage of the sensor is disclosed.