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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 Cyril W. Draffin

Introduction Americans have long been proud of their ability to recognize a need, define it, and then develop workable solutions. The U.S. underground coal conversion (UCC) program is a good example. In 1974, the need to utilize coal resources that could not be mined was recognized, and Congress gave the Bureau of Mines $1.7 million to gain a better understanding of the UCC technology and its potential applications. Since 1977 when the U.S. Dept. of Energy (DOE) was formed, workable technologies have been tested, the market for underground coal conversion has been recognized, and extensive industrial interest has developed. Perspective The U.S. is blessed with extensive coal resources. Coal supplies about 19% of our national energy needs, yet recently promulgated environmental standards and increasing mining costs have limited direct coal use. UCC potentially can use coal that is economically or technically infeasible to mine because the coal is too thick, deep, dirty, high-ash, and wet; has an excessive angle of dip; or has unpredictable and poor overburden characteristics that make mining unsafe. Coal can be gasified underground or perhaps liquefied below the earth’s surface. Underground coal gasification (UCG) is the prime element of the underground coal conversion program. It enables coal to be converted to gas underground. UCC Coal Resource Recent data show a total U.S. coal resource base of about 6.4 trillion tons. Of this, 1.8 trillion tons might be accessed by UCC, including some minable coal. A commercial UCC process could quadruple roughly the 450 billion tons of U.S. coal reserves, which presently are recoverable by mining. The U.S. coal resources are divided into five sectors. The two most eastern sectors contain relatively thin, swelling bituminous coals that are difficult to gasify. Of the two, the bituminous coal in the Eastern Province is the most difficult because it is deeper than , in the Interior Province and the terrain is more rugged. The sector along the Rocky Mountains contains huge amounts of thick low-rank coals that are the most promising for early development by UCC. The coal has good continuity and the terrain is suitable. Low-rank coals such as subbituminous and lignite are highly reactive and tend to shrink and disaggregate when heated. Most of the coal in the Pacific

Jan 1, 1980

By Cyril W. Draffin

Introduction Americans have long been proud of their ability to recognize a need, define it, and then develop workable solutions. The U.S. underground coal conversion (UCC) program is a good example. In 1974, the need to utilize coal resources that could not be mined was recognized, and Congress gave the Bureau of Mines $1.7 million to gain a better understanding of the UCC technology and its potential applications. Since 1977 when the U.S. Dept. of Energy (DOE) was formed, workable technologies have been tested, the market for underground coal conversion has been recognized, and extensive industrial interest has developed. Perspective The U.S. is blessed with extensive coal resources. Coal supplies about 19% of our national energy needs, yet recently promulgated environmental standards and increasing mining costs have limited direct coal use. UCC potentially can use coal that is economically or technically infeasible to mine because the coal is too thick, deep, dirty, high-ash, and wet; has an excessive angle of dip; or has unpredictable and poor over-burden characteristics that make mining unsafe. Coal can be gasified underground or perhaps liquefied below the earth's surface. Underground coal gasification (UCG) is the prime element of the underground coal conversion program. It enables coal to be converted to gas underground. UCC Coal Resource Recent data show a total U.S. coal resource base of about 6.4 trillion tons. Of this, 1.8 trillion tons might be accessed by UCC, including some minable coal. A commercial UCC process could quadruple roughly the 450 billion tons of U.S. coal reserves, which presently are recoverable by mining. The U.S. coal resources are divided into five sectors. The two most eastern sectors contain relatively thin, swelling bituminous coals that are difficult to gasify. Of the two, the bituminous coal in the Eastern Province is the most difficult because it is deeper than in the Interior Province and the terrain is more rugged. The sector along the Rocky Mountains contains huge amounts of thick low-rank coals that are the most promising for early development by UCC. The coal has good continuity and the terrain is suitable. Low-rank coals such as subbituminous and lignite are highly reactive and tend to shrink and disaggregate when heated. Most of the coal in the Pacific

Jan 9, 1980

By K. Norrena

Grade control in open pit mining requires the specification of dig limits that account for mineral grades, economic costs, and selectivity of mining equipment. Visual identification of ore rock types is ideal, but this is not always possible in lower grade disseminated deposits where ore/waste contacts are not visually discernible. In this case, conventional grade control practice consists of a two-step procedure (1) create a map of mineral grades at some selective mining unit scale, and (2) determine practical ore-waste boundaries or dig limits on the basis of the gridded block grades or assay information. This procedure is laborious, depends on a subjective assessment of where the boundary should be, and may be economically sub-optimal. We pose the determination of dig limits as an optimization problem and solve that problem with the technique of simulated annealing. Simulated annealing has the unique advantage of being able to combine multiple non-linear constraints into a single objective function. We use maximum profitability and the ability of the equipment to mine the proposed dig limits as constraints in the determination of optimal dig limits. We require a map of expected profit for eah block. Geostatistical techniques are recommended, for mapping expected profit but not necessary. Geostatistics will provide a quantification of the uncertainty in the grades within rock types using all available blasthole samples and exploration drilling. Some variant of L-optimal estimation or kriging can be used to determine the block-by-block classification that is economically optimum. We also need the expected profit for each block. It is unrealistic to assume free selection, that is, each block cannot be extracted independently of its neighbors. The optimal balance of ''accepting dilution'' and ''wasting ore'' is achieved to maximize profit subject to equipment constraints.

Jan 1, 2001

By M Swart, H Ståhlbröst, P Toor

Development of SAG liners has always been a strong focus and interest in mineral processing as SAG liners significantly impact on plant performance (throughput and grind size), material costs and plant downtime. SAG shell relines typically determine the frequency and duration of plant shutdowns. Early SAG shell liner designs relied heavily on practical experiences and were limited in their size due to weight restrictions. Significant developments in Discrete Element Method (DEM) modelling, material and manufacturing technologies and larger reline machines have resulted in new and improved liner designs. This paper discusses the evolution of SAG shell liner design and its progression to the Skip Row design. Case studies have been provided for the Skip Row design in a variety of applications such as Single Stage SAG (SSS), SAG and Ball (SAB), SAG and Ball with Crushing (SABC) and Pre-Crush at a variety of mill diameters ranging from 24 foot to 34 foot. A detailed assessment has also been carried out comparing liner service life, ease of reline and performance (throughput, power and grind size) for a large 34 foot SAG mill when compared to the previous design.CITATION:Toor, P, Swart, M and Ståhlbröst, H, 2017. The evolution of SAG shell lining and introduction of the skip row design, in Proceedings MetPlant 2017, pp 158–184 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 11, 2017

By H. I. Kim

The leaching of a complex matte in chlorine and chloride media was studied. The matte was prepared from manganese nodules by the reduction smelting-sulfidation route. From XRD analysis, the major phases of the matte were identified as CuFeS2, CuS2, (FeNi)9S8, (FeNi)S2, Ni9S8, Ni3S2, (CoFeNi)9S8 and Co metal. Investigated were the chlorine, hydrochloric acid, hydrochloric acid-oxygen, ferric chloride, ferric chloride-oxygen, cupric chloride and cupric chloride-oxygen systems. The results are discussed in terms of reagent concentration, retention time, leach temperature and gas sparging rate. The chlorination process resulted >99% metal extraction efficiency within a short retention time and at atmospheric temperature. However, there were no preferential extractions of Cu, Ni and Co with respect to Fe. The cupric chloride-oxygen system produced leach liquors with the lowest Fe content and with a high base-metal extraction. Sulfide sulfur was converted to mixtures of elemental sulfur and sulfate in all the studied systems.

Jan 1, 2009

By S. E. Phillipson

The Late Miocene San Cristobal Ag-Zn-Pb deposit represents syngenetic and epigenetic mineralization with low- and high-sulfidation characteristics. Geology is characterized by barren dacitic ring fracture domes, mineralized resurgent rhyodacite domes, strongly altered and mineralized tuffaceous lacustrine sedimentary rocks, and an extensive crystal-lithic tuff debris apron. The ore body is hosted by intra-cauldron sedimentary rocks and breccias. Fluid inclusions suggest that silver, lead, and zinc were transported as chloride complexes and precipitated by cooling in veins from <5 wt. % NaCl eq. fluids at 170°-215° C. Silver associated with resurgent rhyodacite was transported as a chloride complex and precipitated by increased H2S activity or increased fluid pH.

Jan 1, 2001

By S. Makni, S. Koppalkar, A. Bouajila

ABSTRACT This paper briefly reviews the gravity recovery between conventional and centrifugal gravity separators. The advantages of semicontinuous gravity separators will be discussed, as will techniques for upgrading the gravity concentrates. The research efforts in optimizing semicontinuous gravity separators will be recalled. An innovative gravity circuit for eliminating or minimizing the use of complex processing schemes will be reviewed. Ongoing gold gravity research has revealed that gold particle shape transformation is one of the main factors explaining the lower recoveries of the plant units. Efforts to devise possible remedies for improving plant gravity recovery will be discussed.

Jan 1, 2013

By P. Lefebvre, J. Sargent, K. Major, B. Darnton

"Stillwater Mining commenced mining operations at Nye, Montana in 1987 for the recovery of platinum and palladium. Exploration identified that the J-M Reef extended for 43 km. In 1998 Stillwater Mining made the decision to develop the East Boulder mine complex, located approximately 13 miles from the Stillwater mine complex at Nye, to increase production. This paper describes the design, construction, and start-up of the East Boulder process plant.INTRODUCTIONStillwater Mining Company have been producing Platinum and Palladium from their Nye, Montana operations since 1987. The mine production from Nye had been increased in stages with mine production being delivered through several portals and one vertical shaft.The deposit is narrow veined which prevents the application of bulk mining methods and thus limits the production capabilities.In order to increase the production of platinum (Pt) and palladium (Pd) Stillwater made the decision to access the ore from the J-M Reef from the East Boulder site. The East Boulder mine site is located about 21 km (13 miles) from Nye, however as shown in Figure 1, the travel distance is closer to 188 km (114 miles). Distance, on strike, and space availability at Nye precluded the expansion of the Nye concentrator to handle the increased mining rate and supported the decision to install a new concentrator at East Boulder."

Jan 1, 2003

By D. Turnbull, H. N. Treaftis

Precipitation of tin from Pb-Sn alloys (lead-rich) occurs by the nucleation and growth of hemispherical cells which consist of tin lomelloe interspersed in the depleted solid solution. Nucleation and growth of these cells and the tin interlamellar spacing at various compositions and temperatures have been investigated. The interlamellar spacing increases approximately as the reciprocal of the logarithm of the supersaturation ratio. For constant initial tin concentration the concentration of cell nuclei increases with decreasing temperature to a limiting temperature-independent value. The kinetic results support the view that the cell growth rote is governed by the diffusion of tin along the cell boundary. In the main, the results confirm the authors&apos; earlier deductions, drawn from resistometric and calorimetric data, about the precipitation mechonism. IT has been shown1, 2 that tin (ß) precipitates from lead-rich (a) PbSn solutions by the nucleation and growth of cells (cellular or discontinuous precipitation). These cells consist of tin lamellae, with a spacing 1, interspersed in a depleted a solution. Reorientation of a also accompanies cell growth. The kinetics of cellular precipitation of tin from lead have been measured by resistometric2, 3 and ca1orimetric1, 3 techniques. The time-transformation isotherms (t equals time; x, volume fraction of specimen transformed) of the initial rapid precipitation, which drains about 60 pet of the tin from solution, have been described by a kinetic law having the form x = 1 —exp (—bt n) [I] where n usually has the value 3.0. It was shown" that this law and the other kinetic facts can be explained satisfactorily if it is assumed that the cells grow at a constant rate and that all the cells nucleate in a time negligible in comparison with the period of cell growth before impingement. Thus, for hemispherical cells b = (2/3)pNG3 [21 where G is the rate of cell growth in cm per sec, and N is the number of cell nuclei per unit volume. The rapid rate of cell growth at low temperatures can be accounted for"&apos; if it is assumed that the dissolved tin drains to the lamellae edges by diffusion along the sweeping cell boundary rather than by diffusion through the a crystal (volume diffusion). For cell growth governed by cell boundary diffusion it was shown, approximately G=2(X° - X° / X° ) DBA / l2 where A equals the thickness of the cell boundary; D R, the coefficient of diffusion of tin atoms within the boundary; and X° and X, are the atom fractions of tin in the supersaturated and saturated solutions, respectively. Zener8 had already shown that, where

Jan 1, 1959

By J. Gao, H. O. Gekonde, S. V. Subramanian

"The functional role of inclusions at low cutting speeds is to promote ductile fracture in chip formation process, whereas the role of inclusions at high cutting speeds is to prevent tool crater wear by suppressing the tribological phenomenon of seizure at the tool-chip interface. Glassy oxide inclusions are engineered into the workpiece to form a viscous layer in-situ at the tool-chip interface at high cutting speeds. The viscous layer lubricates the tool-chip interface to prevent the seizure. In comparison with the large volume fraction of inclusions needed for promoting ductile fracture at low cutting speeds, the amount of inclusions required for lubricating the toolchip interface at high cutting speeds is very small and is in the range that is typical of clean steels. The chip fracture process at high cutting speeds is aided by strain rate hardening of the matrix, which facilitates chip disposal of relatively clean steel.Inclusion engineering for high speed machining involves the control of the rheology and composition of inclusions to meet target viscosity at the tool-chip interface. The application of thermodynamic models in controlled production of inclusions in steels designed for high speed machining is discussed."

Jan 1, 1998

By Eugene McAuliffe

HAVING reached the status of an octogenarian plus, I suddenly decided to take a trip to Great Britain by airplane, before the possibility of hardening of the arteries made such a program too precarious. Of thirty June and July days spent in the islands, five were spent in the south of Ireland, or Eire as the politicians like to call their country. On June 15 I arrived in Glasgow where a day was spent with old friends before moving on to Edinburgh, where the Institution of Mining Engineers was billed to hold its summer session. I had received a cablegram before leaving New York inviting me to attend the sessions which I accepted with avidity, spending three most enjoyable and informative days with old friends and the officers of the Institution, Douglas Hay, president; Ian McDermid, secretary; and members of the council.

Jan 1, 1947

By Paulo José Costa Couceiro Junior, Manuel Lopez Cano

The biggest Port of Latin America - the Santos Port in São Paulo, Brazil - has been drilled and blasted by controlled underwater techniques in order to remove around 40,000 m3 (52,318 cubic yard) of rock divided in two outcrop rocks: Teffé and Itapema. Underwater pumped explosive, in combination with small cartridges areas, was successfully used in order to reach a target depth of -15m (-49 ft) and a width of 220m (722 ft) in the navigation channel. It was the first time that a pumped explosive was used in underwater blasting in Brazil and it represents a historic benchmark for projects of this kind in this country. The main challenges faced in this project include the control of the ground vibration, due to the necessity to carry out detonations 40m (131 ft) away from the quay wall - where the passenger terminal and the 80 year-old warehouse were located – and the rush schedule available, in order to finish the underwater drilling and blasting phase before the coming cruise season. Therefore, the perfect combination of an ideal pumped product with an effective pumping system has permitted to carry out the project in a record of less time than 3 months (against to the original expected time of 18 months), with all vibration events under control as result of the special ground vibration program carried out.

Jan 1, 2016

By D. Kolymbas

A simple formula is introduced which allows the evaluation of dynamic pile tests. The following case is considered: The pile top is dynamically loaded by an impact. The velocity v of the pile top is recorded over the time. Let v1 and v2 be the first and the second maximum of this curve. Then, the pile bearing capacity (resulting from ideally plastic resistance at the pile wall and at the tip) can be set approximately equal to Z(v1- ½ v2), where Z is the impedance of the pile cross section. Due to the assumption of ideal plastic resistances, radiation damping needs not be taken into account. Material damping may be important in rate sensitive soils (such as clay, even if it is highly overconsolidated). A simple correction procedure for material damping is proposed.

Jan 1, 1989

By Henry C. Meeves

The Bureau of Mines investigated the silver production potential of the Leadville (California) mining district, Lake County, Colo., in 1966-67. The mining history of the district, the ground conditions encountered in mining, and the mine-support methods used are reviewed. The drainage problem is discussed in detail. An initial objective was to establish the existence of potential silver resources minable by low-cost open-pit methods, particularly in the silver-bearing manganese halos surrounding the major deposits. The report concludes that under present conditions, development of the deposits in the area is not economically feasible; however, a pioneer rotary noncore drilling program demonstrated that this type of exploration is technically feasible. Potential reserves of silver and associated metals are estimated. Possible mining methods for recovery of the reserves are discussed. Future production possibilities from the various subareas of the district are analysed, considering optimum operating size. Consolidation of small individual holdings for unit operation is recommended. Type of operation, amount of rehabilitation, size and type of concentrating plants required, drainage and other mining problems, and metal price trends are discussed as they bear on economic feasibility of development.

Jan 1, 1970

By R. W. Stahl

Coal mining has been revolutionized by the continuous miner. This machine has replaced, or has combined into 1, 3 former operations: Cutting, blasting, and loading. During the 25-year period before this machine was introduced, advances had been made in transportation, but the actual "coal getting" remained virtually the same. As frequently occurs, the multiple-purpose continuous miner introduced a new hazard--more rapid liberation of methane. The coal output formerly obtained from 10 to 20 working places might now be obtained from 1. It is true that circulation of air was generally increased; but the bulk of this machine virtually precludes continuous flow of air across the face, where gas may accumulate. Apprehension about this possible hazard led the Bureau of Mines to test face atmospheres during operation; and Report of Investigations 5288, Methane Buildup During Cutting and Continuous Mining Operations (published in 1956), presents proof that real danger may be present in many otherwise well ventilated mines.

Jan 1, 1958

By S. G. McAnally

This is one of a series of papers describing mining and crushing methods and costs at cement plant quarries throughout the United States and deals directly with the methods employed and costs obtained at the Reliance quarry of the Giant Portland Cement Co. at Egypt, Pa., although it is more or less descriptive of the methods used throughout the Lehigh Valley cement district. Systems of transportation vary according to local conditions, such as proximity to the mill, depth of quarry floor with relation to the mill level, etc. Methods of prospecting differ mainly in the type f drills used. Systems of storage, crushing, and grinding vary chiefly in the types of units. ACKNOWLEDGMENTS Most of the information regarding the early history of the Lehigh cement district was obtained from the History f the Portland Cement Industry of the United States, by Robert W. Lesley, the first president of the Portland Cement Association. The writer is indebted also to Charles Clader, Giant Portland Cement Co. quarry superintendent, for valuable information regarding present and past methods and equipment.

Jan 1, 1931

By Llewellyn A. Rubin

ROUTINES AND SUBROUTINES A- 1 Wait Loop (Wait) A- 2 Receiver Processing (RCVP) A- 3 Control Panel Sequence (CPNL) A-4 Interrupt Routine (INTRP) A- 5 Math Processing Routine (PROC) A-6 Input Constants for Math Routine (CONI) A-7 Angle Conversion Routines (LVERT) A- 8 Display Routine (DSPY) A- 9 Message Print Auxillary Routine (MESSO) A-10 Auxillary Subroutines (AFUTC and AGETC)

Jan 1, 1973

By Lorena Blanco, Guillermo Gómez-Ramos, Iker Blasco, Egidio Marino, Luis Somoza, Ricardo León, Teresa Medialdea, Javier González

"This study presents the first catalogue of marine mineral deposits and energy resources along the continental margin of Spain. Aggregates, oil and gas and metalliferous mineral areas have been defined and mapped. The catalogue, implemented in a geographic information system (GIS), is conceived as a first national database within the European network, which is being built as part of the EMODnet-Geology project. It comprises 8 types of mineral and energy resources for the Spanish margins: aggregates, hydrocarbons, evaporites, placer deposits, phosphorites, polymetallic sulfides, polymetallic nodules and cobalt-rich ferromanganese crusts (Figures 1 and 2). The catalogue stores a total of 409 marine mineral deposits and compiles information such as name, deposit type, main morphology, main minerals, setting or area extent for each mineral deposit. By number of deposits compiled, the aggregates are the most abundant (286) followed by hydrocarbons (62), cobalt-rich ferromanganese crusts (32), evaporites (9), placer deposits (8), phosphorites (5), polymetallic nodules (4) and polymetallic sulphide deposits (3). Considering the total extension, hydrocarbons (32,386 km2) and cobalt-rich ferromanganese crusts (24,951 km2) represent the biggest areas.The Geological Survey of Spain (IGME) is developing a new tool in the catalogue, according the International Seabed Authority (ISA) Database parameters, for individual samples on each ferromanganese deposit. The database includes an extensive collection of records that comprise five information groups: general cruise and sample data, physical properties, mineralogy, geochemistry and acronyms used. New attributes have been incorporated, in example: geophysical, sedimentological and petrological data in the deposit area, sample weight, porosity, morphology, textural and structural features, geochemistry of major, minor and trace elements (included REEs and PGEs) and supplementary cruise and laboratory reports. This new database complements the EMODnet-Geology project minerals catalogue, offering a deeper level of information for the areas with major potential for mineral or energy resources as they are the Canary Island Seamount Province, the West Margin of Galicia and the Gulf of Cadiz."

Jan 1, 2017

By RENE GOMEZ, RAUL CASTRO

Estimation tools and models are now available to estimate fragmentation, but some variables have yet to be studied to understand their effect on the fragmentation process. One such variable whose mechanisms have yet to be studied is the residence time, which in block caving directly depends on the distance that fragments travel from their original position in the broken ore to the drawpoint. In this study, granular material fragmentation was characterized during its flow to understand its characteristics and mechanisms. The results show that the breakage of fragment singularities occurred mainly within medium and smaller sizes, increasing fine material during flow. Thus, the main fragmentation mechanism in experiments was identified as abrasion between rock fragments where fine material continuously increases as distance increases in spite of the high rock strength and the piston flow movement used. The results presented here can be applied to incorporate fragmentation during flow of large travel distance of ore such as in block caving.