Search Documents

In this paper, we present design and implementation details of a fuzzy-behavior-based controller for an automated excavator. This robotic excavator must be equipped with sensors, actuators and an embedded control system. The excavator controller uses neural-networks to interpret forces and torques gathered from bucket mounted force sensors during the excavation process. Implementation details and experimental results using the fuzzy behavior based excavation controller are given for several excavation tasks. These excavation tasks demonstrate some of the complex skills that are essential for an autonomous mining excavator controller.

Jan 1, 1996

By J. N. Van der Merwe

The principal goal of the research described in the paper was to determine, by measurement of pillar scaling on pillars that have not failed, whether the pillar life prediction method developed by van der Merwe (2003) was valid as it stood or whether adjustments were necessary to the rates indirectly derived from observation of failed pillars. To this end, measurements were taken on over 350 pillars at 13sites on 6 mines. The project was done as a collaborative effort between the University of Pretoria, the Nancy School of Mines and CSIR Miningtek. During the course of the investigation, it was found that the majority of pillars display maximum scaling at mid height, that there was no clear preferential direction of pillar scaling, and that pillar corners do not scale significantly more than the mid pillar areas. The most important conclusion was that the scaling rates found by measurement agreed with the inferred rates found in the previous work. The previously developed procedure for the prediction of pillar life spans consequently requires no adjustment, although the error span is in the region of 20%. It is recommended to do further research into the effect of sealing of panels and, possible chemical changes taking place in the pillars as they age on the scaling rate.

Jan 1, 2004

By M. Mead, J. Dumouchel, W. Yule, J. Giroux

The QMM mineral sands of South East Madagascar contain approximately 1,900 million tonnes of mineable sand with a total heavy mineral (THM) content of roughly 4.5wt%. The QMM deposits are the world’s largest known reserves of 60% TiO2 ilmenite and also contain a small volume of zircon. The deposits are semi-continuous and homogenous and the mineralized sands are free flowing with minimal overburden, induration & slimes. These characteristics are favourable to dredge mining and allow the application of conventional wet gravity, electrostatic & magnetic separation to final products. A mature THM mineral suite of high valuable heavy minerals (VHM) content has enabled the development of a relatively simple separation process.

Jan 1, 2005

By Brian Lewis, Reinhold Daykin Schnell

Blasting is the primary and most effective method for breaking and moving material at most mine sites. The blast design is often adjusted in efforts to optimize the effectiveness of the blasts’ explosive energy while minimizing costs. When adjusting blast design parameters, it is important to adjust one parameter at a time, observing and analyzing the potential effects of the change on the overall blast performance.

Feb 6, 2023

By Albert E. Keller

This paper describing the timekeeping and pay-roll methods of the Britannia raining and Smelting Co. (Ltd.) is one of a series being prepared for and published by the United States Bureau of nines regarding office procedures in connection with mining operations. The general office of the Britannia Mining and Smelting Co. (Ltd.) is located at Britannia Beach, B. C., a town of about 600 inhabitants at tidewater on the east side of Howe Sound and about 30 miles from Vancouver, B. C. The Beach, as it is locally termed, is a company town consisting largely of about 250 employees of the company and their families. Here is the milling and concentrating plant of over 6,000 tons daily capacity- the main service units comprising the electrical, mechanical, blacksmith and woodworking shops and the local electric-furnace foundry; the central-heating steam plant; the air and electric generating units; the ball-manufacturing plant; the warehouses; and the general store, which serves this community and also acts as distributor for the general stores located elsewhere on the property.

Jan 1, 1932

By Peter F. Pullen

The need to apply the latest available technology to develop better tools and methods to meet problems in the mining industry was recognized by six of Canada's leading mining companies. As a result, MIROC (Mining Industry Research Organization of Canada) was chartered to identify problem areas in Canadian mining and to have research carried out to develop the tools and equipment to meet these perceived needs. The initial activity of MIROC has been in the environmental field, with improved clothing and protective devices being developed by contractors. Work clothing for miners is now being field tested. Respiratory protection and a new personal light source combined in a new "space-age" helmet are about to be issued for testing. Further developmental work is being carried on to offer these units and probably other personal protective devices on an individual basis as well as in a combined package.

Jan 1, 1979

By Hongqiang Wang, Qingliang Wang, Eming Hu, Zhiwu Lei, Fang Hu, Rui Zhang, Wei Hou

Pyrite, a mineral associated with uranium ore, is closely related to uranium leaching. In this study, Ozone micro-nano bubbles (OMNBs), as an environmentally friendly advanced oxidation technology, were used for the first time to oxidize pyrite under experimental conditions to improve the leaching rate of uranium. A laboratory-scale agitation leaching experiment of pyrite was carried out with a pH of 1.0–3.0, gas flow of 1–3 L/min, ozone generation rate of 0.55–2.22 mg/s, and pyrite concentration of 0.1–5.0 g/L for 1 h. By adding three different co-oxidant: Mn(II), Mn(IV), and Fe(III), it was found that only Mn(IV) increased the oxidation rate of pyrite by 21.7%. The results of the scanning electron microscope (SEM) and X-ray photoelectron spectroscopy (XPS) show that the formation of Fe(III)-O film on the surface of the ore suppresses the oxidation rate of pyrite to a certain extent. Pyrite can be rapidly oxidized up to 57.6% by OMNBs, which is beneficial to uranium leaching. This method is expected to be used for in situ acid leaching of uranium with OMNBs injected into the ground.

Jan 3, 2022

In preparing a paper such as this it was thought that the Newstan Colliery Company Ltd., being comparatively new, would need some introduction to mining people in general.The Newstan Company was formed by the Joint Coal Board in December, 1948 during a period of acute coal shortages. The Company took over the holdings of what were known as the Olstan and Northumberland Collieries, situated at Fassifern, alongside Lake Macquarie and adjacent to the Great Northern Railway, within easy rail access of Sydney and Newcastle, as shown on the locality plan (Fig. 1).The Company was developed in order to produce steaming coal for the power house trade and has continued its activities in the steaming coal trade since its inception. The Olstan and Northumberland collieries were together producing some 300 tons per day when the Company was formed, and it was from this foundation that the colliery was built. The planned development of the Company has been along the lines of producing coal by modern, highly mechanised methods, together with the preparation of theproduct for the consumer, to the highest degree possible consistent with up to date methods.In the comparatively short time of 5t years the mine has developed from a small hand-won coal unit to a high capacity modern mine, one of Australia's largest producers, with an output capacity as high as 3,000 tons per shift.

Jan 1, 1954

By D Carroll

Mining of the zinc, lead and silver deposit at the Broken Hill Southern Operations site has been occurring for over 100 years. As a result of this, a significant amount of high-grade ore is now taken from narrow remnant pillars left between old stopes and zones of previously mined ground. Stopes have been filled with either hydraulic fill (also known as ‘sandfill’), cemented hydraulic fill (cemented sandfill), waste rock backfill or a mixture of these fill types.In the last ten years, there has been considerable success mining through narrow pillars where sandfill is exposed in the development face and/or walls using a ‘shell’ support regime, wherein a layer of bolted mesh is sandwiched between two layers of sprayed fibrecrete (25 mm fibrecrete, then mesh and bolt, followed by a final 50 mm layer of fibrecrete). Shell support is also used in very poor, broken, relaxed ground conditions and in areas filled with cemented fill (sandfill with a minimum four per cent cement content).The next stage of innovation has been to develop a technique for mining through old stope voids filled with uncemented sandfill, known locally as ‘contours’ (old cut-and-fill working), an activity where unconsolidated sandfill can run at the face and from the backs. The challenge is to prevent exposed sandfill in the face and the backs from failing before it can be supported.To achieve this, the Southern Operations mine has implemented a technique in which 6 m long spiling bars are used to strengthen and stabilise the sandfill in front of the face. The hollow steel bars are driven in around the heading perimeter in a closely spaced pattern then pumped full of grout. The bars and the grout stabilise the sandfill in front of the face, preventing it from failing into the drive during excavation and prior to further support being installed.A final support system consisting of shotcrete, mesh, bolts and steel girders is installed as excavation progresses. Both the initial and final support systems are essentially passive support systems designed for a low-stress environment (as the stress originates mostly from the mass of unconsolidated sandfill).This process is slow and labour intensive. Fifteen separate cycles of people/machinery are needed to progress one equivalent heading cut (compared to six for a standard fibrecrete- and bolt pattern-supported rock face heading). This slow pace introduces scheduling challenges, but the process opens up parts of the orebody that were previously uneconomical to mine.CITATION:Carroll, D, 2014. Mining through sandfill using spiling bars, in Proceedings AusRock 2014: Third Australasian Ground Control in Mining Conference , pp 95–100 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Nov 5, 2014

By C. H. Herty

As the problem of inclusions in steel has become increasingly important, more and more attention has been paid to the source of the oxide inclusions in steel. In killed steels the oxide inclusions are traceable to the reaction of deoxidizers with the iron oxide dissolved in the steel during the refining period of the open-hearth heat. In a large class of steel known as "rimming steel" the action of the steel during solidification depends entirely on the gas evolved, and this evolution in turn is controlled by the amount of iron oxide in the liquid steel in the mold. It is therefore of great importance to be able to determine the amount of iron oxide dissolved in steel and to devise methods for the control of iron oxide in any class of steel. The object of the present investigation was to obtain a true value of the oxygen content of liquid steel. If the steel has not been deoxidized, the greater percentage of the oxygen is present as iron oxide in solution.

Jan 1, 1932

By K. L. Paciorek

Organic materials utilized as cable Jacketing, cable insulation, standoffs, insulating boards and potting compositions were identified and d literature survey performed to obtain the required thermal oxidative and moist tracking data. Thirty representative compositions were procured and subjected to thermal and moist tracking evaluations. Tracking was found to invariably result in ignition or glow of the test specimen. Influence of parameters such as electrolyte strength and composition, temperature, conductor spacing, and electrode material were investigated. Volatile s produced by selected insulators on thermal oxidative and electrical stress were identified, quantitated, and their potential impairment action upon a current interrupter assessed.

Jan 1, 1980

By Willard C. Lacy

INTRODUCTION A program to insure adequate talent for development and management of our mineral resources entails two equally important and interrelated aspects: 1) attracting and retaining promising student talent, and 2) providing a first-rate education for those entering careers in mineral science and engineering. Manpower shortages have eased in many areas of engineering, particularly in those areas dependent directly or indirectly upon government contracts in space and war programs. However, in the minerals industry the needs still remain critical. As increasing concern over preservation of the environment has developed, the political and social reaction was to seek out major offenders, to look for "whipping boys" -- and the mineral industry was, and had been, an offender. It was there for everyone to take pictures, it couldn't be covered up, and the Department of the Interior lashed away in the beautiful and popular brochures: Quest for Quality, The Third Wave, The Population Challenge, and Surface Mining and Our Environment (Ravaged Land). The Sierra Club, the Field and Stream magazine, TV, and daily news media added their lashes. In the minds of our social-conscious youth the mineral industry took on the image of "exploiters" of natural resources; "polluters" of streams, lakes, and the atmosphere; "despoilers" of wilderness areas and scenic beauty -- a plague to combat, rather than an exciting challenge that entailed exploration of the remote, conquering of the primitive, and developing of the undeveloped. Enrollments declined and many traditional mineral engineering curricula were abolished or Integrated into other stronger engineering departments to meet student-faculty ratio requirements.

Jan 1, 1971

By Adam H. Zimmerman

Introduction Noranda, like similar businesses, is suffering the pain of previously unheard of currency relationships, a cost structure built in better days, and conditions of gross oversupply possible in almost any commodity. Indeed, it does seem like the worst of all possible worlds is out there before us. To understand a Canadian natural resource company, you must know how the country is organized. So far as natural resources are concerned, Canada is not Canada. Canada is 10 provinces and each own the resources situated therein. Thus, the conditions of extraction, exploitation, and operation are all set by the province, while the conditions of trade and currency are set by the Federal government. This means that what may be the rule in Newfoundland may not be the rule in Manitoba or British Columbia. The second thing is that the Canadian currency has been a satellite of the US dollar for a long time. This means that we hold the unenviable and unjustified position of being the country with the second strongest currency in the world. What this has meant to us is what it has meant to an American operator. Since 1980, a pound of copper fetches 214% more for a Chilean than it does for us and a pound of zinc 115% more for a Belgian. From an American point of view, Canada is favored because its dollar is valued at 25% to 30% less than the U.S. However, because of industrial indiscretions in years past, Canada has a locked in labor cost disadvantage that is very hard to cope with. Canada has a unique situation with its labor unions. Many of the unions are, or have been, internationals and therefore gained undue strength in early days. Canada has a third political party of socialist persuasion. It is entirely funded by dues from laor union members. Thus, we have a politicized workforce. And finally, we have a public service that has the right to strike. This had made the public service unions by far the strongest now in Canada. What this means to the mining industry is that there is somebody out there blazing the trail. The unrelenting power of these public service unions probably creates a climate more conducive to excessive wage settlements in industry than would otherwise be the case. Study, Work, and Pray So what do we do when times get tough? In simple terms, we study a lot, we work harder, and we pray a great deal. We study a lot in terms of learning hitherto unknown strengths and weaknesses of our products, processes, and operations. We work hard in the sense that we do everything possible to improve our productivity. And we pray a lot because, so far, anything else we have done has not been enough. Some years ago, Noranda recognized that its principal base and precious metal operations were diminishing. To provide for the future, we should branch out into other resource type operations. These might be countercyclical and also perhaps a little more permanent. For this reason, Noranda entered the potash, aluminum, and forest products businesses. This, of course, was a 'brilliant' strategy that was much applauded in its early days. We built an excellent potash mine, the smallest inte-

Jan 6, 1985

By David A. Brence, Andrew D. Marti, Richard P. Stahura, Ronald J. Valentine

The development of an effective belt-cleaning system for a new conveyor system seemed a fairly conventional assignment. But a closer examination of the project showed a number of “fine print” details: •High altitude location (with resulting cold weather and low humidity conditions). •Long conveyor length. •Troublesome material (very sticky and capable of hardening like concrete). •Limited water. These difficulties are spelled out the challenge of developing a cleaning system for the production conveyor2 (PC2) belt at Climax Molybdenum’s Henderson Mine.

Jan 1, 2005

By Özgen C. Karacan

It is generally accepted that typical coalbed gases (methane and carbon dioxide) are sorbed (both adsorbed and absorbed) in the coal matrix causing it to swell and resulting in local stress and strain variations in a coalbed confined under overburden pressure. The swelling, interactions of gases within the coal matrix and the resultant changes in the permeability, sorption, gas flow mechanics in the reservoir, and stress state of the coal can impact a number of reservoir-related factors. These include effective production of coalbed methane, degasification of future mining areas by drilling horizontal and vertical degasification wells, injection of CO2 as an enhanced coalbed methane recovery technique, and concurrent CO2 sequestration. Such information can also provide an understanding of the mechanisms behind gas outbursts in underground coal mines. The spatiotemporal volumetric strains in a consolidated Pittsburgh seam coal sample were evaluated while both confining pressure and carbon dioxide (C02) pore pressure were increased to keep a constant positive effective stress on the sample. The changes intemal to the sample were evaluated by maps of density and atomic number determined by dual-energy X-ray computed tomography (X-ray CT). Early-time images, as soon as CO2 was introduced, were also used to calculate the macro porosity in the coal sample. Scanning electron microscopy (SEM) and photographic images of the polished section of the coal sample at X-ray CT image location were used to identify the microlitho types and microstructures. The CO2 sorption-associated swelling and volumetric strains in consolidated coal under constant effective stress are heterogeneous processes depending on the litho types present. In the time scale of the experiment, vitrite showed the highest degree of swelling due to dissolution of CO2, while the clay (kaolinite) and inertite region was compressed in response. The volumetric strains associated with swelling and compression were between ± 15% depending on the location. Although the effective stress on the sample was constant, it varied within the sample as a result of the intemal stresses created by gas sorption-related structural changes. SEM images and porosity calculations revealed that the kaolinite and inertite bearing layer was highly porous, which enabled the fastest CO2 uptake and the highest degree of compression. Keywords: Coal; Carbon dioxide; Sorption; Swelling; Sequestration; X-ray computed tomography; Volumetric strain; Gas outbursts

By Stavros H. Constantopoulos

Mediterranean regions such as Greece, Turkey, Cyprus, Corsica and New Caledonia have experienced epidemics of malignant mesothelioma as a result of non-occupational, ??domestic?? exposure to tremolite asbestos and fibrous erionite. This exposure to tremolite asbestos and fibrous erionite is typified ??domestic?? due to its prevalence in regions with natural deposits of tremolite asbestos (or fibrous erionite) where the material from tremolite asbestos or fibrous erionite is used for domestic applications such as whitewashing. However, these exposures may be useful in examining the potential consequences of even small amounts of amphibole asbestos fibers in the ambient air. It can also elucidate the effects of fibers that behave like amphibole asbestos. However, this type of exposure is not useful for studying the potential effects of small amounts of asbestos in the ambient air of big cities due to the differing nature of the fiber types and modes of exposure between the regions. © 2008 Published by Elsevier Inc. Keywords: Tremolite asbestos; Erionite; Domestic; Environmental; Exposure

Jan 1, 2007

By Richard P. Reiff

"The Facility for Accelerated Service Testing (FAST) program has been involved in numerous rail wear tests since its inception in 1976. A number of specialized tools have been developed to aid in assessing specific performance parameters including gauge face wear, head height loss, metal flow, head area loss, hardness, and welded rail end batter. The layout of a test site, including position in curve, number of measurements per rail, and train operation must be properly controlled/monitored to provide valid wear comparisons.This paper will provide an overview of the above-mentioned tools and techniques. In addition, a summary of recent test results from FAST, including information on head hardened rail investigations, will be provided. A set of guidelines for establishing a revenue service field test site will also be provided to aid users in performing evaluations of their own.IntroductionBackground of Rail Wear Testing at FASTThe Facility for Accelerated Service Testing (FAST) located at the Transportation Test Center, (TIC), Pueblo, Colorado has been involved with testing of rail since program initiation in 1976. A huge data base of rail wear information has been gathered from FAST operations under a variety of rail metallurgies, lubrication conditions, and measurement techniques. Attempts at obtaining meaningful rail wear information from early (1976-1978) FAST rail wear data was hampered by two main factors: (I) measurement techniques were insufficiently accurate for the amounts of wear being experienced, and (2) the lubrication was not sufficiently controlled to obtain uniform conditions for a sufficient measurement time period.Subsequent test periods were operated with improved measurement techniques and controls that ensured statistically valid data. The policies and conditions that permit accurate rail wear assessment will be reviewed and outlined in this paper, along with some specific TIC and field examples that will allow the user to improve the accuracy of a field rail test on their own operating property."

Jan 1, 1988

By M. W. BERNEWITZ

ALTHOUGH many persons know that a lot of type metal and etchings are used in the U. S. Government Printing Office few would expect to find anything on metals in the annual report of the Public Printer, George H. Carter. Yet the report for the fiscal year ended June 30, 1931, contains many interesting items. For example: Among the 57,500,000 lb. of materials and supplies delivered to the printing office was little new metal, but the metal in circulation is 6,000,000 to 7,000,000 lb. In the cost of production $31,523 is charged against metal, nearly one-third for salaries and wages. In miscellaneous sales were $4,696 from waste metal and $1,147 from waste gold (from books). Electrotype and stereotype covered 11,438,314 sq. in. The vaults and storage rooms contain 1,700,000 plates and 130,000 pages of type containing 4,600,000 lb. of metal valued at $275,000. In what was known as the Congressional Globe vault were 46,000 stereotype plates; these were salvaged by remelting for other platemaking service. The Congressional Record superseded the Congressional Globe in 1873.)

Jan 1, 1932

By Patrick J. Hannigan, William H. Walton, Ryan C. Rusk, Van E. Komurka

"The project consists of a 33-story building with two levels of below-grade parking across the entire building footprint. Timely and cooperative teamwork among the owner/developer, geotechnical engineer, testing agency, structural engineer, construction manager, and pile-driving contractor resulted in an efficient, costeffective, high-capacity driven-pile foundation on a constrained urban site with significantly variable subsurface conditions. Design objectives included utilizing the highest allowable pile loads reasonably installed from a drivability perspective, using readily available equipment. A pre-production test program was performed on 16-inch-diameter (406-mm-diameter) steel pipe piles, driven closed-ended and subsequently filled with concrete. The test program included dynamic monitoring of 10 piles during installation, and of select piles during long-term restrike testing with a drop hammer, with one instrumented static load test. CAPWAP® analyses were performed on both end-of-initial-drive and beginning-of-restrike dynamic test records. The site exhibited significant soil set-up, even after relatively short wait times. Testprogram objectives included characterizing set-up profiles. A design set-up profile was used to develop depth-variable driving criteria for both 500- and 600-kip (2,224- and 2,669-kN) allowable load piles. Test program results permitted more-accurate reduced capacities to be assigned to damaged piles, and to piles which experienced practical refusal. These more-accurate assigned reduced capacities decreased the number of replacement piles required by 50 percent, saving both time and cost.PROJECT DESCRIPTIONThe project, located in Milwaukee, Wisconsin, USA consists of a 33-story mixed-use residential building with two levels of below-grade parking across the entire site footprint. Column service loads range from 1,400 to 4,200 kips (6,228 to 18,683 kN). The project is located immediately adjacent to an existing two-story masonry retail building with a partial basement, supported on shallow spread-footing foundations.Subsurface Conditions – The generalized soil conditions are presented in Fig. 1. Site grades were relatively level, with a ground-surface elevation of approximately +53 feet (16 m), Milwaukee City Datum (“MCD”). Fill material from previous construction was encountered to approximate Elev. +33 feet (10 m). Below the fill, medium dense silty sand, to silt with sand, was encountered to approximate Elev. +23 feet (7 m). Underlying deposits consisted of lean clay, with undrained shear strengths ranging from approximately 1,000 to 3,000 pounds per square foot (psf) (48 to 144 kPa). Silty sand, to silt with sand, exhibiting increasing relative density with depth, was found below the lean clay to approximate Elev. -92 feet (-28 m), where hard lean clay (glacial till) with undrained shear strengths in excess of 5,000 psf (239 kPa) was encountered. Borings did not extend below Elev. -103 feet (-31 m)."

Jan 1, 2017

By W. A. McKinney

The segregation process consists of heating crushed oxidized or mixed oxide-sulfide copper are with a copper-volatilizing salt and carbonaceous material at about 750° C. to produce metallic copper which is recovered from the furnace calcines by conventional sulfide flotation. The Bureau of Mines made a number of bench-scale laboratory tests on two copper ores to determine the relative merits of using halogen salts, potassium chlorate, or various salt mixtures as volatilizing agents in segregation of the copper. Laboratory investigation of typical siliceous and calcareous oxidized ores revealed that sodium chloride was a better segregating agent than the other salts. Calcium chloride, magnesium chloride, sodium fluoride, or potassium chlorate gave nearly as good segregation as the sodium chloride on the siliceous ore. Segregation of the calcareous ore with calcium chloride was nearly as good as that obtained with sodium chloride, but inferior segregation resulted when magnesium chloride, sodium bromide, or potassium chlorate was employed. The use of sodium bromide or sodium iodide on the siliceous ore, and of sodium fluoride or sodium iodide on the calcareous are, gave appreciably poorer segregation than sodium chloride or the other salts. Other tests of the ores, using mixtures of sodium chloride and the other halogen salts or potassium chlorate, gave segregation approaching that obtained with sodium chloride.

Jan 1, 1962