Search Documents

By J. Sottile, V. Androulakis

Operators of underground coal mine shuttle cars are exposed to numerous hazards including noise, dust and musculoskeletal trauma. The repetitive nature of shuttle car operation leads to fatigue-related incidents and soft tissue injuries. The poor visibility conditions, and dust and noise increase the occupational hazards to the operator, as well to other miners. To reduce the risks for all miners, towards providing a safer working environment for all workers, the introduction of autonomous shuttle cars is essential. This paper introduces a project to demonstrate the feasibility of incorporating autonomous shuttle cars in the underground coal mining cycle. The autonomous shuttle car will be able to localize itself, to map its surroundings and to navigate in an underground GPS-denied environment. It will also navigate efficiently by fusing different on-board sensor modalities, autonomously planning the optimum path and traversing around the mine while avoiding collisions with humans and other static and dynamic obstacles. This will be achieved by exploring and testing different state-of-the-art techniques and off-the-shelf components, and integrating them into existing equipment, i.e., retrofitting an actual shuttle car. Moreover, a modified mining system will be demonstrated which will incorporate the autonomous shuttle car, capable of making real-time decisions, into the mining cycle. The system will regulate the interactions between the autonomous machinery and the human dynamic, with emphasis given to the safety of the workers, and enable the real-time, remote supervision of the mining process. The focus will be on coal mines, where the room and pillar mining method is used. INTRODUCTION The growing demand for mineral supplies combined with the steady decline in the available surface reserves has driven the mining industry to mine deeper underground deposits. These deposits are difficult to access, and the environment may be hazardous to mine personnel (e.g., increased heat, difficult ventilation conditions, etc.). Moreover, current mining methods expose the miners to numerous occupational hazards such as working in the proximity of heavy mining equipment, possible roof falls, as well as noise and dust. In recent decades, the utilization of autonomous machines has evolved in the mining industry to provide increased health and safety to mine personnel and reduce their exposure to adverse conditions. Automation aims to remove the workers from the hazardous conditions which may be present in an active mining area and place them to a more comfortable and safer environment at a distance from the active mining face. Examples of incorporation of autonomous machinery in the mining industry include the fleet of more than 100 autonomous mine trucks that are employed at the Rio Tinto’s iron ore mines in Western Australia for material haulage. There are also semi-autonomous, teleoperated LHD machines employed at several mines around the world (e.g., Sweden, USA, China). However, the operation of the autonomous machinery in these cases is either partial (semi-autonomous, teleoperated vehicles) and of small-scale or occurs at surface mines where GPS significantly facilitates the autonomous navigation of them.

Jan 1, 2019

By Neal P. Cochran

It is always a pleasure for me to address a group of mining engineers. I am doubly grateful when I am allotted sufficient time to describe the total Office of Coal Research program. My remarks are directed to our total program but I trust you will all understand my emphasis of the utilization aspect of our activities since that is my portion of the program. From its inception, the Office of Coal Research has sought out creative ideas for improving our national use of coal by developing new uses, improved mining procedures, lower costs, and appropriate studies with respect to the resource itself. Quite early in the game, our Economics and Marketing Division contracted for studies with respect to New England export market, Western coal, and similar items. Our Mining and Preparation Division has successfully developed a packaged coal-fired boiler and has partially developed a packaged fluid-bed type boiler as well. Our Mining and Preparation Division is working in such diverse fields as treatment of sewage with coal and the separation of coal into distinct-petrographic constituents so that all fractions of the coal can be put to the best possible use. We would like to be doing more work on improved mining methods, better preparation techniques, and any other mining improvement that will benefit the industry and our program. The synthetic fuel plants I will describe later will operate seven days per week, 24 hours per day. We would like the mine to operate on this same sort of cycle and are prepared to support research that will lead to this.

Jan 1, 1970

By L. S. Gourevitch, E. B. Kremer, A. Y. Fidlin, Y. M. Katsman, I. I. Blekhman

A new kinetic approach to simulation of fracture is given. The main object of the simulation is forecasting transformation of ore lumps size distribution in squeezing of ore layer between two planes. The approach rests on fundamental principles of energy and mass conservation and on new ideas about fracture physics connected with fractal geometry. On this base an integro-differen tial equation of layer crushing kinetics is formulated. This equation is similar to well-known kinetic equation of grinding, but here we use elastic energy density in place of time as an independent variable while selection function is considered by us to be dependent on this variable. Properties of the equation have been investigated by us and its analytical solution has been found. It allows to compute simultaneously both the evolution of the size distribution process of squeezing and force-displacement diagram. Results of theoretical calculations provide a good fit with experimental data.

Jan 1, 1995

By V. Matthews

"INTRODUCTION Typical grinding electrification requirements are defined by high power, constant torque and slow speed. Dual pinion mills also include a need for tight tolerances in torque between the two motors, to avoid overloading any single motor. Standard induction (asynchronous) motors have often been used but only in combination with mechanical gearboxes (reducers), required to reduce process speed to the correct level for mill pinions. The gearbox introduces added system complexity, capital cost, maintenance and energy cost due to mechanical losses. SYNCHRONOUS AND ASYNCHRONOUS MOTORS Elimination of the gearbox requires a motor designed to operate at a very low speed (rpm). Traditionally, mill motor requirements were best served by synchronous motors. The benefits of synchronous motors include- • Higher Efficiency (no conductor losses in rotor) • Very high power at low speed • Flexible Power factor (leading or lagging) • Constant speed (not load dependent) • More accurate speed control Synchronous motor cost is higher due to construction complexity, need for exciter and excitation panel, brushes, brush lifters. Figure 1 represents the equivalent circuit for a synchronous motor.Asynchronous motors, also known as squirrel cage induction motors, are singly excited, per Figure 2, the resulting equivalency circuit is less complex and only in need of a single voltage source.Commonly, a DC voltage supply is connected to the rotor (both physically and electrically) via brushes. The DC voltage enables the production of flux in a single direction. The brushes are connected to rings. The slip rings encircle the rotor but are insulated from the rotor. The slip rings are connected to a rotor winding known as a field winding. On large motors, brushless exciters are often used. A brushless exciter is a small AC generator whose field circuits are mounted on the stator and armature circuits are mounted on the rotor shaft. The exciter generator’s 3-phase output is rectified to DC by a 3-phase rectifier (mounted on the shaft) and fed into the main DC field circuit. It is possible to adjust the field current on the main machine by controlling the small DC field current of the exciter generator (located on the stator). [1] Brushless synchronous motors are often preferred over the traditional brush design but introduce additional complexity to motor construction in the form of additional windings and rectifiers comprising the excitation circuit. It stands to reason that because of the additional complexity, a synchronous motor will be higher in cost than an equally rated asynchronous induction machine."

Jan 1, 2015

By Robert Dimock

The successful management of large dispersed mineral operations is dependent upon accurate and timely decision making. The plant locations providing the data to support the decision making process are generally separated by distances which elongate the time required to accumulate the data at a central focus. The need exists to examine operational data in context with total mining operations, and in relation to target projections and historical trends. The use of microcomputers for local information tasks is an established capability. Grouping microcomputers into local-area networks is rapidly becoming established. Interconnecting multiple local-area networks to provide a free flowing stream of information between all operational locations of a mining enterprise is possible with use of some emerging technologies. The benefit of the potential interconnections and rapid transfer of information can readily be seen from a production reporting perspective. Numerous other advantages exist' by providing routing to enable a workgroup to be established between separated work functions.

Jan 1, 1989

By V. Roze, M. E. A. Robertson, C. J. Sharland

Current Techniques - Fire Assay Fire assay of gold has been used for several thousand years and is a well known technique to the traditional assayer. Very few assayers wish to use the method but to date there has been no viable alternative. Fire assay is expensive in labour, time, capital and running costs. Workers can be exposed to hazards and uncomfortable working conditions such as lead fumes, heat stress, dust and eye strain. The high capital cost of putting up the building and equipping it, together with running costs which increase annually at a prohibitive rate makes the technique less attractive each year. The main requirement in most assay laboratories is to maximise throughput economically. This is difficult with fire assay as it is impossible to automate. Each sample for analysis is handled by at least 12 people and each person represents a potential source of error. Record keeping and report generation has to be done manually which is both slow and prone to errors. Replacement of staff requires a considerable training period and with a large turnover of personnel this presents yet another problem. The presence of silver and dross in the gold sample affects the accuracy at low gold values. X-ray fluorescent analysis Two methods of XRF instrumentation have been used with limited success. The first type is a laboratory instrument employing L X-rays. Small samples of a few grams, which are not representative,

Jan 1, 1988

By T. Glenn Pobanz

For more than fifty years Walter Kidde & Company, Inc. has engaged in the development and manufacturing of both fire suppression and detection equipment. Our initial work for the mining industry centered around dry chemical extinguish-ing equipment for mine haulage cars. To fulfill this need, Kidde engineered and developed a manually activated dry chemical system to provide protection for the wheel wells, cable reels, and motor compartments on various pieces of underground mining equipment. The next phase of mining operation fire protection for Kidde was the area of detection and automatic fire suppression for conveyor belt heads. Early in 1970, a field evaluation program and belt head demonstration unit was taken to 10 areas throughout West Virginia, Kentucky, Pennsylvania, and Ohio. This extensive field program was a joint effort with National Mine Service Company of Pittsburgh, Pennsylvania. The objectives of this program were to study mine hazard problems and to determine further requirements of mine operators. The resulting belt head detection system centered around our Continuous Strip Thermistor Core heat detector in conjunction with a Kidde stored pressure dry chemical extinguishing system. Continuous Strip detection has been in use for a number of years in aerospace applications. It has proven flexible and reliable for the rapid detection of overheat conditions and fires in engines of over half the aircraft flying today. The use of Continuous Strip gave us flexibility to protect surface areas over and around the actual conveyor belt head equipment. The nature of Continuous Strip allows us to bend, wrap, and attach the 20 foot long thermistor element over the desired protected points of the belt head. An integral part of the conveyor belt head protection system is the control panel utilizing our comprehensive knowledge of fire alarm control logic. This panel contains supervision circuits which sound trouble signals upon detecting a break in the Continuous Strip; breaks in the wiring to the remote electrical extinguishing activators or to the alarm bell; or loss of primary power. A separate control module provides the adjustable alarm temperature setting of the

Jan 1, 1971

By L. M. Cenegy

Introduction The formation of scale is common in gold ore processing plants. A working definition of such scale is: "A hard, tightly adhering deposit formed in place by the precipitation of calcium-bearing mineral compounds from water." The most common scale found in gold processing plants is calcium carbonate (CaCO3) although calcium sulfate (CaSO4) is occasionally a problem. The problem of scale in carbon strip circuits Carbon strip circuits present a particularly challenging scale inhibition problem. Many of the factors that tend to promote scaling are present in these systems. For example, carbon strip circuits are run at high temperatures and high pH levels and require long batch cycle times. Tortuous paths are encountered by the strip solution circulating through heat exchangers, pipes and elbows, causing transient pressure drops throughout the system. Severe conditions such as these cause the water to possess a high scaling potential and may lead to the breakdown of some of common types of scale inhibitors. Formation of scale Natural waters contain dissolved minerals and gases that promote scaling. One of the contained gases, carbon dioxide (CO2), is an important factor in scale deposition. Carbon dioxide dissolves in water to yield carbonic acid according to the following reaction: [CO2 + H2O - H2CO3 (carbonic acid)] Carbonic acid rapidly dissociates to yield bicarbonate and carbonate ions depending on the pH of the system: [H2CO3 -s H+ + HCO-3 (pH range 6-10) HCO3 -a H+ + COO (pH range > 9)] In gold cyanidation processes, lime is added to raise the pH of the mill solution to 10 or above to promote cyanidation of the gold and to eliminate the possibility of hydrogen cyanide (HCN) formation. Lime contributes both hydroxyl ions (OH--) and calcium ions (Ca++) to the solution. The normal scale forming reactions in mill water systems were described by Beasley (1973) as: [HCO-3 + OH -s C03 + H2O Ca++ + C03 -a CaCO3] Factor affecting scale deposition According to Linke's (1958) solubility tables, the solubility of calcium carbonate in carbon-dioxide free water is only 13 mg/dm3 (13 mg/L) at 25° C (77° F). Scale deposition occurs when the concentration of calcium and carbonate ions in the solution exceeds the solubility of calcium carbonate. This occurs, in most cases, when the water has undergone some chemical or physical change. Some typical changes that might occur that lead to scale deposition are discussed below. Temperature An increase in temperature can greatly increase the tendency to form calcium carbonate scale. Studies by Miller (1952) have indicated that calcium carbonate is less soluble at higher temperatures. Hence, high temperatures promote scaling. For this reason, scale is often noticed on heat exchangers, autoclaves and other high temperature surfaces. Pressure A decrease in pressure may lead to an increase in the tendency to form calcium carbonate scale. Fulford's (1967) work has shown that scale is more soluble at high pressures. Hence, scale is likely to be prevalent in pump suction lines, elbows, baffles and other areas that produce turbulence and subsequent pressure drops. Change in pH Calcium carbonate scale is pH dependent and tends to form more readily at high pH. Any event that causes an increase in pH, such as the introduction of lime or caustic, would tend to initiate scale formation. Since most gold recovery operations are run at a pH above 10, the tendency to form calcium carbonate scale is always great. The use of scale inhibitors to prevent calcium carbonate scale Many products are commercially available to inhibit the formation of calcium carbonate scale. Some of the more effective types include phosphonates, as well as acrylate and maleate-based polymers and copolymers. Many of these products function by means of threshold

Jan 1, 1992

By E. Alaphia Wright

An accepted approach to open pit mining sequence planning is one of computer aided planning where: the planner works out his mining sequences by trial and error using interactive graphics; This approach gives results that could in- variably be improved given more time for the planning exercise. Increased emphasis on interactive planning reveals a need for simple formalized procedures for improving mining sequence planning practices. This paper discusses a case study in which Dynamic Programming (DP) is used in mining sequence planning. It is shown that DP can be applied to identify various intermediate, pit boundaries. These are then arranged in descending order of economic values and their material contents analysed with respect to tonnages, grades, production requirements, and equipment capacities. Those increments which best satisfy defined conditions are selected and the others discarded. The mining sequence is thus built up as a chain of best- economic valued mining increments satisfying given production requirements and constraints.

Jan 1, 1989

By S. G. Malghan

Flotation is the primary method for copper minerals separation from porphyry ores. The need to process difficult-to--float porphyry copper ores presents challenges to engineers and scientists in several areas. This paper is concerned with summarizing generalized problems faced in processing porphyry ores and treatment methods to overcome them. Though some of the problems are interrelated, they are classified into three broad categories. The case studies of some of the successful applications of innovative methods to solve problems related to ore mineralogy, metallurgical aspects of ore treatment, and process variables show that quite often the problems are solvable by a judicious choice of flotation variables.

Jan 1, 1987

By M. D. Baker

Coal-water slurry preparation requires fine grinding and cleaning of coal by flotation. Finer grinding leads to increased ball wear and its effect on the surface properties of coal becomes of concern. Marked ball wear tests were performed to study the effects of oxygen, pH, the soluble species of coal and the addition of pyrrhotite on ball wear. The synergistic action of coal and oxygen greatly enhanced the corrosion of mild steel balls during grinding. Electrochemical measurements on a mild steel electrode in coal slurries and SEM observations of grinding ball surfaces were carried out to explore the corrosive wear mechanism.

Jan 1, 1989

By Robert A. Haney

Utilizing the recently developed laser velocimeter and a Pitot-static tube, the United States National Bureau of Standards (NBS), has calibrated various types of anemometers that are commonly used in the mining industry. This paper presents a summary of the performance characteristics including accuracy, precision, starting and stopping speeds of each instrument tested. The specific instruments that were calibrated by NBS have become Mine Safety and Health Administration (MSHA) primary reference instruments. These primary reference instruments are used in turn to calibrate secondary reference instruments for each Coal Mine Safety and Health District. Each District calibrates anemometers that are used by District engineers and inspectors. Calibration is accomplished through a substitution procedure in which the reading on the anemometer is compared to the true velocity determined by the reference instrument. Calibration is performed over the entire range of the instrument using an open jet wind tunnel to produce the various approximate velocities. Some specific details of the calibration procedure are presented in this paper.

Jan 1, 1980

By K. E. Laughery

The Nevada Barite industry has experienced a 277% growth over the last five years with a total production of 2,542,000 tons. Total production prior to 1970 approximates 2,700,000 tons dating back to 1907 Annual production, as can be seen in Table 1, has increased from 192,000 tons in 1971 to 723,000 tons in 1975. During this same period U.S production has increased from 825,000 tons to 1,056,000 tons. Nevada is now the leading producer with 69% of the market. The increase in the Nevada barite production is, of course, directly related to the increased demand for weight material coupled with the lack of other sources and the relative economic advantage of the Nevada barite, A significant tonnage of Nevada barite is utilized in the non-oil well market, principally at FMC's barite chemical plant at Modesto, California; however the growth has been in the oil well market.

Jan 1, 1976

By N. I. Jayaraman

Dust scrubbers on continuous miners are steadily gaining in popularity. Recent Bureau of Mines research on scrubbers is reviewed, with emphasis on the following areas: * Development of a new type of water-powered scrubber which can be retrofitted to existing miners. * Comparison of scrubber effectiveness with blowing and exhaust line ventilation. * Improving the quartz dust collection of flooded-bed' panels.

Jan 1, 1989

By S. Atak, G. Bulut

The xanthate adsorption mechanism on pyrite was investigated with an emphasis on solubility studies. Additionally, adsorption studies, Eh and infrared spectrophotometer measurements were performed. Pyrite floats at pH levels between 3 and 6 using ethyl and amyl xanthates with a maximum at pH 4. The solubility of pyrite in the absence and presence of xanthate was investigated in detail with respect to pH and conditioning time. Experimental results showed that the solubility of pyrite increases from 60 to 120 ppm (10-3 to 2x10-3 mol/ L) in the presence of xanthate at pH 3. Fourier transform infrared (FTIR) spectra of ferric xanthate, dixanthogen and pyrite conditioned with xanthate indicated that dixanthogen is the only species that can be determined on the pyrite surface. Adsorption tests showed that the highest level of xanthate adsorption was in the acidic range; yet higher adsorption densities were detected in neutral solutions compared to alkaline conditions. Electrochemical data suggest that the doubling of the iron concentration is due to the reduction of ferric ion to ferrous by xanthate while xanthate is oxidized to dixanthogen. Dixanthogen formation together with the hydrophobic iron hydroxy-xanthate complex on the surface is proposed to be responsible for pyrite flotation. Key words: Flotation, Pyrite, Adsorption, Xanthate, Dixanthogen

Jan 1, 2003

By Kostas Fytas

A computer package has been developed which is capable of evaluating alternative production schedules (long and short range) of an open pit mine once the ultimate pit limits have been defined. The model user can choose the best alternative according to cash flow considerations and the particular mining conditions. The package involves a combination of simulation for long range production scheduling and linear programming for short range scheduling. The simulation model based on an iterative technique, maximizes the profits within each long scheduling period (eg. year or sixth month period), and at the same time defers stripping as long as possible. A minimum exposed ore quantity is kept at the beginning of each mining period. The final long range schedule satisfies a set of constraints for each period, mainly ore quality and quantity constraints for ore and waste. An interactive smoothing procedure at the end of each period results in a schedule that is feasible in terms of mining practice. Finally a cash flow analysis model carries out cash flow calculations so that the user can select the best alternative. The linear programming model, based on a certain number of shovel regions, defined interactively by the model user, calculates the optimum production schedule for each short period under consideration, so that a set of constraints is satisfied.

Jan 1, 1986

By Robert A. Haney, Richard T. Stoltz

In July, 1988, the Mine Safety and Health Administration (MSHA) Advisory Committee on Standards and Regulations for Diesel-Powered Equipment in Underground Coal Mines recommended that the Secretary of Labor set in motion a mechanism whereby a diesel particulate standard can be set. Prerequisite to establishing a standard would be the development and evaluation of instrumentation to measure diesel particulate. In response, the Mine Safety and Health Administration, Dust Division, has been evaluating instrumentation that can be used to determine diesel particulate levels in underground mines. This instrumentation employs the principle of impaction to separate particles by size, thereby, separating the diesel and nondiesel particulate. Separation of the particulate by size was chosen because diesel particulate is generally less than 1.0 micrometer in size. No other methods have been developed to successfully distinguish between the coal and diesel particulate. MSHA developed an impactor that is inexpensive and compatible with existing pumps and filter holders. The instrumentation evaluation has primarily focused on the repeatability and performance of several personal dust samplers. The samplers tested include the Sierra-Andersen Model 298 personal impactor and MSHA developed personal impactor. The MSHA impactor is inexpensive and compatible with the existing pumps and filter holders. In addition to evaluating the precision and performance of these instruments, tests have been conducted to determine background levels of submicron particulate in nondieselized coal mines and to measure the submicron particulate content in dieselized coal mines. Tests were conducted in coal mines where diesel equipment was used only in outby areas and also in coal mines where diesel equipment was used for face haulage. This paper describes the results of the tests and provides a description of the instrument at ion used to conduct the tests.

Jan 1, 1989

By Steve Van Kouteren

Filters and absorbents purify, clarify, and clean many types of liquids by removing solid particles. In addition, absorbents provide a convenient way to handle liquids and to clean up liquid wastes or spills. Filtration or absorptive processes are accomplished either in a mechanical way, as in absorption and filtration, or in a chemical way, as in adsorption. In filtration, minerals and rocks used as filter mediums are extensively utilized in applications requiring the filtration of high volumes of liquids. End use applications include liquid food products, waste waters, petroleum and chemicals, and drugs and pharmaceuticals. Upon closer examination of all of the materials used as filters and absorbents, industrial minerals and rocks represent only a small proportion of the total amount, as shown in [Fig. 1] (Rees, 1991). Given all the industries that use these minerals, most of the volume is concentrated in a few major end-use markets. Within these major end-use markets, a handful of minerals account for most of the total volume and value. The focus for this chapter will be to discuss the industrial minerals and rocks used as filters and absorbents in the most important markets. The selection of the minerals and markets to review is solely based on the total volume of material used and in special cases, those where the value of the market and material is high. The major materials include diatomite, perlite, sand, gravel, and such specialty clays as montmorillonite and attapulgite. These materials are mainly used for the filtration of food, chemical, and petroleum products. In addition, they are used as absorbents for pet litter and oil and grease spills, and as carriers for pesticides and fertilizers.

Jan 1, 1994

By H. E. Rowen

I hope my title is not confusing; even more so that I am not. Actually pelletizing and sintering, meaning both the formation of pellets and the hardening of them, are closely related to each other and to phenomena of nature. Figure. 1 This many-celled porous structure, frozen as it was at the fusion temperature and was being frothed by fast-moving gases, may be considered a typical piece of sinter. The same structures have been found in natural ores.

Jan 1, 1962

By John J. Mulligan

Coal is found in every major geographic region throughout Alaska and in two offshore areas. Since about 1852 over 100 small mines have opened and closed. Last years production was almost entirely from one mine in central Alaska. Clearly the utilization of Alaska's abundant coal resources presents political, economic and technical problems that are far from solution. Location and Physical Features Figure one illustrates the geographical and geological similarity between Alaska and western United States. The Arctic region of Alaska generally resembles Wyoming and the Dakotas. The Brooks Range is an extension of the Rocky Mountains. The Central region of Alaska between the Brooks Range and the Alaska Range bears a general resemblance to the basin and range country of western United States. The Southcentral and Southeastern regions has a similar resemblance to the Sierra Nevadas and the west coast of the United States.

Jan 1, 1982