Search Documents

By L. M. Gochioco

The Seismic Interactive Interpretation Workstation (IIW) integrates various sets of geophysical and geological data to form a network of information which is stored in a database. Computer models are generated from known drillhole information and later correlated with the processed seismic data. Seismic color processing adds another dimension to the interpretation process. Complex trace attributes provide better definition of subtle features not easily observed from black and white sections. Utilizing the computer workstation, the explorationist gains valuable insight and conducts more intelligent interpretation of seismic data through a more comprehensive network of data analysis.

Jan 1, 1989

By R. Masse, J. Chameaud, J. Lafuma, R. Perraud

Estimating the risk of lung cancers for workers in uranium mines and defining the resulting dose equivalent limits have been made possible thanks to work carried out in two scientific fields : physics and epidemiology. Theoretical calculations on the basis of physical models for the former and epidemiological surveys on the mortality of uranium miners from lung cancer for the latter. However, even though considerable work has been done in these two areas, the results obtained still remain controversial on several points. The radioactive and physical instability of the aerosols present in the atmosphere of the mines and the biological complexity of the human lung which even the most sophisticated physical models can reproduce only very schematically have often proved to be insurmountable difficulties for physicists, explaining the uncertainties which subsist concerning the dose delivered to the various parts of the respiratory tract from the air breathed by miners during their work. Epidemiological investigations on the other hand, in spite of the high quality of the surveys carried out, remain open to criticism, essentially because of the very approximative estimation of the individual occupational exposure to radon daughters. This is due to the fact that uncertainties arise from the measurement of radon gas if the state of equilibrium with the daughters is not accurately known or, if the active deposit is measured, to the fact that these measurements are insufficient in number. The controversies and discrepancies which subsist with regard to the evaluation of the level of risk, and in particular for low doses, can thus be understood. In addition, epidemiological surveys cannot dissociate the carcinogenic action of radon from the synergistic or potentiating actions of tabacco and of other pollutants present in uranium mine air. Animal experiments have been largely taken into account for evaluating the toxicity of various radionuclides. This type of experiment is necessary when human data do not exist and has provided us with much information. For instance, the relative biological effectiveness of the various types of radiation, the metabolism of radionuclides and the mechanisms of cancer induction have been approached and satisfactorily resolved in this way. Concerning radon and its daughters, however, animal experiments have been used very little even though it seems apparent that they should complement epidemiological studies. For instance, whereas doubt can be cast on the data obtained from human epidemiology because of the uncertainty concerning the individual exposure of miners, those drawn from experiments are indisputable because in this case the dose is as perfectly known as the effect. In addition, the effects of radon can experimentally be appreciated separately whereas in the surveys, they cannot be dissociated from the effects of the other pollutants in the mine. Finally, there are no other means of dealing with the mechanisms of cancer induction. In order to gain any useful knowledge from this method however, the experimental model must necessarily present certain methodological guarantees and the effects seen in the animals must enable a comparison with those which appear in man. For this reason we will present here the animal model we have been using for 15 years, and will give the results obtained and compare them with human data and made a synthesis. Finally the conclusions which can be drawn will be discussed as well as their limitations with respect to the protection of uranium miners. I - MATERIAL AND METHODS Male SPF Sprague-Dawley rats were used. At the onset of the inhalations they were around 3 months old. Their small size makes it possible to expose a large number of animals at the same time. Their life-span is long enough to be able to follow the evolution of the cancers and to estimate the latency time. Finally, they present the advantage of having a very low rate of spontaneous lung cancers (SANDERS, 1979). I.1 - Three inhalation techniques were used. 1.1.1. – [Inhalation of radon decay products.] The inhalation apparatus has been described previously (CHAMEAUD et al. 1971). The first experiments utilized a room of a half cubic meter linked to a source made up of high grade uranium ore. Later on, a large installation was built with a 10 m3 inhalation chamber making it possible to expose up to 500 rats at one time at radon concentrations ranging from 100 to 10 000 WL for variable lengths of time (1 to 10 hours per day). These concentrations are higher than those to which the miners are generally exposed, but in order for the cumulated doses in man and in animal to be similar and delivered for the same fraction of their respective life-spans, the ratio of the concentrations should be approximately that of the life-spans. The concentrations of radon and its daughters during the experiments were carefully controlled thanks to multiple samplings of radon gas associated with measurements of radon decay products. I.1.2 – [ The dust inhalation chamber] has already been described : it is a dust-loading chamber where the dust content remains constant during the experiment and can hold over 20 - 30 animals (PERRAUD et al, 1970). I.1.3 – [Tobacco inhalations] take place in a smoke box

Jan 1, 1981

By A. T. Iannacchione

Unfortunately from 1991 through 1995, 44 miners were fatally injured in the stone industry. Of these 12 occurred at underground mines from a total work force of less than 2,000 miners. Nine of these 12 miners were fatally injured in falls of roof or rib. A safer environment for the miners can be achieved by evaluating the nature of the hazardous ground and by developing more efficient and effective ground control strategies. Roof and rib conditions in the underground stone industry were observed and assessed at 33 mines in Illinois, Indiana, Kentucky, Maryland, Missouri, Pennsylvania, and West Virginia (Figure 1). Hazard assessment indicated that those ground failures occurring under moderate to substantial overburden ( > 30 m [100 ft]) were caused by stress concentrations and geologic structures. Ground failures near the surface are caused by solution (water) processes. Selection of the mining horizon and mine layout decisions tremendously influence ground stability.

Jan 1, 1997

By Xuebin Liu, Yi Shang, Can Zhou, Hongqiu Zhu, Junbo Du

In the neutral leaching process of zinc hydrometallurgy, the pH value directly affects the leaching rate of zinc calcine. However, due to the complex mechanism of the leaching process and frequent fluctuation of working conditions, it is difficult to control the pH value by manual control. Therefore, this study proposes a fuzzy control method based on rule extraction under multiple working conditions, and analyzes the pH control performance. Firstly, the different operating states are classified according to process mechanisms and the Pearson method. Secondly, under the framework of the active learning algorithm, the approximate linear dependence (ALD) method is introduced to iteratively select samples with rule information in the original sample set for manual annotation. Then, the support vector machine (SVM) method is used to extract fuzzy control rules in different working conditions. Finally, a fuzzy rule set is established according to the samples mapped by the support vector. The simulation results based on industrial data show that the proposed method has better control performance than conventional fuzzy control and proportional–integral–derivative (PID) control.

Apr 1, 2024

By J. A. Farinelli

In the Appalachian region of the United States, approximately 40% of the underground coal reserve base exists in seams 0.7 - 1.1m thick. These seams are, in general, often of premium quality and are frequently accessible through above-drainage drift-type openings. Unfortunately, there are no apparent advantages to mining thin seams, if quality is disregarded. The thin-seam mine is faced with the same legal and economic pressures as any other underground coal mine. But in addition to these common problems, thin-seam operations must also deal with the unique problems associated with mining at such a restrictive height. Small-scale, short-lived operations appear to be the most feasible means of mining these reserves. The purpose of this paper is to evaluate the production and safety potential of various thin-seam mining systems. Recommendations will be made regarding present and future thin-seam operations.

Jan 1, 1987

By A. M. Wala

It is common practice in Appalachia, when extending the life of an existing mine, to acquire the adjacent reserves and extend the existing mine into it. Also, often the existing mine is renovated to accommodate the new conditions. The existing mining system and the track and belt haulage systems may be modified while the new property is integrated into the old one. All of these changes create new constraints for the mine ventilation system (M.V.S.) that require proper planning and control procedures. The authors describe and present the study that was carried out for the ventilation system of a newly expanded underground coal mine located in the Appalachian coal region. Discussed first is the process of correcting the ventilation system of the existing mine. Then, some of the stages of controlling the expanded system are discussed. Finally, numerical data for these steps are presented.

Jan 1, 1992

By N. Pearson, F. Calizaya

PT Freeport's mine in Irian Jaya, Indonesia uses a number of 500 m (1,640 ft) long vertical ore passes to transfer ore from the open pit to the mill. The current tonnages moved are in the order of 125 kt/d (138,000 stpd) and this will be increasing to 240 kt/d (265,000 stpd). This amount of falling rock generates high pres¬sures in the ore bins, when ore feed is terminated the pressure is no longer constrained resulting in back blasting of materials and air the ore passes. Three methods were tested to try and eliminate or reduce this problem; recirculation the entrained air, widening of the orepasses and relieving the pressure the back blast. The final method proved to be the most effective in the short term. As a long term so¬lution the orepasses are currently undergoing widening.

Jan 1, 2000

By William C. York-Feirn, Jeffrey H. Kravitz, David Stalfort

"Mining is an inherently risky business. Over the years, major mine disasters have resulted in the deaths and injuries of thousands of miners in the United States. These disasters also resulted in innovations in approaches to mine design, operations and the training of miners and mine rescue teams. The U.S. Congress responded to these disasters with new laws designed to create mandatory safety and health standards as a means to eliminate fatal accidents; to reduce the frequency and severity of nonfatal accidents; to minimize health hazards and to promote improved safety and health conditions in the nation’s mines.Following a mine emergency preparedness and response holistic gap analysis in 2012, the U.S. Mine Safety and Health Administration (MSHA) identified the need for the development of risk and readiness assessment models for MSHA and the mining industry. MSHA’s objective was to evolve existing theoretical concepts for risk and readiness assessment into simplified tools that can be applied by the mining industry for use at operational levels. In 2012, MSHA hired ABS Group, a recognized industry leader in safety risk management and a wholly owned subsidiary of the American Bureau of Shipping, to develop self-assessment models to help meet this objective.In September 2012, MSHA chartered a project to supply the coal mining industry with a pro-active toolset for mine operators to:1. Self-assess the risks associated with underground coal mining operations in order to prevent major mine emergencies.2. Assess the preparedness of mine operators to respond to an emergency.3. Measure the readiness of mine rescue teams and responsible persons to execute emergency plans.MSHA’s objective was to evolve existing theoretical concepts for risk and readiness assessment into simplified tools that can be applied by the coal mining industry for use at operational levels."

Jan 10, 2018

By A. D. Hammond

"INTRODUCTION Vanadium deposits in Arizona are distributed all across the state, from the rim of the Grand Canyon to the Tombstone mining district in the southeast corner of the state (Figure 1). The combined past production of vanadium from Arizona and New Mexico ranks second nationwide, after deposits in the Colorado Plateau In the northeast corner of the state, in the Carrizo Mountains and Monument Valley of Apache and Navajo Counties, vanadium was produced as a by-product of uranium in deposits of the Salt Wash and Shinarump members of the Morrison and Chinle formations, respectively. The production took place between 1943 and 1970. Another source of vanadium in Arizona occurs in vanadate deposits associated with supergene enrichment of base-metal vein and replacement deposits. The most important vanadate mineral is vanadinite, a chloro-vanadate of lead. Presently, there are no primary mines of vanadium in the United States. In 2012, a small production of vanadium pentaoxide (V2O5) was reported as a by-product of uranium at the White Mesa uranium mine in Utah1. This paper describes vanadate deposits in Arizona with emphasis in three districts, namely, the Mammoth, Globe-Miami and Banner districts.VANADIUM EPIGENETIC DEPOSITS: VANADATES Almost all vanadium epigenetic deposits occur as vanadates in oxidized zones of lead, zinc and copper veins and replacement deposits. Vanadinite, descloizite and mottramite are the most common minerals in vanadate deposits. Descloizite is a vanadate of lead, zinc and copper. Wulfenite, a molybdate of lead is also present. These minerals replace supergene base-metal minerals, form crusts on faces of open cavities, or are inter-grown with residual clays in pockets. The vanadium content in vanadate deposits is believed to have been leached from the country rock by ground-water and transported through porous rocks until precipitating as a relatively insoluble vanadium compound or until the solution evaporated. Precipitation was brought about by local concentrations of cations of divalent lead, zinc or copper. Lead is a constituent part of almost all of vanadate deposits and the vanadium pentaoxide (V2O5) content in vanadate minerals seems to have a direct correlation with the content of lead in the hypogene mineral. Vanadate deposits are restricted almost entirely to the oxidized parts of vein or replacement deposits. It is rare that oxidized zones extend past 100 ft from the surface. Vanadate deposits are largely restricted to tropical and temperate zones and regions of dry climate. Arizona and New Mexico have the largest concentration of vanadate deposits in North America."

Jan 1, 2015

By V. Saltas

The present work investigates whether dielectric spectroscopy can be used to detect contamination, which may appear in a natural porous material, due to the spreading of pollution. For this purpose, dielectric and conductivity measurements, in the frequency range of 10mHz to 1MHz, were carried out in sandstone samples, partially filled or saturated with solutions of leachates, at different concentrations. The experimental results suggest that although the role of water is dominant to the measured electrical conductivity, variations of two orders of magnitude are observed due to the different concentrations of leachates, in partially filled sandstone samples. Experimental data are well fitted with a Havriliak?Negami dielectric relaxation function, superimposed with a conductivity term. The parameters of the fitting function have been correlated to the concentration of leachate in the sandstone samples and considerable changes have been observed at low leachate?s concentration.

Jan 1, 2005

By Peter W. Scott

Feldspars have major uses in glass manufacture and in ceramic products. About 6 million metric tons (6.6 million short tons) are used annually. Feldspars are desirable because of their high aluminum and alkali contents. Na feldspars are favored for glass, while K feldspar is often preferred in the pottery and tile industries. Economic deposits occur in a variety of geological environments. Most are in granites or granite-like bodies, pegmatites being a common source worldwide. Alkali granites, particularly those some- times called alaskites, are mined directly as a source of feldspar and associated minerals. Some other igneous bodies, such as aplites, rhyolites, and partly altered granites (for example china stone) provide alternative feldspar-rich products. Nepheline syenites and phonolites are other sources of feldspar and contain higher amounts of alkalis. Feldspar-rich (arkosic) sediments derived from the weathering of pegmatites and granites are widely extracted and processed for use in ceramics. The present study reviewed the various sources of feldspars throughout the world. Data on the quality of products has been taken from literature, and samples have been obtained from a large number of producers. The mineralogy and chemistry of the samples has been determined and, as far as possible, have been related to the geology of the source area. Feldspar products show a wide range of chemical and mineralogical compositions. Some are pure Na feldspar (albite), others are made up entirely of K feldspar (microline and orthoclase), but many are mixtures of Na and K feldspars. Significant quantities of quartz are often present, and many products contain mica and kaolinite. Fe203 con- tents are very low, typically less than 0.1 percent. Detailed mineralogical studies show that four groups of products can be recognized on the basis of feldspar mineralogy. These are albite, albite with microcline, microcline with orthoclase, and orthoclase with albite. Products containing microcline and orthoclase together are mostly sedimentary in origin. Those with albite only, or albite with microcline have a pegmatitic or granite origin. Those containing orthoclase as the dominant K feldspar are derived from aplites or rhyolites. There does not appear to be any relationship between the feldspar mineralogy and the quartz content. Peraluminous S- type granites and pelite-dominated high-grade metamorphic rocks, in which there is a significant volatile component, are likely to be the most important feldspar sources. Partial kaolinization of feldspar-containing rocks often improves minability, decreases crushing costs, reduces iron content, and increases the K2O/Na2O ratio.

Jan 1, 2001

By R. Adsero

"In view of the decade long decline in worldwide mine equipment productivity and with heavy economic pressures and survival at risk, improvements for those remaining in the game are essential. The latest Multifactor Productivity data for the US mining industry indicates a continuing descent with Australia on a similar course. The world’s mining industry has a fleet of over 400 large draglines moving billions of tons of material annually. The most efficient use of this equipment resource will provide a competitive advantage to those companies who are committed to improving performance. A dragline monitoring system is a requirement for optimum operations. The monitor reports the facts. Focused actions can change the facts and create improved performance. Analyzing monitor data to build knowledge and create understanding is a beginning. Understanding the key productivity indicators for dragline operations and an effective benchmarking process are the basis for improvement. There is overwhelming evidence that adopting new technologies and concepts including AC drive technology can and will bring about a step change in dragline operating cost with improved production performance.STATE OF THE MINING INDUSTRY A high altitude review of the state of the mining industry provided by a study of multifactor productivity shows a continuation of lower and lower output year on year for the capital and labor inputs applied. The story is sadly similar for both U.S. mining and the Australian mining sector. In fact, according to PwC analysts the worlds mining equipment productivity has declined 20% over the past seven years. (Lumley, 2014) Although the reasons for the continuing decline in mining productivity are varied, the need for improvement is clear. The world’s mining industry fleet of well over 400 large draglines moves billions of tons of overburden and ore (phosphate, limestone, etc.) annually.This discussion will review a few of the tools available for improved productivity in dragline operations."

Jan 1, 2016

By Danny Chan, Shahram Tafazoli, Nicholas Himmelman, Edmond Chow

"While wearable technology has been garnering attention in the consumer market, enterprise and industry have just begun exploring its potential applications. Since February 2014, Motion Metrics International has been working in collaboration with Vandrico Solutions Inc. to apply wearable technology to improve productivity and safety in the mining industry.This article discusses the value proposition of using wearable technology to deliver critical notifications in mining. The advantages and disadvantages of various form factors are explored. The challenges, both specific to mining and in general to wearable technology, are defined. Finally, the concept of MetricsGear, the first wearable technology platform developed for mining by Motion Metrics International in collaboration with Vandrico Solutions Inc., is described. MetricsGear is designed to notify the user with minimal distraction to keep the user focused on his or her primary task and aware of mission-critical events. This focus and awareness allows the user to work more efficiently and safely. The mining process consists of a series of intricate stages, where certain events or conditions in one stage can have a huge impact on other stages. The notification of these critical events or conditions is vital for ensuring the overall efficiency of the mining process. Critical notifications can be classified as two types: timecritical events and contextual information. Time-critical events are situations where a timely response from a responder can have a significant impact on seizing an opportunity or mitigating cost. Some human-computer interaction (HCI) experts classify notification types based on the interruption, reaction and comprehension (IRC) framework. Time-critical events are classified to have high interruption, high reaction and low comprehension due to their urgency. The responder should have just enough information to identify the crisis and react as soon as possible (Chow, 2014). For example, when a tooth is lost during shovel operation, it is necessary to recover the missing tooth before it jams the primary crusher. The consequence of missing this critical time period is a jammed crusher that can cause the mine to be out of production until the jammed tooth is extracted (Baumann, 2013). In this case, the responder only needs to see an image to confirm if the tooth is missing and information to identify which equipment and when the tooth went missing (Fig. 1)."

Jan 1, 2014

By R. J. Sweigard, G. T. Lineberry, B. K. Slone, F. A. James III, D. S. Maggard

The depth at which it becomes more economical to use slope access instead of box-cut access for nearsurface coal reserves is termed the "transition depth." The transition depth can be established for a given coal property by considering cost estimates for those parameters that determine respective access methods. Fourteen parameters that influence access cost were identified, and ranges for these parameters were determined. A transitiondepth formula was developed to permit the determination of which is the better method of accessing a reserve, given information such as high wall slope, road width, total bench width, pit dimensions, road grade, belt component costs, pumping costs and the cost of overburden removal and reclamation. In most cases in Appalachia, especially in eastern Kentucky, the observed transition depth ranges from 20 to 30 m (66 to l00 ft). This indicates that actual practice is consistent with the analytical approach used.

Jan 1, 2002

By J. Juilland

Over 10 percent of the United States of America or 41 percent of the Federal lands is managed by the Bureau of Land Management (BLM) as Public Lands. The mission is to manage the use of these lands and their resources. The way in which BLM carries out its mission is being refocused under the concepts of biodiversity and ecosystem-based management for the benefit of various human needs including environmental, social and economic values. The Bureau is developing methods to integrate the renewable and non-renewable resources programs into the concepts of biodiversity and ecosystem-based management. Exploration, development and extraction of energy or mineral resources on Public Lands are affected. The statements that following the next few pages are my personal views as a scientist (economic geologist -mining technologist) who is and has been involved for the last twenty years in the multiple-use management of Public Lands. They are not necessarily the position of the Bureau of Land Management, although much of the information on which I base my views comes from my experience with the BLM. The Bureau of Land Management (BLM) manages over 10 percent of the United States (270 million acres or 108 million hectares) which is 41 percent of the Federal Lands. Lands managed by BLM are known as Public Lands as opposed to the National Forest Lands which are Federal Land Policy and Management Act (FLPMA) of 1976 which in Sec. 102 states ??that it is the policy of the United States (7) ?that management be on the basis of multiple use and sustained yield??, the mission of the BLM is rapidly refocused under the concepts of biodiversity, ecosystems, and ecosystems-based management for the benefit of the environment, human needs and socio-economic values.

Jan 1, 1994

By Manuel Diaz del Rio

At the present time there are over 5,000 Kms of railway tunnels in existence throughout the world. In many cases these tunnels were built over a century ago using techniques obsolete today. Supervision and maintenance of these tunnels is essential to the economy of each country involved. For this purpose an electro-optical measuring system has been designed incorporating highly complex soft and hardware (15 mW laser, high resolution TV camera and processing computer), mounted on a vehicle. Its job is to scan, record and compare sectional gauge values (profiles) and strains inside tunnels both momentarily in situ and on permanent record, as an aid to the supervision work. From the state of the strains observed, in conjunction with an infrared spectrum of the tunnel lining and soil involved, the mechanical stresses in the tunnel can be deduced by applying the boundary elements method.

Jan 1, 1981

By Brendan Demich, Brendan Macdonald, Timothy J. Orr, Jonathan K. Hrica, CASSANDRA L. HOEBBEL, Jason Navoyski, Jennica L. Bellanca

The paper describes the process of collecting detailed accounts of near-miss incidents and turning them into impactful visual stories using graphic simulation. The aim is to create high-quality training materials to reduce haul-truck-related accidents and fatalities in mining.

Sep 1, 2023

By R. N. Torbin

Foster-Miller has recently developed a new concept.for a highly specialized shaft lining system. This innovative shaft lining system uses a continuous slipforming placement technique. lining the shaft from the bottom up such as in a raised bored shaft. Although this part is not unique, the concept is designed to use polyurethane foam instead of concrete for the liner material. Furthermore, the concept is designed to attain rates of advance of 30 m/hr. The polyurethane foam liner is designed to be thinner (100 mm) than a conventional concrete liner (300 mm). It will eliminate the high cost associated with the erection and operation of an on-site concrete batch plant. The system will be designed to be operated remotely, requiring few personnel for its operation. This system (or parts of it) may be appropriate where fast construction speed is required or where a jointless liner is needed.

Jan 1, 1988

By David Mast, Amanda Foote, Mina Shinouda

The Michigan DOT’s I‑75 Modernization Project, Segment 3, is a 30-year, $1.2 Billion design-build-finance-maintain project in Southeast Michigan. The scope includes building a nearly 4-mile long, 14.5-foot ID stormwater storage tunnel. The tunnel and pump station are being built concurrent with new roads and bridges, requiring multiple levels of design and construction coordination. Underground risks include the poten‑ tial for encountering granular soils, groundwater, and explosive gases. The new tunnel will be mined by a new open-face TBM and lined with a one-pass steel-fiber-reinforced precast concrete segmental lining. Shaft construction began in early 2020 and tunnel mining in July 2020.

Jun 13, 2021

By R. H. King

Recently, the North American mining industry experienced a severe recession, forcing managers to take dramatic steps to cut costs and compete in the difficult international market. Some of these steps were closing mines, reducing work forces, renegotiating wage agreements, and purchasing the most productive equipment. Managers are now looking beyond these traditional avenues and are focusing more on advanced technology. In the present environment, it is essential that mine operators obtain the maximum use of capital expended on equipment. However, mine workers do not obtain maximum efficiency or productivity from equipment because the adverse and hazardous mine environment impedes human performance. Also, the efficient use of large, complex machines calls for levels of precision that many times are beyond the capability of even highly trained miners. A possible solution to this problem is a machine that mines without operators - autonomous mining machines. However, numerous problems confront researchers who are attempting to develop such equipment. Some mining tasks are not always composed of a series of cyclic motions readily performed by factory floor robots. In addition, mining takes place in the geological environment where conditions are highly variable and unpredictable. As a result, these machines must be able to sense and adapt to variations in operating tasks and environment. Considerable autonomous vehicle research has been completed, especially for defense. However, autonomous vehicle (AV) technology has not advanced to practical application yet (King, 1988) and mining research is necessary in areas: representing mining specific knowledge; •analyzing and reasoning about sensor data in the mining environment; and •discovering completely new mining methods or new approaches to existing methods that become apparent when we remove the constraints imposed by the necessity of human operators. A specific machine, the LHD, can be used to show the problems for researchers who are attempting to develop autonomous machines for mining. This author chose the LHD because it can borrow concepts developed for autonomous navigation by military programs. But considerable mining research is also required. Furthermore, studies done at the Henderson mine, in Colorado, show autonomous LHD 's promise cost and safety benefits (King, 1988). At Henderson, LHDs load ore from draw points, tram to an ore pass, dump and return, or switch to another draw point. An autonomous LHD must sense vehicle position along the route, relate sensor data to stored-map information, to determine location, follow drift center lines, plan paths between dump position and initiate appropriate control commands, sense vehicle operating status and vehicle health, key on features or targets for special tasks like high speed turns, perform end of travel tasks (loading and dumping), and detect and avoid obstacles. These goals are similar to those for shuttle cars, trucks, and front-end loaders. Therefore, much of the technology is transferable. Each Henderson LHD extracts six to 40 dippers from each of a series of draw points. The LHD transports the ore to an ore pass within 55 m (180 ft) of the draw point, making the longest round trip 110 m (360 ft). The LHDs have very fast hydraulic dumping and loading systems that reduce the round trip cycle to less than one minute. Even though the LHD is capable of 500 trips per shift, the average production is 300 dippers. Man trip and lunch reduce available operating time to 6.5 hours per shift. Mucking difficulties (setting large boulders aside), operator breaks for activities like talking shop, and cleaning and smoothing roads further reduce operating time. Supervised autonomy can reduce the number of operating units by increasing operating time per shift since computer controlled machines can operate during lunch and between shifts and reduce operator errors. If dippers per shift increase from 300 to 350 (long-range goals are 500 dippers per shift), constant production requires only 10 operating LHDs and two spares. Manpower requirements drop from 24 to four by controlling five machines from one workstation. A review of technology available from the Autonomous Land Vehicle, the Advanced Ground Vehicle Technology, the Ground Surveillance Robot, and other programs, show the following differences between others work and mining industry needs: •If we focus initially on mobile haulage vehicles, we can navigate from a map. We do not need to explore. •We can modify the environment to reduce the navigation requirements. •We have a harsher environment than any of the research programs have encountered. •Our equipment must operate faster and more precisely than present AVs. •Our equipment must operate reliably over long periods of time. •We must have better onboard machine health monitoring and diagnostics. •The AV programs do not address geosensing. •The major AV programs are not cost-effective. For example, we cannot afford the computer power for robust image processing, yet. To computer control an LHD, we must replace the guidance and monitoring skills of experienced operators with sensors, computing hardware, interfaces, and several software mod¬ules. Experienced operators avoid collisions and load efficiently in piles that may contain oversize muck. Collision avoidance without an operator requires sensing all obstacles in the draw

Jan 1, 1991