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By A. K. Raji, E. F. Orumwense, M. O. Ojumu

The Fourth Industrial Revolution has driven significant advancements in autonomous robotic systems, particularly in subsea exploration and offshore mineral dredging. This review examines the latest developments in electrically powered quadrotor-track subsea robotic crawlers, highlighting their potential to enhance efficiency, mobility, and adaptability in challenging underwater environments. The integration of advanced automation, artificial intelligence, and real-time control systems has paved the way for more effective robotic solutions in offshore mining. This study explores the dynamic performance of hydraulic crawlers to quadrotortrack robotic dredgers, focusing on their propulsion, navigation, and stability under high hydrodynamic conditions. By leveraging state-of-the-art technologies such as lithium-ion battery power systems, intelligent microprocessors, and sensor-based control mechanisms, these robotic crawlers offer a promising alternative to conventional subsea excavation methods. Furthermore, the review analyses recent experimental and simulation-based studies that assess the feasibility and performance of these systems in real-world applications. The findings of this review provide valuable insights into the role of 4IR in transforming subsea robotics for offshore mineral dredging. By addressing existing limitations and identifying key technological advancements, this study contributes to the ongoing development of nextgeneration robotic systems capable of operating efficiently in extreme underwater conditions

Jan 30, 2026

By A. Lyndon

Vertical and lateral load tests were carried out on two 13 m deep bored cast-in-place instrumented piles, socketed into weathered sandstone. The first pile, 1200 mm in diameter, was loaded vertically to a maximum of 16000 kN and then loaded to failure under lateral load (1900 kN). The second pile, 1500 mm in diameter, was tested under lateral load up to a maximum of 2400 kN. It was found that the deflections of the 1200 mm pile were more than twice those of the 1500 mm pile under similar loads. The soils on the site are not easily tested in the laboratory, or by conventional insitu site investigation techniques, parameters needed in design can only be reliably obtained from pile test results. In this report shear moduli are back analysed from the vertical load test and the two lateral load tests. For these similarly installed piles very different design parameters were determined from the lateral load tests, the only known major difference between the piles being that the 1200 mm pile was loaded vertically before it was loaded laterally. Changes in G values needed to match performance under vertical load if applicable to lateral loading could have accounted for a significant amount of the difference.

Jan 1, 1989

By F. C. Foshag, P. E. Wingrove

The Kayford, Boone and Nicholas Division of Bethlehem Mines Corp. operates a modern coal preparation plant in Van, WV. Since start-up of the Van plant in 1976 until the summer of 1980, the refuse handling system proved to be a costly maintenance problem and a material handling bottleneck. During the 1980 two-week miners' vacation, the original system - which included two screw conveyors and a drag conveyor - was replaced by an installation using two Flexowall steep angle belt conveyors. This paper describes the technical and economic analysis that led to the new installation and reviews its first year operating performance.

Jan 1, 1983

By Ovidiu Pasca

The Phelps Dodge Miami Smelter utilizes four Hoboken converters to process molten matte from the Isasmelt vessel. This paper presents past and present improvements in operation, maintenance and process optimization, based on data collection, which has led to increased converter campaign life and copper throughput.

Jan 1, 2005

By Michel Ruel

"This paper describes how to make advanced control choices when difficult processes need improvement. The decision-making process involves choosing between a rules-based approach and a model-based approach as well as weighing benefits and drawbacks, complexity and simplicity, investment and results. This paper will present briefly each solution: basic control, advanced regulatory control, model predictive control, and expert systems such as fuzzy logic controllers and neural networks. The article then proposes a decision tree for selecting the most appropriate approach. A table will compare usage, development, commissioning, maintenance and lifecycle costs for each approach. Finally, conclusions and suggestions will summarize the methodology.INTRODUCTION Advanced process control (APC) is a popular topic. How can one decide whether advanced control should be added to an existing system? Advanced control is used to improve performance, stabilize production, handle constraints, protect equipment and manage grade changes. Most plants use feedback controllers, usually PID (proportional, integral, derivative) controllers. It is common to develop special control schemes to handle more complex processes. In classic PID process control, a controller brings a single value close to a set point using a single manipulated variable. On the other hand, APC brings several values close to optimal targets simultaneously using several manipulated variables. APC's four main strategies are advanced regulatory control, model predictive control (MPC), fuzzy logic and neural networks. Simple solutions are always preferred. Complexity will be increased if performances (production, quality, etc.) are below par. Profitability analyses should be conducted to validate project viability. Needs—not trends—should dictate choices! Before increasing complexity, it is important to define needs, goals, technical support, budget, etc. All these approaches entail strengths and weaknesses. Building a project based on technology rather than needs spells trouble."

Jan 1, 2014

By R. Bitmead, R Barker, A. Drake

The opencut coal mine is located about 50 km west of Brisbane, the capital city of Queensland in Australia and produces about 140 000 tonnes per annum of high grade steaming coal utilising a small team (ten) of personnel to mine remnants of the Aberdare and Bluff seams left by previous underground mining. This, in itself, is not remarkable except that one of the seams has commenced spontaneously cornbusting resulting in temperatures in excess of 55’C commonly being encountered with portions of the p’it being wreathed in steam. To extend mine life, the mine required a blasting system that would: . Safely blast in temperatures below 100°C . Significantly reduce overall unit costs . Not increase the current vibration impacts on nearby housing . Not increase flyrock.

Jan 1, 2002

By Warren E. Morrison

Stimulated by 4 years of continuous economic growth without inflation, demand for energy in the United States reached an alltime high in 1964. Total value of production of goods and services (gross national product--GNP) for the year was $629 billion, an increase of 6.8 percent from 1963. Allowing for price changes based on 1958 dollars, the gain in real terms was 5 percent. In 1964 the Federal Reserve Board Index of Industrial Production stood at 132, a rise of 6.2 percent. With the impetus provided by personal income and corporate tax reductions during the year, aggregate wages, profits, and consumption reached record levels. Even the persistent balance of payments problem improved. Against this background the national consumption of commercial energy increased 4.2 percent. Energy needs continued to be met largely from domestic resources with imports, mainly crude petroleum and refined petroleum products, accounting for but 7 percent of the total. Mineral energy resources, namely gas, coal, and petroleum, contributed 96 percent of the input of energy into the economy during the year. The remaining 4 percent came from hydropower and nuclear power.

Jan 1, 1965

By M. Abdellatif

Keywords: Pyrometallurgy, furnace, DC arc furnace, smelting, silicon The technical feasibility of silicon smelting in a DC arc furnace was investigated. A graphite-lined furnace was operated at power levels of 150 to 160 kW, and 40 to 60 V. The average feed rate during the silicon production period was about 30 kg/h. The recipe consisted of pre-mixed batches of 28% petroleum coke and 72% lumpy silica. The target furnace operating temperature was set at 1600°C and then raised to 1700°C. In total, about 1.6 tons of premixed feed materials was processed over 16 feeding?tapping operations. The feed was manually charged into the furnace in sub-batches of 10 to 40 kg at a time. The total batch mass was set at 90 kg during the initial part of the testwork, and increased to about 120 kg for the rest of the campaign.

Jan 1, 2011

From the massive equipment that moves the earth, to the parts that keep the equipment moving, it was all on display for more than 35,000 people who at-tended MinExpo 2008 at the Las Vegas Convention Center Sept. 22-24. In the largest show in the illustrious history of MinExpo, the success of the recent commodity boom was reflected in the more than 55,700 hm2 (600,000 sq ft) of floor space that was jam-packed with nearly 1,300 vendors. Among them, the makers of the industry?s largest machines, displaying their latest and greatest trucks, shovels, excavators, drills and other mining equipment. During the nearly decade-long commodities boom, equipment makers have worked hard to keep up with demand while also investing heavily in research and development. The beneficiaries of this R&D is the end user who saw first-hand at MinExpo 2008 the many advances that have already been made in safety, comfort and productivity from all the manufacturers. R&D has also helped spark more talk of automation, which is being used already at some of the world?s largest mines. Caterpillar and Komatsu have worked with the technology in surface mining and Bucyrus and Sandvik are among the industry leaders applying the science of automation to underground mines. Technology has in-creased greatly since the idea of moving massive equipment remotely was first knocked around and the idea of entire fleets operating around the clock seems to be getting closer to reality. But, until that happens, MinExpo attendees were treated to a show that featured some of the most impressive current machines the industry has to offer. In the largest booth space of the convention, Caterpillar (www.cat.com) displayed the culmination of an ambitious $280-million dollar investment, with the introduction of its new mining fleet of four new trucks. The F-series was un-veiled with common features in safety, cabs, engines, frames and bodies and Tier 2 compliant engines. The F series also features a return to the electric drive option. ?When our customers asked us for improvements to our mining trucks, we responded by making a record investment in every single truck in our line, as well as the increased capacity to produce more of them,? said Cater-pillar group president Stu Levenick. ?New technologies have allowed us to make trucks more reliable, easier to maintain and more friendly to the operator and to the environment.? The 793-series is in the 218- to 227-t (240- to 250-st) class that will be available in both mechanical (793F) and electric (793F ac) versions. The electric drive-only 313- t (345-st) 795F was also introduced, while the flagship 797B truck is in the process of being replaced by the new 797F mechanical drive, maintaining its 345- to 363-t (380- to 400-st) target payload. Completing Caterpillar?s new mining truck line will be new versions of the 785 and 789 mechanical drive trucks. The next generation of trucks will be phased into production during the next two years, with the Cat ac drive models expected to go into production in late 2010. The $280-million in-vestment is Caterpillar?s largest commitment ever to the mining industry

Jan 1, 2008

By Paul F. Ziemkiewicz, Aaron Noble, Christopher R. Vass

The conventional rare earth element (REE) industry has historically sought to develop ore deposits where geologic processes have produced mineralized zones with commercially attractive REE concentrations. These deposits are extremely uncommon, particularly in the USA. Given the criticality of these materials and the need for sustainable domestic supply, the current research seeks to leverage other autogenous processes that lead to concentrated REE resources. One such process is the generation of acid mine drainage (AMD). AMD is very common in many coal mining districts and results from the exposure and oxidation of pyrite during mining. During the generation and migration of AMD, liberated sulfuric acid mobilizes several metal ions including REEs. Treatment of AMD is required under U.S.C §1251, the Clean Water Act, and often consists of neutralization, oxidation, and metal hydroxide precipitation. To investigate the deportment of REEs during this process, a field sampling campaign was undertaken, whereby the concentration of REEs in AMD and AMD precipitates was measured directly. In the nine sites evaluated in this study, the REE concentrations of the precipitates varied from 29 to 1286 ppm with an average of 517 ppm among the sampled sites. The individual elements were enriched compared with the associated bulk Northern Appalachian (NAPP) coal material by factors ranging from 3 to 15. Furthermore, the distribution of REEs in all precipitate samples favored the heavy REEs (HREEs) when compared with traditional REE ores. This research represents the first part of multi-part research endeavor to characterize, classify, and determine the practicality of refining REEs from AMD and its by-products.

By Paul F. Ziemkiewicz, Aaron Noble, Christopher R. Vass

The conventional rare earth element (REE) industry has historically sought to develop ore deposits where geologic processes have produced mineralized zones with commercially attractive REE concentrations. These deposits are extremely uncommon, particularly in the USA. Given the criticality of these materials and the need for sustainable domestic supply, the current research seeks to leverage other autogenous processes that lead to concentrated REE resources. One such process is the generation of acid mine drainage (AMD). AMD is very common in many coal mining districts and results from the exposure and oxidation of pyrite during mining. During the generation and migration of AMD, liberated sulfuric acid mobilizes several metal ions including REEs. Treatment of AMD is required under U.S.C §1251, the Clean Water Act, and often consists of neutralization, oxidation, and metal hydroxide precipitation. To investigate the deportment of REEs during this process, a field sampling campaign was undertaken, whereby the concentration of REEs in AMD and AMD precipitates was measured directly. In the nine sites evaluated in this study, the REE concentrations of the precipitates varied from 29 to 1286 ppm with an average of 517 ppm among the sampled sites. The individual elements were enriched compared with the associated bulk Northern Appalachian (NAPP) coal material by factors ranging from 3 to 15. Furthermore, the distribution of REEs in all precipitate samples favored the heavy REEs (HREEs) when compared with traditional REE ores. This research represents the first part of multi-part research endeavor to characterize, classify, and determine the practicality of refining REEs from AMD and its by-products.

To many Australian Mining Engineers, we take it, the singular features of banket deposits are not as familiarly known as they would wish, possibly because in the majority of instances they are not in touch with the South African milling world, and have had little opportunity of studying the development of the banket beds, either from correspondence or literature. The writer hazards this opinion feelingly, because, when in Australia and before he had visited Africa, the utmost knowledge he was able to obtnin was a mass of conflicting theoretic discussion as to the agencies which formed the banket bed, without any practical hints as to their geological horizon, the rocks with which they are associated, the usual appearance and character of the ore, in fine, without that everyday detailed description which the miner requires when seeking information regarding mineral or metal deposit foreign in character to any that he has yet studied, or as yet had any opportunity of studying in his own country.The writer recognised that many more able men than he have from time to time discussed the features and formation of the banket beds of the land, notwithstanding which and feeling that many of his Australian colleagues have found themselves in a similar position regarding accurate detailed information respecting these African banket deposits as he himself was, he hopes that the present paper on the said deposits, as found on the fields under notice, will prove useful to some and of interest to all.

By Paul Staples, Paul Messenger, Greg Lane

"Every project is different. While “conventional” SAG and ball mill circuits will suit many projects, for others there are alternatives, which may produce improved outcomes. This paper examines particular examples of recent front end designs which either went against conventional thinking or which employed “out of the box” thinking to realize the desired results.One such example is the design strategy employed for a small capacity gold plant in Victoria, Australia. The selection of HPGR technology for small capacity projects is not generally favoured, given the relatively high cost of small HPGR machines. However, the unusual size distribution of the gold and its liberation characteristics were expected to lead to improved gold recovery offsetting the higher capital cost.Another example is the first large scale application of milling in acid for copper recovery, at a project in south east Asia. The stainless steel, single stage SAG mill using ceramic grinding media was more expensive than a mill constructed of conventional materials. However, the steps of scrubbing, slurrying, grinding and leaching could all be achieved in a single unit operation and the need for thickening and repulping with acid after milling was eliminated.Rod mills were selected for both primary and secondary milling duties for another south east Asian project despite their somewhat outdated reputation. A review of previous industry experience confirmed that rod mills could outperform conventional rod/ball or SAG/ball circuits in cases where the size distribution of the ground product is critical to downstream recovery.These examples are discussed with particular focus on the key drivers in each case."

Jan 1, 2008

By John Wise

Significant movement to an existing slurry wall which serves as a retaining wall on 'O' Street in Southeast Washington, D.C. initiated the Department of Public Works for the District of Columbia to invite specialty contractors to propose a rehabilitation and stabilization for the failed slurry wall. Nicholson Construction Company proposed and was awarded a contract for the construction of an anchored precast lagging and soldier pile wall to be located approximately 4 feet in front of the existing structure with granular fill placed between the new and existing walls. Stabilization of the existing slurry wall also included drilling horizontal weep holes and demolishing the failed panels down to the existing ground surface. A new and improved drainage system was also constructed to increase the amount of water directed toward the existing storm sewer system running along 'O' Street. This paper provides a detailed account of these construction activities.

Jan 1, 2003

By Q. G. Reynolds

Keywords: Pyrometallurgy, furnace, DC, reverse polarity, dual-electrode The dual-electrode direct current (DC) arc furnace uses two graphite electrodes, one connected as cathode, and one as anode. Such an arrangement avoids some of the design difficulties associated with the anode hearth traditionally used in single electrode and twin-cathode DC furnaces, but can introduce other design and operational difficulties including deflection of the arcs toward the furnace walls. Counter-intuitively, both arc jets in a dual-electrode furnace travel from the electrode down to the bath surface, despite carrying electric current in opposite directions ? this is suggested in the theory of the governing equations of arc formation, and confirmed by experiments using high-speed photography. The dual-electrode arc system at small pilot-plant scale is studied using a transient magneto-hydrodynamic model capable of predicting arc deflection and interaction from first principles, and the results are compared to the behaviour of twin-cathode systems at similar power. Finally, a simple arrangement of the furnace busbars, M configuration, is shown to provide some passive protection against arc deflection.

Jan 1, 2011

Contract No. H0110929 was awarded by the U.S. Bureau of Mines in February, 1971, to DeTer Company, Incorporated, of Mountain Lakes, N. J. The contract provided for the modification of the contractor's Model 5000 Pressure Foam Generator to fit it for the suppression of coal dust in mines, a detailed testing program in a working coal mine, and for additional modifications and testing for the suppression of fires in coal mines. The contractual program was completed in April, 1972. The results of the dust suppression tests showed conclusively that the modified DeTer equipment effectively reduced the level of respirable dust in a working coal mine well below the present and future acceptable levels set by the Mine Health and Safety Act of 1969. The fire tests, carried out in a simulated mine entryway erected on the surface, demonstrated the ability of the DeTer equipment in suppressing fires of varying degrees of severity within an acceptably short time.

Jan 1, 1972

By D David

Clearly a plant designed only to treat average ore at the nameplate rate will fail to achieve nameplate in any typical year. To insert the necessary capability to achieve nameplate it is common process engineering design practice that plant must be able to treat an ore with 80th percentile value (hardness or competence values for example) at the nameplate rate. In the authorÆs experience, apart from a couple of notable cases, this has been applied reasonably well as a principal, and with widespread success. However, in a number of recent instances it became clear that the use of the 80th percentile number would have resulted in significant under design of the plant. This paper makes the case that the 80th percentile, as a principal, has can have serious flaws and its use needs to be assessed on a case by case basis. The discussion in this paper is the first step in developing a new design principal, and the associated methodology for selection of a design value, that will ensure plants are designed to achieve their nameplate capacities.CITATION:David, D, 2013. Is an 80th percentile design point logical?, in Proceedings MetPlant 2013 , pp 6-12 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 15, 2013

By M. A. Oskouei

Draglines are the main energy consumers in strip mines. Given the growing cost of energy and environmental concerns, it is important to properly understand dragline energy efficiency. The goal of current research at Missouri University of Science & Technology is to account for operator practice and operating conditions in modeling dragline energy efficiency. This paper presents preliminary correlation analysis and a framework for stochastic modeling of dragline energy efficiency. Thirteen operating parameters (including cycle times, payload, swing angle, and height of dump pile), operator working schedules, operating conditions, and drag, hoist, and swing energies were monitored for an 85 yd3 dragline. Operator effects were examined by two-sample t-tests. The relation between the parameters and energy consumption were assessed by correlation analysis and a stochastic modeling framework has been proposed for dragline energy efficiency. The results show that operator effects are significant (p< 0.05) and energy efficiency is correlated with operating parameters. The completed model will help the coal mines better predict energy consumption, with uncertainty, for different operating conditions.

Feb 27, 2013

By Christian J. Sorensen, Christopher Armstrong, Andrew Matejunas

A team consisting of junior and senior mechanical engineering students at New Mexico Tech worked on the design of an explosively loaded vessel, with a maximum load of 15 grams (0.53 oz) TNT equivalent explosive. The main challenge presented was to meet the stringent sample positioning specification of 3 microns in two Degrees Of Freedom (DOF) and one degree of rotation in a third DOF. This is to accommodate precise sample placement in a tight x-ray beam, and to bring areas such as explosives/metal interfaces into magnified field-of-view photography. This presentation describes the process and design decisions to arrive at the final product presented to LANL in December 2014. Our engineering analysis techniques will be reviewed, including use of American Society of Mechanical Engineers (ASME) Boiling & Pressure Vessel Code (BPVC) Code Case for Impulse Loaded Pressure Vessels (ASME BPVC Code Case 2564-3). Also discussed will be integration of Hydrocode computer models with Finite Element Method analysis.

Jan 1, 2015

By Bhaskar B. Thapa

The design of the Caldecott 4th Bore, located along State Route 24 in Oakland, California, is based on the principles of the New Austrian Tunneling Method (NATM). Typical NATM initial support design practices used in Europe were adapted for this project to account for U.S. conditions and requirements, such as degree of experience with NATM construction, the prevailing contractual environment, and preferences for contractual simplicity. Key design features are: (1) support selection criteria based on ground behaviors and ground conditions; (2) a prescriptive design with allowance for support adjustments based on observations during construction; and (3) organization of support requirements into only four major support categories, while permitting some adjustment for variations in ground behaviors and conditions using a few subtypes and additional support measures.