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By D. L. Marchioni

"The detection and quantification of the degree of weathering is an important aspect of coal exploration and mining. Tests for weathering which are suitable for the exploration camp should be fast, simple, and require minimal equipment and operator expertise. In this study, two tests which fulfill these requirements were evaluated using samples of Western Canadian coals. These tests, one based on the pH of a coal slurry and the other on the flotation of coal in a water/diesel oil mixture, do not appear to give consistent results and are not recommended as ideal weathering parameters.IntroductionThe weathering of coal results in a deterioration of those properties which render it suitable for use in industrial processes. Consequently, the detection and quantification of the degree of weathering is an important aspect of exploration and mining. Frequently, decisions related to the depth of the weathered zone must be made at the exploration camp and, therefore, tests for weathering which are fast, and require relatively inexpensive and portable equipment and minimal operator experience, would be very useful. The aim of the study reported here was to evaluate two tests used by U. S. Steel Corp. to detect coal weathering and which satisfy the requirements for use in an exploration camp. The study is a continuation of a more extensive examination of the detection of coal weathering by various methods, reported elsewhere (Marchioni, in press)."

Jan 1, 1981

By Gordon E. Agar

"The effectiveness of two this compounds for copper sulphide depression in molybdenite flotation has been examined with batch bench scale tests.Both thioglycollate and trithiocarbonate proved to be good depressants producing results similar to those f or cyanide and hydrosulphide. Ferrocyanide was ineffective on the samplematerial tested.The depressing effect of thioglycollate was readily reversed by an addition of xanthate.IntroductionThe separation of molybdenite from copper sulphide minerals has been practised for a long time(1,2). The predominant scheme is to depress the copper sulphides while capitalizing on the ready floatability of molybdenite to effect the separation. There are many recipes for depressing the copper minerals(3), among them the addition of sodium cyanide, particularly if the copper is present primarily as chalcopyrite; some form of sulphide whether as sodium sulphide, sodium hydrosulphide or phosphorous pentasulphide when there is a mixture of copper sulphides such as bornite, chalcocite and chalcopyrite; potassium ferro cyanide may be used when chalcocite is the principal copper sulphide; peroxide or hypochlorite; as well as heating in the presence of lime. There are different mechanisms by which these reagent s depress the copper sulphides. Sodium cyanide and the sulphide-producing compounds apparently reduce the potential of the copper sulphides to the point where they ar e rendered unfloatable by xanthates . Another study(4) showed that after cyanide addition, chalcopyrite was rendered un floatabl e until the REDOX potential (measured with a gold electrode with a saturated calomel reference) had become more positive than -250 mY. If the chalcopyrite pulp was conditioned after the cyanide addition the REDOX potential increased slowly, whereas if air was introduced during the conditioning the potential r ose much more rapidly. The difference in time to reach the desired level of - 250 mV was as much as 20 minutes' 25 minutes being required when air was absent but less than 5 minutes when air was admitted . These observation s demonstrate some of the problems encountered when using cyanide to depress sulphides such as chalcopyrite . The system adjusts to counteract the depressing effect of the additive. To overcome this tendency it is necessary to either add an overdose at the beginning or to more or less continuously add the regulating reagent. In this study cyanide solution was added under automatic control to maintain a specified REDOX potential."

Jan 1, 1984

By Orlando Rojas, Javier Pizarro, Romke Kuyvenhoven, Francisco Soto

"The concept of geometallurgy has been extensively mentioned and used in the mining industry in the past years. However, each mining firm has a different understanding of what geometallurgy means, and its actual value varies significantly from site to site. Even in the case of properly constructed geometallurgical models, it is fairly common to observe a sub-utilization of the model in the actual operation, because of its low production forecasting capability on the short term. This disconnect between the geometallurgical model and operations is typically caused by a lack of tuning between the original model and the actual plant operation. Also, the absence of procedures and other standards for reconciliation, affects the confidence and the predictive quality of the model. The geometallurgical model should consist of three different levels: (I) adequate capture of information, (II) data analysis and modelling, and (III) development of the block model. Once the geometallurgical in-situ model is finalized, a process model should be developed of the plant at industrial scale, in order to scale up the in-situ geometallurgical parameters from their base or standard condition, to the actual operating reality of the plant. Finally, the stage of reconciliation will close this process, assuring that any deviation between the geometallurgical model and the actual plant operation is not due to lack of tuning, but due to operational issues such as unattended maintenance requirements or poor process control in the operation. The methodology as described in this paper has been applied at several large mining sites in Chile. The paper presents the characteristics of the proposed methodology, and quantitatively describes its benefits with examples from actual operations.INTRODUCTIONIt probably is fair to say that geometallurgy became widely used in greenfield projects in the Andes region during the mining boom of the 90’s, when massive orebodies were studied and developed, and upfront metallurgical characterisation proved its use for accurate economic evaluation including estimates of plant throughput, energy consumption, final product quality and overall recovery. A few examples of such greenfield studies for concentrator plants in the 90’s are Minera Los Pelambres (Antofagasta Minerals, Chile), Minera Escondida, Laguna Seca (BHP Billiton, Chile), and Rio Blanco (then Montterrico Metals, Peru). Large size hydrometallurgical operations such as Cerro Colorado, Quebrada Blanca and Lomas Bayas (all in Chile), also recognised early on the importance and value of relating ore mineralogy, geological characterisation and metallurgical behaviour."

Jan 1, 2016

By I. S. Laitinen

Outokumpu Technology has recently introduced new technology in both copper electrorefining and electrowinning. This technology includes, among other things, a new permanent cathode (Outokumpu Permanent Cathode) and new busbar technology (Outokumpu Double Contact System). The new technology has already been tested in commercial scale cells. To get a better understanding of the busbar system a multiphysical simulation model of the electrowinning and electrorefining cells was developed. A mathematical model of electrical conduction and heat transfer in a copper electrolysis cell was developed from partial differential equations. The model was expanded to a cell group including seven electrolysis cells connected electrically in series. The model was solved numerically using the finite element method (FEM). Using the model, different intercell busbar systems were simulated. Typical electrical disturbances, like loose contacts between cathodes and the main busbar and short circuits between electrodes, were included in the simulation. The results of the simulation runs with conclusions are presented in this paper.

Jan 1, 2007

By Jeonghwan Kim

Intelligent Excavation System (IES) has been considered to be one of the desirable solutions to improve the productivity, quality and safety of the current earthwork processes. IES is composed of various hardware and software modules including task planner (work command generator), local and global work environment sensors, GPS and other sensors to acquire the excavator?s status, robotic controller and electronic valves, and the manipulator (excavator). A data communication manager was required to coordinate the signal or data-flow in between these modules considering the operational status of IES such as; excavation start/completion, truck detection, terrain model update, emergency stop, local sensing, GPS/motion sensor data handling, and so on. This paper presents the role and functions of this data communication manager. After every possible operational status of IES operation was identified, a protocol of each communication process in the form of string-type was made. The components of IES are connected with either wired or wireless network. Therefore, they can communicate with the manager using socket (TCP/IP) communication. The data communication manager is also capable of accessing a web-based project management information system, which constantly updates the performance of excavation robot to online database.

Aug 1, 2013

By Brian McIntrye, Bo Trygg

"The need for grinding mills of ever increasing capacity and greater feed openings has tended toward mill trunnion diameters being beyond the size limits for roller bearings.Hydrodynamic plain bearings need to be wide enough to achieve the necessary bearing pressure in order to obtain an oil film with sufficient carrying capacity at low rotational speeds. This greater width increases edge loading resulting from the deflection of the mill under load.Because of the high surf ace pressure involved, the life of support rollers and girth rings is often inadequate-fatigue leads to flaking on the contact surfaces. Heat treatment of the girth rings also has its problems.The hydrostatic shoe bearing permits unlimited trunnion diameter and a high carrying capacity. The self-aligning shoes compensate automatically for radial deviations and large deformations can be tolerated at the girth ring.The sliding surfaces are completely separated by oil under pressure, enabling negligible starting torque and good damping capacity to be achieved together with low rotational speeds.IntroductionHydrostatic bearings have been known within machine technology since 1865, when the Frenchman Girard received a patent for such a bearing. During the following 75 years, these types of bearings were used sporadically for thrust bearings, primarily in water turbines. The first usable radial bearing was not designed until 1938. Since the 1950s, when hydrostatic bearings started to come into use within the field of machine tools, extensive research and development work has been carried out at various institutions and research centres throughout the world. Many support problems are now solved by means of hydrostatic plain bearings and the primary factor in deciding to use them is their unique characteristics:• ability to carry high loadings• no starting torque• large damping capacity• no wear• large running accuracyThe hydrostatic shoe bearing has been developed specially for use in the heavy machine industry, with the requirements for high loadings and large support diameters which this market demands."

Jan 1, 1982

By Y. Vermeulen, J. Simoes, P. Guillo, A. Di Donate

New design techniques have been developed to optimize continuous casting (CC) refractory components. The overall objective is to increase CC productivity as well as steel quality by using optimized refractory from tundish-to-mold. These techniques allow the prediction of steel and refractory chemical interactions and, thus, steel chemistry evolution as well as build up and corrosion occurrence. Specific fluido-dynamic models (CFD) have also been developed to better take into account the physical parameters at the steel/refractory interface and to optimize steel flow control. The CFD model can be coupled with refractory chemical interactions to simulate steel chemical evolution. These two different approaches result in shape and material modifications. They are completed by dedicated thermal stress analysis in order to improve thermal shock resistance. The mechanical FEA evaluations take into account specific mechanical behavior of refractory components as well as high temperature evolution of their properties.

Jan 1, 2004

By D. Cruden

DISCODAT is a system of computer programs written for CANMET, Canadian Department of Energy, Mines and resources, to be used in analyzing geological data for rock slope design. The programs were written in Fortran IV for an IBM 360/67 computer. A program conditions field data from field forms for storage in a line file. Data may be selectively retrieved from the line file by a general retrieval program which uses a variety of relational operators. The retrieved data may be displayed as structural diagrams or histograms produced on a line printer or in a number of maps produced on a drum plotter. There is a logical sequence which leads to the characterization of those elements of the subfabrics of a rock mass which may be kinematically active. Structural domains within the rock mass can also be outlined by a procedure described as areal analysis. Costs for a complete analysis are usually substantially less than $l/discontinuity.

Jan 1, 1978

By O. Bernal

The Sociedad Minera Cerro Verde S.A.A, a subsidiary of Phelps Dodge Mining Company, operates a copper mining facility located in southern Peru. This "mine-forleach" operation currently produces 90,000 mtpy of copper cathode from secondary sulfide ore utilizing crushing, leaching, solvent extraction and electrowinning processes. The leach solution handling and application rates have undergone constant development over the years. This paper discusses the improvements in leach application designed to: 1) satisfy the needs of the "lixiviant request rate", which requires the use of application rates as low as 3.5 L/h/m2 and as high as 15 Llhlm2 with variable rest periods according to the leach kinetics, and 2) alleviate the poor solution distribution on the surface of the leach heaps inherent to drip emitters. Low application rates result in poor surface solution distribution and the formation of upside down cones of dry, non-leached material in the top meter of stacked ore, with heavy jarosite and iron salt precipitation; moreover, ferric iron is lost as insoluble precipitates. On the other hand, high unit flows associated with poor agglomerate quality can lead to uneven solution flow patterns within the heap leading to solution short-circuits, fines migration, and ponding with adverse effects on acid consumption and recovery.

Jan 1, 2007

By Donald S. Cameron

By dispersing gold in high surface area form supported on metal oxides, its inert character can be transformed to make economical, effective catalysts. Gold has already been demonstrated in a number of fuel cell applications such as gas phase catalysts, electro-catalysts, and electrical connectors. In this paper, the various types of fuel cell systems are reviewed, and several opportunities for gold identified. Low temperature fuel cells, including alkaline and solid polymer electrolyte types rely on high surface area platinum group metal catalysts which are highly susceptible to poisoning by low concentrations of carbon monoxide in the fuel supply. Hydrogen is frequently obtained by steam reforming hydrocarbons, followed by the water gas shift (WGS) reaction. A promising initial use for supported gold catalysts is in catalysing this WGS reaction. Research has shown that gold supported on iron oxide (Au/a-Fe2O3 ) WGS catalysts are more active than the current commercial copper oxide / zinc oxide catalysts, and effective at temperatures as low as 120oC. Products from reformer/ water gas shift reactors can be further purified by removing traces of carbon monoxide. If a small proportion of oxygen is introduced into the fuel gas stream, carbon monoxide can be preferentially oxidized to carbon dioxide even in the presence of hydrogen. Gold nanoparticle catalysts on iron oxide support (Au/a-Fe2O3 ) have exhibited higher activity than commercially available platinum on alumina (Pt/?- Al2O3 ) preferential oxidation catalysts. The low temperature of this reaction may make it feasible to incorporate these catalysts within the fuel cell itself. Proton exchange fuel cells provide several possible applications for catalytically active gold and its alloys. Carbon supported platinum group metals would benefit greatly from improved electrical conductivity if gold replaced some or all of the carbon support material. As electrode current densities are raised, electrical resistance constitutes an increasing proportion of voltage losses within the fuel cell. Dramatic reductions in cell stack voltage losses have already been demonstrated by reducing inter-cell contact resistance using gold plating. The low temperature oxidation properties of gold catalysts have been investigated in controlling gaseous emissions from direct methanol fuel cells, and gold also provides essential catalysis in building direct borohydride oxidation fuel cells. The prospect of a range of other applications for gold in fuel cells to contribute useful improvements in corrosion resistance and conductivity is assessed. Globally, fuel cells have been developed for a wide range of applications including stationary generators, cars and buses, industrial vehicles and small portable power supplies, each of which represents a substantial market. Hence there are likely to be many and varied opportunities for gold catalysts to contribute to the performance and economics of the systems being commercialized.

Oct 1, 2003

By P. J. Adams

Environmental regulations require means for controlling emissions of SO2 NOx and particulate when burning coal. The combustion of coal in limestone fluidized beds is one of the most promising techniques for the necessary reduction in emissions. Fluidized-bed firing, furthermore, offers potential economies in capital equipment. The world's largest steam generator applying fluidized-bed techniques was built under the sponsorship of ERDA and installed in Rivesville, West Virginia. This paper describes the design and discusses the start-up and development difficulties which were experienced during the period from initial operation to current readiness for commercial operation. Other developments leading to utility and industrial fluidized-bed steam generating equipment are reviewed. The future potential of this promising technique is discussed.

Jan 1, 1979

By Gulshan Kumar Pradhan, Yogendra Pratap Singh, Dhawanm Nikhil

"Potassium (K) is one of the essential elements for the growth of plants and thereby for humans. In fertilizers, potash demand has been steadily increasing at ~3.5% annually. Water soluble potash deposits are rare and highly localized. India is neither present on the world potash production map nor it has adequate potash rich rocks. The K-bearing minerals are recovered either by using conventional underground mining methods or though solution mining methods. India possesses a vast resource of silicate rocks such as glauconitic sandstone and Feldspar. These rocks are basically a group of alumino silicate of potassium, sodium and calcium (K2O%: 5-12, Na2O%: 3-10%, SiO2%: 52-65, Al2O3%: 15-20, Fe2O3%:, 5-7 and MgO%: 2-3.5).The K extraction from silicate rocks has received little attention probably due to the slow release, the locked structure of alumina-silicate minerals, and the unavailability of appropriate economic processes & their know-how. In fact due to this India imports all of its potash demand (about 3.5 million tons per annum) from different countries.In the present work, an attempt has been made to identify the structural and chemical alteration of desired K mineral phase in silicate rock (~K2O%: 10.5, Na2O%: 2%, SiO2%: 55, Al2O3%: 19, Fe2O3%, 5-6, MgO%: 2.5) under different conditions such as acid leaching, thermal treatment and chemical processing. Different treatments are aimed to increase K availability which is related to the modifications in mineralogical composition. The modifications in the feed sample and treated samples are studied through SEM-EDAX, XRD, EPMA and optical microscope. With the combination of treatments, it is possible to extract more than 90% K and the formation of sylvite phase (water soluble) confirms the dissolution of potash values."

Jan 1, 2016

By Henry Hengeveld

Are the IPCC results credible? The most recent IPCC assessment is??an admirable summary of research activities in climate science? US National Academy of Science 2001 report to President Bush Joint statement by Academies of Science from 17 other countries ? May 2001 ?The work of the?IPCC represents the consensus of the international science community on climate change science. We recognize IPCC as the world?s most reliable source of information?and endorse its method of achieving this consensus.?

Nov 1, 2002

By Abdelhak Bentriou

The choice of tool for the first well of an oilfield or gasfield is an important factor, given that we will be drilling with the same type of tool for the entire phase and explains why we need to have another type for comparison based on the efficiency of the tool and its ability to crush the rock, and the wear of different types of tools. Development of theoretical and practical tests to determine the optimal regime for drilling is required to take into account the characteristics of rock layers crossed. Classification of boring tools is based on the geometry of the teeth and depends on the hardness, the abrasiveness of rocks as well as their hydraulic system, but it is better to classify them according to the working conditions with a coefficient designating a discriminant. This is called physical characteristic of the drilling tool. The goal is to designate each element of the tool by a coefficient. Results were obtained from laboratory tests. Modeling the initial rate of progress by different types of tools allowed us to determine an adequate mathematical model of the speed initial progress in clean conditions. Using experimental data and statistics we have established the mathematical model of the average speed of progress as a function of time. With these equations we can determine the wear evaluation and analysis of these factors as an approach to classification according to their characteristics. The main equations for the selection of drilling tools will be based on the optimization of drilling parameters for each type of tool. After analysis, we choose the tool that gives a better forward speed with an optimal load and axial rotation.

Aug 1, 2013

By B. Coupal, F. D'Hennezel

Sorption measurements show that peat moss has much stronger affinity for oil than straw, which is currently used. Microscopic studies of peat moss show a highly porous and fibrous material, and this property, associated with the phenomenon of selective absorption, had been used to absorb oil. Laboratory experiments show that peat moss absorbs up to eight times its weight of oil. Field tests have proved that peat moss can be an effective absorbent and can be used on a large scale.

Jan 1, 1972

By Alex Luyima, Michael Moats

"In the present work, the oxidation of manganous and chloride ions on a mixed metal oxide (MMO) anode from a 40 ºC electrolyte containing 160 g/L sulfuric acid (H2SO4) with various concentrations of Mn2+ and Cl- was studied using cyclic voltammetry. These results indicated that Mn2+ concentration does not affect Cl2 evolution on a non-MnO2 coated MMO anode. However once MnO2 deposits on the MMO anode, Cl2 evolution is inhibited. The effects of manganous concentration and chloride concentration on the amount of MnO2 deposited in one hour were also evaluated. Cl- concentration did not affect the amount of MnO2 generated. Increasing Mn2+ concentration resulted in an increase in the amount of MnO2 deposited.INTRODUCTIONThe electrolytic recovery of zinc (Zn) is a well-known process and is estimated to produce approximately nine million tons of Zn per year worldwide (Recendiz, Nava, Lartundo-Rojas, Almaguer, & Gonzaleza, 2009). The Zn produced by this process is of high purity and has a wide range of applications, such as galvanizing (car body parts, pipes, metal wires, etc.), sacrificial anodes in offshore industries, casting alloys, alloying of brass, primary and secondary battery industries, etc.The electrochemical production of Zn employs aluminum cathodes and lead-silver anodes (Pb- Ag) (Recendiz et al., 2009). The Zn containing mineral (ZnS) is usually associated with other elements such as Mn, Mg, Ca, Cd, Cu, Cl, Fe, F, Co, Ni, Al, As, Sb, Si, Sn, Ge, Hg etc. (Nijjer, 2000). After processing of ZnS concentrates, the electrolyte obtained still contains residual metallic and non-metal impurities. Some of these impurities can impact the corrosion rate of Pb-Ag anodes."

Jan 1, 2016

By D. Chakravarty, B. Samanta, D. Ghosh

Autonomous robots are useful for 3D underground mine mapping to avoid human exposure to hazardous spaces. To prepare a precise mine map, a self-navigating robot must navigate an arduous path, avoiding obstacles and sensing the environment. A prototype laboratory-scale robot was built and evaluated through a mock-up in a test mine gallery. It was outfitted with a 2D laser scanner, a stereo camera for obstacle avoidance, and a high-precision, laser-based imaging and digitizing system for collecting 3D point cloud data. Various algorithms were used for scan matching to facilitate simultaneous localization of the robot for mapping.

Jan 1, 2014

By Ken G. Kress

Syphons can be a simple, reliable and proven alternative to otherwise more complex pumping systems or low level outlet works. In a simple form they consist of a pipeline constructed over the top of an embankment or high topographic feature, connecting a source pond to a receiving pond or channel (see Photograph 1). The syphon action is initiated by removing air from the pipeline (priming) using simple devices which can be purchased ?off the shelf?. Once primed, the syphon flow rate can be controlled or stopped using conventional gate, valve, orifice plate or other devices. Repriming is not required even if the flow is stopped, provided the syphon is not drained. A limiting factor in considering a syphon as a design option is the maximum lift (i.e., vertical distance from source pond level to summit of syphon) which is approximately 9 metres, or less, dependent on syphon pipe features and site conditions. Pipeline syphons can be quickly constructed from readily available materials including steel, polyethylene and PVC pipe. They are particularly well suited to many of the unique conditions often encountered at minesites. This paper identifies situations that can sometimes be best resolved using pipeline syphons. It provides basic principles for pipeline syphon design and includes case histories of their successful application.

May 1, 2001

By Atsuki Sado, Akira Ueno, Kazuaki Takebayashi, Kunio Watanabe

The Saganoseki Refinery of Pan Pacific Copper Co., Ltd., Japan, introduced the ISA 2000® process in 2006 to improve product quality and productivity. After resolving various technical difficulties associated with the process, a current density of 325 A/m2 and electrolytic copper production of 234 000 tons per year were realized in 2018. In recent years, Saganoseki Smelter & Refinery has promoted treatment of recycled materials in addition to copper concentrates. Accordingly, the amount and type of impurities charged to the smelting process have tended to increase. In the electrorefining process, impurities such as nickel and antimony cause anodic passivation and formation of suspended solids, respectively. Although these undesirable phenomena can be avoided by controlling impurity concentrations in the anode and electrolyte to appropriate ranges, this also limits the choice of recycled materials that can be processed by the smelter. To achieve both stable operation of the electrorefining process and flexibility in treatment of recycled materials in the smelting process, Saganoseki Refinery improved the capacity of the impurity recovery processes during 2016 to 2018. This paper describes the expansion of the purification plant to remove and recover nickel and antimony. INTRODUCTION The Saganoseki Refinery of Pan Pacific Copper Co., Ltd., Japan, introduced the ISA 2000® (wax- less permanent cathode method) in 2006 to improve product quality and productivity. Since then, the refinery has gradually increased current density, and has been committed to establishing stable operation and high productivity via various improvements related to the electrolyte filtration and additive management systems. Figure 1 shows the trends of current density and current efficiency at the refinery. Although the current efficiency temporarily dropped when the current density was raised to 322 A/m2, it consistently exceeded 97% thereafter. At present, stable operation at 325 A/m2 has been achieved and continues.

Jan 1, 2019

By E. Henderson

"This paper outlines the upgrading of a double-drum 2000 hp cage hoist to provide fully-automatic operation from shaft station control panels. The application utilizes programmable controller technology to provide all necessary functions for movement of personnel and material to 22 locations in a 4000 ft shaft.Various functions involving special design considerations such as ""chairing"", ""jogging"", and three modes of ""multi-level calling service"", are outlined. The use of higher level PLC functions to optimize memory utilization and simulate ""elevator service"" required the addition of a comprehensive fault finding software section to aid in troubleshooting.This paper will deal primarily with the automation portion of the project with references made to other pertinent aspects which were prerequisite to automatic operation. It is not intended to deal with every design detail, but rather to provide an overview of what can be done in the area of automation for those considering such an application. INTRODUCTIONEarly hoisting control systems provided only the essential elements of control, leaving many responsibilities with the operator. With advancements in various areas of technology, electromechanical devices were incorporated to enforce slow-down in end zones, control acceleration rates, monitor safety devices, etc. Brake control systems were supplied to allow for ""single-stick"" operator control, regulated deceleration during emergency brake applications, etc.These additions enhanced the over-all performance but were generally confined to speed and current regulation. Some mechanical devices, such as travelling nut limits, etc.; were used to provide ""position"" control to multiple locations within the shaft. These devices, in conjunction with rather extensive relay control panels, did allow for the establislunent of some automatic cage hoists . The hoists were often limited to service from point ""A"" to point ""B""', involving a limited number of levels due to the complexities of the mechanical interfaces employed. Only limited systematic work sequences were possible . .Programmable Logic Controllers (PLCs) were introduced into industry in the mid-70s and have since gained acceptance in mining applications such as pumping, ventilation, ore handling, etc. This technology, being ""software"" based, allows complexities to reside in the program rather than increasing the number of physical control elements. This has opened the door into hoisting systems for automatic loading and hoisting of ore as well as a means to achieve a comprehensive package of automated cage hoisting functions."

Jan 1, 1989