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By Rashi Tiwari, George Danko, Jeremy Knowles

A control technique is described for enhancing the efficiency of materials handling and other mining operations. The concept involves human-operator and robotics control interactions to assist in mining operations. Many mining tasks require a human operator to coordinate the motion of several machine links by simultaneously manipulating multiple joysticks or other control devices. The new control architecture allows for automatic coordination of multiple machine joints. The machine movement may follow a computer-optimized, learned coordination pattern, while the operator still retains the master control of the overall trajectory and velocity parameters. Examples are described for a surface mining front shovel.

Jan 1, 2005

By G. Danko, R. Tiwari, J. Knowles

Many excavation and loading tasks require equipment operators to simultaneously coordinate the motion of multiple machine links, in order to achieve complex tool trajectories. Efficiency, ore selectivity, and machine wear, are all affected by the skill level and attentiveness of the operator. A software-based kinematics reconfiguration system designed to assist operators with various tasks has been implemented on a small experimental excavator using our new differential control architecture. Kinematics transformation and feedback control algorithms are being developed and tested using computer simulation, and the results implemented on the experimental excavator. Several task-specific kinematics transformations, including a virtual revolute-to-Cartesian machine reconfiguration and computer-assisted bucket steering and stabilization have been successfully tested. Progress, challenges, results, expected benefits, and planned work are described.

Jan 1, 2006

By Eleanor Kentish, Edward Batty, Alan Skarda

"The design of the tunnels at Bond Street Station includes a final sprayed concrete fireproofing layer. The performance of this layer was verified by a program of testing to Crossrail’s KT24 specification, which proved that a dosage of 1kg/m³ polypropylene fibers and a layer thickness of 50mm would be sufficient to limit spalling in the event of a fire. Application of this thin layer was achieved using a state of the art spraying robot, with the ability to scan the profile and automatically apply a uniform layer of concrete. To provide assurance and calibrate this spraying robot, BFK developed a bespoke survey system for checking SCL thicknesses in the field. This provided an instant independent check of the spraying robot and allowed areas of inadequate thickness to be rectified without risk of cold joints. This paper describes the practical application of the fireproofing layer and how design compliance was ensured. INTRODUCTION Fire is one of the most serious risks to a tunnel. The nature of tunnels — being long enclosed spaces — can increase the intensity of a fire, and make fire-fighting and rescue operations difficult. The damage that can be caused has been demonstrated by a number of historic tunnel fires, such as the Channel Tunnel fires of 1996 and 2008, and the Mont Blanc Tunnel fire in 1999. Without any intervention, the high temperatures in a fire create thermal stresses and a build-up of vapor pressure within the pores of concrete, which eventually exceed the tensile strength and trigger explosive spalling. Spalling exposes the core of the section to severe temperatures, leading to a loss of concrete and steel reinforcement strength or further spalling of successive layers. The concrete used in tunnel linings is particularly susceptible to explosive spalling, due to its low permeability achieved by the addition of microsilica (Bailey 2011). The sprayed concrete lined (SCL) tunnels on Crossrail have been designed to resist the worst anticipated fire in operation, in order to prevent collapse and minimize damage to the structure. The design called for a system of passive fire protection, the efficacy of which was validated by the contractor through a testing regime. It was critical that the application on site reflected the test conditions, which demanded special control of the profile and thickness of the lining. In order to meet these constraints on tolerances and quality, BAM Ferrovial Kier joint venture (BFK) developed a reliable method of working with the Meyco Logica spraying robot, and a bespoke survey system for accurately checking thicknesses in the field. These innovations are the focus of this paper."

Jan 1, 2016

By Mark C. Russell, Charles T. Russell, Brooke Colburn, Parker Bailey, Desiree Bernhard, Kaito Durkee, Tristen Cutshall, Rob P. H. Urselmann

Hypersonic tunnel boring (HTB) uses directed, high velocity projectile impacts to remove rock. HTB is highly independent of rock strength and targets hard, abrasive rock and variable rock environments. This paper discusses history, theory and presents test (2×2 m and .75×.5 m tunnels) field trial results and technical and economic evaluation. The HTB tests are compared against the historic ‘project REAM’ and the concept against tunnel boring machines and drill & blast in design studies for full-scale 12 m and 4.5×5.5 m tunnels. The positive results indicate that under these conditions HTB can replace Drill & Blast and Tunnel Boring Machines.

Jun 13, 2021

By J. P. H. Steele, T. Vincent, C. Debrunner, M. Whitehorn

For a variety of reasons, the need for automation of underground mining equipment is growing dramatically, e.g., improved safety and health, availability of labor, deeper mines, and desire for more focused excavation. While there has been tremendous progress made in this direction, much needs to be done to reach the holy grail of an autonomous mining machine. This paper reviews a number of technological developments and presents research and development needs for future development. A report on our current project for the Western Mining Resource Center at CSM is included.

Jan 1, 2000

By M. A. Trevits, G. W. Luxbacher, L. D. Patts

"It is almost a given that post-disaster mine conditions will have compromised the mine ventilation system, resulting in a hazardous atmosphere in portions of the mine, and often complicated travel through debris fields and roof falls. Robotic technologies provide the opportunity to gather valuable information to assist decision making or lessen exposure to dangerous conditions. MSHA's Mine Emergency Operations Division (MEO) has utilized a fully permissible mine robot, the V2, for a number of years, constantly updating the unit as new technologies became available. The National Institute for Occupational Safety and Health, as part of the MINER Act Extramural Contract Program, examined the need for additional robotic units and ultimately funded three different types of prototype technologies: two robots, the Snake Robot and the Gemini-Scout, and a mine rescue robotic assist vehicle known as the ""Mule"". The Snake Robot is designed to be lowered through a borehole and to conduct surveillance (gas monitoring, video and audio) in the immediate vicinity, while the Gemini-Scout, designed to be deployed in the mine opening, serves as a more mobile and agile exploratory tool as compared to the MSHA V2 robot. The Mule was developed in response to needs expressed by mine rescue teams for a versatile remotely operated support vehicle and it will move from prototype to MEO utilization in the near future. This paper describes the development of the robot prototypes and discusses their limitations in the prototype stage, possible enhancements and potential applications, as well as the utilization of the Mule. INTRODUCTION The conditions in a coal mine may be dramatically altered after a mine fire or explosion. For example, the ventilation system may not be functioning correctly as control devices may be compromised or damaged beyond repair. The visibility in the mine opening may be limited due to accumulated smoke and dust. Roof support systems may be damaged or no longer functional. Equipment and materials may be strewn about the mine opening. Debris fields, blocked openings, roof falls, flooded areas, gas accumulations and active burning make it very difficult or impossible for those managing the post-event emergency to permit mine rescue teams to enter the mine to conduct search and rescue operations. With the evolution of robots and robotic assist technology there has been a proliferation of purpose-built units for the military, police and law enforcement agencies, urban search and rescue and those contending with hazardous environmental conditions. In each case, the technology used is designed to limit human exposure to the unsafe conditions or to provide access to areas under difficult conditions. For example, a specially-designed marine robot has been deployed into the damaged core of the Japan’s Fukushima Daiichi Nuclear Power Plant to assess the conditions of the containment vessels, where melted fuel is believed to have accumulated. Human access to the area is prohibited due to dangerously elevated levels of radioactivity [1]. Multiple robots were deployed in Amatrice, Italy, to assist in the response after the 6.2-magnitude earthquake devastated the town. The robots were used to explore two medieval churches that were severely damaged and deemed too dangerous for human entry [2]. Tactical robots are regularly used by police and law enforcement agencies when the conditions of the emergency place intervening officers directly in harm's way [3]."

Jan 1, 2018

By Gastón Díiaz, Enzo Carranza Meza

El Teniente Mine of Codelco-Chile, located at Los Andes Range of Mountains, 90 kilometers South far from Santiago, the capital city, has been exploited for more than 90 years, with over 1000 million tonnes of copper ore extraction. No doubt, this particular record, has been possible to achieve due to an efficient combination of human and technological efforts in the exploitation of one of the biggest ore deposits of the world. Throughout times, the exploitation has evolved from a mainly manual one to a highly mechanized exploitation. Notwithstanding, different and several geomechanical problems that occurred in one of its areas, increased the risks to personnel that should normally operate large equipments in its working face. This last condition, forced El Teniente mine to design and develop systems and technologies that would allow the use of tele-operated LHD, picking hammers and drilling equipment (jumbos) from a safe zone. Currently, El Teniente Mine is using in its extractive works equipment such as LHD, picking hammers, and drilling Jumbos, that can be manually or teleoperated commanded from a Central Control Room located one kilometer away from the production area. In general, a new technological era has been opened in the mining exploitation at El Teniente: the exploitation era with telecommanded robots.

Jan 1, 1998

"In addition to outstanding technical sessions and networking opportunities, the SME Annual Conference and Expo offers attendees a chance to see the latest and greatest technology that the industry has to offer. The 2017 SME Annual Conference and Expo was no exception as 575 companies filled 756 booths from Feb. 19-22 in Denver, CO. The following is a look at some of the vendors that were on hand.AIL MiningThe Edge, featured by AIL Mining at the 2017 SME exhibit, is a four-flange structural liner designed to be an alternative to structural plate’s traditional lapped seams and to help mine operators build more efficiently and safely. It is ideal for creating underground structures, such as mine shafts, ventilation raises and escape ways. The Edge is available on SuperCor structural steel plate — 10 times stiffer and five times stronger than traditional steel liner plate. It facilitates curved structures, both horizontal and vertical, and eliminates the need for ring beams. It is ideal for remote sites. For added safety, structures can be assembled from the inside, and the leak-resistant structures can be dismantled and removed easily. Brackets can be attached to mine shafts or vent raises to support Alimak rails or climbers. Similarly, brackets or hangers can be attached to drifts or tunnels to support mine air, water or electrical utility services.ArcadisMining companies spent nearly $12 billion on water infrastructure worldwide in 2014, reflecting the industry’s heightened concern about environmental issues and social, regulatory and political risks.So, with an increasing focus on water reuse and recycling, mining companies must have effective water management plans that include sustainable solutions. Also, many water quality issues fall under both state and federal regulatory jurisdictions. To solve these problems, Arcadis provides comprehensive ground- and surfacewater technical support in a complex hydrogeologic setting. It can characterize the nature and extent of mine-related constituents in ground water and surface water, as well as the complex interactions between the two waters, and prepare the operational permits needed by mine and tailings facilities. As an example, Arcadis constructed a hydrogeologic and geochemical conceptual site model that improved site understanding for a molybdenum mine in the western United States that spanned several watersheds. It also provided technical support for permitting and compliance issues, allowing the mine to return to active production."

Jan 5, 2017

By M. R. Carter

The Rochester Mining District is located some twenty-five miles NE of Lovelock, Nevada. The District was discovered and named in the 1860's by prospectors from Rochester, New York. For a number of years, they worked Rochester Canyon, sinking shafts and inclines and making open cuts. After reaching a depth of approximately eighty feet, the miners tapped an underground channel and were driven from these workings by a strong flow of water leaving pumps in the shaft and barely escaping with their lives. With the Rochester workings no longer accessible, the miners went to the southeast and established the Relief Mining District. About 1881, gold was found in the gravel at the mouth of American Canyon, to the east of Rochester. These placers were worked until 1895, first by the Americans who reportedly took out $1 000 000, and later by the Chinese who mined the gravel with great skill. It was estimated that the Chinese took out as much as $10 000 000.

Jan 1, 1987

The Coeur Rochester Mine is one of the largest and lowest cost primary silver mines in the United States. In January, the mine surpassed 3.1 kt (100 million oz) of historic silver production. Rochester is owned and operated by Coeur d’Alene Mines, the world’s largest primary silver producer. Rochester is the world’s seventh largest silver mine. It also produces gold — more than 31.1 t (1 million oz) in historic production. Cash operating costs have averaged 8 cents/g ($2.58/oz) of silver since operations began in 1986.

Jan 1, 2004

By Rolland R. Mates

This paper describes the use of post- tensioned rock anchors to reduce the risk of future damage to a residential structure as a result of coal mine subsidence. The project described in this paper was performed by the Office of Surface Mining Reclamation and Enforcement (OSMRE) of the U. S. Department of the Interior. The OSMRE was created to administer Public Law 95-87, the Surface Mining Control and Reclamation Act of 1977. The responsibilities of OSMRE include "reclamation and restoration of land and water resources, adversely affected by past coal mining including prevention, abatement, control of coal mine subsidence. ?('l) Consequently, OSMRE has been addressing mine subsidence problems since its initial subsidence stabilization project in 1979. Stabilization activities have primarily consisted of supporting the overburden material by injecting materials through drilled bore holes into the underground mine voids. Injection of various materials into mine voids, including fly ash mixtures, coal refuse, cement grout, and gravel has proven to be a successful method of reducing mine subsidence-related surface movements, and has been extensively utilized in mitigating mine subsidence problems. However, the cost of drilling for injection can be extremely high in areas where the depth to the coal seam is great.

Jan 1, 1986

By Susumu Ukita

We have developed first a conveyor belt for transporting large lumps, i.e. Rock Belt successfully, in June 1976. The First Rock Belt had been delivered to Myodani site of Kobe City Developing Board in Japan, and its' successful operation has attract keen interests in customers from over the world as well as Japan. However, this First Rock Belt was removed in arch '81, viewing it has satisfactory expired its service life of about five-year, and also original location of this belt become to be far from the site due to long-years earth collecting work. Taking this opportunity, we introduce the Second Rock Belt applied for Rock Belt Loader as ell as three types of application of our Rock Belt working for rationalization of quarry of major company in Japan, and, view the prospect of Rock Belt:

Jan 1, 1981

By Russell G. Hood

Rock bolting or anchoring are methods of stabilization which are not being fully utilized in California and probably in other parts of the world due to lack of understanding of the principles, or due to poor results in actual installation. The problem is greater in California because so much of the rock is either soft or badly fractured and broken. Almost any recognized type of rock bolt or anchor will perform successfully is hard, fresh rock, but the problems become many-fold when working in decomposed granites, shales, soft sandstones or other soft, highly-broken rock. There has been an enormous amount of research by manufacturers, consultants, private organizations, and governmental agencies on rock bolting. It would be impossible to discuss all the methods and philosophies of rock bolting in this paper. Therefore, with the indulgence of the experts, I will give only a very generalized coverage on rock bolting techniques. However, My main purpose is to point out some of the problems of rock bolting in soft rock.

Jan 1, 1967

By Krawiec Alfons

The threat of rock bursts along with the danger from methane gas and coal dust explosions belongs to particularly dangerous phenomena in Polish pit-coal mines. This phenomenon results mainly from the physical-mechanical properties of the rock mass as well as the geological-tectonic structure of the Upper Silesian Coal Basin. In the postwar years in Polish coal mining thanks to a multi- directional activity, a decrease of rock bursts and their effects has been noted. For example, the number of rock bursts reported in 1965 amounted to 71 in comparison to only 23 in 1974. The ratio of rock bursts calculated for 100,000 tons of coal extracted from rock bursting strata amounted to 0.08 in 1965; however, in 1974 it amounted to 0.023 /Fig. 1/. These results were obtained in face of a continually growing potential threat from rock bursts caused by the systematic increase of extraction from rock bursting strata, exploitation at gradually greater depths along with the extension of exploitation into deposits enclosed in different types of pillars and other parts of deposits surrounded by workings. Despite the achievements of science and mining practice in this field, this threat has not yet been fully studied and controlled as it should be, As a result, research on preventing rock bursts is being continually widened in Poland. This research has a complex, multi-staged and long-range character. Theory, laboratory and field work in the mines are working on a solution to the problem.

Jan 1, 1976

By Jerry Dolph

Hecla Mining's Lucky Friday Mine, located beneath the town of Mullan, ID, has been shaken since the 1960s by many deep underground rock bursts. The largest rock burst carried a magnitude of 3.5 on the Richter Scale. It occurred in 1969 when all of the stopes on a level approached an upper level at the same elevation. After that, a stair-step pattern was used to give the mine's levels more of an "arch." The article is an account of one of the more ferocious bursts to hit the miners of the Lucky Friday. I say "miners" instead of "mine" because I was there and it was a very personal experience for me. I had been working at the Lucky Friday for six years. During that time, I had heard and felt thousands of air blasts. In fact, in the early spring of 1986, the mine was experiencing as many as 1000 air blasts an hour, of different intensi¬ties, of course. Most of them sounded like popcorn popping. There were also a few bumps and occasionally a real boomer. That day did not seem any different

Jan 1, 1994

By B. (Manas) Das

Rock characterization for geotechnical purposes using the microhardness technique is discussed in this paper. The concept of rock characterization and its steps are logically developed. The geotechnical properties should be functionally tethered to the technological problems for characterization. The overriding geotechnical concern is rock mass stability. The important factors in this respect are rock properties, structural discontinuities, ground water, field stress, temperature and technological factors. The rock properties are the primary factors and the other factors generally affect rock properties. Of the rock properties the strength and elastic properties can form a basis for rock characterization. The microhardness technique can provide these two properties. Study on coal shows that the microhardness impressions can be used for this purpose. On the basis of this study coals of all ranks can be divided into distinct geotechnical groups. The details of these are discussed in this paper.

Jan 1, 1986

By Alfred W. Eustes III

The first of a series on the evaluation of rock cutting tools, this paper discusses the results of full-scale laboratory drilling tests that compare the performances of several polycrystalline diamond cutter (PDC) coring bits. The tests were performed in welded tuff as part of a site characterization program. Number of cutters, size of cutters, air course design, and other parameters were evaluated as they affect penetration rate, but this paper focuses mainly on the relationships of torque vs. thrust (weight-on-bit), specific energy vs. penetration rate, and thrust vs. penetration rate. These relationships change in diagnostic ways according to bit type, bit condition, and type of welded tuff.

Jan 1, 1998

By R. Feenstra

In the course of time, an increasing number of investigations on jet cutting all kinds of material, such as rocks1, 2, 3, metals4, 5, and wood6 have been reported to serve various applications. This paper deals with one particular application of jets, viz deep-well drilling for hydrocarbon exploration and production. A number of papers have been published on this subject 7, 8, 9, some of which refer to jets purposely containing abrasives, termed 'jetted particle drilling'7. Since such abrasives complicate fluid handling considerably and do not appear to be absolutely necessary for making hole we have restricted ourselves to conventional drilling fluids. A large part of our investigation has been performed with the aid of three laboratory-type drilling machines, which permit tests on both micro-bits (12 in) and full-scale bits (62 - 9 5/8 in). In view of the application of jets in deep wells, care has been taken to simulate hydrostatic pressures as they exist in the field on the hole bottom. These have been found to have a major effect on the bit-penetration rate for various drilling fluids. Following experiments with single nozzles, laboratory bits have been designed, improved further and developed for field use. Field runs on 9 5/8 in bits, using conventional equipment and pumps, served to verify the feasibility of the jet drilling concept. Further efforts are evidently needed to evaluate the jet drilling method. It is encouraging that one of these10, a field test programme, is supported by a number of oil companies jointly. Such a combined effort is of paramount importance to evaluate and develop this new method of drilling to its full potential in a reasonable period of time. This paper aims to contribute to that ultimate goal.

Jan 1, 1974

By Tzou-Shin Ueng

Rock reinforcement of rock anchors and rock bolts are commonly used for the support of large rock caverns. The rocks at the location of most large underground openings are usually under very high initial stresses prior to excavation. Hence, the stress redistribution caused by excavation will induce considerable rebound deformations of rocks surrounding the caverns. Since the pressures exerted by the reinforcement are generally far below the initial rock stresses, the reinforcement will be stretched along with the rock deformations, and the stresses in the reinforcement increase accordingly. It is not uncommon for the stress in the reinforcement to reach the yield strength, and in some cases the reinforcement may even have failed. Therefore, the increase of stresses caused by the rebound deformations of rocks should be taken into account in addition to the force required to stabilize the caverns. It was found that the measured stress increases of the prestressed tendons after installation were in good agreement with those computed based on the measured rock deformations between surface and the anchoring point of the reinforcement. The rebound rock deformations and the stress increases in the reinforcement can be estimated based on the results of the finite element analysis and experiences in previous field measurements incorporated with considerations of the geologic conditions, rock properties, rock reinforcement and construction procedures.

Jan 1, 1986

By William C. Cooley

Modern tunnel boring machines are subject to excessive cutter wear and bearing failures when used in hard and abrasive rock. In very hard rock, the high cost of cutter and bearing replacement, combined with slower excavation progress, make it more economical to drive tunnels by conventional drill and blast methods. The use of high pressure water jets to break rock provides a promising alternative. Experimental data indicate that the specific energy (the energy expended per unit volume of rock broken) decreases as the water jet pressure increases. Continuous jets are generally limited to pressures below 100,000 psi, whereas pulsed jets from a water cannon can attain much higher pressures. Therefore, the Federal Railroad Administration of the U. S. Department of Transportation has sponsored the design (Ref. 1 & 2) and the fabrication and testing (Ref. 3 & 4) of a water cannon to determine its effectiveness in rock disintegration at very high pressures. This paper reports the results of laboratory tests with pulsed jets against large rock samples at pressures of 125,000 to 650,000 psi and field tests against dolomitic limestone and granitic gneiss at pressures near 450,000 psi. Although initial tests were made with a small nozzle, operating at off-design conditions (Ref. 4), this paper only covers results with the full-size nozzle, including 55 laboratory test shots and 67 field test shots.

Jan 1, 1974