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A discussion on simulation tools to aid the development of robotics platforms is presented. The focus of the work is towards mining robotics platforms where operations are typically in unstructured, unpredictable environments and a high degree of dependability in their operations is required. It is argued that a test-based development approach leads to more robust solutions and faster development cycles than traditional single-track field-only development and that the key enabling technology for this development paradigm is the judicious use of simulation tools. The future direction of simulation for use in online applications such as active planning and as a means to assist tele-operation in high latency communication applications is also brief y considered together with the requirements for a useful simulation environment in terms of the simulator architecture. Finally, a case study is presented on the application of the discussed methodologies to an unmanned ground vehicle (UGV) for earth-moving tasks, which is being developed in an accelerated time frame with a transient development team.

Dec 6, 2010

By Steven Putt

Seismic While Drilling (SWD) is a newly developed technology in the mining industry. Improving upon Measurement While Drilling (MWD) systems, SWD measures mechanical properties of the rock at incremental depths down a blast hole at a much higher resolution. SWD is also immune to common failures and inconsistencies of MWD such as operator and drill specific variation. Seismic While Drilling records the velocity and elastic modulus of the rock with centimeter accuracy in real-time. These properties measured while drilling blastholes are then used as a proxy for density which can be used for: • High resolution geologic modeling • 3D ore control • Drill and blast optimization • Drill to mill tracking One of the distinct challenges with SWD systems is the sheer volume of information acquired. With thousands of measurements per blasthole, the data can be overwhelming for even an experienced engineer. To overcome this complex challenge, the latest cloud computing and analytics models have been simplifying and organizing the data. These newer technologies can amplify an engineer’s capability by delivering actionable insights into their drilling and blasting workflows. The paper presents new results from Datacloud during recent Seismic While Drilling trials in iron ore, metallurgical coal, and hard rock mines around the world. The measurements are compared with wireline geophysical logs, core data, drill cuttings, and conventional measurement while drilling (MWD) systems to validate the technology and show how the data can be used.

By R. C. Woodhead

During past years the most difficult problem presented to the coal preparation engineer has been the cleaning of fine coal, The problem of handling fine coals is more involved than the coarser sizes, because the higher surface moisture contents complicate screening, and the larger percentages of fine near size material complicate separating problems. Low gravity high capacity specific gravity separations were not possible with equipment available at that time. Coal preparation engineers did develop machines that would effect a separation of the fines, however, to maintain a high efficiency, the point of separation had to be a relatively easy one. The more difficult separations were made in the coarse coal sections of the washeries, and the fines were generally cleaned at higher specific gravities in equipment such as tables, feldspar jigs, rheolaveurs, etc. Clean products from both processes were mixed, resulting in overall lower ash contents, During the last several years, however, we have been confronted with increasing demands ZGP more precise separations of finer coals to still further reduce ash contents. A study was begun and a program instigated to improve the cleaning of fine coal, The result of this endeavor was the development of the new cycloidal heavy medium cyclone.

Jan 1, 1964

By Nikhil Dhawan, Veeranjaneyulu Rayapudi

This study investigates upgrading of low-grade banded hematite quartzite iron ore (Fe ~31%). Conventional beneficiation was found to be futile. The susceptibility of iron phases to microwave exposure and their selective absorption assists in the liberation of iron values. Microwave exposure of coarse particles at 540 W for 10 min yielded a concentrate with Fe 56.30% and recovery of 50.68%. Conventional carbothermic reduction at 500 °C, 60 min and 9% charcoal yielded a concentrate with Fe 57.6% and iron recovery of 68%. The presence of sufficiently bonded silica leads to an easy formation of a fayalite phase. The microwave reduction design yielded FeG of 57.6%, FeR of 47% and a yield of 24% at an optimal condition of 540 W, 8 min and 6% charcoal. It was found that a small fraction of microwave-irradiated ore-charcoal mixture melted rapidly, and pure ferrite balls were observed within 8 min. An optical micrograph of a ferrite ball reveals the retained austenite and martensite phase.

By H. Yavuz

Closed form solutions assume opening shape to be circular to simplify the calculation of the ground response curve for the design of underground openings. However, in mining and civil engineering works, non-circular openings are commonly excavated. Therefore, there is a need to estimate the ground response curve for such openings. In this respect, a simple model for circular, arch and rectangular shape underground openings subject to a hydrostatic stress field is the aim of this study. A comprehensive numerical modelling, using the finite difference method, based on numerical modelling code FLAC version 4.0, was carried out. In addition to shape of an opening, the effect of rock mass strength, opening size, in situ stress on strain (tunnel deformation to tunnel radius) of the opening in response to applied support pressures was investigated parametrically by developing models for each specific condition. The strain results for each excavation shape obtained from this large number of models against the normalized strength of rock mass and internal support pressure with in situ stress magnitude were evaluated by multiple regression analysis. As a result, a model that was well correlated to data was developed for an overall estimate of the ground response curve depending on relevant effecting parameters. The regression coefficients of the model were given for estimating both roof and sidewall response curve of each excavation shape. The model was verified by statistical tests and by an analytical solution. Diagrams were also established to highlight the influence of relevant parameters and to estimate the support pressure for a stable opening staying within the acceptable limits of strain. Strains occurring in a rectangular opening are found to be larger than those in the arch and circular openings for the other fixed parameters. In the mean time, larger strains occur around an arch shape opening than a circular opening.

Jan 1, 2006

By Annie G. Smelley

The Bureau of Mines is testing a dewatering technique for phosphatic clay waste that will recover a portion of the water lost using conventional waste disposal methods and produce solids suitable for land reclamation. The technique utilizes a flocculant, polyethylene oxide (PEO), that forms strong, stable flocs that can be dewatered on a static screen followed by further dewatering on a rotary screen. In field tests conducted in northern Florida, clay wastes containing a nominal 2.5 pct solids have been consolidated to greater than 20 pct solids. The rate at which PEO-treated material continues to dewater in a mine cut also was monitored. Preliminary results indicate that PEO--treated material will dewater to 30 pct solids in 140 days. Pretreatment of phosphatic clay waste with lime and H202 was shown to improve the dewatering technique for problem clay wastes.

Jan 1, 1985

By Harold J. Miller

Loading and haulage of run-of-mine ore is frequently the highest cost in underground mining operations. These costs can be significantly reduced by use of belt conveyors, a common practice in coal and similar soft miner ii mines. This is particularly true if oversize ore and rock can he eliminated prior to conveying; thus producing a demand for crushers near the production areas. Portable feeder-breakers are extensively used in conveyorized mines, but no suitable, equivalent equipment, is available to provide these benefits to hard rock mines of low to medium headroom. A hard rock crusher capable of easy movement and readily disassembled would allow use to belt conveyors and could improve the general safety and productivity of any underground ore hauling system. This report summarizes proposals and findings made in conjunction with the newly designed M-44 Low Head Portable Crusher which is believed well capable of meeting the requirements of a "portable, underground, hard rock" machine as previously defined in earlier reports. Data gathered by use of the 1/4 Scale Model of the M-44 has substantiated and verified the concept sufficiently to justify construction of a full-size machine for further testing under actual mine conditions.

Jan 1, 1978

By Karl C. Dean

All components of 15 automobiles manufactured between 1954 and 1965 were analyzed, and it was determined that a representative junk automobile would have the following composition (all figures in pounds): steel, 2,532; cast iron, 511; copper, 32; zinc, 54; aluminum, 51; lead, 20; rubber, 145; glass, 87; miscellaneous, 142. Time and motion studies and a cost evaluation were made to determine if such a typical vehicle could be economically burned in a smokeless incinerator and hand-dismantled, and if the resultant steel could be baled into a high-quality No. 2 bundle containing less than 0.10 percent copper. The cost evaluation showed that processing the composite car would cost about $51 to produce about $56 worth of marketable ferrous and nonferrous metal products and provide an annual rate of return on investment of 19 percent.

Jan 1, 1969

By Don L. Deardorff

The Deserado Mine and transportation system is the fuel supply portion of the Bonanza Power Plant project. Deserado Mine con¬sists of an underground mine with a capacity of 1,224,700 tonnes (1,350,000 tons) of clean coal per year, a 649 tonne (715 tons) per hour closed water circuit jig type preparation plant, a 5.6-kilometer (3 ½ -mile) overland conveyor with covered slot storage, a unit train rail load-out and 59.5 kilometers (37 miles) of totally independ¬ent, captive electrified railroad. Planning and exploration started in March of 1978. Construction of all facilities was completed in April of 1984, approximately six years after initial planning was commenced. This paper will discuss exploration, environmental permitting, mine planning, engineering and construction of the Deserado Mine project.

Jan 1, 1984

By T Goswami

The conventional practice in open cut coal strip mining has been to blast the overburden or coal layers in separate blast events. This is done in order to maximise the benefits from throw blasting and also to limit coal losses. Each blast event usually has a particular design of hole diameters, burdens and spacings, explosive charges and blast timing in order to achieve the required blast outcome for either the overburden or coal. This means that each blast has to be separately cleaned on the surface after excavation of the previous blast. Hole locations then have to be individually surveyed and marked, holes drilled, explosives and initiators loaded and the blast fired. Each of these actions takes considerable time and resources and therefore impacts on mine productivity. The mine has to be cleared for each blast event and every blast presents a new potential source for noise, dust or vibration disturbance to the neighbouring population. Exposed highwalls are also subjected to vibration and damage from each subsequent blast event

Jan 1, 2006

By T. G. Carter, R. I. Miller

First, the influence of variation in the

Apr 1, 1995

By S. O. Bada

Fine phosphate feed is considered to be slime and normally disposed of as a discard in settling ponds or dumped as landfill. The purpose of this research was to establish whether commercially acceptable qualities and yields could be obtained from this material using dry separation methods. The results obtained from the electrostatic separation of <105 µm phosphate ore are presented. An existing separator was upgraded in order to improve on product and flotation concentrate recovery, to test different mineral, and to reduce particle residence time between the charging chamber and the separating zone of the separator. The operating conditions were varied according to the charges imparted to the particles in the electric field, and according to other device parameters. Parameters such as splitter position, charge reversal, rotation speed, charging voltage and separating voltage. The <105 µm phosphate feed was concentrated under both triboelectrification and inductive charging. The use of inductive charging and charge reversal resulted in a significant increase in grade for <105 µm phosphate feed, with the P2O5 grade increasing from about 12 per cent to 20.50 per cent, and a recovery of 26.30 per cent under a single stage of separation. It was found that better separation was achieved at rotation speed of 6000 r/min, -8 kV charging voltage, and 25 kV separating voltage.

Jan 1, 2012

By M. Nehdi

Deficient surface disposal systems of sulfidic mine waste often cause severe contamination of surface streams and groundwater reservoirs due to the oxidation of sulfide phases. The subsequent generation of leachates characterized by high acidity and elevated concentrations of toxic elements (commonly known as acid mine drainage) jeopardize the health of contiguous ecosystem. Stabilization/solidification (S/S) is recognized as a promising solution for treating such wastes. S/S processes generally mobilize alkaline and/or cementing materials/additives that act as neutralizing and/or binding agents. In the present research, industrial byproducts, namely, cement kiln dust (CKD) and Class C fly ash (FAC) have been used as candidate materials along with the partial addition of sulfate-resistant cement (SRC) in the S/S of polymetallic sulfidic mine tailings (MT). The effectiveness of S/S was assessed by comparing laboratory experimental values obtained from unconfined compressive strength, hydraulic conductivity and leaching propensity tests of S/S samples with regulatory standards for safe surface disposal of such wastes. Despite general regulatory compliance of compressive strength and hydraulic conductivity, some solidified/stabilized-cured matrices were found unable to provide the required immobilization of pollutants. Solidified/stabilized and 90-day cured mine tailings specimens made with composite binders containing (10% CKD + 10% FAC), (5% SRC + 15% FAC) and (5% SRC + 5% CKD + 10% FAC) significantly impaired the solubility of all contaminants investigated and proved successful in fixing metals within the matrix, in addition to achieving adequate unconfined compressive strength and hydraulic conductivity values, thus satisfying U.S. EPA regulations. Laboratory investigations revealed that, for polymetallic mining waste, leachate concentrations are the most critical factor in assessing the effectiveness of S/S technology.

Jan 1, 2008

By A. A. Paoli

The selection of a mining plant for carrying on development work presents many problems distinct in themselves, and affected by various local factors. In this paper, the writer proposes outlining and discussing in some detail the chief factors governing the economic selection of such plants. This will be followed by an enumeration of the underground and surface plant required for carrying on several hypothetical exploratory and mining operations. Where it is impossible or not convenient to obtain hydro-electric power, and where wood for fuel is scarce, we now find oil engines being used. A 100 h.p. oil engine, such as would be required to operate a three-drill air compressor, consumes approximately five Imperial gallons of fuel-oil per hour at full load. On the basis of a 60 per cent load factor, this gives, for eight hours&apos; operation, a probable actual consumption of twenty-four Imperial gallons.

Jan 1, 1929

By Osama Safaqah

The new Cooper River Bridge will replace two existing bridges along U.S. Highway 17. The cable-stayed bridge will be one of the largest in the U.S and will connect the City of Charleston and the town of Mount Pleasant, South Carolina. The 1,546-foot long main span over Cooper River is supported by two diamond-shaped towers and will allow for 1000-foot wide navigation channel. The Charleston high-level approach is approximately 4351-foot long and will provide 250-foot wide navigation channel over Town Creek, while the Mount Pleasant high-level approach is 2090-foot long. Due to the high seismicity in the region, potential vessel impact, and hurricanes, large lateral loads are expected. Among various types of foundations, 10-foot diameter drilled shafts were selected for their high capacity against lateral loading. The shafts are founded on a stiff to very stiff lightly cemented calcareous sandy clay or sandy silt layer, called Cooper Marl, which underlies coastal sediments of interbedded clays and sands. The main towers will be supported on a group of 11 shafts and protected from ship collision by a rock island. The High Level Approach piers will be supported on a pair of 2 shafts. The shaft tip elevation is up to 230 feet below water line. An elaborate geotechnical investigation has been conducted on the site including a load test program on full-scale shafts under axial and lateral loads. The results of the tests were used to calibrate the lateral and axial soil resistance. The objective of this paper is to present the different aspects of the bridge foundation design.

Jan 1, 2005

By Mohammed Sakr

A Two-Section Helical Pile (TSHP) is a steel pipe with two shaft sections of different diameters and with one or more helix plates near the bottom of each shaft section. TSHPs are used regularly in western Canada as foundation pockets for single and double circuit distribution power line poles. The results of a comprehensive lateral pile load test program and the field monitoring of TSHPs installed in organic soil (muskeg) over soft clay are presented in this paper. A total of nine full scale lateral load tests were carried out, including seven tests using TSHPs with different diameters and embedment depths, and two tests using one-section helical piles. The prime objective of the study was to evaluate the lateral resistance of TSHPs installed into very soft organic soil (muskeg) overlying soft clay soils, to compare their lateral resistance relative to one-section helical piles and to compare the measured and the estimated lateral resistances using p-y curves. In order to provide sufficient soil data for analysis, the subsurface soil stratification was evaluated using two different techniques including; Cone Penetration Tests (CPT) and Portable Soil Probe Tests (PSPT). The two testing techniques were also compared and evaluated. This paper summarizes subsurface soil conditions, pile configuration, helical pile installation procedure, testing setup and results.

Jan 1, 2009

Power Point Presentation

Jan 1, 2007

By G. S. Scott

The investigation of the causes, behavior, and control of anthracite mine fires, which the Bureau of Mines has been carrying on has yielded several publications directly applicable to mine-fire problems. 3/, 4/, 5/, 6/, 7/, 8/ As a further step in elucidating the causes of heating in certain anthracites subjected to oxidation, reliable information vial needed relative to the actual amount of heat that is liberated when a unit volume of oxygen combines with anthracite at varying temperatures.

Jan 1, 1939

Many USBM research and information products are available through the systems or formats listed below: Mines FaxBack: Return fax service. 1. Use the touch-tone handset attached to your fax machine&apos;s telephone jack. (ISDN [digital] telephones cannot be used with fax machines.) 2. Dial 202/219-3644 3. Listen to the menu options and punch in the number of your selection, using the touch-tone telephone 4. After completing your selection, press the start button on your fax machine. Mines Data: Computer bulletin board. Log on via modem through 202/501-0373, or call 202/501-0406 for technical assistance. CD-ROM: This USBM disk is updated quarterly and sold by GPO&apos;s Superintendent of Documents. For information on the latest product, please contact Rodger Wedgeworth, 202/501-9557. Internet/World Wide Web: Text and graphics. Access via PC-based browsing software such as Netscape or Mosaic. Universal Resource Locator (URL) is: http:/www.usbm.gav Internet/Gopher Server: Text and tables only. Using Gopher client software, access via port 70 as follows: gopher.usbm.gav Internet System Administrator: webmaster®usbm.gov (or contact your local System Administrator).

Jan 1, 1995

By X Hu, Z Pokrajcic, R Embry, P C. Stewart, J Carpenter, E Jones

Whilst the value of Pit to Plant and Mine to Mill optimisation has been proven since the 1990s, sustaining the productivity and efficiency gains typically requires ongoing test work, blast trials, plant surveys, and model calibration services. In contrast, the input to digital twin Pit to Plant or Mine to Mill optimisation is tens to hundreds of millions of tonnes of standard mine operating data. This paper presents a series of digital twin case studies from across the mine value chain, including machine learning testing methodology, model accuracy statistics and the application of Shapley Additive Explanations (SHAP) for model interpretation. These case studies demonstrate how machine learning and data fusion ore tracking connects hundreds of millions of tonnes of downstream performance data to produce digital twin models (operating models that are continuously updated and integrated into the wider Mine to Mill/Pit to Plant ore tracking system). Digital twin modelling software has been used to add block model variables for dig-rate, crusher and mill throughput, recovery (tailings grade), lump yield, product grade and product quality, fines yield and fines in lump. Block-by-block predictions are added to the geological resource and grade control block models as new block model variables. These new block model variables are used across all mine planning time horizons from life-of-mine planning to daily schedules. In addition to the materials handling and geometallurgical prediction case studies, the paper also presents digital twin case studies for drill and blast simulation and plant set point optimisation. The case studies show how digital twin simulation enables drill and blast engineers to simulate the effect of different blast designs in different blast domains using the mines operating data. Plant set point optimisation applies mathematical optimisation algorithms to the machine learning model to provide live operational decision support to metallurgists and plant operators. The digital twin machine learning case studies demonstrate a digital and sustainable paradigm for Mine to Mill and Pit to Plant optimisation.

Jun 22, 2022