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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 Victor V. Verbinski

This report presents the development of a raw coal concentration sensor for hydro-transport of coal and refuse (rock) from underground mines, and the results of an international test series carried out at the Colorado School of Mines Research Institute in Golden, Colorado, the U.S. Bureau of Mines, Hydraulic Transport Research Facility in Pittsburgh, Pennsylvania, Saskatchewan Research Facility in Saskatoon, Saskatchewan, Canada, and the Steinkohlenbergbauverein Test Facility in Essen, West Germany. Test results are presented for a three-component sensor and also for the more rugged two-component (all nuclear) sensor.

Jan 1, 1988

By Yunnen Chen

In the present study, waste materials like pine sawdust and spent grains were investigated to assess their potential for removal of cobalt ion from water by the process of biosorption. The effects of solution pH, reaction time and initial concentration were studied in batch experiments. The removal efficiency of Co(? ) by spent grains was higher than that of pine sawdust. The initial removal was rapid and equilibrium was established in less than 90 min. Equilibrium data all agreed well with both Langmuir and Freundlich isotherm models for the two metal-biomass sorption processes. Good correlation coefficients were obtained for the pseudo second-order kinetic model. Pine sawdust and spent grains were shown to be promising biosorbents for Co(? ) removal from aqueous solutions.

Jan 1, 2010

By J. E. Misiewicz, A Rozendaal

Paper presented at Geofluids '93, held in Torquay, UK, 4-7 May 1993. The tin field consists of a fragment of Lower Proterozoic volcanosedimentary rocks surrounded by granitoids. Almost all the significant deposits are hosted by arkoses and are classified as replacement and space-filling types, with particular styles of mineralisation dominating at different mines. Petrological and geochemical investigation of borehole cores from four centres indicated the presence of a stratified zone 500-600 m thick and continuous over at least 20 km along strike, consisting of pervasively altered clastic arenitic sediments. The alteration is zoned into a grey-green sodic albitised footwall, an 80 m thick sericitised-tourmalinised sulphidic tin zone and a red haematitic potassic hanging-wall. The zoning and the localisation of three cassiterite phases are consistent with the tectonic history and with multiple pulses of stanniferous hydrothermal fluids derived from late differentiates of the granites over a prolonged period. Areas of high fracture density acted as conduits for the fluids, whose initially rapid ascent was retarded by decreasing pressure contrast, limited development of fracturing and/or impermeable shaly arkose to cause lateral spreading and pervasive alteration over a broad, stratified front. Lateral overlapping of local fronts at the various centres suggests a continuous zone, while the many petrological and geochemical similarities point to a shared fluid composition

Aug 1, 1995

A systematic study of groundwater conditions at eight underground mine sites exhibiting a wide range of groundwater qualities throughout Australia has been completed at the WA School of Mines. This has resulted in a new corrosivity classification for groundwater driven corrosion processes for cement grouted cable strand used in the Australian underground mining industry. The new corrosivity classification is simple to use and corrosion rates may be predicted from readily obtained in situ measurements of groundwater dissolved oxygen.

Jan 1, 2008

IT has often been stated in the past that the materials known as inert fillers were merely adulterants nsed in the manufacture of paint, and that their purpose was to cheapen paints made from more expensive pigments, such as zinc oxide or white lead. In recent years, however, practical tests in various parts of the world have proved that many of the inert fillers, when used with wisdom, possess very definite and advantageous properties.Another oft-repeated statement which had a far-reaching effect in the past, and which is not without influence to-day, is that the very best paint must always be made from a pure pigment, without admixture with either a fellow pigment or an inert filler. Both or either of these statements may be true in a few isolated instances, but for the vast majority of ordinary painting conditions there is an abundance of experimental evidence to prove that neither is true.With the desire to further investigate these points and po 'determine the best combination of pigments and fillers for use as an outside white paint on plant buildings, a number of panels were prepared in the laboratory of this company.

Jan 1, 1924

By Edward Hall Smith

The E1 Indio Mine is located in the Andes mountains about 180 kilometers East of La Serena, capital of the Fourth Region of Chile. It is reached by an international highway running up the Elqui Valley as far as Juntas from where the last 42 kilometers is on a road constructed by the Company. The plant is located at 3.900 meters above sea level among extremely rugged terrain with nearby mountains rising about 5.500 meters. Climatic conditions at these altitudes are severe with winter temperatures down to -20°C. Snow storms lasting several days and leaving up to two meters of snow have been experienced, while fierce winds are corm=.

Jan 1, 1984

By K. Coleman, C. Visser, N. Selby, X. W. Pan, T. Letwaba

A prototype weightometer soft sensor is under development at DebTech, De Beers in partnership with Venetia Mine. Its main function consists of an online data source; data validation; dynamic weightometer models; online detection of weightometer failure; alarming and replacing a weightometer when it fails. 31 dynamic models have been developed. All models with R2>= 85%are accepted as good models and they generally have satisfactory results with a daily error of less than 8% within 90% confidence level. By using those models, a set of soft sensors can be set up to cover all weightometers in the entire processes starting from primary crushing to the stock piles of dense medium separation (DMS). Some practical issues and concerns on model development are discussed, including data collection, data analysis, data pre-processing, variable selection, time delay, model training and model validation. When deploying the weightometer soft sensor system, the potential benefits could include: reduction in plant downtime; reduction in unplanned maintenance and even replacement of non-critical weightometers, particularly where nuclear weightometers are used. Keywords: soft sensor, weightometer, dynamic modelling, neural network modelling

Jan 1, 2003

By Thomas P. Mucho, Thomas M. Barczak, Dennis R. Dolinar

Maintaining ground stability in the gate roads, particularly the tailgate, has always been critical to the success of longwall mining, both in terms of safety and productivity. Several new support technologies have been developed in recent years to replace conventional wood and concrete cribbing for secondary roof support. Since their performance characteristics are unique, the best practices that have been developed with conventional wood cribbing may not be applicable for these alternative support technologies. Therefore, with so many options to consider and the importance of achieving adequate ground control at minimal cost, the trial-and-error approach to longwall gate road support is no longer prudent. This paper discusses a design methodology for standing secondary tailgate supports. This design technique requires in-mine measurements of tailgate support loading and convergence to establish a tailgate ground reaction behavior based on support and strata interaction. The methodology uses the performance characteristics generated in the National Institute of Occupational Safety and Health's (NIOSH) Mine Roof Simulator (MRS) to match the stiffness and load characteristics of various supports to the measured ground reaction behavior. It can be used to determine the appropriate application of alternative roof support systems or to design in-mine trials so that a fair and equitable comparison of different support systems can be made. A case study of the methodology at a western Pennsylvania mine site is presented in the paper, including a comparison of four alternative support technologies to the conventional wood and concrete cribbing historically used at this particular mine.

Jan 10, 2000

By A B. Christie

Known epithermal deposits in the Coromandel region belong to the low-sulphidation type, represented by three subtypes: (1) andesite-hosted epithermal Au-Ag, (2) rhyolite-hosted epithermal Au-Ag, and (3) andesite-hosted polymetallic veins. Paleo-depths for a range ofdeposits are estimated using various features including: paleo-surface indicators (e.g. sinters), hydrostatic pressures estimated from homogenisation temperature measurements on fluid inclusions, and alteration mineralogy. Paleo-depth estimates to the base of the ore zone for the rhyolite-hosted Coromandel deposits are in the range 200 to 500 m. Andesite-hosted Au-Ag deposits have more variable paleo-depths, and are deeper (up to 950 m) in those deposits with base metals at depth. The majority of Coromandel Au-Ag deposits have limited depth extents (<200 m) of economic grade mineralisation, although Waihi and Karangahake are notable exceptions with depth extents of 575 m and 700 m respectively. Limited depth extents of economic ore are a feature of epithermal systems worldwide and are commonly attributed to gold deposition from boiling fluids. Under hydrostatic conditions in epithermal/geothermal systems, boiling in an up-flowing hydrothermal fluid is controlled by the boiling point for depth (BPD) curve. From fluid inclusion studies of many low-sulphidation epithermal systems, deposition of electrum in economic concentrations appears to be confined to a temperature window of 260 to 180¦C. This means that for dilute, gas-poor fluids that follow the BPD curve, gold deposition is limited to a vertical depth zone of about 400 m, with its upper boundary at about 100 m below the ground surface. The greater depth extent at Waihi and Karangahake, can be explained by mixing of/a deep, hot (300¦C) fluid with cooler (c. 200¦C) heated ground waters. This has the effect of lowering the 260¦C isotherm by up to 300 m, thereby increasing the depth range of economic grade gold deposition within the 260 to 180¦Cwindow of electrum deposition.

Jan 1, 2000

Slime Flotation Using Ethoxylated Surfactants in Solutions of the Electrolytes

Sep 13, 2010

By R. Gensemer

A number of state and federal agencies are calling for development of aquatic life criteria for conductivity. These aquatic life criteria or ?benchmarks? are based on observed correlations between conductivity and benthic macroinvertebrate community composition, generally measured by composite metrics or indices. However, development of an aquatic life criterion for a composite variable like conductivity is made difficult by a number of factors. Based on a database from West Virginia, observed patterns of invertebrate community composition versus conductivity may instead be related to a combination of abiotic (e.g., ionic composition, habitat) and biotic (e.g., life history, colonization potential) factors. Many benthic invertebrate taxa also do not respond to increasing conductivity in a consistent relationship. Many states have determined that a composite variable, like conductivity or TDS, is not appropriate for criteria development, as many studies have shown that toxicity varies as a function of ion composition and can be mitigated by elevated hardness. We conclude that the relationships between conductivity and changes in benthic macroinvertebrate community composition are neither strong nor reliable enough to warrant derivation of a criterion based solely on conductivity.

Jan 1, 2011

By Jason J. Crowder

Presentation Outline ? Introduction ? Costs of ground support and rehabilitation ? Why post-failure rock mass properties are necessary ? The Rock Mechanics Problem ? Present State of Modelling and Instrumentation in Mining ? Case Study Background ??Williams Mine ? Deriving Parameters for Modelling from Instrumentation ? Results from Case Study ??Back Analyses ? Discussion of Research Impact t Summary

May 1, 2006

By D. W. Dareing

Multiple branch wellbores and horizontal holes, when applied to deep lying ore bodies, have the potential of significantly reducing well costs by reducing total footage drilled per acre of well pattern. In addition, horizontal holes may increase sweep efficiency. Well completion is a major problem. They must be cased to contain leaching solutions within the underground portion of the production loop. Several drilling and completion concepts are given and evaluated in the report. Our evaluation shows that there is economic incentive to further develop these concepts for field application to ore bodies 1,500 feet. Multiple branch concepts are the most attractive. They can reduce well costs by as much as 30° when applied to 2,000 feet ore body depths (44%, at 5,000 feet) and can accommodate a lamer pump than conventional vertical wells. We recommend this concept be developed further to accommodate either dual or triple branches.

Jan 1, 1980

By B. M. England, L. C. Mackey

Magnesia minerals are included in most iron ore sinter mixes to provide the MgO requirements of blast furnace slag. The properties of these minerals have an influence on the eventual sintering properties of the mixes. A detailed study was undertaken of serpentine and dolomite and the use of limestone, olivine and magnesite was also investigated. A consideration of particle properties indicated that as these materials calcine a reduction in size can occur together with cracking and changes in surface properties. These changes could affect the permeability of the sintering bed and sintering performance. Studies of sintering reactions showed that magnesium and calcium, formed from the calcination of dolomite, are extremely mobile before the formation of melt. Evidence suggests that the movement of these oxides into surrounding areas is via a solid-state diffusion process. The diffusion of Ca into the surrounding hematite particles is faster than that of Mg, resulting in the formation of dicalcium ferrite and magnetite or magnesioferrite, the last two subsequently being converted to dicalcium ferrite in the presence of Ca with removal of Mg from the structure as ferroan periclase. Studies of pilot-plant sinters indicated that reaction mechanisms formulated from the bench-scale studies were occurring in actual sintering processes. The differences in sintering reactions between dolomite and serpentine were considered to be the major cause of differences in the availability of lime for bonding phase formation. Pilot-scale studies indicated that the sintering properties of a mix containing dolomite could be improved by increasing the basicity of the sinter mix while keeping the MgO level constant

Jun 18, 1905

By Jonathan Baggett, Nino Ripepi, Amin Abbasi, Richard Bishop, Juan Monsalve, John Hole

This work focuses on the operational and safety issues associated with karst voids in large opening underground mines. Issues include water inrush, structural instability, and engineering uncertainty in these environments. Coupled with the fracturing prevalent in folded sedimentary rocks, karst voids are complex and challenging ground-control risks. Traditional methods of predicting karst void locations, such as probe drilling, are impeded by the inconsistent spatial distribution and variable sizes of the features as reported by Li et al. (J Rock Mechan Geotech Eng:232–242, 2010) and Hassan et al. (Procedia Chem 19:737–742, 2016). Ground-penetrating radar (GPR) is a geophysical technique that transmits radio waves into a medium and subsequently detects reflected waves via a receiver. The travel time and energy of received signals are then processed and interpreted. The difference in conductivity and dielectric permittivity between limestone and open karst cavities causes strong reflections. GPR is frequently used as a geophysical surveying technique in several industries; however, there is a lack of published research on underground mining GPR applications as reported by Zhao et al. (2015a; Geophys J Int:62–71, 2015b) and Eskelinen and Pellinen (Constr Build Mater:888–898, 2018). The purpose of this work is to demonstrate the use of GPR in an underground stone mine and to discuss the importance of karst void detection ahead of mining.

East Otago gold deposits are hosted in Otago Schist that is the metamorphosed equivalent of Permian-Triassic Torlesse terrane greywackes. Relatively undeformed Torlesse sequences in Canterbury have <l m - 50 m bedding, with c. 500 m - l km and c. three kilometre scale units, typically either: 1) thick-bedded, massive, sandstones; 2) thin-bedded sandstone-argillite flysch; or 3) siltstone- or argillite-dominated units. Such lithological layering in Otago was intensely folded, deformed, and overprinted by metamorphic fabrics during Jurassic-Cretaceous regional metamorphism. Although primary sedimentary structures can no longer be recognised, a æghostÆ lithological variation is still present in Otago represented by psammitic (sand-derived), interlayered (sandstone-siltstone derived) and pelitic (siltstone-mudstone derived) schist. Lithological æunitsÆ in the schist are typically either 20 100 m or c.1 - 2 km thick, and are oblique to faults and shears hosting gold mineralisation at Macraes, Barewood, Nenthom, and Oturehua. Lithological variations and folds in lithological units are important in the along-strike distribution of gold in these deposits, and in the development of relatively high-grade pods and shoots at l00 m - 1.5 km scales. Ramps, flats and step-overs (known to be locally important for controlling mineralisation) are commonly located at lithological boundaries, presumably by local refraction of faults or shear zones as they propagated through folded stratigraphy. The various lithologies have also responded differently to deformation, causing variations in permeability that affected the penetration of mineralising fluids. Mapping lithological variations in barren host-rocks, either directly+ by fieldwork or indirectly by aerial geophysics, is a key to understanding and predicting the distribution of gold at mine and deposit scales.

Jan 1, 2001

This paper is in two parts. The first covers the evolution of dredging leading to the development of the æNZ typeÆ large dredge and the second, current alluvial gold recovery practice in NZ. NZ was the first country in the world to adapt the bucket-ladder dredge to alluvial gold recovery. Between 1857 and 1907, gold worth (at today's NZ price of about NZ$600/ounce*) over $11 billion was exported û from a country with well under one million people at that time. Over 200 small dredges operated, mostly on the Clutha River, around the turn of the century, however by 1940, only 20 or so large machines remained, and the last of these, the 4000 ton 'Kanieri' ceased operations three years ago. Recently recognition of the superior digging power of the hydraulic backhoe and reintroduction of the simple 'trommel and riffleÆ plant with about 80 m3 /hour capacity has led to a proliferation of static and floating plants, there being at least 50 currently in operation on the West Coast and in Otago. There are signs however, that the process of evolution of such small unsophisticated plants into larger, more efficient units has begun again. * At the time of writing (October 1984) NZ$l. 00 = US 50ó. NZ dollarsare used throughout this paper.

Jan 1, 1985

U.S. Minerals Coordinating Council Advised. -The Critical Materials Act of 1981, H. R. 4281, introduced on July 27, would create a Council on Critical Materials in the White House Executive Office to oversee Federal materials programs involving $1 billion committed to research by 14 agencies, and to serve as the President's focal point to evaluate materials policy. It was introduced by Congressman Fuqua (D-Fla.) whose Committee on Science and Technology has over-sight over the implementation of P. L. 96-479, the National Materials and Minerals Policy, Research and Development Act of 1980. Bulgaria's Mineral Bank. -Recently Bulgaria established a mineral bank to facilitate receipt of foreign credits for exploiting Bulgaria's mineral raw materials. The bank has wide powers to enter into business arrangements with foreign creditors. Bulgaria's main interest in trading with the West is to import the technology for developing energy and mineral resources.

Jan 1, 1981

By E. C. Westman

Anomalous geologic or stress-induced conditions can create a hazardous working environment for underground miners. Seismic attenuation tomography provides a valuable tool for understanding static and dynamic conditions induced by mining. As a longwall shearer cuts coal, it generates seismic energy. As this energy travels through the rock mass it is attenuated in a manner proportional to the degree of fracturing of the rock mass. By calculating this attenuation at specific locations underground, the degree of fracturing of the rock mass, and hence the relative stress state or material properties can be inferred. The goal of this work has been to create a tool which can be easily used by the mining industry to obtain information about the distribution of stress concentrations or material properties across a broad area in advance of mining.

Jan 1, 1996