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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 Whitmore R. L

The action of water on a number of Queensland shales which are associated with particular coal measures and oil shales has been studied. The results suggest that the disintegration of some of the shales could cause significant problems in mining and preparation operations. The extent of shale breakdown varies widely from deposit to deposit and from seam to seam but a suitable assessment procedure utilises the test described in AS 1661-1979, and an improved method of presenting the results is described in the paper.

Jan 1, 1982

By David Colloby, Darelle T. Janse van Rensburg

Premature coating failures of new and refurbished structural steelwork of clarifiers have been a common occurrence at power generation plant in recent years. Several of these failures have ended in disputes regarding which party was actually to blame for the early degradation of the coating system, i.e. quality of the power station?s water, poor application, substandard materials, outdated corrosion protection specifications, etc. Having investigated several of these premature failures, it is clear that the corrosion protection of clarifier steelwork is a highly complicated process and that the painting work needs to be closely monitored in order to ensure long-term protection by whichever product that is applied. The need for quality control inspections during the painting of the plant is often underrated during the project planning stage, also the importance of detailed corrosion protection specifications that consider not only the practical application of the materials, but also the quality control responsibilities of the Contractor, End User and Third Party Inspectorates that may be involved. This paper considers the application constraints of coatings to clarifier structural steelwork and importance of stringent quality control procedures in order to ensure the long-term performance of the corrosion protection systems.

Jan 1, 2006

By Eugene W. Bartel

This report describes in detail the circuitry used in the Automated Time Domain Reflectometry System and the testing and modification done to the system to improve the units performance and consistency. The analog ATDR software is described and explained in detail. Also attempts to implement the same Assembly Language program in a higher level language (PLM) are documented along `h two versions of the PLM program - one which uses a data filtering approach to limit noise and another which uses data averaging to reduce noise. The field testing of the analog and digital ATDR units is described along with the hardware modifications that resulted. The analog unit has been abandoned and the digital unit adopted for most field tests. Tests indicate that the digital units are much more consistent and less confusing for the lay-person to operate. The results indicate that the it can locate an abnormality in a test cable to within 5% of the true location (provided the cable phase velocity is known). The units can consistently locate shunt type faults which are less than 300 ohms and series type faults which are greater than 30 ohms.

Jan 1, 1980

By Abdul Aziz Hanifah

A novel instrumentation and analysis technique, called GLOSTREXT method has recently been introduced for bored pile load tests in Malaysia. This technique provides an innovative and improved alternative for conventional bored pile instrumentation methods commonly practiced for the past few decades. Results for five case histories involving full scale static load tests for high capacity bored piles with both new and conventional instrumentation details placed in within the same instrumented piles are presented to demonstrate the advantages of this novel technique. Results show good agreement between the new and conventional instrumentation.

Jan 1, 2006

By Joseph J. Feiler

Fires in underground coal mines are persistent problems anywhere in the world that coal is mined. Coal fires pose safety and health hazards in the form of mine subsidence, loss of energy reserves, destruction of property and surface improvements, and air pollution. In 1995, the US Bureau of Mines (US-BM), in cooperation with the Colorado Division of Minerals and Geology (CDMG),entered into a contract with Goodson & Associates Inc. (GAI) to design and field test the effectiveness of a new foamed grout technology called ThermoCell. GAI is a Lakewood, CO geotechnical and mining reclamation engineering firm. The company developed ThermoCell to control and extinguish underground coal fires. The viability of the special grout and the technology of application were established during a full-scale field demonstration at the abandoned IHI Coal Mine fire, near Rifle, CO. Following acquisition of additional funding by CDMG in 1999, Goodson returned to the site in April to continue the grouting to fully extinguish the IHI fire.

Jan 1, 2000

By M. Gous

Keywords: Pyrometallurgy, Namakwa Sands, ilmenite, DC arc furnace, titania slag, pig iron Namakwa Sands is a heavy minerals mining and beneficiation business in the Anglo Base Metals Division, and operates along the West Coast of South Africa. The business encompasses mining, mineral concentration, separation, and smelting operations. The smelting process comprises the carbonaceous reduction of ilmenite to produce titania slag with a TiO2 content of 86%, and iron with a carbon content of 2.5%. The Namakwa Sands smelter, situated near the Saldanha Bay harbour, commenced smelting operations in 1994, when a 25 MW DC arc furnace was commissioned. The smelting operations were expanded in 1999, with the commissioning of a second 35 MW DC arc furnace. Despite the fact that ilmenite smelting poses a technical challenge in terms of the high temperatures required, the physical characteristics of the slag, the constraints placed on the feedstock, and the tight product specifications, Namakwa Sands has continually increased slag production since 1995. High furnace feed-on utilisation and furnace stability, complemented by continuous improvement drives, will be the vehicle to drive performance in the short term, with longer-term performance enhancements due to strategic process development.

Jan 1, 2006

The Takasima Coal Mines comprise four islands near the entrance to Nagasaki Harbour, and are owned and worked by the Mitsu Bishi Company.There are several unusual features in the occurrence and working of these coal seams, the steep angle of "dip," the numerous seams of good coal separated by hundreds of feet of sedimentary rocks, the extensive faulting of the strata, and the way in which the coal is won, when so little surface is available for works, and where there is the ever present danger of subsidence of the roof and consequent flooding of the workings by the ocean. The author trusts that short notes on these few points will be of interest to members.The Islands are named respectively Hasima (Extreme Island), Nakanosima (Middle Island), Takasima (High Island), and Yokosima, and are situated about one mile from the main land.

Jan 1, 1901

By Ashley P, Neale T

Alluvial gold was discovered on Sudest Island in 1888, and by 1893, an official production of 10 000 oz had been won by expatriate miners from shallow alluvial and colluvial workings. Hardrock sources were located and while one was developed at Mt Adelaide, production is unknown. Sudest Island comprises mostly phyllites and lesser coarse grained rocks which are cut by metamorphic quartz veins and basic (locally shoshonitic) intrusives. Sheared and altered basalts and serpent- inites represent are believed to be elements of an ophiolitic suite inferred to be associated with metamorphic core complex development and thus similar to tectonic environments on Misima and the D'Entrec- asteaux Islands. No epithermal-style quartz suggestive of a target similar to that on Misima Island has been identified on Sudest. A hardrock source for the alluvial and colluvial gold is interpreted to be metamorphic quartz veins similar to those in the Bendigo- Ballarat Zone of central Victoria, possibly remobilising gold derived from the meta- sedimentary and meta-igneous rock pile. The present focus is on development of a small scale alluvial gold mining operation in conjunction with exploration for hardrock targets. This latter programme remains at a reconnaissance stage.

Jan 1, 1991

By William O. Vanderburg

This paper gives the results of a reconnaissance of the mining districts in Pershing County, Nev., made from March 9 to April 1, 1936. During the field work nearly all of the mining districts in the county were visited, and considerable data were obtained on active and inactive properties. The report covers the location of the various mining districts, nature of the deposits, information on past

Jan 1, 1936

By William H. Hamilton

INTRODUCTION It was not very many years ago that tunneling machine manufacturers spent considerable time trying to convince contractors and mine operators of the advantages of mechanical tunnel boring over conventional drill and blast methods. Today there are few doubters left. There is universal agreement that, not only are tunneling machines here to stay, but the ratio of bored rock tunnels to blasted rock tunnels is increasing at an accelerated pace, and within the next twenty years I predict almost all tunnels will be bored by machine. I believe we are today at a very important mile-post in the development of tunnel boring systems. Felix Gaye stated in his recent article (1) "It is important to disseminate between the efficiency of cutting tools and the overall efficiency of the boring operation". Mechanized tunnel boring in the past placed almost total emphasis on the rock cutting and boring ability of the tunneling machine. With advancements in technology and better solutions to the problems of rock fracture, steering control, and structural design, the emphasis today can be placed on the total-system concept. Tunneling machine design, as one of the key elements in the overall system, presents many problems that are not totally solved today. These design problems are, in the most part, not related with rock fracture, but rather with criteria associated with the over-all operation.

Jan 1, 1997

The development of information concerning mesothelioma in South Africa started with the 1959 finding of Dr. J. Christopher Wagner of cases of mesothelioma in persons living in the vicinity or working in crocidolite mines in Cape Province. After more than 40 years, the data from South Africa now provide important insights into the differences in mesothelioma risk associated with different asbestos fiber-types. Three case series reports and one analytical report were reviewed in this session. In total, information on 504 proven cases was presented. There were 28% of cases arising from occupational exposure in mining, 35% from non-mining occupations, 23% from environmental exposures; 14% where no exposure was established and 9% where the exposure was unknown. Among the 129 cases for which occupational exposure and asbestos fiber-type were established, 115 cases were associated with occupational exposure to Cape crocidolite; 1 case associated with occupational exposure to Transvaal crocidolite and 9 cases with occupational exposure to amosite (grunerite asbestos) and 4 cases with occupational exposure to mixed fiber-types. There were no cases associated with chrysotile asbestos. There were 33 cases of environmental mesothelioma linked to Cape crocidolite exposure and 2 to exposure to amosite and crocidolite but none to Transvaal amosite alone or to chrysotile. The evidence shows that amosite is capable of causing mesothelioma but that the major risk in South Africa is associated with Cape crocidolite.

Jan 1, 2008

By L. T. Grose

The Bureau of Mines conducted a comprehensive study of the Kanab, Kolob, Kaiparowits, and Harmony coalfields of southwestern Utah to obtain additional information and to determine the potentials of these coalfields as sources of energy for steam-electric power-generating plants. Field examinations were made to ascertain the geologic structure and the stratigraphy of the coalfields, the accessibility of the coal-bearing strata, and the general nature of the coal-bearing strata and the terrain. Many mines, both active and abandoned, were examined, and key personnel in the coal industry in the area were consulted. Available analyses of southwestern Utah coals were compiled, and tentative conclusions regarding the rank and quality of the coals were drawn. Coals have been classified by rank according to the standards established by the American Society for Testing and Materials in 1964. The Parr formula for moist, mineral-matter-free British thermal units has been used to calculate the rank of each sample, except as otherwise noted. Water resources related to the areas of the coal reserves also were investigated. Existing literature and maps pertaining to the geology of the areas were reviewed. Production potentials of the coalfields and economic conditions affecting the possible utilization of the coal reserves as sources of energy for steam-powered electricity-generating plants were investigated and analyzed. The data obtained and the conclusions reached as a result of this study are included in this document. The total reserves of subbituminous A and high-volatile bituminous C coals in the fields of southwestern Utah are estimated to be at least 8 billion short tons at depths generally less than 2,000 feet. It appears likely that this estimate will be increased as additional data are made available through exploration and other investigations. Sufficient coal is available in four southwestern Utah counties to supply three or four large steam-electric plants. If the States involved grant water rights to companies planning to build steam-electric plants, the cost of producing power with coal might be attractive and might justify the construction of one or more of these plants.

Jan 1, 1967

By A. E. Lindquist

This Bureau of Mines publication identifies areas having sufficient coal reserves to support synthetic natural gas (SNG) development and summarizes those areas having the highest potential. Capital requirements, mining and coal cost factors, water availability, and coal-quality data pertinent to SNG production are presented. Evaluation of individual coal reserve blocks was based upon coal and water requirements of the Bureau of Mines Synthane coal gasification process.

Jan 1, 1977

Brief descriptions of several types of unit pulverizeI' are given and the functioning of the components that crush, carry, dry and classify the coal is considered. A distinction is drawn between pulverizers which crush particle beds and those .operating by free-crushing. The overall performance of pulverijlers is considered in terms of correlations between mill variables, coal grindability, abrasiveness, moisture and particle size. Brief discussioiJ. of the influence of pulverized fuel quality on boiler operation and of pulverizing costs concludes the paper.INTRODUCTIONModern coal pulverizers function as carriers of materials and as crushers, as dryers and as size classification machines and, thus, the unit pulverizer comprises. several components that normally function as separate apparatus. The controls of the unit pulverizer must have sufficient flexibility to accommodate rapid variations of boiler load or coal quality. Further, the machine must be robust, yet easy to maintain preferably at annual intervals-so that maintenance costs are small (for coal is a relatively cheap material). Usually, the full load of a modern pulverized-fuel fired boiler can be raised with one pulverizer off-line. All coals, from anthracites to brown coal, may be prepared as pulverized fuel (hereafter P.F.) .Each pulverizer of a direct-fired boiler has, broadly, to supply the burners with coal powdered so that about 80 per cent passes a 200 B.S. sieve and only a small proportion, less than about 10 per cent, remains on the 100 B.S. sieve. The classification processes must prevent any appreciable proportion of coarse particles in the P.F. and yet not return excessive proportions of "finished" fines. The quality of the P.F. should not vary greatly with output rates which may be anywhere between the maximum rate and one quarter ofthe maximum. The suspension of P.F. in the primary air...

Jan 1, 1957

By Yemi Akinkugbe

Underground coal mining under massive sandstone can present significant challenges if the roof behavior is not well understood. This paper presents a classic cantilever bending/flexing behavior of a longwall tailgate roof caused by the weighting of structurally massive sandstone strata. Nineteen crosscuts of a longwall tailgate under massive sandstone were instrumented with position transducers connected to a data-logger to monitor roof convergence as the longwall face approached. During the monitoring program, an unusual tailgate roof divergence (uplift) was recorded. This roof behavior contradicts expected norm of roof convergence when the longwall is influenced by periodic weighting. The recorded roof movement data indicated that the roof divergence started well ahead of the longwall face. The most inby position transducer started recording progressive roof divergence when the longwall face was approximately 643 feet away. Very gradual roof convergence did not begin until the longwall face got to within 300 feet of the transducer. Recording of accelerated convergence only started after a massive caving event with the face within 280 feet of the recording transducer.

Jan 1, 2007

By Tom Treleaven

The widening of the Panama Canal to approximately 130 feet (40 m) for its entire length began just a few years ago. The original expansion program was slated for completion in 18 to 20 years, but has recently been reduced for completion within the next four years. This means that a tremendous amount of blasting at simultaneous points along the canal, by both the Panama Canal Commission (PCC) and many subcontractors, is necessary to achieve the new completion deadline. The accelerated program also imposed many logistical concerns, since marine trafIic is always heavy and cannot be stopped for blasting. Because some of the large and heavy cargo vessels clear the bottom of the canal by only about 6 feet ( 2 m), the blasting cannot result in any large boulders into the center of the canal, for fear of grounding and damaging a vessel, not to mention the traffic delays and lost income of approximately 1 to 2 million dollars per day.

Jan 1, 1997

By J. S. UNGER

A LARGE proportion of the coke used is made in the by-product oven from the high-volatile coals mined in the adjacent district. At the beginning it was feared good by-product blast-furnace coke could not be made with our coals. By experimenting with various mixtures of coals, coking time, oven design, and coking temperatures, much has already been accomplished. The results show that a hard, dense coke, not easily broken by handling, can be produced. In its present state it is not all that could be desired, but it is being constantly improved. Such coke has been used alone as the fuel on several of the blast furnaces producing the highest daily production in the Pittsburgh district. Many of the coals in the Pittsburgh district when coked in the by-product oven yield a gas which contains a high percentage of sulfur, which is objection- able for many metallurgical operations. As this fuel is gradually replacing the ideal fuel, natural gas, which is becoming less plentiful, studies are being made of the best methods for purification. Some metallurgists believe sulfur to be a very injurious element in steel. Recent investigations by Government bureaus, scientific bodies and private firms, seem to indicate that a reasonable amount of sulfur may exist in steel without detriment. Without wishing to provoke any metallurgical controversy on the subject of sulfur, the fact remains that the daily purification

Jan 1, 1926

The key aspects of process metallurgy that distinguish platinum group metal (PGM) concentrate smelting from that of other base metal sulphide concentrates are presented. These differences include considerably higher input chrome and magnesia contents that directly raise the slag liquidus temperature and have the potential to increase accumulations of refractory spinels. Most importantly, the higher processing temperature required for PGM smelting, and the resulting very high matte superheat lead to considerably more onerous smelting conditions than those typical of other smelting operations. This has presented challenges to furnace design and integrity, especially when coupled with the progressive intensification of smelting, involving doubling, and then redoubling, of furnace power input over the past 20 years. These power increases have been enabled by increasingly more advanced furnace cooling and structural technologies. Key technologies include strong constant-force spring-loaded bindings acting in three dimensions to minimize infiltration of superheated matte into brick joints, and robust well-cooled tapholes for reliably tapping the superheated matte. The result has been substantially improved productivity, and reduced smelting capital cost outlay per unit of production. A significant challenge that was not anticipated, presented itself in the form of insidious corrosion of the furnace lining, and especially high-intensity copper cooling elements. Investigation of corrosion in related industries eventually identified 'chloride-accelerated sulphidation', and this term has been retained as it generically describes the most pertinent aspects of the accelerated low-temperature wear of copper coolers observed in PGM smelting. In addition to discussing the corrosion mechanism, this paper describes a number of solutions that were developed jointly by Anglo American Platinum and Hatch to address the copper corrosion problem. First, new monitoring technologies allowed furnaces to be operated more safely for a longer period of time. Second, a system for replacing corroded coolers from outside the furnace during a fast 'hot' shutdown minimized the impact on furnace operating factor and hearth life. Finally, a corrosion-resistant graphite-protected cooler design significantly improved furnace campaign life, and heralds a more lasting solution to cooler corrosion in PGM furnaces.

Jan 1, 2012

Difficulties were experienced in the identification of carbonate minerals intimately associated with iron oxides in the so called carbonate ore, which occurs at depth in the Iron Duke Orebody.Determination of refractive indices by examination under the microscope using the immersion method, together with inferred chemical composition indicates that dolomite and parankerite are common constituents. Histograms of the manganese and sulphur contents strongly suggest that manganese is associated with the carbonate minerals, and that the highest sulphur assays occur near the base of the carbonate body.From the present work it is concluded that refractive indices indicate only a very approximate composition for carbonates of the parankerite type.The different carbonate minerals occur in irregular zones.INTRODUCTIONThe Iron Duke deposit is situated in the southern portion of the South Middleback Range on Eyre Peninsula, S.A., 30 miles from Whyalla. (Fig. 1).Drilling at Iron Duke revealed a large body of so called carbonate ore, which was tested in detail at cross section 1000 ft. S by three diamond drill holes, DDH.57, 67 and 78. (Fig. 2)Most specimens of carbonate ore described below were obtained from DDH 67 and 78.GENERAL GEOLOGYThe South Middleback Range is composed of two parallel ridges trending north-south. The Iron Duke orebody is situated on the southern portion of the western ridge. (Fig.1) .The rocks of these ranges belong to the Middleback Group which rests on a gneiss complex. Their age is considered to be Middle Precambrian or late Archaean.

Jan 1, 1963