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By Michael J. Rinker, P. A. Tibble, M. Wiseman, R. V. Nicholson

Tailings, from an active copper-zinc operation, containing about 10% sulphur were investigated to assess the onset of acid production and potential lime requirements for treatment of drainage. Oxygen consumption rates were measured over two years to verify spatial and seasonal variations in sulphide oxidation rates. Shallow cores were collected to assess the quality of tailings porewater and to characterize solids that had been subjected to oxidation and depletion of neutralization potential (NP) for several years. Oxygen consumption data were used to quantify rates of NP depletion and onset of acid drainage from the near- surface tailings. Based on measured oxygen consumption rates and identification of NP remaining in the tailings, future lime use in the treatment plant was expected to rise significantly without mitigation. Geochemical modeling calculations were calibrated with observed oxygen consumption rates and the model results agreed well with actual lime use in the waste water treatment plant during operations. The modeling also demonstrated the benefits of lower lime demands and treatment costs after closure as a result of construction a soil cover on the acid generating tailings.

Jan 1, 2000

By U. Richter

Conveyors are a highly effective means of transporting material over long distances. Recently there has been a trend toward long conveyor systems with high capacity single flights. These conveyor systems are an efficient alternative to costly truck fleets. Also with deeper mines, the use of diesel driven trucks becomes more difficult. Another trend is in underground mining, where conveyors are an efficient alternative to drift hoists or dedicated rail systems.

Jan 1, 2012

By Stuart F. McTavish

Mechanically suitable grinding mills became available to the mining industry in 1908. Since then, mill operators have been searching for the best material and design with which to line the mills. These liner systems had to fulfill several criteria. Most important, they had to last long enough in an operating mill to protect its structure from the abrasive wear of the ore and the grinding media. In addition, they had to be capable of efficiently transferring the energy from the mill to the mill charge in order to facilitate the grinding process. And these liners had to be easy to install and remove. The first liners used were generally made of cast white iron, Hadfield manganese, unalloyed high-carbon steel and composites of steel and concrete or cemented in flint blocks or natural stone. In the early 1920s, pieces of solid rubber truck tires were used as emergency repairs for broken cast metal liners. Thus was rubber first introduced as a mill liner material. The first patent for rubber mill liners was awarded in 1921 to James Denny and Rolla Watson, both of the Coniagas Mine in Cobalt, Ontario, and to Dale Barnum of the Comstock Lode in Virginia City, NV. This original design was covered under US Patent No. 1470597. It had a fabric backed rubber that was bonded to the shell of the mill.

Jan 1, 1990

By R. P. Stahura

Conveyors are the lifeline of mining and processing operations. They continuously supply materials to and carry finished products and waste away from operations. When conveyors are running at less than maximum efficiency, the operation's productivity is in trouble. Inefficient conveyors suffer carryback, leading to the buildup of materials on idlers and other expensive components. They spill and leak material at loading zones and conveyor transfer points. This causes accumulations that can damage the belt, wear moving components and increase both clean-up labor and maintenance expenses. They wander or mistrack, spilling material and endangering personnel and conveyor components. And through these inefficiencies, they multiply the operation's hidden costs. These added expenses occur in lost production, increased downtime for service and maintenance and replacement costs for prematurely worn equip¬ment. In addition, the attitude that inefficiency is "good enough" is recognized elsewhere in the organization. As a result, other departments relax or operate at less than peak performance. Quality goes down along with employee morale. Costs of inefficient conveyors A key to efficiency is handling a product as few times as is necessary. That means conveyors should be loaded, track true to the unloading point and then be unloaded, all without material escape or waste motion. An inefficient conveyor is often signaled by accumulations of DURT - material that has escaped from the system and is now at large in the plant. This DURT adds costs to an operation that are uncounted and, perhaps, uncountable.

Jan 1, 1992

By D. Brady

There are many examples, historical and recent, from the underground coal mining industry where during emergency response the response and ultimately the outcomes, could have been significantly improved if adequate systems had been in place for the collection and management of relevant information preceding the incident, the acquisition of information during the incident and the use of the information for risk mitigation and decision making purposes. The subject and process of knowledge management is possibly the most critical for would be rescuers of endangered coal mine workers, as it has been demonstrated at numerous coal mine incidents that a lack of or mismanagement of crucial information can be fatal for both the rescuer and/or the endangered coal mine worker. This paper will underline the scope and importance of robust knowledge management systems for emergency response within the underground coal mining industry and the process by which it is being achieved within the Queensland Mines Rescue Service and the NSW Mines Rescue Service.

Jan 1, 2012

By E. M. Spokes

Starting in 1980, a committee of the National Research Council studied the question of why some underground coal mines are safer than others and what could be done to improve the ones with poorer performance. The results indicated that safety is improved by management commitment to safety, by cooperation between labor and management on safety matters, and by quality training of employees and managers. Younger miners have higher accident frequencies, but are less likely to be killed or permanently disabled by a lost-time accident. Methods for improving safety performance are proposed.

Jan 1, 1987

By K. S. Lackner, T. M. Yegulalp

We present a review of research and development for coal based clean energy systems aiming for zero emissions to the atmosphere. These systems can utilize all kinds of coal or other solid carbon sources such as tar sands as well as liquid hydrocarbons. The chemical energy of carbon is transferred to hydrogen and used in power generation, in fuel cells, or hydrogen combusting turbines. The waste products of these future power-generating systems are ash, sulfur compounds and CO2. We also summarize current and developing technologies for processing of CO2to produce mineral carbonates for permanent disposal, and associated byproducts.

Jan 1, 2003

By Stephen Davies

Mining at Hudson Bay Mining & Smelting's Snow Lake Division is now in the mature stage of the mines' lives. These base metal copper-zinc mines have been operating for more than 30 years. Stopes had small pillars called "crown pillars" left between them. These pillars range up to 100 m (330 ft) long by 40 m (130 ft) wide and 15 m (50 ft) thick. Hudson Bay have been successful in removing these pillars by using cable slings, electric scoops, longhole mining and diesel load-haul-dump equipment. The different shapes and sizes of these pillars has required that many innovative techniques be tried in order to find acceptable economic mining methods. An overview of the different methods will be outlined. Background Hudson Bay Mining & Smelting's Snow Lake Division is located in Manitoba some 800 km (500 miles) north of Winnipeg and 200 km (125 miles) by road from the Hudson Bay smelter complex located in Flin Flon, Manitoba (Fig. I). There are currently three producing underground mines and one open pit operating at the Snow Lake Division, producing copper and zinc concentrates. Pillar recovery is intensive and vital to continued production of these mature mines. The crown pillars are producing more than 50% of the current mine production. This figure will increase in the future. The two mines at which crown pillar recovery is taking place and that will be discussed are the 400 t/d (440 stpd) Rod Mine and the 1000 t/d (1100 stpd) Stall Lake Mine, both five-day-a-week producers. Crown pillar mining has been applied for some time at these mines. However, it was only recently that the crown pillars became vital to production. This has necessitated a number of innovative techniques to recover them.

Jan 1, 1992

By Debbie Laney

DOUG HALBE: Second in our quick run-through on "Operating Ideas That Have Saved Me Some Bucks," was Debbie Laney of Rayrock Mines. Debbie apologizes. She can't be here. But she said, "Doug, don't worry. I've asked Mary Korpi to present the paper. We're both short, blond, and wear glasses. Nobody will know." [laughter] Mary, I caught it right away. You ladies can't fool us. Debbie, who wrote the paper, has spent almost her entire career in operations. She is currently metallurgical manager of Rayrock Mines in Valmy, Nevada. Mary Korpi is also a real operator (that doesn't sound right). She has been responsible for a number of operating areas at Newmont's Nevada operations, and she is currently taking a break from operations as manager of public relations/employee communications for Newmont Gold in Carlin. MARY KORPI: They told us this year at Newmont that we were going to have to work twice as hard. I had no idea it meant I would have to work for another company, too. Over the years, and many times in association with work for mid- to small-size mining companies, there have been two areas that seem to have been the focus of cost savings when looking at new facilities or new processes.

Jan 1, 1998

By C. Pritchard

John Marks said in his acceptance of the Hartman Award in 2008 ? ?I guess that without the occasional complaint, your mine is probably over-ventilated? (Marks, 2008). Miners are seldom in this situation and often spend much of the time trying to find enough air to keep the operation running. With examination there are some things that can be done to make the best use of ventilation systems. Should there be surplus air, in which some of these options may result - financial and other benefits can be obtained. Some of the issues mine operators have needed to address recently are increased airflow requirements to dilute diesel particulates in metal and non-metal mines. Also, operations are faced with demands from reserves that are deeper, hotter and further away from fans and shafts, not to mention increased production demands. Mine ventilation air is a costly commodity, especially by the time it has been heated or cooled and moved to the bottom of the shaft and through the mine airways. Most of the options presented in this paper are useful for metal non-metal operations but some may be applicable to coal too. OPTIONS FOR IMPROVEMENT Some of the areas to be addressed are shop ventilation methods, auxiliary equipment areas, dedicated intakes and returns, optimizing development, examination of mine airway utilization and alternative ventilation methods. UNDERGROUND SHOPS First, examine what is being done with the underground shop air. If it is being coursed directly to the returns there may be some potential to better utilize this, in most cases, relatively contaminant free air. Research the legal options for ventilating mine shops. MSHA regulations in 30CFR 57.4761 (1) allow the following options: To confine or prevent the spread of toxic gases from a fire originating in an underground shop where maintenance work is routinely done on mobile equipment, one of the following measures shall be taken: use of control doors or bulkheads, routing of the mine shop air directly to an exhaust system, reversal of mechanical ventilation, or use of an automatic fire suppression system in conjunction with an alternate escape route. The alternative used shall at all times provide at least the same degree of safety as control doors or bulkheads. Discussion This regulation gives some operators flexibility in ventilating underground shop facilities. If shop air is to be coursed through the work area, and then directly to the mine return, the question should be asked ? is the quality of air good enough to be reused in the mine, and if so, what are the risks? Can the risks be accommodated and managed to accomplish the change? If so, a considerable increase in mine level airflow could be attained by reusing shop air. Clearly, regulations are a minimum standard, and can be exceeded. Metal non-metal mine regulations are not as specific as coal due to the multitude of different mining methods and conditions utilized. Risks must be thoroughly examined and addressed to assure a safe environment. Issues Determine what contaminants are being produced in the work area ? welding fumes, diesel exhaust, paint fumes, chemicals and solvents, etc. Survey the area and determine exposures. MSHA requires exposure monitoring in 30 CFR 57.5002 (1) of dust, gasses mists and fumes to assure air quality is being met. Perform surveys and examine existing data to quantify personal and area concentrations of contaminants. Often there is adequate circulation such that exposure levels in shop work areas are low. After sending shop air back into the system any contaminants would be further lowered by dilution with other mine intake air downstream. Look at the shop work schedule. If only on day shift, the other two shifts and possibly weekends have no activity or source of contamination to affect the ventilation system. The worst case planning scenario would be a shop fire. Study and simulate how this would affect the mine and shop area. MSHA regulations require an escape route and a fire suppression system be installed and maintained as follows in 30 CFR 57.4671 (1): (d) Automatic fire suppression system and escape route. If used as an alternative, the automatic fire suppression system and alternate escape route shall meet the following requirements: (1) The suppression system shall be? (d)(1)(i) Located in the shop area; (d)(1)(ii) The appropriate size and type for the particular fire hazards involved; and (d)(1)(iii) Inspected at weekly intervals and properly maintained. (2) The escape route shall bypass the shop area so that the route will not be affected by a fire in the shop area. Case Study In an underground room and pillar mine, active mine workings were advancing further away from the mine shaft with deteriorated returns and leakage having a negative effect on ventilation airflows to the face. Mine level airflows were 236 m3/s (500,000 cfm) and shop airflows were 24 m3/s (50,000 cfm) (see Figure 1A). No additional capacity was available at the main surface fan. A solution was to utilize the shop air then send it to the mine areas instead of directly to the return. Considerable information on shop air quality and exposures from many years of operation was examined and no negative data was discovered. A risk analysis determined that moving forward with a shop air reuse program was desirable. A plan was developed, analyzed and decision to proceed approved by mine management. The change was simulated on the computer with the USBM/MTU MFire program before being implemented. This included utilizing fire scenarios to examine potential exposures to inby mining sections and plan escape routes. A monitoring system was designed and installed in cooperation with the US Bureau of Mines to monitor carbon monoxide

Jan 1, 2009

By Peter N. Calder, J. L. Workman

There are many opportunities for computers to assist in dragline mine planning. Three important areas particularly lend themselves to computer assisted study. These are overall mine design and planning, the computation and display of range diagrams and the calculation of production and production variability. The computation of range diagrams is of particular interest because of the importance of matching the dragline and site geometries. This paper examines the uses of range diagrams in dragline mining and illustrates the application of computer techniques to the computation using one such program as an example. The use of computer generated range diagrams for machine selection, pit design and in parameter analysis is discussed. Directions for further development are also provided. There is a great deal that can be done to additionally enhance the ability to provide accurate designs for the dragline operation. One area that needs special attention is the dumping of overburden around access ramps into the pit. This situation is one of the most difficult dumping sequences and affects machine selection and pit operation. It is also suggested that programs that simulate the production schedule of the drag-line would be useful. It is concluded that large overall mine planning programs are very important in dragline mining. However, smaller programs designed for a specific, task are also important tools in many cases. These are easy to learn and use, well adapted to the PC environment and provide useful information, both for design and for daily planning.

Jan 1, 1989

By D. Richers

When modeling predictive pit lake chemistry, groundwater chemistry is integrated with the affected portions of the wall rock and chemistry of the lake in a complex series of mixing. Fractions of the solutions impinge upon fresh, unaltered or fractured and oxidized zones of the wall containing sulfide materials and/or soluble metal/metalloid salts. Changing conditions over the short term (biannually) and long term (decades) can drive reactions allowing for dissolution or precipitation of acid rock drainage and metal leaching (ARD/ML) constituents. Local zonal variations can result in a portion of the pit releasing materials into solution; whereas other portions of the lake might favor the formation of colloids or precipitants. The proportions and character of groundwater can drive the chemistry of the pit lake provided sufficient buffering capacity is available to temper the generation of ARD in the system. For sulfide-rich systems, reduction of oxygen by rapid inundation and consumption by sulfides is key to reducing the ARD/ML. This paper presents several models of a sulfide-rich wall rock system using a range of groundwater chemistries to show these constraints.

Jan 1, 2012

By G. G. Gold

A leach pad’s fluid flow characteristics greatly affect the recovery of metals from heap leaching. However, because there are other factors such as particle size distribution, application rate and method, and chemical reactions to consider, mining companies often overlook potential problems associated with fluid flow until it is too late. In an effort to better understand the dynamics of fluid flow in leach pads, a series of experiments were preformed using temperature probes. A model leach pad was set up using a particle size distribution, fluid application rate, and application method common to modern leaching methods. Variable water temperatures were applied in succession and data gathered from the three dimensional grid of temperature probes built in to the model. Current work is analyzing these data along with visual observations of the model, computer simulations, past mining experiences, and other related research, in an attempt to develop a low cost test that could be performed prior to large scale leaching to determine the fluid flow characteristics of a particular ore. This paper will summarize the work and findings to this point as well as suggest areas of additional related research.

Jan 1, 2004

By G. B. Amicucci

Golden Sunlight Mines Inc. operates an open-pit gold mine and cyanidation plant about 11km (7 miles) northeast of Whitehall, MT. Golden Sunlight is a subsidiary of Placer Dome US Inc. Mining is accomplished with conventional open pit drilling, blasting and hauling methods. The mining rate is about 102 kt/d (113,000 stpd). Gold occurs as fine-grained disseminations in a pipe-shaped breccia and in immediately adjacent country rock. The ore body is low grade, averaging 2 g/t (0.059 oz per st) of gold. The metallurgical plant uses conventional carbon-in-pulp (CIP) technology. Daily throughput averages 6.5 kt (7000 st). Recoveries are enhanced through a sand tailing retreatment facility while a preaeration process reduces operating costs. The low grade ore dictates that maximum mill throughput at the desired grind size be maintained. Therefore, in October 1988, an Armco Autometrics (now Denver Autometrics) particle size monitor (PSM) 400 was commissioned. The PSM 400 is an on-line instrument. It measures particle size and percent solids in a slurry stream. The PSM pulls its own sample, deareates the sample and passes it through diametrically opposed ultrasonic sensors. The unit uses ultrasonic sound to measure the deareated slurry stream's particle size and percent solids.

Jan 1, 1991

By H. Polat, Q. Hu, S. Chander

The collection efficiency of dust particles was determined in a laboratory dust chamber equipped with a water spray. Measurements were made in the presence of selected nonionic, cationic and anionic surfactants. For the nonionic and the anionic reagents, efficiency was maximum in a narrow range of concentration. The surfactant concentration corresponding to high collection efficiency was usually much below the commonly used concentration of l%, however. In comparison, much higher collection efficiency was observed for a cationic surfactant at extremely low concentrations. For delineating the mechanism of capture of dust particles, surface tension and contact angle results were used to obtain a correlation between the work of adhesion and the efficiency of collection. Such a correlation was reasonable for the nonionic surfactants but not for charged surfactants. In the latter case, electrostatic interactions between charged droplets and particles were more important, especially for the cationic reagent.

Jan 1, 1992

By Ray L. Tobie, Douglas E. Julin

GENERAL DESCRIPTION Block caving is a distinct caving method applied mostly to large, massive, ore bodies because of its in¬herent low cost and high production capabilities. Areas of sufficient size are removed by undercutting so that the mass above will cave naturally. Drawing of the caved ore at the bottom of the ore column causes the caving action to continue upward until all of the ore above the undercut level is broken into sizes suitable for handling. When properly applied, block caving results in a lower mining cost per ton than any other under¬ground method. There are three distinct forms: (1) dividing the horizontal area into rectangular or preferably square or nearly square blocks, drawing evenly over the entire area to maintain an approximately horizontal plane of con¬tact between broken ore and caved capping; (2) divid¬ing the horizontal area into panels across the ore body, retreating by undercutting manageable areas from one end of the panel to the other and maintaining an in¬clined plane of contact between the broken ore and caved capping (thus the name panel caving); and (3) no division of horizontal area of the ore body into defi¬nite blocks or panels (this is termed mass caving). Undercutting may be from wall to wall, retreating from one end of the ore body to the other, maintaining an inclined plane of contact between the broken ore and caved capping. The total active caved area is deter¬mined by the size of block that will not produce undue stress on workings below the undercutting level and by total production requirements. This type of operation is also referred to as panel caving at some properties. SUITABLE ORE BODIES Block caving in its various forms is applicable to deposits of various shapes and ores of various strengths. Its success is governed by rigid requirements and limi¬tations. In unsuitable deposits or where improperly em¬ployed, the loss of ore may exceed that of any other mining method. Good planning, systematic work pro¬cedures, careful supervision, and good judgment con¬tribute to its success. Ore Characteristics Included as a necessary characteristic in an ore body suited to a successful block-caving operation is a proper fracture pattern. Ore hardness should be another gov¬erning factor, and the toughness or softness of the ore should be considered. There must be sufficient horizon¬tal area available for expansion of the undercut, if neces¬sary, to start the caving process. Large, massive, ore bodies usually meet these conditions. Veinlike deposits must be wide and dip rather steeply to conform to the block-caving limitations. The capping must be of such a nature as to cave when the underlying ore is being removed since the weight of the overburden aids in crushing the ore. The most favorable capping character¬istic is that it breaks into coarse pieces and resists attrition as the block is drawn. Soft capping, by breaking into fine pieces and sifting into the ore or channeling through the ore to the drawpoints, can seriously dilute the ore and hinder the extraction of clean ore from the blocks. Types of Ore In block caving, a fairly uniform distribution of val¬ues in the ore is necessary. Grade values may range from low grade to high grade, but most often the sys¬tem is applied to low-grade ores. Wide veins, thick beds, or massive deposits of homogeneous ore overlain by ground which will cave constitute suitable ore bodies. The ore must be such that it can be supported while blocks are being developed and undercut but breaks up readily when caved. Some applications include porphyry copper, disseminated molybdenite, hematite in the Lake Superior iron district, limonite deposits in northern Spain, the diamond mines of South Africa, asbestos and nickel in Canada, and massive magnetite in Pennsylvania. Size and Shape Outline of the ore body should be fairly regular, and the sides of the ore body should dip steeply. It may not be economical to mine small portions of ore extending into the walls of the deposit, and low-grade inclusions in the ore cannot be left unmined. Some dilution of the ore, as mining progresses, by low-grade or barren cap¬ping is inevitable and, unavoidably, some clean ore is left between drawpoints. Determining Cavability The use of rock mechanics is sometimes advantageous in helping to determine the cavability of an ore deposit. The US Bureau of Mines has information and testing ability which can assist in determining the cavability of ore types. Several competent consulting orga¬nizations knowledgeable in rock mechanics can also as¬sist in evaluating the cavability of an ore body. Some recent work has been done to better define the cavability index of various ore bodies; an example of how this was determined is discussed by McMahon and Kendrick (1969). The intensity of the fracture pattern is a critical parameter to be analyzed. The question to be answered is, "How intense must the fracture pattern be?" Table 1 is a tabulation of the size of rock fragments that appear at the drawpoint of various block-cave mines around the world. These are indicative of the fracture-pattern spac¬ing and, as can be seen, they vary substantially from the almost sandy material at the Mather mine to fairly sizable blocks at the Grace mine. Several sets of fractures are essential to promote good caving. Ideally, two vertical sets at nearly right angles to each other and a third set nearly horizontal are required to insure a good caving ore body. Since initial caving of an ore mass is almost always by the action of gravity acting on these planes of weakness, it is doubtful

Jan 1, 1982

By Byron T. Darnton

Gravity concentration at the Pegasus Gold/Montana Tunnels Mine, near Helena, MT, began in June 1991 when a coarse-gold-scalping circuit was commissioned. It processes a small portion of the ball-mill circulating load to reduce the risk of gold particles that are too coarse to float from advancing to flotation. The circuit also cost-effectively enhances overall gold recovery and payable gold ounces. This gravity circuit has been a major success. Since the circuit was commissioned, throughput has increased 30%. Several modifications and improvements were made during the last three years that allowed the gravity circuit to keep pace with the higher tonnage. The overall approach to gravity concentration at Montana Tunnels has always been to optimize production rather than maximize the gold ounces produced. This philosophy has now yielded a circuit expansion and relocation project. It will allow for an estimated 50% increase in gravity gold production, while significantly reducing the unit costs of production.

Jan 1, 1995

By F. Mielli

Ranging between 20% and 40% of the typical mining operational costs, energy in mining operations is a growing concern for the industry. However, this concern is a complex, multi-faceted variable that involves government regulations, societal pressures, cost and competitiveness. A mining company successful in energy efficiency is becoming the standard of a successful company. The suggested energy strategy in mining and mineral processing operations has to follow a well structured approach that entails the following: ? Understanding where energy is being used and why, ? Recommending and implement energy conservation measures, ? Driving visibility to targets and results, ? Leveraging the energy spend across the enterprise, ? Developing a robust energy and sustainability strategy.

Jan 1, 2012

By R. C. Burton

One of the major problems encountered with recirculatory breathing apparatus presently used by mine rescue teams is that the inspired air becomes uncomfortably, and often dangerously, hot. This is also true with self-rescuers. It is well known that man can tolerate very high dry-bulb temperatures if the wet-bulb temperature is low, but not vice- versa. The maximum tolerable, wet-bulb temperature is about 42 °C (108 °F). A continuously inhaled wet-bulb temperature above this value can cause irreversible damage to the throat and lung tissue, and wet-bulb temperatures close to it cause extreme discomfort (1) and seriously retard the capability of the man to perform useful work. A theoretical analysis, combined with experimental results, has shown that it is the carbon dioxide absorbent that is the major cause of high wet-bulb temperatures of the inspired air in the Siebe Gorman Proto 4, and in the Draeger BG 174 apparatus, both of which are used by rescue teams on South African mines (2). In the Proto 4 apparatus, the absorbent for the carbon dioxide is soda lime (calcium hydroxide). The German Draeger BG 174 also uses this absorbent but under arduous conditions such as in hot environments (50 °C, 122 °F), the use of an alkali absorbent cartridge is recommended which consists mainly of caustic soda (sodium hydroxide). Lithium hydroxide is used in some apparatus in the United States. It is clear that different absorbents will produce different quantities of heat and moisture for a given rate of absorption of carbon dioxide. The proportion of this heat and moisture which is transferred to the user depends upon how much can be removed from the recirculating air between the absorbent and the mouthpiece. This paper discusses the present methods of heat removal and describes the design and test results of a prototype evaporative cooler.

Jan 1, 1980

By X. Shi

This paper presents design and implementation details of a fuzzy-behavior-based controller for an automated excavator. The robotic excavator is equipped with sensors, actuators and an embedded control system. The excavator controller uses neural-networks to interpret forces and torques gathered during the excavation process from bucket-mounted force sensors. Implementation details card experimental results using the fuzzy-behavior-based excavation controller are given for several excavation tasks. These excavation tasks demonstrate some of the complex skills that are essential for an autonomous mining-excavator controller.

Jan 1, 1997