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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

By John E. Newby

Washington?s King County is constructing a new regional wastewater treatment facility, called Brightwater, in response to growth in the greater Seattle region. Planning conducted in the late 1950s identified the need for two regional treatment facilities. Constructed in the 1960s, these plants have served the region well. However, an eventual need for a third facility was also recognized. The Brightwater project implements the final phases of the long-term plan. The project includes a new treatment plant and an extensive conveyance system. When completed in 2010, the Brightwater facilities will treat sanitary sewer flows from growing populations living in northern King County and southern Snohomish County. The new system will fulfill commitments to provide wastewater services to local jurisdictions and sewer service providers in the King County Service Area. It will also provide more flexibility in the operation of the King County regional wastewater system. The Brightwater wastewater treatment plant will provide secondary treatment capacity using membrane bioractor technology in 2010 for 36 million gallons per day (mgd), with anticipated expansion in 2040 to 54 mgd, using membrane bioreactor technology. These capacities are for average wet-weather flows. The plant will also accommodate peak hourly flows of 130 mgd by 2010 and 170 mgd by 2040. The Brightwater Conveyance System consists of more than 8.1 km (13 miles) of tunneled influent and effluent conveyance lines, five tunnel portals/shafts, microtunneled influent and outfall connec-

Jan 1, 2007

By Alan Zeni

Blind shaft drilling equipment has not changed substantially since the 1970s. Since it resides in a niche market between conventional shaft sinking and raise boring, the relatively small demand has resulted in some stagnation of development. In the 1990s the technology found a larger foothold in foundation and deep piling work for civil construction. WIRTH GmbH from Erkelenz, Germany has been servicing this market for many years with pile top drilling rigs and tools. Frontier-Kemper Constructors, Inc. recently entered into an agreement with WIRTH to develop a new generation of large diameter blind drilling equipment more specifically aimed at mining needs. The, recently completed, DHI-240 is the first rig to apply the most recent technology. This machine made its commercial debut in the fall of 2008. A description of the technology and a short case study of the first project will be described

Several common ratios used for determining spontaneous combustion activity rely on comparing the amount of various products of oxidation with the amount of oxygen consumed to produce these products. As coal gets hotter, oxidation reactions become more efficient meaning more products produced for less oxygen consumed. There are many problems associated with accurately determining the true amount of oxygen used. These problems relate to the monitoring technique (and its associated uncertainties) used to generate the results, deficiencies in the established equations utilized in calculations, dilution with other gases and other sources of oxygen depletion. Typically the oxygen deficiency is over estimated, resulting in the under estimation of the indicating ratio. For this reason the use of ?one off? calculations to determine the status of the underground environment is not recommended. Instead trends of these ratios should be used to identify increases which indicate an increase in oxidation intensity. This paper outlines problems associated with the monitoring techniques and equations used to determine the oxygen deficiency.

Jan 1, 2009

By Nick Barton

A recent analysis of 145 TBM tunnels of more than 1000km total length has helped to quantify the time dependence of utilization (U). In fact U = Tm, where T is time in hours and m is a negative gradient of deceleration. In poor quality ground, gradient m has a strong dependence on rock mass quality Q, for example m ˜ -0.5when Q = 0.1. Good investigation is critical for ensuring faster TBM tunneling then drill-and-blasting, which tends not to slow down (in m/hr) as the tunnel length increases. Anew design model called QTBM allows more reliable prognoses be made, and occasionally will disqualify the TBM solution.

Jan 1, 2001

By J. L. Carr

Continuous mining machines are extensively used in the underground coal mining industry. These machines are typically remote-controlled, and severe injuries and fatalities occur every year when a miner is struck or pinned by the machine. Proximity detection systems offer a means to prevent these types of injuries and fatalities by sensing the presence of a miner and disabling machine motion. Researchers at the National Institute for Occupational Safety and Health (NIOSH)have developed the Intelligent Proximity Detection (iPD) system to provide enhanced protection while minimizing false alarms. The iPD system uses a set of pre-defined rules to determine which machine motions are safe and which would present a potential hazard, and automatically disables only the potentially hazardous motions. This system has been installed and tested on a Joy 14CM continuous mining machine at the NIOSH Office of Mine Safety and Health Research in Pittsburgh. Under laboratory conditions, the achievable accuracy and performance of the iPD system has been quantified with respect to a number of variables including position of the conveyor boom, presence of the machine?s trailing cable, and orientation of the miner-wearable component. Disclaimer: The findings and conclusions in this report are those of the author(s) and do not necessarily represent the views of the National Institute for Occupational Safety and Health. Reference to specific brand names does not imply endorsement by the National Institute for Occupational Safety and Health.

Feb 27, 2013

By William R. Yernberg

The 2006 North American Tunneling (NAT) Conference was held June 10-15, 2006, in Chicago, IL. The biennial conference was the first NAT conference by the newly formed Underground Construction Association of SME (UCA of SME). The UCA of SME was formed earlier this year at the request of members of the American Underground Association (AUA) (ME, April 2006, page 75). The conference included a keynote session, technical programs, workshops, a trade show and social activities. The conference exceeded expectations with 570 attendees. They included engineers, equipment manufacturers, representatives from government agencies and other interested individuals in the underground construction industry. The trade show was also a success with more than 86 booth spaces sold. Vendors included the biggest names in the underground construction and tunneling industry and included equipment manufactures, construction contractors and engineering companies. The trade exhibition provided a forum for interested parties in the tunneling industry to meet and discuss services, equipment and techniques.

Jan 1, 2006

By H. Kinilakodi

In 2008, the authors developed a methodology for assessing underground coal mines for high risk for major-hazard events. It focused on major hazard-related violations of safety standards associated with high-risk conditions. Later using a sample of 103 mines with 2008 and 2009 data, injury measures and MSHA citation data were combined into a Safe Performance Index (SPI). The SPI was used to assess the relative safety-related risk of mines, including by mine-size category. In this paper, comparisons are made of SPI-associated, normalized safety performance measures across mine-size categories, with emphasis on small-mine safety performances as compared to large and medium-sized mines.

Jan 1, 2011

By F. M. Doyle

Ion flotation shows great promise for recovering and removing metal ions from dilute process streams, either for environmental compliance or to recover values. This technique uses an ionic collector to concentrate non-surface active colligend ions of the opposite charge from a bulk solution at the solution?vapor interface. With a sufficiently large solution?vapor interfacial area (provided, for example, by sparging gas through the solution), the colligend can be concentrated and removed along with the collector in a foam phase. A key limitation on using the technique in the minerals industry, where many process streams contain a variety of ions and have relatively high ionic strengths, is the need to control which ions are interacting with the collector. Here the effect of three different chelating agents, namely dodecyldiethylenetriamine (Ddien), ethylene diamine tetraacetic acid (EDTA) and triethylenetetraamine (Trien), on the selectivity of copper, nickel and cobalt, or copper and alkaline earth metal ions, is reported. The results are discussed in terms of their implications for adoption in the minerals industry.

Jan 1, 2009

By Wm. Ross Wayment, Innes P. Grantmyre

INTRODUCTION It has been recognized for some time that major changes in mining methods will be required in the near future. Two types of factors contribute to this need for change. Intrinsic factors include ground control problems associated with mining at increasing depths, noise, dust, toxic fumes, and logistics problems which arise from operation in a cyclical fashion. Extrinsic factors include competition for labor from industries offering safer and less difficult work, pressure for less impact on the environment, and changing economic and political conditions. The search for new mining methods has resulted in extensive research being carried out on such novel approaches as thermal fragmentation, high-pressure water jets, sonic drilling, microwave fragmentation, and laser cutting, among others. Joy Manufacturing Co. has elected to concentrate on impact breaking in stopes as a first generation continuous hard rock miner. IMPACT BREAKING Fragmentation techniques show a drop in specific energy as efficiency improves. Specific energy is the energy consumed per unit volume of rock removed and is affected by such variables as rock material properties, fragmentation method used, operator skill, tool design, etc. Mechanical fragmentation methods generally have specific energies much lower than that of the more novel methods. Table 1 shows impact breaking to have an efficiency exceeded only by that of drill and blast methods and it is this high efficiency which led Joy to impactors as the subject for research on potential mechanisms for continuous mining in hard rock.

Jan 1, 1976

By Philip Weaver

The MIDAS project is funded by the European Commission (DG Research) and began on the 1st November 2013. The project will investigate the environmental impact of deep-sea mineral and energy extraction: specifically, polymetallic sulphides, manganese nodules, cobalt-rich ferromanganese crusts and the potential mining of rare earth elements. As deep-sea mining becomes ever closer, and the International Seabed Authority begins to develop its regulatory framework for exploitation of deep-sea minerals, MIDAS is well timed to provide fundamental scientific information. The MIDAS partnership represents a unique combination of scientists, industry, social scientists, legal experts, nongovernmental organisations and small and medium enterprises. MIDAS is carrying out research into the nature and scales of the potential impacts of mining including 1) physical disturbance of the seabed by mining, the creation of mine tailings; 2) the potential effects of particle-laden plumes in the water column, and 3) the possible toxic chemicals that might be released by the mining process. Key biological unknowns, such as connectivity between populations, impacts of the loss of biological diversity on ecosystem functioning, and how quickly the ecosystems will recover will all be addressed. The plan is to use this information to aid development of recommendations for best practice in the mining industry. A key component is the involvement of industry within the project and through stakeholder engagements to find feasible solutions. The project will work closely with European and international regulatory organisations to take these recommendations forward into legislation. A major element of MIDAS will be to develop methods and technologies for 1) preparing baseline assessments of biodiversity, and 2) monitoring activities remotely in the deep sea during and after exploitation, including ecosystem recovery. To carry out this work MIDAS is conducting a number of research cruises to examine the above issues at potential sites for exploitation of SMS and nodule deposits. This talk will present some of the recent findings of the project.

Sep 1, 2014

The HB 2500 hydraulic breaker attachment from Atlas Copco Construction Tools features Krupp percussion technology and a service weight of 2,500 kg (5,512 lbs). This makes it ideal for demolition, tunneling, trenching, foundation work, rock mining and secondary breaking. Suitable for carriers in the 29-to 43-t (32-to 47-st) weight class, the HB 2500 accepts maximum hydraulic flow of 219 L/min (58 gpm) at 18 MPa (2,610 psi) of pressure, and delivers an impact rate of up to 550 blows per minute. The HB 2500 features PowerAdapt, a new system that automatically shuts down the breaker in the event that it receives excessive oil pressure from the carrier.

Jan 1, 2006

By John E. Tilton

During the past several years — much to the delight of producing firms and countries — copper prices have surged from under $1 to more than $3/lb. Anyone familiar with the industry also knows that since the early 1970s the long-run trend in real copper prices has been significantly downward. This sharp contrast between short-run and long-run trends raises the issue of the forces behind these developments. What has been driving short-run prices up and long-run prices down? Simple economics suggests that it is all a matter of supply and demand. When demand is rising faster than supply, prices will rise and vice versa.

Jan 1, 2006

Cripple Creek and Victor Gold Mine is an epithermal gold deposit located in the Rocky Mountains of Colorado. Surface operations are continuing along with an expansion for an onsite mill to take place in the next couple of years. The surface pit is currently progressing downward from an oxidized zone into a transitional, more sulfide/ telluride-rich zone. Gold mineralization includes native gold, electrum, and tellurides. Cyanide heap leaching is the recovery process for the oxidized ore with the sulfide/telluride-rich ore to be processed at the new onsite mill. Ore characterization prior to mining is vital when there are two possible recovery processes. This characterization is dependent on geometallurgy. To identify the causes of the variability, multiple parameters are analyzed and assayed. These parameters are measured by a variety of analytical testwork. The analytical testwork provides measurements for the desired parameters. Geometallurgical models are developed for the parameters per recovery process, so estimations can be inserted into the resource model to optimize operations and recoveries.

Feb 27, 2013

By G. Luttrell

Coal preparation plants play an important role in modern society by providing high quality feeds for coal-fired utilities, industrial boilers and metallurgical coke facilities. Unfortunately, field data indicate that preparation plants are often not operated under optimum conditions, resulting in lower productivity and lost profits. In many cases, this shortcoming can be attributed to a failure by plant operators (i) to recognize the importance of correctly adjusting plant operating conditions to accommodate requirements dictated by coal sales agreements within different coal markets and (ii) to properly account for variations in product moisture with particle size across different plant circuits. This paper discusses the important influence of moisture constraints on preparation plant optimization and provides a case study to illustrate the potential gains that can be realized via proper understanding of plant moisture control.

Jan 1, 2009

By David C. Yang

A packed column (or static tube) flotation system is an innovative technology which utilizes a controlled dispersion reagent scheme and a new machine. The unique aspect of the machine is its packed-bed design permitting an unlimited froth bed height with countercurrent water washing for effective processing of fine particles. In operation, the conditioned ore slurry is fed into the middle section of the column where separation processes begin. Air, introduced at the bottom of the packed column, contacts the hydrophobic particles and floats them off continuously as the feed is added, while the gangue sinks to the base of the column. The system functions efficiently because intimate particle-bubble contact is achieved by the packing design which has no moving parts and requires no ancillary air-bubble generator. Other attractive features of the packed column flotation include high throughput, low power requirements, and simple control. Results from laboratory and pilot plant tests of this system show remarkable improvements over current industrial practices on a wide variety of ores and coals.

Jan 1, 1988

By Bruce Hebblewhite

Australia’s Minerals Tertiary Education Council (MTEC) has achieved several successes during its first three years of operation. This initiative was developed through the Minerals Council of Australia, in conjunction with three partner universities involved in mining engineering education. The partner universities are the University of New South Wales (UNSW); Curtin University, the West Australian School of Mines (WASM); and the University of Queensland (UQ). The collaboration between these partner universities and industry has led to the development of shared course material, cross-institutional teaching arrangements, and the development of a number of flexible, distance-based delivery programs. This article then discusses future initiatives. Importantly, the challenge is the future initiative planned to cement this collaboration by the formation of a “virtual” national school of mining engineering: Mining Education Australia (MEA). This will provide a common third and fourth year program to all three universities beginning in 2007. The common program will involve innovative teaching and learning arrangements, greater student exchange potential and a more significant input by industry into the education process.

Jan 1, 2006

Many of the world?s largest existing mines are considering substantial step changes in production volumes, compensating for declining ore grades while trying to address increases in world demand for resources. The natural configuration of coal deposits allows for many mine development openings along the strike to access the ore body and thus increase volume. Similarly, with iron ore the nature of the deposits means that additional capacity can easily be added by opening up new mesas and providing extensions to infrastructure. On the other hand most of the non-ferrous metaliferous deposits form vertically and additional extraction volume comes from increasing depth. Underground mining from the base of the strata allows for large extraction rates, but block or panel caving operations develop at rates dictated by the geophysics of the overlying strata and the need for massive tunnelling developments to establish sufficient extraction points for high volumes. For really big mine production capacity, open cast mining still allows the easiest development of more massive mining techniques. But there remains the question of whether there are limits to how large an open cut mine can become in terms of throughput?

Feb 27, 2013

By J. L. Carr

Every year, severe injuries and fatalities occur when a miner is struck or pinned by a continuous mining machine, shuttle car, scoop or other piece of mobile mining equipment. Proximity detection systems offer a means to prevent these types of injuries and fatalities by sensing the presence of a miner and disabling machine motion. Although hundreds of these systems are installed and in use in operating coal mines, the influence that coal has on the electromagnetic fields associated with these systems has never been rigorously quantified. NIOSH researchers have conducted tests to measure whether the proximity of coal has a significant influence on a popular design of proximity detection system. The system tested utilizes a low frequency magnetic field generator that would be mounted on the mining machine. At the NIOSH Safety Research Coal Mine in Pittsburgh, researchers measured the performance of a simplified proximity detection system of this type first on the surface then underground at varying distances from a coal face. Analysis of these measurements shows that the presence of coal does not have a measurable impact. Disclaimer: The findings and conclusions in this report are those of the author(s) and do not necessarily represent the views of the National Institute for Occupational Safety and Health. Reference to specific brand names does not imply endorsement by the National Institute for Occupational Safety and Health.

Feb 27, 2013

By Steve Kral

The Society for Mining, Metallurgy and Exploration’s origins can be traced back to 1871. This was when 22 Pennsylvania coal mining engineers founded the American Institute of Mining Engineers (AIME). The organization’s objective was to “promote the arts and sciences connected with economic production of the useful minerals and metals, and the welfare of those employed in those industries by all lawful means.” Metallurgy and Petroleum were added to the AIME name in 1919 and 1956, respectively. Divisions of AIME were formed throughout the following years in recognition of the increasing trend toward specialization among mineral industry engineers. At the time, SME’s divisions consisted of the Coal Division (1930, now known as the Coal and Energy Division), the Industrial Minerals Division (1935), the Mineral and Metallurgical Processing Division (1948) and the Mining and Exploration Division (1949). The Environmental Division was created in 1997.

Jan 1, 2007