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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 Jue Kou, Lei Yu, Bern Klein, Lusheng Zhou, Chunbao Sun, Genzhuang Li, Reem Roufail, Amit Kumar

Magnetic liners can improve the performance of ball mills by increasing grinding efficiency, extending service life, and reducing maintenance costs. Despite their importance, the fundamental understanding and the quantitative investigation on the effects of the magnetic liners has not been addressed in the literature. This paper addresses this gap by studying charge motion, and how the use of a magnetic liner affects the breakage mechanism of the mill, using discrete element method (DEM) modeling and the Hertz-Mindlin contact model with relative velocity dependent (RVD) rolling friction. Charge motion was modeled under different mill speeds. Compared to conventional steel and rubber liners, the charge motion in the magnetic liner mill was predominantly cascading. Quantitative analysis of the energy dissipation within the mill was conducted to investigate mill breakage. Regardless of speed, over 50% of the total energy dissipation in the magnetic liner mill was in the form of abrasion and attrition. The results highlighted the appeal of magnetic liners in secondary and regrinding application, where abrasion and attrition are considered more efficient in the fine material breakage, and where impact is ideally minimized to reduce mill wear. A number of experiments were conducted to assess the effect of different model parameters on the performance of the magnetic liner mill. The highest abrasion/attrition intensity was observed with high values of the model parameters namely the restitution coefficient, static friction coefficient, and rolling friction coefficient.

Jun 12, 2019

By J. J. K. Daemen

Mining Engineering education is in trouble, if not in crisis. The most visible signs are the decrease in the number of programs that offer the degree, and the continued difficulties in attracting students to the discipline. Unless these trends are reversed, the future of the profession is uncertain, at best. Remedies have been proposed, and some are drastic. They range from consolidating mining engineering education into one or two national schools, to cooperative regional programs, to distance education programs, and to proposals to limit mining engineering to a graduate degree or specialization only. These alternatives deserve serious attention and merit discussion. I hope that one alternative that will remain on the table is the classical and traditional “School of Mines”. A reasonable number of such schools are needed to provide the educational diversity and the critical mass to maintain accreditation and professional registration for their graduates. Most importantly, such an approach is most likely to assure the continued existence of mining engineering as a profession. It also provides the best educational framework to teach mining engineers. However, such Schools are vulnerable, highly susceptible to university budget pressures, and probably can survive only with strong external support.

Jan 1, 2004

By Farrukh M. Mazhar, Philippe P. Martin

Electrical Vertical Sounding (EVS) profiling has proven to be a valuable tool to set the alignment and guide the design of a 17 km-long, 4.7m diameter water-conveyance tunnel in the Peruvian Andes at an altitude of 4,260 m. EVS profiling helped determine where to locate boreholes, and reduce the amount of drilling to 1,200 m of vertical and inclined boreholes. EVS profiling allowed the designer to identify and verify by drilling the existence of zones with difficult tunneling conditions that were avoided by realigning the tunnel. The rock quality was checked by drilling and a combined scheme of excavation by TBM and conventional drill and blast technique was developed for the final design.

Jan 1, 2003

Introduction Aggregate mining impacts on water resources are a source of concern to local governments. To evaluate those impacts, the Minnesota Department of Natural Resources conducted a four-year study at three gravel pits (two alluvial and one beach-ridge) and five quarries (flat-lying Paleozoic limestone). This research provides the first comprehensive look at aggregate mining impacts on ground-water systems in Minnesota. The results will be used by government officials making permitting decisions about aggregate operations and by responsible owners of aggregate mines as they plan their operations to avoid conflicts with neighbors and with resources dependent on ground water and surface water. Natural aggregate (crushed stone, sand, and gravel) is a vital part of our economic infrastructure in Minnesota. Aggregate is used for road and bridge construction and in a variety of building materials. In 2003, the value of construction sand and gravel and crushed stone in Minnesota was approximately $245,000,000. As Minnesota’s economy continues to expand, the demand for aggregate will continue to grow. Sand and gravel pits are located in every county in Minnesota. In 1990, the Minnesota Department of Natural Resources, Division of Minerals (DNR Minerals), estimated the number of active and inactive operations at 1500 with the view that this number was likely too low. Quarries for mining limestone, dolomite, sandstone, and hard rock (granite and quartzite) are found in 34 counties. A 1990 DNR Minerals inventory found 165 active operations, 88 percent of which were limestone quarries (Nelson and others, 1990). That same inventory counted 1,367 inactive operations, 70 percent of which were limestone quarries. Aggregate mining is an extractive use of resources: mining alters the landscape and its natural hydrologic system. When a new pit or quarry is proposed or when an existing operation needs to expand, local governments and citizens typically have many questions about the impacts mining might have. Local governments, which are responsible for reviewing these operations, rarely have the budgets to hire experts to evaluate potential impacts of quarry and gravel pit proposals. The Minnesota Legislature’s Aggregate Resources Task Force identified that local government units (LGUs) often lack the expertise to assess ground-water models (Southwick and others, 2000).

Jan 1, 2007

By Aldino Campos, Frederico Carvalho Dias, Pedro Madureira, Patrícia Conceição, José Gomes-Pereira, Inês Tojeira, Andreia Afonso, António Calado, Luísa Pinto Ribeiro

Since 2008, the Portuguese Task Group for the Extension of the Continental Shelf has been operating the ROV "Luso" (rated for 6000m depth) for geological sampling of the deep North Atlantic seabed, performing surveys on, e.g., seamounts and hydrothermal vent fields. Amongst other sensors, the ROV is equipped with a full HD video camera with which still images of the deep ocean floor are recorded. Fixed on the ROV’s frame are two underwater "line" lasers, each generating a sharp green line (532nm) over the seabed. The two lasers are paralleled and calibrated at a set distance. Provided that the camera’s angle of view is known, numerical values for seabed surface area may be calculated using direct measurements taken from the pictures containing the laser lines. We present the corresponding main mathematical formulas, which are derived from simple geometrical considerations, and discuss how to generalize these results for an arbitrary camera tilt or pan. We present an example of application of our method by estimating values for percent coverage of rock substrate versus sediment. Our results are also relevant for determining seabed polymetallic nodule abundances from still images obtained during ROV surveys.

Sep 1, 2014

By Fred Breu, Ronald E. Heuer

INTRODUCTION The Point Lepreau nuclear generating station was constructed in the late 1970's and early 1980's by the New Brunswick Electric Power Commission. Point Lepreau is a small peninsula on the north shore of the Bay of Fundy, about 55 km west of St. John, New Brunswick. Cooling water for the plant was to be obtained from and discharged into the Bay of Fundy by the system of shafts and tunnels illustrated in Fig. 1. The design engineer for the cooling water system was Albery, Pullerits, Dickson and Associates, Ltd., Toronto. Ferrera-Resco Ltd, Windsor, Ontario, was contractor for construction of the cooling water shaft and tunnel system, which was done between 1976 and 1979. The senior author was project manager for Ferrera-Resco, the junior author served as consultant to Ferrera-Resco on evaluation of certain geotechnical questions which arose during construction. SITE CONDITIONS Geology Except for limited overburden soils at the onshore shaft sites, the tunnels and shafts were constructed entirely in Triassic conglomerate, sandstone, and siltstone, with some shale interbeds. The bedding strike averaged about N6°E, The dip was to the west at about 30° along the Discharge Tunnel and 40° along the Intake Tunnel. Rock along the Intake Tunnel was mostly sandstone and siltstone and more thinly bedded, with RQ D generally in the range of 50 to 60%. Rock along the Discharge Tunnel tended to be coarser sandstone and conglomerate and more thickly bedded, with higher RQ D averaging about 80%. In addition to bedding joints, two other joint systems were identified

Jan 1, 1985

By Steve Kral

President Bush’s National Energy Program and his Clear Skies Initiative both emphasize the use of coal to help meet the nation’s growing energy needs. And why not? Coal is currently responsible for more than 50 percent of the nation’s electricity generation. That fact, though, seems to be lost on policy makers, the environmental community and the public. Critics of coal advocate the increased use of renewable energy sources and the increased use of natural gas. Renewables, though, are only capable of generating a tiny fraction of the power required. Natural gas is expensive. And natural gas production cannot keep up with demand, especially given the nation’s increasing energy needs.

Jan 1, 2003

By Richard L. Bullock

Believe it or not, mine evaluation and feasibility studies are as old as the industry itself. In the first recorded writing on mining by Agricola (1556), he gave several clues as what to look for in evaluating a mine, to determine if it was economically feasible. Below is the guidance from Agricola, with my interpretation of what he would include today. Now a miner, before he begins to mine the orebodies must consider seven things, namely: ? The situation (the geography/topography). ? The conditions (the geologic/mineralogic and mining conditions). ? The water (availability, hydrology and ownership). ? The roads (plus the railroads, power lines, all other infrastructure). ? The climate (the weather-rainfall/environment). ? The right of ownership (the land and legal entitlement). ? The neighbors (the social environmental concerns of the area). It is amazing how much of his guidance has not changed in 455 years. Yet Agricola gives no guidance on determining the correct cost, or determining the correct commodity pricing. But he does give a few words of caution on the related ethics involved on buying mineral properties: ?A prudent owner, before he buys shares, ought to go to the mine and carefully examine the nature of the vein, for it is very important that he should be on his guard lest fraudulent sellers of shares should deceive him.? Three hundred years later (1866), to further amplify this point, in the most famous thing that Mark Twain never said, as an introduction to a lecturer to an audience of gold-miners at Red Dog, CA, the famed author/humorist allegedly described a mine as ?a hole in the ground owned by a liar? (Farrar & Rinehart, 1935). So, one might conclude that between these two dates, the mining industry did little to improve its reputation. Unfortunately, since Mark Twain allegedly made those remarks, we have not done near enough to gain accountability for the mineral industry.

Jan 1, 2011

By David M. Jurich, Randy J. Essex, Alex de Aboitiz

An Automated People Mover (APM) transit system is planned for the growing Phoenix Sky Harbor International Airport. The APM will improve passenger movements between the terminals, and provide a link to parking facilities, a new rental car facility, and the planned metro Light Rail. The underground works will include shallow twin bored tunnels, taxiway crossings, and underground stations constructed beneath critical airport facilities. Challenging soft ground conditions will require extensive underpinning and ground improvements. Design is underway, and construction is scheduled to begin in 2007 with project completion in 2015. The owner’s planned delivery method for the APM Project will be Construction Manager at Risk (CMAR) with a Guaranteed Maximum Price.

Jan 1, 2005

By Jiayao Wang, Jian Chen, Leiting Shen, Hongyang Wang, Zeping Cao, Ziru Wang

Large amounts of by-products, including coal gangue, circulating fluidized bed (CFB) slag, and coal fly ash (CFA), are generated during mining, washing and burning of high alumina coal (HAC). The stockpile of these by-products of HAC will cause the pollution of air, water and soil. Meanwhile, the unbalanced regional distribution of bauxite and alumina production has been a critical challenge for the sustainability of world alumina refineries, especially for China. Therefore, economical extraction of alumina from by-products of HAC not only resolves the environmental pollution problems caused by stockpile but also decreases the dependence degree of import bauxite in China. Considering the fact that powder alumina can only be produced by alkali methods, the alkali extraction of alumina from by-products of HAC is summarized in this paper. Based on the formation process of by-products of HAC, the principle, research status, and problem of existing methods were analyzed and discussed, as well as the forecast of research trend. The analyses indicate that simplex recovery of alumina from byproducts of HAC generates large amounts of leaching residue (red mud) with difficulty for disposing, while comprehensive extraction of alumina and silica meets the research trend for clean and high-value utilization.

Aug 25, 2023

Safety is the No. 1 concern of any drill contractor or mine operator. Everyone in the industry knows a safe site helps stabilize operational costs and enables higher productivity. When it comes to exploration drilling, research has proven a majority of injuries are caused by the mishandling of coring rods. A driller helper will typically handle up to 50 rods per shift or up to 15,000 rods per year. With an annual 340 t (750,000 lb) in rods managed by hand, the risk of serious injury is extremely high. Because of this, the top request from the exploration industry is diamond rod handling. The Boart Longyear 4200 surface exploration drill, slated for release in 2009, will give the industry a hand-free, operationally safe rig.. Developed through the collaboration of its global drilling services and products divisions and targeted at the 1,200-m (3,900-ft) NQ market, the upcoming Boart Longyear 4200 surface exploration drill features the safest and most flexible rod management sys-tem in its class. The rig includes the industry?s first, truly hands-free rod handling system. This increases operator safety on the jobsite. In addition to the rod handler, the rig also features many new innovations that boost productivity and rig efficiency while minimizing the risk of downtime due to component failure or operator error. Boart Longyear has also included an intelligent PC-based operating system designed to allow complete drilling control as well as diagnostics reporting for the rig.

Jan 1, 2009

By José A. Rios, José A. Vidalôn

The case study of a highland area in the Central Andes of Peru, where many abandoned polymetallic mines are found, is presented. Some of these mines generate metal leaching and acid rock drainage (ML/ARD) or have potentially ARD generating (PAG) tailings/waste rock storage. Effluents are discharged into the first of two lakes in line, which act as reservoirs for irrigating an important valley in the desert coastal region. Drainage fees, their relationship with the deposit and the solid-wastes mineralogy are discussed, as well as variations in water and sediments composition, the benthos, and the aquatic/riparian flora/fauna in these lakes.

Jan 1, 2000

By R. M. Imhof, M. J. G. Battersby, G. Ciernioch

Pneumatic flotation is rapidly becoming accepted in the main stream of flotation techniques. Imhoflot is a pneumatic flotation process that in recent years has undergone progressive development. It combines short flotation times with excellent selectivity by employing intense pre-aeration and dispersion. K+S GmbH (K+S), Germany, has installed a complete Imhoflot flotation plant at its Sigmundshall plant. The plant treats hard salt consisting of sylvine, halite, anhydrite and kieserite. The reason for selection was that Imhoflot achieves the required grades of plus 60 weight percent K2O whilst offering lower operating costs than conventional flotation installations.

Jan 1, 2002

By A. D. Davis

Limestone-based technology for arsenic removal from water is an innovative and promising method. The technology offers the potential for low-cost disposal of a stable waste product after arsenic removal, either in an ordinary landfill or by encapsulation in concrete. Leaching research described in this paper shows that the limestone waste, after encapsulation in concrete, passes the Toxicity Characteristic Leaching Procedure (TCLP) test. Leaching was less than 0.05 mg/L, which is 1/100 of the U.S. EPA?s standard for disposal of arsenic in a landfill. Disposal of arsenic-enriched waste is critical for commercial viability of arsenic-removal technologies. Low-cost disposal gives the limestone-based method an advantage that could help communities meet the new maximum contaminant level of 10 parts per billion for arsenic in drinking water. The ability to recycle the waste material in concrete could add a significant economic benefit, further reducing overall costs.

Jan 1, 2009

By G. A. Grandy, P. F. Thomas, C. D. Danecki

When considering the mill drive system for a grinding application, a large number of questions must be answered. Depending on the mill size and type, the mill can be driven by several configurations of drive systems: a single low-speed motor connected to a pinion driving a ring gear, two low-speed motors connected to two pinions and driving a ring gear, or a gearless motor mounted directly. In addition, a gear drive system can have a reducer placed between a high-speed motor(s) and pinion(s) or a power path splitting pinion stand. In some designs the reducer is integral with the pinion stand driven by a high-speed motor. The technical and commercial implications of several mill drive options are presented. Initial cost, cost of installation, cost of commissioning, and cost of operation and maintenance are presented for each drive option considered. The impact of each drive system on the design, cost and operation of the overall plant electrical system is discussed. Also, consideration is given to mill drive availability, and the potential cost resulting from delays in plant production.

Jan 1, 2001

By D. Nutakor

The ability of computers to create synthetic representations of the real world in virtual reality offers a number of opportunities to enhance training methods used in the mining industry. Unfortunately, the training effectiveness of virtual reality systems currently used in the mining industry has received only limited testing. Miner Simulation (MinerSIM), an augmented reality system with integrated hypermedia suitable for training underground miners in the basics of using a jackleg drill to install rock bolts in a virtual mine environment is in its evaluation process at the University of Missouri-Rolla Experimental Mine. This paper discusses evaluation methodologies of the MinerSIM system, which consists of experimental and control groups with control students learning via traditional lecture and text formats. Preliminary results from usability tests of the first part of MinerSim, which is an online tutorial on underground rock bolting, are presented.

Jan 1, 2008

By Barry A. Hillman

The rapid evolution of computer and field sensor technology is now providing the ability to integrate mine and office operations. Digital maps and mine plans as well as CAD and GIS can be transferred to ruggedized field computers for development of real-time mine surveys and real-time GPS machine navigation and monitoring. Surveyors can insure that their surveys are accurate before returning to the office. Engineers and surveyors are also able to upload field computer-based surveys to mine planning software and directly to mine equipment including shovels, drills, and dozers providing the operator of the equipment with a real-time view of their work space. Production information can be transmitted through dispatch and/or centralized mine servers to update mine plans with mining progress and production data. Static mine models then become a dynamic element of operations, providing greater use of information that emphasizes the spatial aspects of the mine by providing real-time maps, productivity charts, and graphs. This information can be disseminated through various mine communication systems to provide operators and management with real-time feedback as well as daily and weekly reports. Integrated systems now being used in extensive trials are reporting productivity increases of 4 -7% or more thereby providing rapid payback to the mine.

Jan 1, 1998

By J. Chae, D. Pecha, R. Andrews

The Henderson/ML King CSO Project is a major combined sewer overflow (CSO)reduction project for the Department of Natural Resources and Parks of King County, Washington. The central element of the project is the 3100 lineal feet long, 14'-8"diameter 42nd Ave S Storage/Treatment Tunnel. During the course of the project, the owner and consultants evaluated numerous elements of the tunnel including the alignment, geotechnical conditions, tunnel liner, and settlement monitoring requirements. The contractor utilized innovative shaft construction methods for the tunnel portals, and adhered to strict contract requirements in successfully constructing the tunnel. This paper provides an overview of the design and construction elements of the 42nd Ave S Storage/Treatment Tunnel that led to the successful completion of the project.

Jan 1, 2005

By Len Harris

Webster?s Dictionary describes culture as: ? The totality of socially transmitted behavior patterns, arts, beliefs, institutions and all other products of human work and thought typical of a population or community at a given time. ? A style of social and artistic expression peculiar to a class or society. ? Intellectual and artistic activity. ? The art of developing the social, moral and intellectual facilities through education. The authors have nearly 100 years of combined experience in the mining industry working with and consulting to mining companies and companies engaged in the supply of goods and services to the mining industry worldwide. In this report, they present their experiences and ideas on the importance of cultural aspects in the successful development and implementation of mining ventures. Their suggestions on how to handle culture shock will be of interest to expatriate managers, operators, social workers, and engineering and construction personnel posted to overseas operations, as well as to nationals posted to other parts of their own country.

Jan 1, 2008