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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 S. Gallagher, A. Mayton

Introduction The mining industry has long been associated with a high incidence of low back disorders and pain (Klein et al. 1984, Leigh and Sheetz 1989, Brinckmann et al. 1998). It is believed that the higher incidence of these injuries among miners is the result of high exposures to postural demands, heavy manual work, and exposure to whole-body vibration (WBV). Recent work has indicated that miners involved with heavy lifting (especially in restricted spaces or on uneven ground) or who have been exposed to whole-body vibration in undamped seats experience noticeable changes in their spines that are consistent with degeneration of the intervetebral discs of the spine (Brinckmann et al. 1998). As will be described shortly, there is mounting evidence that disc degeneration plays a large role in the development of low back pain, particularly chronic back pain. Until fairly recently, medical doctors generally assumed that back pain was the result of muscle strain, ligament pain, or so-called “trigger points” (Bogduk, 1997). However, research supporting these mechanisms of pain has been very scant. When subjected to scientific scrutiny, none of these mechanisms has been shown to relate to back pain in a convincing manner. On the other hand, there are three mechanisms that have been shown to be highly associated with back pain in controlled scientific studies: sacroiliac pain (present in 13% of back pain sufferers) (Maigne et al. 1996), facet joint pain (present in 15 % of back pain sufferers) (Schwarzer et al 1994), and disc disruption and degeneration (present in 39% of chronic back pain sufferers) (Moneta et al. 1994). The latter mechanism, which bears the highest relationship to back pain that has been objectively demonstrated, will be the focus of this section. Scientists now believe they have a good idea how back pain may develop in cases involving disc disruption and degeneration (Bogduk 1997). As the spine experiences loading during lifting tasks or whole body vibration, the first structure to fail is called the vertebral endplate, which is a structure that attaches the disc of the spine to the vertebral body (Figure 1). The endplate typically experiences a fracture, which the body will attempt to heal by means of scar tissue. Unfortunately, this scar tissue impedes the flow of nutrition to the disc itself (discs are dependent on nutrition from the vertebral bones), and if the supply is reduced sufficiently, the disc will start to degenerate. As this degeneration process proceeds, fissures or tears in the fibers of the disc start to develop. If any of these tears is a grade 3 fissure (Figure 2), an inflammatory response occurs in the disc, which will lead to the well-known sensation of low back pain (Peng 2006).

Jan 1, 2007

By J. Kern, M. Cain, T. Torries

Until recently, the generation of electricity was regulated in all states and the value of generation assets in a regulatory environment for ad valorem taxation were based largely on the book value of the plant plus the rate of return on capital allowed by the state regulatory agency. This method of appraising utility generation assets is inappropriate in a competitive environment because past capital expenditures are not relevant in a competitive environment. However, it is not clear what valuation methods are appropriate after restructuring. This paper identifies key problems and advantages of other appraisal methodologies and makes comments on various valuation and taxation methods.

Jan 1, 2001

By Steven G. Vick

Effects of the August 1995 failure of the Omai tailings dam in Guyana continue to be felt throughout the mining industry. This article is taken from the final report of the independent body of experts commissioned by the government of Guyana to establish the cause of the failure. It explains what happened, why and how to avoid it in the future. Despite environmental, health and safety effects that were negligible by any objective measure, the failure has received wide international attention. Coming on the heels of the shift in exploration targets and development opportunities to developing countries, it has intensified interest in tailings dam safety and environmental management issues. An informed understanding of the nature of the failure and its effects is key to responding to these concerns.

Jan 1, 1996

By Kazuo Magata, Hirohiko Fujita, Masazumi Tashiro, Yoshiaki Sato, Yoshio Shinoda

The Shinkansen of the Japanese National Railways (JNR) presently in operation between Tokyo and Hakata, approximately 1,000 km, was constructed at three stages: between Tokyo and Shin-Osaka opening in 1964, Shin-Osaka and Okayama in 1972 and Okayama and Hakata in 1975. Works on the extension of 400 km from Okayama to Hakata were launched in March 1970. As construction of the undersea Shin-Kanmon Tunnel on the extension was the toughest task, requiring many, many months, the work was undertaken earlier than any other works on the extension. It was brought to its completion in June 1974 at the cost of about 22, 000 million yen. The Shin-Kanmon Tunnel is the third undersea tunnel constructed to connect the main island of Honshu and Kyushu across the Kanmon Straits. (Table 1)

Jan 1, 1976

By P. A. Plunkert, D. E. Morse, L. McCartan, J. F. Papp

The mineral sector is a fundamental part of the U.S. economy. It contributes to the real gross domestic product (GDP) at several levels — basic (mining), intermediate processing, manufacturing of finished goods and construction. The real GDP during 2004 increased by 4.4 percent. The nominal GDP was about $11.7 trillion. Housing starts were up by slightly more than 4 percent for the year. And the nation’s unemployment rate decreased to5.5 percent in 2004 from 6 percent in 2003. Interest rates continued to be low (prime rate was 5.25 percent at the end of 2004) but have risen gradually, following rising inflation.

Jan 1, 2005

By D. H. Horswill

The Red Dog Mine is the world’s largest zinc mine. It is located 145 km (90 miles) north of the Arctic Circle in northwest Alaska on lands owned by the Inupiat Eskimo organization called the Northwest Alaskan Native Association (NANA) Development Corp. NANA acquired surface and subsurface title to this resource as part of its settlement lands under the Alaska Native Claims Settlement Act. In 1982, NANA entered into a lease agreement with Cominco. Cominco is an international mining company focused on zinc. It built and operates the Red Dog Mine. NANA’s principle objective in the development of the mine was to have it contribute to the development of sustainable communities within their traditional region. This meant creating job opportunities in a modern economy while preserving the traditional subsistence lifestyles. Preservation of their culture, language and traditions are as important to the NANA people today as they were in the past.

Jan 1, 2000

Filtration systems with disposable filter elements (DFEs) are used in the underground coal mining industry to control particulate matter emissions from diesel-powered permissible and nonpermissible coal mining equipment. This study was conducted in underground mine conditions to evaluate three types of high-temperature DFEs used in those filtration systems. The DFEs were evaluated for their effects on the concentrations and size distributions of diesel aerosols and concentrations of nitric oxide (NO) and nitrogen dioxide (NO2). Those effects were compared with the effects of a standard muffler. The experimental work was conducted directly in an underground environment using a unique diesel laboratory developed in an underground experimental mine. After an initial DFE degreening period, the filtration system with all three DFEs was found to be very effective at reducing total mass concentrations of aerosols in the mine air. The effectiveness of DFEs in filtering aerosol mass was found to be a function of the engine operating conditions. The efficiency of the new DFEs significantly increased with accumulation of operating time and buildup of diesel particulate matter in the porous structure of the filter elements. A single laundering process did not exhibit substantial effects on performance of the DFE elements. The effectiveness of DFEs in removing aerosols by number was strongly influenced by engine operating mode. The concentrations of nucleation mode aerosols in the mine air were found to be substantially higher for both DPFs and DFEs when the engine was operated at high-load modes than at low-load modes. Initial heating of certain DFEs resulted in visible white smoke and substantially elevated aerosol number concentrations. The effects of the DFEs on total nitrogen oxides (NOX) concentrations were found to be minor. The NO2 fraction was found to be generally lower for the DFEs than for the muffler. The engine-out NO2 fraction of the total NOX was found to be substantially higher for low-load modes than for high-load modes.

Jan 1, 2011

By Bruce Geller

Attending the Prospectors and Developers Association of Canada (PDAC) meeting and exhibit has become an annual tradition for many in the mining industry. Similar to last year’s synopsis, this report is an overview of the 2003 conference from the eyes of a consulting mineralogist. It is supplemented by conversations with other participants. And it examines the conference handouts. Certain segments of the mining industry have seen improvement throughout the year in terms of metal prices, stronger demand and renewed interest by the investment community. Other segments continue their decline due to depressed commodity prices, higher oil prices, a continued weakness in the global economy and war uncertainties. SARS was known to the world, but it was not a Toronto epidemic during PDAC. In short, this year’s PDAC was permeated by an air of anxiety about the Middle East.

Jan 1, 2003

By Wilhelm Knickmeyer, Johannes Henneke

PREFACE For about 1 year Bergbau-Forschung GmbH, central research institute of the German Coal Mining Industry, undertakes full size tests for waterjet assisted tunnel¬boring in German coal mines (Fig. 1). These tests are performed with a tunnelborer of 2.6 m diam in an upper [ ]

Jan 1, 1979

By William Brundan

INTRODUCTION The Srisailam Left Bank Canal (SLBC) Tunnel Scheme is part of the Alimineti Madhava Reddy Project in Andhra Pradesh, South India. This scheme has been planned since 1983 and will provide irrigation facilities to drought-ridden areas in Andhra Pradesh. Water will be transferred from the Srisailam Reservoir during the monsoon months to 0.3 million acres of farmland and will also provide drinking water to villages en-route. The paper will address the design and onsite assembly of the Robbins Double Shield TBMs for Tunnel-1 of the SLBC tunnel scheme from planning to start-up of the machines. Also, it will provide a current status of the project and describe the advantages of a site assembly. Problems encountered to date and the solutions adopted will also be described. The project comprises over 50 km of tunnels and involves construction of the world?s longest tunnel without intermediate access. The TBM tunnels at 43.9 km in length and 10.0 m diameter will cross the Amrabad plateau, containing a wild life sanctuary and India?s largest tiger reserve, the Rajiv Gandhi. Jaiprakash elected to excavate the tunnel using two tunnel boring machines, rather than by drill and blast, in order to alleviate surface disturbances to environment and the tiger reserve, wild life sanctuary, and protected forestry areas. The Project was awarded to the Main Contractor Jaiprakash Associates Ltd with The Robbins Company as the Tunnel Boring Machine (TBM) supplier in August 2005. The Robbins Company supplied the TBMs along with two continuous conveyor systems and all spares and consumables to complete the tunnel excavation.

By SH. Shahsavari, H. Akbari, M. Noaparast, M. Oliazadeh

Mejel valley zircon ore in Iran is located in north part of Iran and was sampled to evaluate its concentration. The aim of this project was to define the mineralogy of this zone and separating zircon from other minerals using gravity concentrators and magnetic separators. It is constituted of various valuable minerals, mainly zirconium, niobium-tantalum, titanium, rare earth elements particularly cerium-bearing minerals namely zircon, sphene and rare earth elements oxides. We used statistical method for designing of experiments. Yates method used for analysis of basic experiments results. The grade of zircon in primary sample was 1.1%. Different experiments were designed to optimize all required parameters. The final concentration with 75% zircon was produced and final recovery was 79%. Finally, lab-scale based flow sheet was prepared using experiments results.

Jan 1, 2005

By R. Hardy

LaModel is a boundary-element program capable of calculating the displacements and stresses in thin bedded deposits such as coal, salt, or potash. Throughout its history, it has continually been upgraded in order to expand analysis detail and stay current with the latest advances in computer technology. The most recent enhancements include: an increased grid size capability, a significant increase in the speed of the automatic grid generation using an AutoCAD visual interface, implementation of subsidence-based horizontal strain calculations for multiple-seam situations, and pillar safety factor calculations. To demonstrate these new features, a multiple-seam case study of a longwall panel undermining an active set of main entries is presented.

Jan 1, 2006

China has made great progress in thick coal seam mining, commonly characterized by longwall top-coal caving mining and single-pass longwall mining with a large cutting height. At present, the maximum mining thickness of longwall top-coal caving reaches 20 m while that of single-pass longwall mining approaches 8.8 m. The top-coal caving–related technologies have significantly improved the mining efficiency of thick coal seams and have also made a great contribution to the centralized underground mining of coal. Thus, the number of underground coal mines is greatly reduced in China. However, due to the increase of the mining height and the changes in mining operations, the overburden movement caused by the mining of thick coal seams is more intense, and the influence scope is larger, which brings a series of new problems on ground control of longwall faces. In order to enhance ground control and improve the mining efficiency of thick coal seams

Jul 28, 2020

Because of its small interburden thickness, concentrated stress distributions, high coal seam metamorphism, and complex geological conditions, mining the five coal seams (Nos. 5, 7, 8, 9 and 12) of Kaiping coalfield is difficult. Kaiping coalfield is located within 80 m in the Kailuan Group. The overburden caving caused by mining the five coals seams was measured using ZTR12 geological penetration radar (GPR) survey combined with borehole observations. The development characteristics of full-cover rock fractures after mining were obtained from the GPR scan, which provides a measurement basis for the control of rock strata in close multiple-seam coal mining. For the first time, it was found that the overburden caving pattern shows a periodic triangular caved characteristic. Furthermore, it is proposed that an upright triangular collapsed rock pile and an inverted triangular area with larger fragments piled up alternately appear in the lower gob. The research results show that the roof structure formed in the gob area can support the key overlying strata, which is beneficial to ensure the integrity and stability of the upper coal seams in multiple-seam mining of close-coal seams.

Jan 7, 2020

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 P. M. Prasad

Off-grade molybdenite concentrates, mainly derived from secondary sources as by-products of the processing of copper, uranium and tungsten ores, do not satisfy the purity requirements (percent MoS2) for the production of molybdenum bearing products. This investigation is a continuation of a successful effort to refine a low-grade molybdenite concentrate to prepare a high-grade MoS2 using a mixed acid (HF + HCl) leach procedure. Specifically, this investigation is concerned with an understanding of the separation chemistry underlying the removal of the oxide/silicate gangue and the base-metal sulfide associations present in the low-grade molybdenite by their selective dissolution in the two acids. Experiments were conducted on an off-grade concentrate containing 42.6% Mo. Results of the controlled dissolution tests indicate that both HCl and HF are suitable for the removal of the associated alumina and both work well for iron, nickel and copper. However, HF was found to be the most effective for dissolving silica/silicate and magnesia. An attempt was made to rank the leaching efficiencies of the acids used singly, sequentially or in a mixed mode. Scale-up (300 to 2,000 g) experiments were conducted to validate this approach. Excellent purification of the concentrate was possible by processing the off-grade concentrate with 10% HCl plus 15% HF at 363 K for 7.2 ks in open polypropylene reactors with internal stirring. These conditions leached practically all of the oxide and silicate gangue and 96% of the metallic impurities. Starting from the low-grade molybdenite concentrate (42.6% Mo; 71.1% MoS2) it was found feasible to obtain a refined product containing 97.8% MoS2, which is suitable for industrial use.

Jan 1, 2007

By Kewal K. Kohli, Thomas Z. Jones

This paper presents a simplified computerized method for the prediction of maximum subsidence and the subsidence profile for the Appalachian Coal Basin using the Hyperbolic Function Profile Method. Several case histories are cited to demonstrate the appropriateness of the predictive method. In addition, sample runs and a detailed listing of the computer program is provided. Other popular subsidence prediction methods are discussed and compared with the Hyperbolic Function Profile Method.

Jan 1, 1986

By S. Frimpong

Shovel excavation constitutes a significant component of production costs in any surface mining operation. This makes shovel loading an important cost center that needs to be improved to lower production costs. Optimization of tool design will improve energy efficiency in earthmoving operations. However, modeling the soil-tool interaction is a complex process due to the fact that forces for excavating particulate material are functions of many variables. The magnitude of this resisting force depends not only on the type of soil but on the size, shape and orientation of the cutting element. Moreover, part of this complexity is attributed to the fact that the behavior of the material during excavation is not yet well understood. For the past five decades, researchers have mostly used the passive earth pressure theory to study the soil failure patterns around a cutting tool and to develop force prediction models for design optimization with some success. Although the force models developed from the passive pressure theory have been successful to some extent, they can hardly be extended to a general case because of the underlying assumptions and simplification of tool shapes. This paper aims at reviewing some of the existing empirical and analytical methods of cutting and excavation tool modeling with a focus on their merits and limitations. The paper also explores the use of numerical methods, specifically the discrete element method, for dealing with the unresolved aspects of soil dynamics in excavation.

Jan 1, 2011

By Lawrence Williamson, Randall J. Essex, David P. Field

As part of a $2.2 Billion bridge project that will link Indiana and Kentucky, an interchange project northeast of Louisville will require the mining of a 6-lane tunnel system about 2,000 ft long in order to cross beneath the historic Drumanard Estate. This paper will discuss preliminary engineering that has been undertaken to compare two-bore and three-bore layouts, the planning of an exploratory tunnel facility, and the potential for including a test chamber to investigate the ability of high capacity roadheaders to mine the 22,000 psi limestones.

Jan 1, 2005