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By Kevin Saeler, Patrick Willaman

Utilizing automation is one way to improve competitiveness. Roof and rib bolting in underground coal mines has not changed significantly for more than 40 years. Most roof bolting is still a largely manual process involving high levels of staff carrying out repetitive work. Roof bolting statistically has one of the highest levels of underground accidents, including finger, hand, and arm injuries. Operators are exposed to falling objects and becoming entangled in roof bolting apparatus while roughly moving awkward 6-ft drill steels and roof bolts. It is estimated that over 25 million roof bolts are installed annually in the U.S. underground coal market with well over 1,500 operators involved in roof bolting on a day-to-day basis. Recently electrohydraulic roof bolting rigs have been installed to offer partial automation of the drilling cycle and the bolting cycle. The next stage is to provide a storage and loading system to allow full automation of fullcolumn resin roof bolts. This paper reviews the latest electrohydraulic roof bolting equipment and discusses the testing of a fully automated drill rig. Full electronic control allows each step of the roof bolting process to be recorded, providing a digital record of each installation, including hole depth, spin time, gel time, torque, and cycle time. Other benefits include monitoring of water pressure and flow, used to prevent blocked drill steels as well as digital fault finding. A fully automated roof bolting machine greatly improves operator safety and gives high-quality repeatable roof bolting with reduced cycle times.

Jul 1, 2023

By R. W. Chadwick

Coal was discovered in South Africa in the mid 1830's. The earliest exploitation of modern times was probably in Natal where, in a letter dated 20 August 1842, a Captain Smith mentions that a wagonload of coal brought to Pietermaritzburg, was sold. Until the discovery of diamonds in 1867 and the Witwatersrand gold in 1886, coal mining satisfied a very small domestic demand. By 1889, at least four collieries were operating in the Middelburg-Witbank district, some 120 kilometres East of Johannesburg, and mining had star- ted at Vereeniging, about 50 kilometres to the South of Johannesburg. A map of South Africa is shown in Figure 1 and an enlargement of the main coal mining areas in Figure 2.

Jan 1, 1982

By Rudrajit Mitra, Erik Hulthén, TOBIAS HARTMANN, ELISABETH CLAUSEN, Aarti Sörensen

There has been an ongoing debate on how to transform engineering education to better prepare students for today`s professional world that is characterized by increasingly complex problems and challenges that engineers are tasked with upon entering the industry. Within the conceive–design–implement–operate (CDIO) framework, entrepreneurship education presents a valuable pedagogical approach to foster the necessary skills of the students through integrated, hands-on, active learning experiences. While numerous publications have addressed possibilities of how experiential, problem-based, project-based and active learning can be integrated into engineering curriculum, there has been hardly any attention on mining engineering with respect to adopting this approach. This paper will address the possibilities of integrating entrepreneurship education into mining engineering programs in particular. This paper will enhance and foster discussion among academics from mining engineering on how to integrate elements of entrepreneurship education on a course, program and departmental level to infuse value creation experiences across the curriculum.

May 25, 2022

By Ergin Arioglu, Werner Burger

"SUMMARY The Istanbul Strait Road Crossing Project includes a 3.34 kilometer subsea tunnel excavated by TBM with an excavation diameter of 13.71 m. The tunnel will incorporate two road decks, each employing two traffic lines and shoulder with the daily capacity of 100,000 light vehicles. The tunnel alignment crosses full face rock sections with heavily fractured zones due to tectonic events as well as a long central stretch of difficult mixed face and very variable soft ground conditions. The demanding ground conditions and the large diameter in combination with realized face pressures well above 10 bar required a highly specialized and well adapted TBM. The paper describes the project challenges and the related technical solutions incorporated within the TBM design as well as the real site experience. INTRODUCTION In 2013, a 13.71 m diameter Mixshield was manufactured in Germany for the Istanbul Strait Road Crossing Project. The delivery of the TBM in late 2013 was a major milestone for the Istanbul Strait Road Crossing Project, also known as the Eurasia Tunnel Project. The Eurasia Project (www.avrasyatuneli.com.tr/en) consists of a 14.6 km route including a 5.4 km tunnel segment in its central part crossing the Bosphorus. The 3.34 km subsea section of the tunnel was excavated in closed mode using a Mixshield TBM. The remaining tunnel length is constructed by sprayed concrete lining (SCL) method followed by a cast in place (CIP) lining or by cut and cover (CC) structures for the TBM transition boxes (Figure 1, right). Other project sections on the European and Asian side consist of upgrading and widening surface access roads towards the tunnel. Conceptual ideas of connecting Asia with Europe via a tunnel crossing the Bosphorus have been around for an extended time and only became realistic towards the end of the 20th century based on significant technical developments in mechanized tunneling. Feasibility studies for a new Bosphorus crossing in 2003 and 2005 confirmed and suggested a road tunnel in its present alignment as the preferred solution. Following an international tender process the Ministry of Transport, Maritime Affairs and Communications of Turkey assigned ATAS, a special purpose company formed by Yapi Merkezi (Turkey) and SK E&C (South Korea), to design, build and operate the Eurasia Tunnel Project. The Implementation Contract was signed in February 2011. In 2012, Herrenknecht AG was selected as the supplier for the 13.71 m Mixshield TBM."

Jan 1, 2016

By N. K. Dumakor-Dupey, G. B. Sakyi-Addo, K. J. Bansah

"Artisanal and small-scale mining (ASM) occurs in many countries around the world, and provides a source of livelihood to many impoverished local people in areas where it occurs. This paper reports the role of female participants and reasons why they engage in ASM. Field visits were made to 12 ASM sites located in the Tarkwa Mining District of Ghana to conduct interviews with male diggers and female participants. It was observed that over 100 women between the ages of 18 and 50 participate in ASM for survival. They engage in ASM largely because they have no alternative employable skills and income sources. These female participants depend on ASM to sustain the lives of their dependents. INTRODUCTION Artisanal and small-scale mining (ASM) conventionally involves use of rudimentary tools (such as picks, shovels, chisels and hammers) to exploit precious minerals and metals from the ground. It has been a major source of livelihood to many impoverished local people for more than a century. In many instances, it is the only source of income to indigenous people who have no alternative employable skills. The World Bank estimated that more than 100 million people around the world benefit from ASM which largely occurs in developing countries in Asia, Africa, Oceania, and South and Central America (World Bank, 2013). Cobalt, which is used in lithium-ion batteries to power cellphones, laptop computers, and electric vehicles, is largely produced by artisanal miners in Congo (The Washington Post, 2016). In Sudan, ASM is a significant contributor to the national economy, accounting for about 85% of total gold extracted yearly from 2010 to 2015 (Ibrahim, 2015). Also, according to the Embassy of Sierra Leone in Washington DC, USA, 90% of mineral export in Sierra Leone can be attributed to thriving artisanal diamond mining in the country (Sierra Leone Embassy, 2016). In Ghana, the ASM sector was recognized by government as a multimillion industrial activity, and through a series of initiatives, it was legalized by promulgating the Small Scale Gold Mining Law of 1989 (PNDCL 218). Presently, artisanal mining is widely practiced in two forms: licensed (registered), sometimes referred to as formal ASM, and unregistered (informal or illegal) operations, popularly called “galamsey”, a name believed to have been derived from “gather and sell” by ancient miners who could not communicate in the English language with European/British miners. The ASM sector in Ghana, like other countries, has seen a rise in female participation over the years. A report by the International Labour Organization (ILO) indicated that women account for about 15% of total workforce in ASM in Ghana, and up to 50% in Africa (ILO, 1999). Other researchers have also estimated women participants in ASM to be between 30 and 70% in Africa (Hinton et al., 2003a; Hinton et al. 2003b; Hilson, 2002). Presently, there is no reliable data from Ghanaian authorities on number of females engaged in ASM. However, data obtained from 15 ASM sites suggest that at least 40% of the employees are women. It is expected that a similar trend exists across ASM operations in Ghana."

Jan 1, 2017

By Montaser S. El‑Salmawy, AHMED A. S. SEIFELNASSR, Ahmed Al‑Abady, Abdeaziem M. Abdelaal, Amr F. M. Ibrahim

Iron is a key detrimental impurity in silica sands that determines their contribution to high-technology industries. Herein, a simple ecologically sound approach is investigated for iron removal from a silica sand sample obtained from the El-Zaafarana area-Egypt. The sample was subjected to a detailed microscopic mineralogical study supported by XRD and XRF characterization. The sample was beneficiated using distilled water attrition scrubbing and screening over a 25 μm sieve followed by leaching using a mixture of equal amounts of phosphoric and oxalic acids. Leaching experiments were designed and analyzed using the Box-Behnken design (BBD) methodology. A model was developed and evaluated using the analysis of variance technique to map the relationship between the residual iron oxide in the produced concentrate and selected variables such as leaching temperature, oxalic acid, and phosphoric acid concentrations. XRD and mineralogical analysis reveal that quartz is the most dominant constituent of the studied sand and other minerals such as kaolinite, iron oxide, rutile, and zircon exist in trace amounts. The head sample shows a silica and iron oxide content of 95.69% and 2379 ppm, respectively. Attrition and separation over a 25 μm sieve increase the silica content to 97.05% and decreases the residual iron oxide to 455 ppm. The final product after leaching under optimized conditions shows 99.82% silica and 55 ppm iron oxide.

Aug 30, 2022

By Charles T. Steuart

The Arkansas Novaculite of Devonian and Mississippian age is the most distinctive formation in the central Ouachita Mountains of Arkansas from the standpoint of both topography and lithology. The formation typically forms precipitous, narrow ridges (hogbacks) which reflect the steepness of dip and the resistance and thickness of the rock units. The Arkansas Novaculite varies from less than 200 feet thick in the north to locally over 800 feet thick in the south and outcrops over an east-west distance of 360 km (200 miles) in the Ouachita Mountains of Arkansas and Oklahoma. Most of the rocks of the formation are highly siliceous with novaculite predominating, and lesser quantities of chert, siliceous shale, conglomerate and rarely sandstone. Novaculite is commonly defined as a homogeneous mostly white rock, translucent on thin edges with a dull to waxy luster and composed almost entirely of microcrystalline quartz. The word novaculite comes from the Latin word novacula, meaning razor hone. This term was first used by Richard Kirwan in his mineralogy text of 1784. The origin of novaculite remains controversial but we believe it was a primary silica derived mostly from the alteration of submarine volcanic-rich materials, with numerous fine biogenic components and some minor clastics (derived mostly from foreland facies via turbidity currents) and deposited as an amorphous siliceous ooze in the deep Ouachita trough. It was subsequently converted to microcrystalline quartz during diagenesis by the compaction of the overlying rocks and the intense Late Paleozoic Ouachita Mountain tectonism. In the central and southern portions of the region three divisions of the formation have been defined: a Lower Division predominantly of light-colored novaculite; a Middle Division of interbedded dark chert and shale; and an Upper Division of massive often calcareous novaculite. In the northern exposures the formation is thinner and contains more black chert and shale, chert-shale conglom¬erate, sandstone and less novaculite. The massive novaculite of the Upper and Lower Divisions is a source of high purity silica (99+%). Indians were the first to use novaculite. They made their various tools and hunting implements from the weathered broken rock until they learned the quarrying techniques. The first white men in the area recognized the use of novaculite for sharpening their tools and knives: previously whetstones were obtained in small quantities from Europe. To this day whetstone is quarried mostly in areas which the Indians and possibly the Spanish previously worked. Some of the current mining practices have changed very little from those of the early quarryman. In areas where the novaculite of the Upper Division is poorly cemented, this friable tripolitic material has found applications in such uses as an abrasive, as a filler or extender in paints, plastics and other purposes. Some of the dense novaculite is suitable as a filler in fire bricks and also in plastics. Because some of it has the tendency to decrepitate when heated not all novaculite can be used for these applications. Several quarry operators are crushing novaculite for road, concrete, and other aggregate. This use was formerly rather limited due to the abrasiveness of the novaculite on crushing and screening equipment. Further potential uses of novaculite are speculative but include application of high purity silica in the production of silicon metal for solar cells, seed or "growing", and fusing quartz for electronics.

Jan 1, 1985

By Mostafa Benzaazoua, Mariam El Adnani, My Ahmed Boumehdi, Rachid Hakkou, Salah Ouhamdouch, Abdelmalek Goumih

This study focuses on the environmental characterization and assessment of long-term neutral mine drainage (CND) potential from waste rock piles at the abandoned Erdouz mine in Morocco. The study involved metallographic analysis, static tests, and column tests. Results indicate that the waste rock is not an acid mine drainage generator but produces CND, mainly with sulfates exceeding Moroccan standards. The waste rock is relatively stable and could be reused after pretreatment.

Jan 25, 2022

By M. D. Flavel

Research programs conducted by Allis-Chalmers Corporation are showing that the most efficient energy use in crushers is achieved when the forces applied to particles undergoing breakage are increased. Laboratory bench scale tests have been developed to confirm this phenomena, which was first observed in the field using HYDROCOME crushers with automatic setting controls. A new testing machine is described and methods of maximizing such benefits are postulated. FOREWORD Allis-Chalmers Corporation was founded in Milwaukee, Wisconsin, in 1847 as the E. P. Allis Company, which had an initial interest in manufacturing components in the grinding of flour. As such, its roots were started in reducing material size, which is covered by the generic term, comminution.

Jan 1, 1981

By Juan Camus

To understand why some companies excel in creating value, Jim Collins (2001) and a group of postgraduate business students engaged in a comprehensive, five-year research project. They examined 1,435 U.S. companies for more than 40 years, seeking those that made significant improvements in their financial performance over time. The distinctive pattern sought was: ?Fifteen-year cumulative stock returns at or below the general stock market, punctuated by a transition point, then cumulative returns at least three times the market over the next 15 years. ?The search identified 11 outperforming companies, all in different industries, that were called the ?good to great? companies. To contrast these companies with similar peers within the same industry, the search also selected a group of comparison companies that failed to make the leap from good to great. Collins then set out to examine the transition point. What distinguishing features did the good-to-great companies have that their industry counterparts did not? At the heart of the findings about these outstanding companies is what Collins refers to as the ?hedgehog concept? ? how to find the one big thing that the company must focus on. According to Collins, those who built the good-to-great companies were, to one degree or another, hedgehogs. Those who led the comparison companies tended to be foxes, never gaining the clarifying advantage of a hedgehog concept, being instead scattered, diffused and inconsistent. This insight is complemented by Peter Drucker (2004), an influential management guru, who asserts that the first question an effective executive should ask is: ?what needs to be done?? Asking this question and taking it seriously, he asserts, is crucial for managerial success; and that the answer almost always has more than one urgent task, but the effective leader only concentrates on one task. In this last respect, Drucker emphasizes: ?If they [executives] are among the sizeable minority who work best with a change of pace in the working day, they pick two tasks. I have never encountered an executive who is effective while tackling more than two tasks at a time.?

Jan 1, 2011

By J. Perlacia

"As the bulk handling sector continues its transformation to Industry 4.0, the mining industry, and its harsh working and environmental conditions, provides a perfect spot to study the feasibility of remote analysis and maintenance of the components used for bulk handling. The most important and expensive tools have been adapted to the digital era in recent years, from remotely controlled haul trucks to monitored conveyor belts.However, the big items of the installations rely on smaller parts that have been leftaside, mainly due to the difficultyof adapting them to the Internet ofThings (IoT).The paradigmatic example is the lack of monitored rollers, while all the other components of the conveyorbelt installations (the belt itself, motors, drums, etc.) were monitored some time ago. The main problem is that a failure of a single roller can cause the stoppage of the entire conveyor, due to possible damage to the belt. Thus, the implementation of an integral monitoring system of all the components of the conveyor is a must.The research and development department of ULMA Conveyor Components has been working since early 2012 on the development of monitored rollers, testing all the problems until their final installation in different demanding conditions, from the extreme heat in Australia to the freezing cold of Norway. All the tests have been done under actual working conditions, in real installations and have provided valuable knowledge in the identification of problems, their solutions and the final advantages of a roller monitoring system.Background and current stateThe malfunction of a single roller in certain conveyor belts can force the standstill of the entire installation until its replacement, due to the risk of greater and more expensive failures, such as a rip in the belt. In the case of a bulk handling installation, where a continuous supply of material is necessary, an unexpected stop of one hour could result in huge economic losses."

Nov 1, 2019

By Mirjana Boskovic

LKAB’s Kiirunavaara Mine is a sublevel caving iron-ore mine located above the polar circle in northern Sweden. The mine has been proclaimed seismically active since 2008 after a magnitude 3 seismic event, according to Swedish National Seismic Network (SNSN). At that time the Kiruna Mine did not have mine-wide seismic system. Since then, the Kiruna Mine experienced several damaging seismic events of which the largest one on the May 18, 2020. The magnitude, based on the moment tensor inversion results on data from the SNSN as well as seismic stations in Finland and Norway, is estimated to 4.2 ± 0.2 moment magnitude. The seismic event on the May 18, 2020 was located in the middle of the one of the productions areas and caused the major damage in the mine, damaging several kilometres of drifts on six mining levels, some of them beyond the practical repair. These damages affected four of ten production areas on several levels, some more some less. Luckily, no person got injured from the seismic event and the very long aftershock series. An important part in the whole process after the seismic event was information flow and decision-making process. It was very important to keep workers and community informed as that contributed transparency of decision-making and decreased the speculations. Resuming the production in the damaged areas in the safe manner, very soon become main focus for the mine management. It was obvious that not only rehabilitation of the areas is needed to resume the production. It was A MUST to understand the factors behind the seismic event and its mechanism to be able to avoid same situation and prevent seismic event of similar size. Mine engineers had to think outside the box to find the solutions to ‘rescue’ every drift that they could to be able to make good enough base for continued mining of the area. The paper describes actions taken in a very complex process of recovering the area that we from the beginning thought need to be abandon. Seismological analyses of the event on May 18, 2020 and past activity in the area, damage mapping, detailed studies of structures and geology, numerical modelling as well as engineering judgement were used as base for all our decisions how to proceed in attempt to restore mining of the area heavily damaged by 4.2 moment magnitude seismic event, in a safe way.

Apr 26, 2022

By William L. Husk

Stockpiles have always been a necessary part of coal mining except, perhaps, when a person was mining only for the needs of his family from a seam on his home place or coal mined for the use of a small hamlet and carried to each man's house as it was mined. Then it may have been stockpiled at each man's place for several days or on the village common. Mining with this limited production required waste stockpiling. Stockpiling of the products of coal mining, both coal and waste material, has always been a necessity. Very little coal has ever been moved directly or immediately from the working face to the point of consumption and burned. It has always been expedient to stockpile the coal some- where and store the waste.

Jan 1, 1981

By W. L. Hollinshead

For more effective and cost-saving production in tunnels, the machinery used on construction sites in the future will be equipped with guidance systems combined with working-procedure management systems. This paper describes sensors for these systems and vari¬ous system configurations. A project is described that uses a computerized guidance system on an underground mining machine for guidance and profile control.

Jan 1, 2000

By RICKARD HANSEN

With vehicles frequently found in underground mines and tyres being a major fuel item, the risk of tyre fires will be severe underground. This study presents an in-depth analysis of tyre fires on mining vehicles to increase the knowledge of the risk, applying data from full-scale fire experiments and CFD simulations. It was found that the wheelhouse of the loader caused an increase in the flame tilt angle of approximately 10%, decreasing the flame impingement and heat flux downstream. The flame temperature of the drilling rig tyre was found to be approximately 7% higher than the loader tyre, increasing the risk of igniting adjacent fuel items. The construction of the wheelhouse/mudguard will contribute to a longer flame length by creating a fuel-rich environment. The CFD simulations predicted higher flame tilt angles for the drilling rig case for higher flow velocities, indicating the influence of a varying wheelhouse/mudguard construction and tyre geometry on the flame tilt angle. The construction of the loader resulted in a flow behaviour, where the short distance to the front mudguard/tyre and the separation of flow directly downstream of the protruding construction led to fire gases being steered past the front mudguard/tyre. In the drilling rig case, the longer distance to the front mudguard/tyre led to fire gases being directed towards the body of the vehicle after passing the area with flow separation. An increased knowledge of the tyre fire risk on mining vehicles and mitigating measures would improve the fire safety in underground mines.

Feb 10, 2022

By D. Scott Scovira, Thomas Gustavsson

Exiting WW2, the potential of nitrates and hydrogen peroxide for application as industrial explosives both became known. The technology stream advanced the development and uptake of nitrate-based explosives to the point that they are the current global standard for blasting. Recently environmental issues are influencing the strategic agenda of extractive industries. The mid-2010s saw renewed interest in hydrogen peroxide explosives to eliminate NOx fume. Carbon reduction initiatives in the 2020s provided additional impetus to investigate hydrogen peroxide-based explosives. Hypex Bio is at the forefront of developing and delivering bulk gas sensitized Hydrogen Peroxide Emulsion (HPE) for blasting. HPE consists of hydrogen peroxide along with smaller amounts of fuel and emulsifier. The consistency of HPE is similar to industry- standard nitrate-based emulsions. It is compatible with existing priming and initiation systems. HPE does not contain nitrates and thereby does not produce post blast nitrous oxide fumes nor discharge of nitrates or ammonia to mine water. Importantly, HPE contributes to reduction in total carbon emissions as compared to nitrate-based explosives.

Feb 1, 2025

By G. ALBORNOZ, S. Utili, A. AGOSTI, C. VALDERRAMA, R. PELL, N. Morales

The steepness of the slopes of an open pit mine has a substantial influence on the financial return of the mine. The paper proposes a novel design methodology where overall steeper pitwalls are employed without compromising the safety of the mine. In current design practice, pitwall profiles are often planar in cross-section within each rock layer; i.e., the profile inclination across each layer tends to be constant. Here instead, a new geotechnical software, OptimalSlope, is employed to determine optimal pitwall profiles of depth varying inclination. OptimalSlope seeks the solution of a mathematical optimization problem where the overall steepness of the pitwall, from crest to toe, is maximized for an assigned lithology, geotechnical properties, and factor of safety (FoS). Bench geometries (bench height, face inclination, minimum berm width) are imposed in the optimization as constraints which bind the maximum local inclination of the sought optimal profile together with any other constraints such as geological discontinuities that may influence slope failure. The obtained optimal profiles are always steeper than their planar counterparts (i.e., the planar profiles exhibiting the same FoS) up to 8° depending on rock type and severity of constraints on local inclinations. The design of a copper mine is first carried out employing planar pitwalls, secondly adopting the optimal pitwall profiles determined by OptimalSlope. The adoption of optimal slope profiles leads to a 34% higher net present value and reductions of carbon footprint and energy consumption of 0.17 Mt CO2 eq and 82.5 million MJ respectively due to a 15% reduction of rockwaste volume.

Feb 9, 2022

By Adeyemi Adesina, Subhabrata Mishra, Syed Mohammed Mustakim, Malaya Kumar Jena, Shaswat Kumar Das

Utilization of low-grade manganese ore adopting the carbothermic reduction roasting process is a proven method to produce high-grade manganese ore. To minimize industrial waste and protect the environment, gas cleaning plant sludge (GCPS), which is a solid waste from steel industries, was employed as a reductant to perform the reduction roasting process. The optimum conditions to carry out reduction roasting of the low-grade manganese ore were found to be: a roasting temperature of 950 °C, a residence time of 2 h, 40% GCPS as reductant, and magnetic separation at 5000 G for a manganese ore size of –10 mm. A lowgrade manganese ore comprising Mn grade 31.27% and Fe grade 19.78% having a Mn/Fe ratio of 1.58 containing a high silica content of 26.48% was used for the carbothermic reduction roasting having mineral phases of pyrolusite (MnO2) and hematite (Fe2O3) as found from XRD. The gangue minerals were separated during the magnetic separation, and the upgraded product was obtained, which reached a maximum value of TMn 49.5% with RMn 76.55% and TFe 62.19% with RFe 42.51%. In the study, activated charcoal (AC) was also taken as a reductant for comparative analysis; the experimental results revealed that GPCS performed better than that of the AC, showing potential to be used as a reductant in metallurgical industries. However, the resultedMn/Fe ratio was very low for the reduced sample; therefore, it can be used for smelting along with high-grade manganese ores as a feed.

Mar 5, 2021

By Jürg Künzle

Underground construction is a matter of dealing with the inherent uncertainty of subsurface geology. If the encountered conditions are less favorable than the expected ones, the execution of excavation, support, ground treatment or lining works is likely to require more or different efforts than anticipated, thereby delaying the works and increasing the costs. The 2019 first edition of the FIDIC Emerald Book model contract (FEB) addresses many of the issues to which underground works give rise, including those related to differing site conditions (DSC). This paper examines how under the FEB disputes arising from or in connection with DSC could or should be avoided.

Jun 13, 2021

By JESSICA W. A. AZURE, Samuel Frimpong, AZUPURI G. A. KABA, FORSYTH A. KADINGDI, PROSPER E. A. AYAWAH

This study developed machine learning (ML) models for predicting rock formation reactive forces experienced by a hydraulic shovel bucket during excavation. To do this, rock formation in the form of muckpile was modeled as granular ball elements in three-dimensional particle flow code (PFC) using linear bonding logic. A typical field-size hydraulic shovel bucket modelled in AutoCAD was used to excavate the rock formation and the three-dimensional shovel bucket resistive forces required to cut through the rock formation were measured and recorded. The experiments involved different muckpile height, bulk densities, repose angles, and average fragment size. Six ML algorithms, artificial neural network (ANN), K-nearest neighbor (KNN), linear, random forest (RF), regression tree (RT), and support vector machine (SVM), were evaluated on their ability to predict the shovel bucket resistive forces. The input variables used for the prediction of the resistive forces were the muckpile bulk density, angle of repose, height, and fragment size. The results showed that the ML techniques are useful and reliable methods of predicting rock formation resistive forces based on the rock formation properties. This research is a preliminary step towards developing reliable models for accurate prediction of excavation forces/torques which could potentially enhance hydraulic shovel process automation.

Sep 27, 2021