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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 D. R. Zuchelli

In order for MSHA to require the use of a noise control, the control must be proven ?technologically feasible?. Technologically feasible controls must reduce a miner?s noise overexposure to the permissible exposure level (PEL) or achieve at least a 3 dBA reduction in the miner?s noise exposure. The miner?s total noise exposure should be examined from an occupational viewpoint and not solely on a machine or equipment basis. This examination requires a field evaluation of the occupation as opposed to an equipment test conducted in a laboratory. The operator of a Hilti TE MD20 LS electro-pneumatic drill realized a full shift noise exposure (TWA8) reduction exceeding 8 dBA as compared to when operating a Gardner Denver S83F pneumatic jackleg drill while installing an equal number of drill holes into the Idaho Springs Gneiss rock formation. However, the Hilti drill?s penetration rate was only 27% of that of the jackleg drill. Although the Hilti drill was proven to be technologically feasible as a noise control, its slower penetration rate would require its economic feasibility to be evaluated on a case-by-case basis.

Jan 1, 2011

By Nasser Madani, SULTAN ABULKHAIR

The abstract of the paper discusses the challenge of quantifying iron content in a coal deposit in Kazakhstan. The iron dataset is limited, coming from only three drill holes and some stope samples, while a large amount of geological information is available from legacy drill hole data. The paper proposes a workflow using multiple-point geostatistics to model geological domains and two-point geostatistics to model iron content within these domains. The results show that the direct sampling (DeeSse) algorithm effectively reproduces the complex seam layers, and sequential Gaussian simulation models the iron within each domain.

Mar 30, 2022

By Georgene Renner, William R. Yernberg, Steve Kral

ABB provides integrated pro-cess control, optimization and information systems, drives and power-distribution equipment as well as other services and support to the mining industry. ABB also supplies electrical equipment and control systems for the openpit mining industry. This includes products for the automation of electrical equipment in mine shovels. The company offers low- and medium-voltage drives for various mineral- industry applications. And ABB provides gearless mill drives for equipment, such as semiautogenous grinding mills that are too large for conventional drives. ABB Industrial IT provides innovative hardware and software systems that cover all the requirements of the modern mining and processing plant.

Jan 1, 2004

By David J. Lowell

The gold content of porphyry copper deposits ranges from less than 0.05 g/t to more than I g/t ((0.0017 to 0.035 oz per st) and the average is about 0.05 g/t (0.0017 oz per st) gold. Perhaps the highest grade mineralization found near a porphyry cop¬per deposit is the Ok Tedi Gold Cap ore body whose grade falls in the 2 to 3 g/t (0.07 to 0.1 oz per st) range. It is difficult to define a gold-rich por¬phyry copper deposit. All porphyry copper ore bodies contain some gold, but there seems to be a fairly sharp break in the gold content at about 0.1 g/t (0.003 oz per st) gold. There is also a problem in identifying dis¬seminated gold deposits that may have an indirect relationship to porphyry copper systems. This relationship is clear cut in deposits such as the Ok Tedi Gold Cap, the El Hueso deposit, the Fortitude and West de¬posits at Battle Mountain, NV, and the Sur¬prise deposit at Ely, NV. There are many other bulk disseminated, epithermal-type gold deposits - McCoy, NV, for example - that might be related to a porphyry system but where this relationship is remains very uncertain. In such places as the Goldfields and Tonapah district in Ne¬vada and in the El Indio, Chile district, there may be a vertically stacked ore deposit rela¬tionship between near surface epithermal deposits and disseminated molybdenite and chalcopyrite enargite mineralization at depth that may represent a deep porphyry system. This, however, has not been positively demonstrated. Most of the bulk epithermal gold deposits are probably not related to porphyry copper systems. Exceptions would probably be Ok Tedi, El Indio, El Hueso, Battle Mountain, and Lepanto where vertical or lateral zoning relationships are more apparent. This author believes that porphyry copper systems are related to a relatively unique type of intrusion that is probably distinct from, for example, the McCoy intrusivebody. For that reason, deposits such as McCoy, Chimney Creek, and the like will not be included in the definition of gold-rich por¬phyry copper deposits for this article. The interpretation of the origin of several of the deposits previously mentioned are subject to an unusual amount of contro¬versy. For example, geologists seem to be equally divided about the presence of a porphyry copper deposit below the El Indio deposit. Geologic setting Continental vs. island arc Several geologists have speculated that the gold-rich, moly-poor, porphyries are

Jan 1, 1989

By George Joseph Malina

Contractor chose and Owner allowed concrete to be placed using the arch first principle while excavating the 35'-3" O.D. rock tunnel. The contract included excavating and lining 26,000 L.F. of rock tunnel to 33'-I.D. Concrete was placed at a rate of 90LF per working day using a movable bridge to allow batching, mixing and pumping of concrete adjacent to the tunnel form.

Jan 1, 1981

For the past four years, the Department of Mining Engineering at the University of Kentucky has conducted a validation study of the CFD Fluent code, by comparing its results against mining-related benchmark experimental data provided by NIOSH?s Pittsburgh Research Laboratory. This particular study is dedicated to the effect of machine-mounted dust scrubbers on the performance of face ventilation systems using extended-cut mining with a blowing curtain.

Jan 1, 2009

By N. D. Policow, J. S. Orphanos

D.A. Dahlstrom In the paper, a comparison was made between flowsheets using the screen bowl centrifuge and disc filters, respectively, as the primary dewatering device. The authors very effectively show that by raising feed temperature, mechanical dewatering is enhanced through reduced viscosity of the water. When a final coal moisture of 10% is required, the net effect of heating the feed is a reduction in thermal requirements because of the lower evaporated load on the dryer. The flowsheet comparison on this, however, was not completely correct. Disc filters do not generally utilize enhanced mechanical dewatering through increased temperature. Horizontal belt filters, through the optimal use of steam heating of the filter cake, have shown significant cost reductions over disc filters where steam is not used. In addition, the authors forgot to mention that there is a certain fraction of the feed that is so fine that it cannot be recovered by the centrifuge economically. That is the function of the filtration device shown in Fig. 4. In subbituminous pipeline coals, this fraction represents more than 10% of the feed. Even after flocculation and belt pressing, the moisture content in the fine fraction is 30%-40. Recent tests on a subbituminous pipeline coal slurry, compared an Eimco-Extractor horizontal belt filter with the screen bowl centrifuge flowsheet shown in Fig. 4. Mechanical dewatering was enhanced through the use of a steam dry zone after the initial dewatering zone. Vacuum pump horsepower was reduced by more than 50% through the use of condensors, and heat recovery was utilized to minimize thermal costs. Thermal drying to 10% moisture by weight was required in both flowsheets. The 0.5 wt% fines in the filtrate were flocculated and recycled to the filter, thus eliminating the belt press and solids mixers. When the three major operating costs (which normally account for 50%-75% of the coal operating costs) of steam, electricity, and flocculants at current prices were calculated, the flowsheets utilizing the Eimco-Extractor had cost savings vs the centrifuge flowsheet of 89¢/t (81o; per st) of surface dry coal. This advantage increases with increasing thermal and electricity prices. I congratulate the authors for the strides made with the screen bowl centrifuge. However, filtration flowsheets continue to be improved and their simplicity and low thermal and electrical requirements should not be so quickly dismissed. ? Reply by N.D. Policow From a technical standpoint, a number of extensive test programs have demonstrated that by raising the feed temperature, mechanical dewatering is enhanced whether it be centrifuges or filters performing the separation. Economic constraints usually become the over-riding issue. If an inexpensive source of thermal energy is available, i.e., waste steam, etc., the approach becomes commercially acceptable. For the specific case of coal slurry pipelines, since the dewatering plants will be located close to power generation stations, the preheating approach becomes especially attractive. The cost comparison shown in Fig. 7, which was prepared by a major West Coast engineering firm, contrasted screen bowl centrifuges and disc filters. In both alternatives, a thermal dryer was specified to produce a contract moisture of the final product. Sizing of the thermal dryer on the screen bowl alternative was substantially smaller than that of the filter, since the screen bowl was credited with a four to six percentage point decrease in product moisture compared to the disc. This comparison was made at ambient temperatures and reflected solely the mechanical dewatering capabilities of the two devices. No preheating of the feed was included in this particular comparison. Early generation screen bowl centrifuges operated under the principle of maximum bulk tonnage throughput. Second and third generation machines have followed the trends dictated by the coal industry calling for higher one-pass recoveries than previously demanded. The current generation of high-speed, long-bowl centrifuges permit recoveries of ultrafine solids directly comparable to commercial filter operation. On typical coal preparation plant feeds with nominal 600 E. an X 0 (28 mesh X 0) clean coal, recovery levels in excess of 99% are now obtained. The material that does escape the centrifuge and reports to the main effluent is typically -10 µm, high ash material. We have documented substantial beneficiation effects in screen bowl centrifuge performance with the cake product containing lower ash levels than the feed. On the referenced pipeline, coal tests performed on Western subbituminous coal, we found that the percentage of -10 µm material in the feed was six to eight times greater than normally encountered on eastern Appalachian seams. Our 45-t/h (50-stph) production centrifuge was never set up to maximize recovery. It was used as part of the two-stage dewatering circuit that had been chosen by designers of the proposed pipeline. Recoveries up to 95% were recorded. With field adjustments, that performance could most certainly have been improved. In contrast, manufacturers of the horizontal belt filter provided a small pilot-scale unit that operated on a side stream at the test facility. Numerous combinations of chemical additions were evaluated to determine those that had the best impact on filter performance. Whereas the screen bowl centrifuges operated without chemical addition, producing a dry, fluffy cake, the belt filter required two stages of chemical addition to attain satisfactory performance and high recovery levels. On the two-stage circuit that incorporated a belt press as the secondary

Jan 12, 1983

South Africa?s primary electricity supplier, Eskom, provides incentives to reduce power demand during critical times by granting capital through a Demand Side Management programme. DSM encourages the end user to review and optimize energy consuming systems and use capital, provided by Eskom, to purchase or modify the equipment required to achieve a load-shift. As part of the DSM agreement the mine ultimately acquires the capital equipment and benefits from reduced power costs, but in return is required to sustain the load-shift tactic for up to five years. The paper focuses on one DSM tactic, main fan energy management. In this case, reduced air flows during selected peak and off peak periods, results in a substantial reduction in peak power demand. DSM incentives provided capital for automated main fan control as well as improved control of the mine ventilation systems. To examine the work in detail Gold Fields Ltd Driefontein gold mine near Johannesburg was chosen as a case study.

Jan 1, 2009

By David A. Newman

The Geomechanics Classification (Bieniawski, 1979) was modified for entry and roof support design in underground room-and-pillar coal mines. Adjustment multipliers were introduced to incorporate the influence of strata weatherability, high horizontal stresses, and the roof support reinforcement factor into the existing classification system. Sixty-two case histories of both standing and fallen mine roof were collected from two mines in the northern Appalachian coalfield. Twenty-seven engineering and geologic parameters were recorded for each case. A partial correlation analysis was carried out on the cases to establish which parameters have a significant impact upon the supported stand-up time of coal mine roof. Survival analysis, a statistical technique used in medical research to assess the effect of a drug or treatment on a patient's life expectancy, was conducted together with stepwise multiple regression to derive values for the adjustment multipliers. A practical example is included to illustrate the application of the modified Geomechanics Classification to underground coal mine design.

Jan 1, 1985

Colloidal interactions play a critical role in mineral processing, including grinding, physical separation (particularly flotation), dewatering, and tailings management. Despite great energy input in comminution to liberate valuables from gangues, heterocoagulation between valuables and gangues would prevent the separation of valuables from gangues. On the other hand, selective coagulation/flocculation to increase the size of desired fine particles could enhance physical separation and dewatering, while dispersion is needed for fine grinding. To control the state of colloidal dispersions by creating favorable conditions, it is of paramount importance to study colloidal interactions in a relevant system and understand underlying mechanisms. This review summarizes recent advances in developing the-state-of-the-art techniques and novel methods of measuring colloidal forces, including atomic force microscope, surface force apparatus, zeta potential distribution measurement, quartz crystal microbalance with dissipation, and our recently developed integrated dynamic force apparatus. The basic principle of each technique was introduced first, followed by a summary of critical information derived for the relevant mineral processing systems. Finally, the pros and cons of each technique were discussed to emphasize the use of complementary techniques that assist in solving fundamental problems in mineral processing.

By T. S. Golosinski

This paper identifies the components of belt conveyor shifting force as a vertical force. Pv, horizontal force, Ph, and longitudinal force, P1. A method for estimation of these forces is proposed, which relates their value to the properties of the conveyor structure and rails, shifting operation parameters, and other site-specific conditions. The effect of this force on shifter behaviour is analysed and guidelines are developed for selection of a suitable shifter. Also discussed are the requirements of the shifting operation for other equipment.

Jan 1, 1986

By Derek J. Penrice

A critical element of the Transbay Transit Center Program, the Caltrain Downtown Extension (DTX) will extend commuter rail service into downtown San Francisco and accommodate future statewide high-speed rail service. The DTX project includes 1.8 miles of underground construction, comprising significant sections of mined and cut-and-cover tunnel. At the request of stakeholders, an updated cost estimate was prepared early in the project?s preliminary engineering phase. Unsurprisingly, this yielded a cost substantially higher than the available budget. This paper provides a summary of the management processes and planning decisions taken to bring the project back to budget, resulting in a configuration which derives maximum value from available funding and retains maximum flexibility for future system expansion.

Jan 1, 2008

By Brendan Henry

The Canada Line is a 19km long automated light rapid transit system with 16 stations in Vancouver, BC, Canada. The Concession was awarded to InTransitBC to design, build, partially finance, operate, and maintain the system for 35 years. The project must be complete by November 2009 to be ready for the 2010 Winter Olympics to be held in Vancouver and Whistler, BC. The bored tunnel section consists of 2.45 km of twin bored tunnel and 3 stations. The station work is limited to the excavations and temporary support necessary to facilitate the bored tunnel works. A joint venture between SNC-Lavalin Constructors Pacific and SELI (SSJV) has recently completed the design and construction of this section. Work for the bored tunnel commenced in November 2005 with shoring and excavation works for the tunnelling operations pit that will become Olympic Village Station and will be completed in the spring of 2008. The tunnels were driven with a 6m diameter Earth Pressure Balance Tunnel Boring Machine (EPBM) and lined with 250mm thick, 5.3m diameter precast concrete segments. Seven hundred and fifty meters of each tunnel were driven through glacial and interglacial deposits of sand, silt, and clay with granitic boulders. The paper discusses the challenges faced in negotiating these soils which contained unforeseen geological conditions. These conditions were overcome by developing a systematic approach to Risk Management that included thorough risk assessments, regular risk management meetings with the participation of two of the world?s leading EPBM experts, Professor Eisenstein and Professor Kovári, and by the ability of the construction team to effectively analyze and mitigate problems.

Jan 1, 2008

In 1950, about a third of the world?s population lived in cities. That figure has steadily risen throughout the following decades. Now it is believed that about 60 percent of the estimated 8.1 billion people in 2030 will be living in urban areas. The strain on infrastructure in cities in the developed world is already showing. And the rapid growth in developing nations today is adding to the shortage of materials, equipment and labor needed to keep up with this growth. So, while materials and labor may be in short supply, there is no shortage of work for the underground tunneling and space industry. In June, 718 of those professionals from around the world were in San Francisco, CA for the North American Tunneling (NAT) conference, put on by the Underground Construction Association (UCA) of SME. The attendees spent the three days of technical sessions listening to international authors discuss the state of the industry, new technologies that have become available and updates on major tunneling projects throughout the world. The accompanying exhibit attracted 79 vendors, who displayed the latest in tunneling and underground space equipment and services. In addition to the technical sessions and the exhibit, the NAT featured three short courses ? ?DRB Process Update Workshop,? ?Soft Ground Tunneling Technologies? and ?Underground Blasting Technology and Risk Management.? And the post-meeting field trip to the Devils Slide tunneling project near San Francisco was sold out.

Jan 1, 2008

By David N. Hedges

This paper discusses the actual recovery and installation of a longwall in a bituminous coal mine in Western Pennsylvania. The coal bed mined is in the Lower Freeport seam which averages 42 inches (1.07m) in height locally. Drainage from the mine is approximately 3.5 million gallons of water per day (13.25 million liters per day). This water deteriorates the mines predominately fire clay bottom making it extremely difficult to move equipment. Support removal is accomplished by pulling the 6 ton (5443 kg) shields out under their own hydraulic power and transporting them by track over four miles (6437m) co the next longwall panel. This paper also discusses the changes that will be made to aid in the succeeding longwall recoveries and installations.

Jan 1, 1984

By C. Haycocks

The Appalachian coal fields contain many mineable contiguously placed coal seams. Selection of the mining sequence for these seams, historically and currently, is based primarily on considerations of seam ownership, availability and economics. Mining any seam can seriously affect subsequent operations in coal seams both above and below the one being mined. The effect is often detrimental to recovery costs and safety of mining in the subsequent seams. The purpose of this paper is to examine the conditions that can develop in an underlying seam due to stress concentrations that can occur below pillars or abutment zones in an overlying seam, and suggest guidelines for avoiding them. This situation most commonly occurs when the overlying seam is mined first, although simultaneous and subsequent mining of the upper seam can also produce such effects. Other interaction phenomena resulting from subsidence or arching will not be considered here. The methodology used in this research utilized both computer and body loaded photoelastic models to study the interaction mechanisms. Field studies are used in both interpretation and analysis of the results. Numerous examples of load transfer from upper workings exist in all parts of the world and many of these have been incorporated into this work. Such interaction problems are quite common and likely to be an ever increasing occurrence as mining activities in old seams are completed and new seams opened up.

Jan 1, 1982

By Niels Kofoed

Upon completion of the 6,200 m (20,340 lineal ft; lft) North Tunnel drive for the Portland East Side Combined Sewer Overflow (CSO) Tunnel project in Portland, OR, the slurry tunnel boring machine (TBM) had to be returned from the Port Center shaft at Swan Island to the Opera shaft at the main mining site for the 2,700 m (8,860 lft) South Tunnel drive. At the Port Center shaft, the main 513-t (565-st) TBM and TBM tailshield were hoisted out of the shaft in two pieces using four 200-t (220-st) strand jacks mounted on a 635-t (700-st) hydraulic boom gantry system supported by Emmert International?s custom gantry tracks designed to span the shaft. After lifting the TBM components out of the shaft, the gantry system loaded the TBM components onto two Goldhofer platform trailers, which then transported the TBM and tailshield to a barge using a roll-on/roll-off method.

Jan 1, 2011

By M. Poulton, J. A. Botín, C. Gatica

"The Chilean minerals industry faces a shortage of 27.000 new skilled professional by 2023. Enhancing the integration of women into the workforce is a possible solution. This study analyzes the state of women in the mining workforce over the past decade. Several key indicators are presented: percent in the workforce, salaries, career profiles, presence at management level, and participation in academia are studied. The study also analyzes the strategies used by government, industry, and universities to recruit and retain women for the minerals industry. The main results show that women represent 7.4% of the mining workforce in Chile and less than 1% of senior positions with a salary gap of approximately 30%. Systematically, women prefer professional programs in geology, chemistry, and environmental areas. The Chilean statistics are compared to data from the United States mining industry. INTRODUCTION The Chilean mining industry faces a significant shortage of professionals for the next decade which compromises competitiveness and productivity. The demand for human capital in mining depends on several factors. First, the age structure of workforce, which determines future retirement needs. Second, minerals market considerations, determining the amount and size of mining projects entering production in the coming years. Third, the evolution, positive or negative, of productivity, mainly driven by technology and innovation, and negatively affected by the declining ore grades. Finally, negative trends in lead times to production of mining projects, due to social opposition, changing regulations and other project contingencies, negatively affecting the demand for human capital. Regarding the supply of human capital, the fast increase in the technology level of the minerals industry and hence, the increase of technical qualification requirements of the human capital generates a rise in the time required for trade and university education of mining professionals, which may cause imbalances in the labor market. According to (Consejo Minero, 2014) human capital gap in Chile by 2023 will be around 27.000 workers for extractive, processing and maintenance jobs, which represents 14% of the current workforce (Figure 1)."

Jan 1, 2016

By Wern-ping (Nick) Chen

The Florida Department of Transportation District 6 (FDOT D6) began a study in 1987 for a master plan to improve the traffic circulation and congestions between the Port of Miami (POM) and downtown Miami, FL. This study included a tunnel connection between two man-made islands, the Watson and the Dodge islands. Though a finding of no significant impact (FONSI) was completed in 1992, the project remained on hold for about 10 years. In 2002, Florida Turnpike took over this project, re-evaluated its benefits to the lo-cal communities, determined its feasibility (specifically the tunnel options) and established a probable cost. In 2005, the FDOT D6 regained its charge over the project and concluded that a bored tunnel under Biscayne Bay is feasible. Its primary components are: ? Widening of the MacArthur Causeway Bridge, to accommodate truck traffic to the Port of Miami. ? A tunnel connection between Watson Island and Dodge Island, where the POM is located. ? Connections to the POM roadway system, either for the traffic from the city of Miami or for the truck traffic from I-395 to the POM. The project will improve access to and from the POM and provide a dedicated roadway connector linking the POM with the MacArthur Causeway (State Route 41/1) and I-395, specifically for the trucks in and out of the POM without going through downtown Miami. As identified in the project information memorandum (PIM), its primary objectives are to: ? Improve access to the POM, helping to keep it competitive and ensuring its ability to handle projected growth in its cruise and cargo operations. [ ] ? Improve traffic safety in downtown Miami by removing POM traffic, trucks and buses from the congested downtown street network and, in doing so, facilitate ongoing and future development plans in and around downtown Miami.

Jan 1, 2009