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A discussion on simulation tools to aid the development of robotics platforms is presented. The focus of the work is towards mining robotics platforms where operations are typically in unstructured, unpredictable environments and a high degree of dependability in their operations is required. It is argued that a test-based development approach leads to more robust solutions and faster development cycles than traditional single-track field-only development and that the key enabling technology for this development paradigm is the judicious use of simulation tools. The future direction of simulation for use in online applications such as active planning and as a means to assist tele-operation in high latency communication applications is also brief y considered together with the requirements for a useful simulation environment in terms of the simulator architecture. Finally, a case study is presented on the application of the discussed methodologies to an unmanned ground vehicle (UGV) for earth-moving tasks, which is being developed in an accelerated time frame with a transient development team.

Dec 6, 2010

By K. Y. Haramy

Coal mine bumps involve the violent, rapid failure of coal and rock around a mine excavation. Deep coal mines with strong roof and floor rocks and high-stress conditions frequently experience face and rib bumps. The bump problem is becoming more severe as mining depth increases, prompting efforts to control high stress in advance of mining. This Bureau of Mines report presents a review of the most widely used methods to detect and destress high-stress zones along coal faces and an investigation of stress-related bump problems and destressing techniques at a cooperating mine. Geotechnical instrumentation and microseismic methods were used to better understand bump occurrences in underground coal mines. Laboratory tests of the drilling-yield method for high-stress detection were conducted to determine the correlation between the volume of cuttings obtained and the magnitude of the applied stress at various confining pressures. A three-dimensional, multiple-seam computer modeling program, MULSIM, was used to evaluate the effectiveness of stress-relief methods. Modeling results indicate that dangerously high-stress areas can be controlled by either proper planning or destressing. Proper mine planning guidelines and destressing methods such as volley firing, hydraulic fracturing, and auger drilling are discussed.

Jan 1, 1988

At last year's. annual meeting of The Institute, Sir George Fisher, as President, compared it somewhat nostalgically with a meeting of its kind in the 1920s when comment was expressed on the decline of Australianmining and on the lack of new mineral discoveries.I feel that tonight's annual meeting is even more an occasion for nostalgia, for it represents the seventy-fifth anniversary of the founding of The Australasian Institute of Mining and Metallurgy. I hope, therefore, that I may be allowed to retrace some of the circumstances of this Institute's origin and at the same time to look at some of the broader happenings of those 75 years.From this distance in time it is, of course, much easier to get things in perspective and one of the things that compels enormous admiration in looking back over the history of our Institute is to note the qualities of foresight and keen concern for professional standards which moved the pioneers in this Institute. They had no benefit of hindsight to aid them.Just over 75 years ago, a small group of men met in Broken Hill to discus.s the possibilities of forming an association of mining engineers. The moving spirit was Uriah Dudley, our first secretary, manager of the Umberumberka mine at Silverton. The first formal move to form an association of mining engineers came from the Amalgamated Mining Managers Association of Australasia. At the time, this association was a fairly new group, being 5 years old.It had been formed to try to raise the standard of management throughout the industry. Uriah Dudley and our first provisional president, John Howell, held their first talks in 1891 and further meetings at Broken Hill followed. The inaugural meeting, attended by 200 members, was held in Adelaide in April, 1893.

Jan 1, 1968

By J. Gordon Parr, D. H. Polonis

IN a previous study of hypereutectoid Ti-Ni alloys' a substructure was observed in quenched powder specimens when the constitution was 100 pet retained ß body-centered-cubic phase. The alloy powders were quenched from 1000°C by a blast of helium gas and precautions already described were observed throughout the work, to minimize contamination. Ogden et al.2 have previously observed subboundaries in the ß phase of a Ti-Mn-N alloy; but this structure was attributed to nitrogen-rich a precipitation. The nitrogen content of the Ti-Ni alloys does not exceed 0.02 pet and the quenching rate was sufficiently rapid to suppress precipitation reactions. Since X-ray diffraction results have confirmed the absence of any second phase which might account for this phenomenon, it seems unlikely that this substructure is explicable in terms of nitrogen content. Fig. 1 shows the substructure in adjacent grains of 100 pet ß phase in a quenched 6 atomic pet Ni alloy. Fig. 2 shows adjacent ß grains in a similarly treated alloy; one grain contains marked intracrys-talline boundaries and the other is completely free from any substructure. The suberystals appear to have fairly regular shapes, suggesting a regular orientation relationship among them. Tempering the retained ß structure at temperatures below the eutectoid eliminates the substructure at an early stage of ß decomposition. At the present time it is possible only to guess at an explanation for this subboundary phenomenon, since very little work has been reported on substructures resulting from phase changes. It is believed that the present phenomenon is due to poly-gonization resulting from unrelieved stresses set up

Jan 1, 1957

By George S. Rice

In response to numerous requests for information as to the status of internal-combustion mine locomotives of the Diesel type that use heavy or nonvolatile oil for fuel, with special reference to their safe use in coal mines, the United States Bureau of Mines is issuing this t port. Data were obtained on application of such locomotives to coal mining only in Belgium, France, Germany, and Great Britain. The locomotives are used in coal mining in other countries, as well as in potash, iron, and other kinds of mining, but their chief development has been in coal mining in Germany, France, and Belgium. Recently popular interest in the Diesel type of engine for motive purposes was aroused in this country by the successful application of Diesel engines to railroad locomotives hauling fast transcontinental trains, and, according to published statements, at a low cost of fuel per mile of run.

Jan 1, 1936

By Herty, C. H.

Present-day interest in the question of "dirty steel" has arisen primarily from the increasingly rigid specifications on various grades of steel and from the growing conviction that non-metallic inclusions are the source of many of the difficulties in meeting these specifications. The importance of inclusions has unquestionably been over-emphasized in many cases, but on the other hand many unpublished instances could be recorded where all evidence pointed to inclusions as the primary cause for the failure of steel in rolling or in service. The solution of the problem of dirty steel is not a matter of a few years. There are almost numberless types of inclusions. They segregate in steel ingots in an entirely different manner from other impurities, and, at best, only a start has been made in developing correct analytical methods for their determination. Most of the writers in the field have expressed opinions rather than given facts, and so many variables enter into the manufacture of steel that a study of plant conditions is difficult unless definite facts on certain phases of the inclusion problem are available. This statement is not intended to convey the idea that little work has been done on this problem. On the other hand, the number of investigations has been large, but in most cases too many variables have been present to allow definite conclusions to be drawn. In the body of the text, reference to previous investigations is made at suitable points. Rather than burden the reader with a lengthy review of the literature on the general subject of inclusions, reference to the particular works pertinent to the subject matter of the bulletin has been discussed. Three excellent bibliographies b on the subject have been lately published: one by the Committee on

Jan 1, 1957

By J. R. Goode

There are at least a dozen methods of selectively removing cerium from a mixture of the rare earth elements (REE) including separation techniques based on the oxidation of cerium to the quadrivalent state. Several of the oxidation processes have been operated on a commercial scale, others have been tested and in some cases are part of proposed flowsheets. In this paper, we describe and compare the various methods. We also present preliminary estimates of the costs of early Ce removal and discuss recovery and purity aspects of the options.

By P. Klossek

It is estimated that China accounts for 94% of the world supply of rare earths (Roskill, 2011). This fact, together with the impact of China?s export policy, poses a substantial risk to the security of the rare earth supply as well as a rare earth price risk. This situation has motivated an increase in the number of rare earth projects under development, i.e., there are currently more than 440 worldwide (Technology Metals Research, 2012). However, economically and environmentally acceptable processing technology to produce tradable products from rare earths (e.g., separated rare earth oxides) is not freely available on the market at the moment. In this respect, a lot of research and development has been initiated on this topic, in academia as well as in industry. Using a proprietary model and scenario-based analysis, we studied the impact that the development of rare earth processing technologies would have on the rare earth market and the economic feasibility of rare earth projects mentioned before. The analysis showed that this impact varies depending on the technology type (e.g., technology can affect project production volume, cost structure or both) and the legal context of the invention (e.g., free or limited by patenting availability of a new technology). The effect of a technology which influences project production volume is not the same as of a technology which changes project cost structure. The impact of a patented processing technology differs from the impact of a processing technology which is freely available on the market. In the case of a new technology which is limited by patenting, its impact depends on the market position (?producing?, ?next-coming?, or ?not producing? project) of the patent holder. The paper contributes to existing research by studying the dependence of the expected micro- and macroeconomic impact of rare earth processing technology developments on the properties of a new technology (e.g., costs, legal framework etc.). By this means, the paper adds to existing knowledge and attempts to make the rare earths market more transparent and predictable from a perspective outside China.

Aug 1, 2013

By George B. Clark

The purpose of this investigation was to determine the feasibility of designing and testing the elements of a small charge blasting system which will eliminate, or reduce to acceptable levels, most of the undesirable features of current underground drill and blast systems, i.e., 1) air blast, 2) ground vibrations, 3) flying fragments, 4) overbreak and fracture of surrounding rock, and 5) the cyclic nature of drill and blast operations. The experimentation was conducted in tunnels in granite and the results indicate that the basic technical concepts of the project were achieved. The next step is to design, construct, and test a prototype machine.

Jan 1, 1976

By A. Warczok

Chalcocite concentrate obtained by magnetic separation and flotation of Bessemer matte is processed in the Inca top blowing bottom stirring MK reactor into semi-blister copper. The semi-blister is then converted into blister copper in the multi-purpose vessels (MPV) by oxidation of iron, nickel and sulphur. High melting point NiO and Fe30 4 are formed inside the MPV s, which together with Cu20 and smaller amount of fayalite are the major constituents of the solid mush. The accumulation of solid mush and buildup requires periodic MPV cleaning by adding reductant and copper-nickel matte, a unique process called "washout". Various reductants and their combinations, such as pig-iron, 15%Si Ferro-silicon and 50%Si Ferro-silicon, have been used for the reduction of solid mush and buildup. The possibilities of using calcium carbide as a reductant and slagging flux were examined experimentally at the crucible scale. The rate of reduction of MPV buildup was determined by continuous measurement of CO and C02 contents in the offgas and the flowrate of argon carrier gas. The rate of the buildup reduction with calcium carbide was approximately five times faster than the rate of reduction with coke. Additionally, the formation of CaO results in the melting of reduced buildup and formation of a slag at 1300°C and higher temperatures. It was found that simultaneous silica addition enhanced the melting and slag formation. The results showed the strong dependence of the reduction rate on temperature. Activation energy is approximately 225 kJ/mol. Expected benefits of using calcium carbide are related to cost saving on reductant, significant acceleration of solid mush reduction, and reduced amount iron input from reductant.

Jan 1, 2007

By R. D. Prettie

Wood preservation may be defined as the art of protecting wood from decay. In its broadest sense, however, it includes a much wider field. It might be more properly de-fined as the art of protecting wood from destructive agents, such as decay, insects, marine borers, mechanical wear, etc. The earliest data on record for the preservation of organic bodies is found in Egyptian manuscripts. The bodies which we call mummies were impregnated with antiseptics, of which the principal were natrum (sodium sesqui-carbonate), sodium chloride, and sodium sulphate. After being steeped in the solution, they were subjected to either a boiling or baking process in a bituminous preparation. The first attempts in Europe to preserve timber were made by the Greeks and Romans. They extracted essential oils from the juniper and cypress trees, and either rubbed these oils into the wood they wished to preserve, or bored thousands of small holes in the wood and poured the preservative oil into the holes. The famous statues of Jupiter and Diana were carved out of wood. The ceremony of pouring in the preservative oil by the High Priests was a religious pageant of great importance, of which there are many records.

Jan 1, 1926

By David T. Hobbs

Large quantities of highly alkaline, radioactive, liquid wastes are stored in underground tanks throughout the Department of Energy complex. These wastes will be pretreated to separate radionuclides and the remaining decontaminated liquid wastes incorporated into solid waste forms for permanent disposal. Significant savings in disposal costs could result by recovering .the sodium as sodium hydroxide for reuse or disposal as nonradioactive waste. Recent testing demonstrated an electrochemical separation process for the recovery of sodium hydroxide from alkaline waste solutions; The separation process uses ion-selective membranes to separate sodium from the bulk of the waste constituents under an applied electrical field. The sodium is recovered as a 10-15 wt % solution of sodium hydroxide. Results of bench-sc3Ie and pilot-scale tests with simulated and radioactive waste solutions are presented.

Jan 1, 1999

By John B. Phillips

The mine is entered by a central vertical shaft, strongly timbered, and containing two compartments-one for the passenger cage, the other for the large skips bringing the ore to the surface. A man-way, for emergencies, is also provided, parallel to the shaft. The cage is a single-deck steel box, carrying about thirty persons; by means of arrangements above and below, it can also hoist and lower materials needed in the workings. Levels are run at intervals of 100 feet. In special cases, where the ore conditions warrant, sub-levels are operated, such as those at 1,113 feet and 1,123 feet (Fig. 7), which are connected by winzes with the 11 th level. One of these was pushed for 40 feet, and then abandoned because it was unprofitable to take up ore of the grade encountered. The ore between levels is removed by stoping. The drifts follow the course of the veins as much as possible, with numerous cross-cuts. Winzes, raises, connections, etc., are blasted out where needed. The main drifts are at least 8 ft. high by about 9 ft. wide. All former narrow drifts had to be widened some time ago, by ruling of the Ontario Department of Mines, to lessen the danger of accidents with cars in the small passages. Accurate plans of the under-ground workings are kept in the office, and extensive surveying is always being done underground to keep the maps up to date, measure the cubical contents of stopes, and so forth. Timber is extensively used in the construction of supports and chutes, and in the sinking of the shaft. Steel and concrete are too ex pensive to compete with timber, which 1s abundant in such sections as have escaped forest tires.

Jan 1, 1926

By Edward Sampson

Bases of National Power At a time when the economy of the world is in a particularly troubled state it is appropriate to examine some problems of the distribution of natural resources. I should like particularly to call attention to the remarkable increasing demand for natural resources, to give an analysis of the demand for certain mineral resources, and to direct attention to some problems in satisfying this demand. All industrial power is based on natural resources and the most basic of these are soils, energy resources, and mineral resources. There is a strong interrelation of these resources, more than is obvious, and I shall take up certain aspects from the point of view of a geologist. Few nations are well endowed with all three of the kinds of natural resources I have mentioned and much has been done by some small countries whose peoples are industrious and enterprising and where conditions for free world trade have been favourable. However, major industrial power is dependent on a substantial endowment of all three classes.

Jan 1, 1949

By George C. Coupland

"THE PRELIMINARY EVALUATION of the orebodies was computerized for tonnages and grades on a 20- by 20-ft grid. The evaluation was based on drill-core intersections over 40-ft vertical projections coinciding with the proposed bench intervals, taking the deviations of the drill holes into account. The computer print-outs gave an ore distribution and evaluation bench by bench and indicated the areas of varying mineralization. The two orebodies have a combined length of 2,200 ft. and a maximum width of 600 ft. They strike almost due north, dip about 85 degrees east and rake to the north. The computer print-outs were used to design an open pit with an over-all waste to ore ratio of 2.58:1. At the outset, the waste to ore ratio was 4:1. The pit is tear-drop shaped, with the narrow end to the south, and at the surface is 2,600 ft long by 1,800 ft wide. Ramps are 100 ft wide, with a 10% grade. The south ramp is left-handed, starts at the southeast and will continue to the bottom of the pit. A second ramp on the west and north walls runs from surface to join the south ramp at 7 bench. This ramp will handle the total pit production when part of the south ramp, from 4 bench to surface, is lost due to the underground operation. Over-all wall slopes are 53 degrees, and are laid out to avoid prominent protuberances which could relax and become unstable and potentially dangerous (Fig. 1) ."

Jan 1, 1974

By M. A. Reyes, L. Yan

Heat and humidity buildup within refuge alternatives (RAs) may expose occupants to physiological hazards such as heat stress. The Mine Safety and Health Administration (MSHA) regulations require RAs in underground coal mines to provide a life-sustaining environment for miners trapped underground when escape is impossible. RAs are required to sustain life for 96 h while maintaining an apparent temperature (AT) below 95 °F (35 °C). The National Institute for Occupational Safety and Health (NIOSH) tested a 10-person tent-type RA, a 23-person tent-type RA, and a 6-person metal-type RA in its underground coal mine facilities to investigate the thermal environment over a 96-h period. The test results showed that mine air and mine strata temperatures surrounding an RA occupied by simulated miners (SMs) increased over the 96-h test period. The test results suggest that RA manufacturers should consider this increase in temperatures when calculating and evaluating RA components during surface and laboratory tests. The findings can equip stakeholders with additional considerations for calculating the interior heat and humidity temperature profiles for occupied RAs not tested in situ

Nov 22, 2019

By William C. McBee

Sulfur concretes have been developed by the Bureau of Mines as construction materials with physical and mechanical properties that suit them for use in acid and salt corrosive environments where conventional concretes fail. Mixture design methods were established for preparing sulfur concretes using different types of aggregates and recently developed mixed-modified sulfur cements Bench-scale testing of the sulfur concretes has shown their potential value. Corrosion resistance, strength, and durability of sulfur concrete are superior to those of conventional materials. Field in situ evaluation tests of the sulfur concretes as replacement for conventional concrete materials are in progress in corrosive areas of 24 commercial chemical, fertilizer, and metallurgical plants.

Jan 1, 1983

By R. L. Virta

Common clay is a natural, fine-grained material composed of hydrous aluminum silicates. Shale is a laminated sedimentary rock that is formed by the consolidation of clay, mud or silt. Production About 160 companies produced common clay and shale in 41 states. In states not reporting production, common clay and shale probably was mined and sold for construction applications by companies not participating in the U.S. Geological Survey’s canvass of producers.

Jan 1, 2005

By William Gleason

"Government support for Canada’s mineral industry was on full display during the Prospectors & Developers Association of Canada (PDAC) conference in Toronto, ON, Canada on March 3-6. First, there was the announcement of the five-year extension of Canada’s Mineral Exploration Tax Credit (METC), the first multi-year extension of the METC since its inception in 2000. Canada’s Minister of Natural Resources, Amarjeet Sohi, added to that support when he spoke at the opening keynote session and announced the Canadian Minerals and Metals Plan (CMMP), a plan that aims to map out the future of the industry in Canada. Finally, the support for the mining industry was buttoned up with a visit to the conference by Canadian Prime Minister Justin Trudeau.More than 25,000 people from 135 countries attended the annual conference that features a robust trade floor, technical sessions and an investors’ exchange that aims to put mining companies in touch with potential investors. Mining companies and ambassadors from nations around the world are given the opportunity to present to small audiences throughout the conference and this year PDAC was able to sway the Prime Minister to speak on its behalf.Trudeau sat down with PDAC President Glenn Mullan on March 5 to talk about the METC extension and a host of other issues important to the Canadian and global mining industry, giving the home country a bit of a profile advantage when it came to making a pitch to investors.Trudeau entered the week of the conference in the midst of the most serious political scandal of his career and was defending himself against accusations of political interference with the top prosecutor in the land over a criminal case involving one of Canada’s largest companies, SNC-Lavalin. During the question-and-answer session at the Metro Toronto Convention Center, Trudeau seemed more than happy to keep to the discussion about mining. He spoke favorably about the industry during the half hour conversation and praised the industry for its work with Indigenous people as well as its efforts to advance technology and innovation. He made a case that Canada is a safe and reliable place for investment in the minerals sector.“We are at a time of change right now, of transformation with new technologies and global supply chains, and everyone is trying to adjust to the new realities that have accelerated so much these past years,” Trudeau said. “What we are trying to do as a country and what you have done as an industry is to try to look at where things are going – go to where the puck is going to be, not where it is. You, as an industry, know that investments in innovation, research, science — investment in technology and partnerships with Indigenous communities are all things that are going to give you opportunities to be competitive in the coming years.”"

Apr 1, 2019

By G. E. Frantti

UNDER the auspices of the Geophysical Committee of Michigan College of Mining and Technology, an investigation was made in Michigan's Upper Peninsula to obtain geophysical data" related to the regional subsurface geology in the area covered by Paleozoic sediments. The area surveyed includes that portion of the Upper Peninsula which lies between R18W to R26W and T41N and T49N, covering approximately 1300 square miles. On the index map, Fig. 1, it is represented by the cross-hatched zone west of Munising. Four of the five sites of detailed investigation are indicated by the letters A, B, C, and D. A detailed gravity and magnetic survey had previously been conducted by J. G. Wilsonz near Perkins, 8 miles north of Rapid River, on a local anomalous area. Results of his work, which showed a large positive magnetic anomaly associated with a gravity anomaly, aroused interest in the possible economic significance of the formations underlying the Paleozoic sediments in this part of the Upper Peninsula. Early in the 1900's the Michigan Geological Survey, as well as many private companies, had done a considerable amount of dip needle work near the southwest corner of the area discussed in this paper. Most of the information available to the writer was obtained from indicated magnetic anomalies on the geological map of the northern peninsula of Michigan. Results of the geophysical activities of mining companies in the vicinity of the Marquette range and Gwinn district were unavailable to the author. Physiography and Geography: The region under consideration has low to moderate relief. About half the area is comprised of swampy lowlands, and because of the swamps and forests much of the land is almost inaccessible. The major drainage system is dendritic, with streams flowing into Lake Michigan on the south and Lake Superior on the north. The general geology, shown in Fig. 2, indicates an overlay of Paleozoic sediments on pre-Cambrian formations along a line running approximately south from Marquette (not shown on the geological map). Actual contact between pre-Cambrian and Paleozoic sediments is not known because most of the area is covered with glacial till, and outcrops are very scarce. Exposures of the Paleozoic sediments show that these beds in the northern areas dip gently under Lake Superior and that in the southern areas they 'dip gently to the southeast. Outcroppings of the pre-Cambrian formations occur primarily to the west of the surveyed area except in the northwest corner where the Laurentian series outcrop as far east as the Gwinn district and also in T46N, R24W. Instrumentation: Gravity measurements were made with the Worden portable gravity meter. Since this was chiefly a reconnaissance regional survey, both the large and small dials were used. The instrument used had a constant of 0.0035 milligals per scale division, a working range of about 25 milligals.

Jan 1, 1957