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In this paper, we present design and implementation details of a fuzzy-behavior-based controller for an automated excavator. This robotic excavator must be equipped with sensors, actuators and an embedded control system. The excavator controller uses neural-networks to interpret forces and torques gathered from bucket mounted force sensors during the excavation process. Implementation details and 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, 1996

By Alexander N. Winchell

"Location. The iron formation of the Gogebic district (including the Penokee) comprises a narrow belt south of the western part of Lake Superior extending from Michigan for a considerable distance into Wisconsin. From the mouth of the Montreal River (about twenty-five miles west of Ashland) the iron formation is only about twelve miles distant, but it is about twenty miles south of Ashland. Beginning on the east at a point about eight miles east of Wakefield, Mich., it extends through Sunday Lake, Bessemer and Ironwood in Michigan, and thence south of west through Hurley, Wis., and only a short distance south of Mellen, Wis. About eight miles westward from Mellen, the formation disappears, but six miles further west it is known to reappear and continue thence for about eight miles. The total length of the range is about sixty miles, two-thirds of this distance being in the State of Wisconsin; but nearly all of the ore has been obtained from the eastern third of the district, which is in the State of Michigan.History. This iron range was first noted in 1848 by Dr. Randall, assistant geologist to Dr. David Dale Owen, while following the fourth principal meridian northward. It was also reported by Charles Whittlesey in an account of a survey made in 1849, and published by Owen in 1852. Analyses of the iron ore are given with the following account. ""The bed of magnetic iron ore south of Lac des Anglais is of extraordinary thickness,25 to 60 feet. * * In the wild and deep ravines where the Bad River breaks through the range, there is a cliff of slaty ore * * * probably three hundred feet thick. * * * I estimate more than one-half of this face to be ore, and in places the beds are from ten to twelve feet in thickness, with very little inter-mixture of quartz * * * . The position of the best exposures of ore which I saw is such as to require from eighteen to twenty eight miles of transportation to reach the lake."""

Jan 1, 1920

By J. O. Leppinen

FTIR measurements using a special ATR cell were carried out to investigate the adsorption of two thiol collectors, potassium ethyl xanthate (KEX) and sodium diethyl dithlophoshate (NaDTP), on an unoxidized lead sulfide surface. Both qualitative and quantitative determinations of the collectors were made at the coverages from two monolayers down to 2% of the monolayer. The experiments revealed that the thiol collector species coordinate to the lead atoms at the surface of lead sulfide but the surface products distinctly differ from the precipitated bulk lead compounds. There exists a linear relationship between the coverage and the signal intensity of the IR spectra within the coverage range studied.

Jan 1, 1987

By A. Metzer

When paraffinic gases (ethane, propane, butane) are used as the gas phase in flotation systems, the initial rate of flotation and recovery are generally increased as compared with air. The mechanism of the effect of paraffinic gases in flotation was studied and it was shown that they co-adsorb with the collector ions on the mineral-aqueous solution interface. The effect of this co-adsorption was interpreted in terms of apparent increase of the effective chain length of the collector by the co-adsorbed gas. Adsorption densities, contact angles and flotation behaviour were studied on the following systems: a) Quartz - dodecyl ammonium chloride - ethane and propane b) Calcite - sodium oleate - propane and butane. The positive effect of the co-adsorbed gases is a maximum at low collector concentrations or where critical conditions for flotation with air prevail.

Jan 1, 1974

Heap leaching has become one of the prime technologies used for the recovery of precious metals from low-grade ores over the past ten years. The recovery process involves mining and stacking the ore on engineered leach pads, with or without crushing and/or agglomeration, followed by leaching with a low concentration sodium cyanide solution. The metal-bearing, pregnant solution is then processed by zinc precipitation or activated carbon absorption to extract the precious metals. The leaching process continues until all economic metal values are removed at which time the spent heap leach pads, the leached materials and excess process solutions require decommissioning. The management of these solutions may present a potential challenge for successful and environmentally sound decommissioning due to their composition, volume or continuity of generation from the spent ore even though active leaching has been terminated. The principal objectives of solution management in decommissioning spent heap leach pads are to meet all operative environmental regulations in a cost-effective manner and to leave the pads in a condition where they do not present a long-term liability either to the operator or to the environment. This involves the reduction in volume of the residual process solutions and/or treatment of these solutions to where they meet applicable water quality criteria. In the past, the environmental and economic aspects of decommissioning and solution management have been overlooked or under-estimated during the planning of mining operations. As a result, there is a potential for long-term liabilities and costs to be recognized only at the end of active leaching, a time at which operating revenues and cash-flow are minimal. Therefore, the decommissioning process requires addressing at the mine planning stage and agencies now require that a plan for solution management after the cessation of operations be submitted prior to initiation of mining. This paper discusses aspects of process solution management during decommissioning, both in terms of quantity and quality, and how potential issues may be recognized and planned for in the initial stages of heap leach design.

Jan 1, 1992

By William G. Freeman

As with most industrial minerals, barite is freight sensitive. This paper is given so that others might gain from the experience of barite companies in reducing their transportation costs. Some of the approaches used were unusual and others standard, but by perseverance considerable savings were realized.

Jan 1, 1973

By Gregor de Ratmiroff

Field prospecting for bauxite in Venezuela has had a long but interrupted history having till now oferred but evidence of occurrences. The Venezuelan Government, trough the Corporación Venezolana de Guayana (C.V.G.), in 1974, formalized a major effort in prospection for bauxite in the Shield area and the Orinoco Delta in orden to establish the possibility of raw material supply to an upcoming and expanding aluminium industry. The Corporation, in turn, created and delegated to the Division of Geological Stu- dies, the formulation of the necessary infrastructure and execution of work in orden to determine the existence of economically exploitable bauxite deposits.

Jan 1, 1979

By RALPH BALTES, AMIR EHSAN KIANFAR, FABIAN UTH, ELISABETH CLAUSEN

  Underground positioning and communication are essential technologies for the future of underground mining operations. In contrast to other positioning and communication technologies such as wireless local area network (WLAN) or radio frequency identification (RFID), ultra-wideband (UWB) radio technology provides significant benefits like accurate and robust positioning of mobile machine equipment, which is indispensable for future autonomous systems in underground mining processes, such as production, transportation and auxiliary operations. Among these technologies, UWB offers many advantages, including higher accuracy, robustness, resistance against noise and multipath effects, and low power consumption [1,2]. Underground automation and localization systems benefit from these advantages and use the technology to improve efficiency and safety. There are many studies being carried out on this technology to increase the results’ accuracy, energy sufficiency and more. Two robust UWB modules that were developed for underground positioning and collision avoidance with regard to human safety in underground mining operations are introduced. The measurement results of tests carried out in an underground mine are discussed as well to confirm the functionality of the system.

By David D. Lambert

REE analyses of cumulate plagioclase from the PGE ore zone of the Stillwater Complex indicate that pressure fluctuations in the magma chamber acting on a single magma can- not be responsible for features such as the reappearance of Mg-rich olivine on the liquidus. The data is more consistent with a model involving multiple injection and mixing of geochemically distinct magmas. The PGE bearing sulfides of the J-M Reef are associated with such a re- appearance of olivine, indicating that the unusual location of the ore zone may be related to the addition of new magma, compositionally distinct from magmas that produced cumulates in the Ultramafic zone of the complex.

Jan 1, 1981

By M. Li, J. K. Thompson, A. S. Azman

"Powerful mining systems typically generate high-level noise that can damage the hearing ability of miners. Engineering noise controls are the most desirable and effective control for overexposure to noise. However, the effects of these noise controls on the actual hearing status of workers are not easily measured. A tool that can provide guidance in assigning workers to jobs based on the noise levels to which they will be exposed is highly desirable. Therefore, the Office of Mine Safety and Health Research (OMSHR) of the National Institute for Occupational Safety and Health (NIOSH) developed a useful tool to estimate the hearing loss due to occupational noise exposure in a systematic way and evaluate the effectiveness of developed engineering controls. This computer program is based on the ISO 1999 standard and can be used to estimate the loss of hearing ability caused by occupational noise exposures. In this paper, the functionalities of this software are discussed and several case studies related to mining machinery are presented to demonstrate the functionalities of this software. INTRODUCTIONPeople regularly exposed to noise can develop hearing loss at different levels of severity depending on a number of factors. The resultant hearing loss can affect one’s ability to understand speech, learning, acoustic signal perception, or appreciation of music. Hearing loss caused by overexposure to noise has long been recognized in literature. However, it still does not get serious attention by those working in noisy environments because the loss of hearing ability is a gradual process and workers are often unaware until the damage becomes an apparent problem. In the United States, occupational hearing loss is one of the most common work-related illnesses. Depending on the definition of exposure and impairment, in 2012 the National Institute for Occupational Safety and Health (NIOSH) estimated that there are between 5 and 30 million workers in the U.S. who are exposed to noise levels at work that put them at risk of hearing loss.4 In the mining industry, noise-induced hearing loss (NIHL) is particularly severe due to the fact that heavy-duty machinery is widely used to improve production efficiency, and this machinery can generate much higher-level noise than the permissible level defined by regulation. As a result, the mining sector has the highest prevalence of hazardous workplace with high noise exposures (76%) among all industrial sectors."

Jan 1, 2015

By Timothy P. Smirnoff, Anthony Stirbys, Amanda Elioff

The construction of the continuing expansion of the Los Angeles Metro System has required the construction of eight new station structures. One contractor proposed, as a construction alternative for the support of excavation of the Hollywood/Vine Station, the use of soil-mix walls instead of the conventional soldier piles and wood lagging. Soldier piles and shotcrete or wood lagging support systems had been generally used on the other sub-way station excavations constructed to date throughout the system. Immediately east of that station and in almost exactly the same geology, the Hollywood/Western Station was being excavated at the same time using a conventional support system. This paper com-pares the performance of these two support systems in the alluvial soils of the Los Angeles Basin.

Jan 1, 1997

By Matthew Price, Laura Brown, Atulya Verma, Samantha Espley

Burst-prone conditions are a significant hazard in deep hardrock mines, elevating the risk to excavation stability and, more importantly, to worker safety. As mining progresses deeper, induced stress changes may trigger the initiation of rock failure processes which can be detected and recorded as mine seismicity. The implementation of seismic monitoring and routine seismic data analyses enables mine seismicity to be quantified spatially, temporally and on scale. The ability to quantify and characterize mine seismicity offers the opportunity to gauge seismic hazard, identifying high risk zones for mitigation against burst-prone excavation failure. Over the last decade, the Mines Technical Services (MTS) group at Vale Canada Limited’s Garson Mine assessed seismic hazard with the objective of assigning practical mitigating controls to zones identified as having a high rockburst potential. Initially, seismic hazard was computed using the Seismic Excavation Hazard Mapping (SEHM) software developed by the Mining Innovation Rehabilitation and Applied Research Corporation (MIRARCO) at Laurentian University, Canada. More recently, Vale Sudbury Operations partnered with the Australian Centre for Geomechanics and the University of Western Australia’s mXrap consortium. Through the consortium partnership, MTS at Garson Mine implemented the mXrap seismic data analyses platform, including the grid-based seismic hazard assessment tool. Building on 10 years of seismic hazard assessment experience at Vale Garson Mine, this paper summarizes a comprehensive case study, comparing the two tools (SHEM and mXrap) used at Garson Mine to assess, quantify, and represent seismic hazard. Subsequently, results of the Garson Mine comparative seismic hazard study will be discussed, emphasizing the need for an all-inclusive hazard assessment tool, focused on delivering practical mitigating controls that further enhance the overall safety of seismically active underground mines.

Apr 26, 2022

By D. C. Torre

The need for a successful, efficient and reliable continuous face- haulage .system for use with continuous mining machines has been apparent since the first continuous miners were introduced some twenty-five years ago. Some thought and effort were given to the development of continuous haulage over the last twenty years or so. Some initial success was experienced in this area by The Long Company with a system involving bridge conveyors, as far back as the late 1950's. However, extensive success with continuous face haulage for use behind modern, high product¬ion, continuous miners escaped the industry until the early 1970's. It is true that continuous face haulage was successfully introduced into low seam mining, generally in seams ranging under 1.07 m (42") in height, in the 1960's, for use with relatively low production, low seam, auger type continuous miners. However, those available systems which have achieved success in the lower seams, where relatively low capacities are adequate, are not directly applicable for use with today's medium and high seam miners with their standard production capacity of 9.1 - 10.9 mtpm (10 - 12 tpm). Since the late 1960's and early 1970's, several machinery manufacturers, and at least two major coal companies, have devoted considerable expense, time and effort to developing truly successful continuous face haulage for use in coal seams ranging upward from 1.2 m (4') in height. Continuous face haulage equipment has been developed in the last five years employing a variety of transportation media and design concepts, including some which have received wide publicity such as those employing hydraulics, and pleated belt. The truth of the matter is, however, that the only universally applicable and widely successful continuous face haulage equipment introduced to date has been that employing a combination of bridge conveyors and mobile, self-propelled, bridge carriers, connected at the inby end to the tail of the high production continuous miner, and at the outby end attached directly to the panel conveyor (Fig. 1 & Fig. 2) or, on occasion, to a short, self-contained conveyor which, in turn, empties directly onto the panel conveyor. While these bridge type continuous haulage systems are available with both belt and chain conveyor components, the most widely applied and successful system in seams above 1.07 m (42") in height is that offered by The Long-Airdox Company. The standard unit for use with 9.1 - 10.9 mtpm (10 - 12 tpm) continuous miners is normally equipped with belt. However, they have built, and successfully applied, versions of this system employing chain conveyors, (Fig. 3), mainly for operators having extremely difficult mining conditions, including excessive amounts of water

Jan 1, 1977

By Carla Da Corte, Kagisego Letsoalo, Ashma Singh

Banded Iron Formations (BIF) are sedimentary rock formations ranging in age from 0.8 to 3.8 billion years and consist of alternating layers of silica and iron. The thickness of the alternating layers varies between and within deposits, with this lithology forming approximately two-thirds of South Africa’s future low-grade hematite resources. The production costs for South African iron ore producers are approximately double that of the largest iron ore producers, namely, Brazil and Australia. This in conjunction with volatile commodity prices, necessitated a cost-sensitive beneficiation strategy for low-grade hematite to sustain the industry and extend life of mine. A BIF sample grading at 44% Fe and comprising predominantly of hematite and quartz with minor amounts of magnetite and goethite was subjected to three fines gravity processing routes to establish the amenability of this sample to beneficiation. To provide flexibility for iron ore producers who still have high-grade resources available, two product grades were considered, namely a 60% Fe product for further blending or a 63% Fe product for direct sales.

May 12, 2023

By Colleen A. M. Gibbs

On July 30, 1979 New Council on Environmental Quality (CEQ) regulations for implementing the procedural provisions of the decade-old National Environmental Policy Act went into effect. These new regulations replace approximately seventy different sets of agency regulations, providing some uniformity throughout the Federal government in the conduct of environmental reviews and preparation of environmental impact statements (EIS). This attempt by the Federal government at a general improvement in the preparation and quality of EIS's presents an opportunity for the mining industry to evaluate how the EIS process for mining proposals can be expedited. The environmental impact statement is often a key element on the critical path of a major mining project. Preparation of the EIS is ordinarily the responsibility of the Federal agency with primary decision-making authority over the project. Still, the proponent, i.e. the mining company, can play a major role in the process and have a major impact on the timeliness and adequacy of the effort. Typically, the Proponent will conduct (or will hire consultants to conduct) environmental baseline studies of, for example, air quality, wildlife, geology, water quality, vegetation and archaeology. These studies are then compiled into an environmental report and submitted to the agency. The agency verifies the data and incorporates them into the environmental impact statement.

Jan 1, 1979

By J. H. McNamara

A process has been developed for the successful hydrometallurgical extraction of copper from sulfide ores. The extracted copper in the form of a salt is converted by reduction to copper metal. Purification of the metal is described which includes a description of the casting of ETP quality copper wire bars.

Jan 1, 1978

By G. W. Douglas

The need for dimensionally stable filled polymer composites has spurred the quest for materials that possess a negative coefficient of thermal expansion (CTE). Finding minerals and materials with a negative CTE large enough to counteract the substantial CTE found in polymers proves challenging. Much research has been per-formed over the last decade to uncover various materials that possess this unusual behavior. A list of materials that have demonstrated negative properties are discussed, as well as the experimental use of one such material (ZrW2O8), in a polymer matrix composite. Other negative properties, such as negative Poisson?s ratio and negative stiffness, are also examined. Key words: Negative properties, Coefficient of thermal expansion, Zirconium tungstate

Jan 1, 2010

By Seth Pollak, Jon Hurt, Mark Havekost, David Vardiman, James Schick

"INTRODUCTION The Long Baseline Neutrino Facility (LBNF) Far Site Conventional Facilities are proposed to be sited at the Sanford Underground Research Facility (SURF) located within the former Homestake Gold Mine in Lead, South Dakota. The project involves excavation and support of three large caverns which will house four 10 kT fiducial volume liquid argon (LAr) neutrino detectors and cryogenic equipment, as well as numerous ancillary connecting drifts and chambers. This paper describes the geological setting of the project, the geotechnical investigation undertaken nearly a mile underground and the challenges associated with collection of reliable data in a high stress and geologically complex environment. The layout for the new facility will be presented, along with a description of some of the constraints that will impact construction, including shaft access and working within an operating research facility. THE LBNF PROJECT The global neutrino physics community is coming together to develop a leading-edge, dual-site experiment for neutrino science and proton decay studies, the Deep Underground Neutrino Experiment (DUNE). The facility required for this experiment, the Long-Baseline Neutrino Facility (LBNF), will be an internationally designed, coordinated and funded program, comprising the world's highest-intensity neutrino beam at the Fermi National Accelerator Laboratory (Fermilab) in Batavia, IL and the infrastructure necessary to support massive deep underground cryogenic detectors 800 miles (1,300 km) downstream at the LBNF Far Site at the Sanford Underground Research Facility (SURF), in Lead, South Dakota. The Deep Underground Neutrino Experiment is expected to achieve transformative discoveries, making definitive determinations of neutrino properties, the dynamics of the supernovae that produced the heavy elements necessary for life, and the possibility of proton decay. Neutrinos created by the LBNF beamline will travel on the 1,300 km (800 mi) path shown in Figure 1 leading straight through the earth's crust to intercept DUNE's massive, cutting-edge neutrino detector at the Sanford Lab. No tunnel is needed as neutrinos pass easily through soil and rock rarely interacting with the matter. The DUNE far detector will consist of four modules, each of which will be housed in a cryostat containing 17,000 metric tons of liquid argon target material, providing a 10kT fiducial volume. The LBNF Far Site Conventional Facilities project will excavate and fit out a set of four caverns 4850 ft underground in which to place them."

Jan 1, 2016

By Gary L. Nelson

An overview is provided of Franklin Industrial Minerals mica mine and plant operations located near Velarde, New Mexico. Operated by Franklin Industrial Minerals since July of 1990, several process and product modifications have been developed and instituted to improve the operation. In addition to a brief history of site operations, descriptions of the mining, beneficiation, delamination grinding, and product classification processes are reviewed. Supportive topics discussed include equipment modifications and improvements, product application diversification, and specific product characterization. Also reviewed are the key areas of safety, environmental responsibility, and programs pertaining to process quality control and product quality assurance.

Jan 1, 1994

By R. J. Reuss

The ore at this new underground operation is a massive sulfide breccia with high copper values. A major highway and electric transmission line pass directly over the near-surface orebodv. The mining method being used is undercut and fill. A continuous miner together with a single boom, hydraulic jumbo is used for the mining. Backfill is a weakly cemented sand-gravel mixture that is pneumatically placed. The ore is treated by conventional crushing, milling and flotation.

Jan 1, 1992