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By Jamie King

This paper describes the use of dynamic scheduling and discrete event control to provide coordinated control of multiple automated vehicles. In the past decade there have been significant advances in the field of robotics for underground mining. As this trend progresses toward a realization of a completely automated underground mine the need for a central control system, capable of providing coordination for multiple vehicles in a semistructured environment, becomes more evident. In the past year general research into multi-robot coordination has been applied to the underground mining scenario and demonstrated in a scaled model underground mine in a laboratory setting. This system shows significant potential to be adopted into a full-scale implementation for mine wide automation.

May 1, 2001

By Robert E. Green

This Final Report summarizes the results of work accomplished under Contract No. J0215039. It is in an executive overview or executive summary format. The number and description of the various technical reports prepared and submitted is outlined. The essential changes and reasons for the revised program schedule/contract modifications actually enacted in May 1982 are discussed in detail. The evolving mines/deposits list and the accompanying criteria classifications are explained along with the verifications/justifications for adding or deleting specific mines/deposits to the list. Difficulties and problems experienced during the different phases of the project in conjunction with the ensuing remedies are highlighted. The final section of they report is devoted to presenting Davy McKee's suggestions for improvements to future MAS commodity studies. Appendix I is comprised of three of the evolving mines/deposits lists starting with the original RFP list and ending with the final completed list. Appendices II and Ill are tabulated summaries of property data including reserves/resources, assays, production, and operating costs. The figures for the specific mines/deposits are given in "range of values" so as to protect the confidentiality of the individual owners/ operators.

Jan 1, 1983

By M. Tangstad, B. Monsen, H. Midtgaard, R. Ishak, M. Syvertsen, I. Solheim

Charcoal is an interesting reducing agent because it is produced from growing wood which is renewable and does not contribute to global warming, provided that there is a balance between the felling of timber and growth of trees. In the biocarbon project the possibilities for using charcoal is investigated as well as other biological based and renewable reductants for ferroalloy production. The background for the project is that the Norwegian ferroalloy producers wish to contribute to reduction of CO2- emissions. This paper focuses on the use of charcoal instead of coke for the production of manganese alloys, and the consequences of doing so. Results from practical SiMn smelting experiments on a pilot scale have previously been reported, where only 12-14 % Si in the metal was obtained when charcoal was used. Recently we have attained satisfactory 18 %Si also for charcoal, but good results are indeed dependant on good furnace performance. There is no tradition for using charcoal for manganese production in Norway. A change from using mainly coke to the use of some charcoal will demand new routines for furnace operation, raw material and off-gas handling. Hence, characteristic properties of charcoal, which may cause change of furnace operation, have been measured and are compared to coke. The following results are presented: ?Thermal abrasion strength together with CO2- reactivity; important parameters for the performance of the upper part of the furnace. ?Coke-bed resistance; it will increase with the use of charcoal (a review of new results). ?Slag reactivity; a relevant method for testing slag reactivity of industrial reductants is of interest. The suggested method can serve for comparing slag reactivities towards graphite.

Jan 1, 2007

By M. A. T. Cocquerel, M. G. Burcher, J. G. Eacott

"This paper is based on work carried out to examine the feasibility of increasing the smelting rate of two oil-fired calcine-charged reverberatory furnaces . Various constraints prevented physical enlargement of the furnaces and so allention turned to the use of preheated combustion air or oxygen enrichment to bring about the required increase in production. As a basis for further calculation, a furnace heat balance is determined using the smelting metallurgy and combustion data for the current operation. Various other operational data are tabulated and compared with similar data from other operating copper smelters.New heat balances are derived for various levels of combustion air preheat at the current smelting rate, and the effects of air preheat on oil consumption, combustion air and waste gas volumes are tabulated. These data are used to demonstrate the level of increased throughput which would be obtained before constraints in existing gas handling equipment are encountered.A similar exercise for oxygen enrichment is set out, with oil consumption, combustion air and waste gas volumes at various enrichment levels tabulated for the current smelting rate. These data are in turn used to demon strate the smelting rate which would be achieved at a practical level of enrichment before waste heat boiler and gas handling constraints are encountered.The energy implications for both cases are summarized."

Jan 1, 1980

By Benjamin Cebrian

Traditional dilution control systems range from computer modeling, use of physical markers on the field as polypipes to a technology that marks some control points where displacement is measured. The latter includes walking over a muckpile which is prohibited by some mining companies as a safety measure. The new technology presented in this paper is a patented system that is installed on board excavators (backhoe or front shovel types). Several control points are set along ore/waste contacts and their position is uploaded on the corresponding shovel. The operator proceeds on mucking until he is alerted when reaching any of the several control points previously located in the blast patterns and that have moved with the muckpile. A case study is presented at a high grade copper mine, were unique 3D shapes are showing as a result of using an on-board excavator dilution control system. Both ore-loss or dilution cost of opportunities are analyzed.

By G. A. Kordosky

The concept of selectively extracting copper from a low-grade dump leach solution followed by stripping the copper into an acid solution from which electrowon copper cathodes could be produced occurred to the Minerals Group of General Mills in the early 1960s.This simple, elegant idea has resulted in a technology by which about 2.2 million tonnes of high quality copper cathode was produced in year 2000. The growth of this technology is traced overtime with a discussion of the key plants, the key people and the important advances in leaching, plant design, reagents and electrowinning that have contributed to the growth of this technology. Some thoughts on potential further advances in the technology are also given.

Jan 1, 2002

By M. D. Budeba

Determining the efficiency of a surface coal mine operation is an essential activity, which can help in deciding on the optimal use of input resources, including effective capital allocation, in generating a desired quantity of coal of a specific quality. Mines operate today in challenging conditions, with diminishing reserves of high-quality coal, remote location of new coal deposits, infrastructure problems, environmental legislation, and the effects of climate. All these have an impact on the performance of a mine. Given such challenges, a company has to be technically efficient compared to other existing coal producers in order to generate profits. It can use the measurement of its efficiency to evaluate its productivity, benchmarking this against the best-performing mines and determining optimal variables in order to minimize slack and achieve the desired outputs. This paper discusses the use of Data Envelopment Analysis (DEA) in evaluating the efficiency of a surface coal mine supply chain for the coal export market. The supply chain is considered to be composed of subprocesses that are modelled as a multistage system. Numeric examples will be used to illustrate the application of DEA.

Jan 1, 2014

By M. Nete

Qualitative analysis of three mineral samples from northern Mozambique was accomplished by X-ray diffraction (XRD), microscopy, scintillation, and magnetic determination. Chemical characterization was accomplished using ICP-OES and pressed powder XRF after dissolution using microwave-assisted digestion and flux fusion. The samples consisted of a mixture of minerals with tantalite as the major component, with minor amounts of microlite, quartz, mica, accessory garnet, and tourmaline. Incomplete dissolution was obtained using microwave digestion, with maximum recoveries of 90.25 ± 0.06% and 88.90 ± 0.04% for Nb2O5 and Ta2O5 respectively. Complete dissolution using Li2B4O7 resulted in recoveries of 98.5 ±0.2% Nb2O5 and 100.4 ± 0.3% Ta2O5.

Jan 1, 2012

By Don Kay

A two year study into the effects of coal mining induced subsidence on cliff lines was undertaken by the Department of Mineral Resources with the support of a grant under the National Energy Research, Development and Demonstration Program. A new monitoring technique, using an Electronic Distance Meter and acrylic reflectors attached to the cliffs, provided safety for the surveyors and extensive and accurate three dimensional displacement data on the movement of the cliffs as they were being undermined. The study report included many graphs showing the measured vertical and horizontal displacements, differential subsidence, tilts and strains and included analysis of these movements with various parameters, such as, seam thickness, depth of cover and distances between the reflectors, longwall face and the edge of the chain pillar. Some of these graphs are presented in this paper and could be used, with caution, to predict subsidence movements around other cliff lines, after allowing for differences in geology and mining layout. A mechanism is suggested as an explanation for the observed high horizontal movements around the cliff lines. Sixteen percent of the overall lengths of cliffs that were undermined during the monitoring study fell and the contributions of various factors that appeared to influence the cliff falls are discussed. It is concluded that no single factor dominated as the major cause of the cliff falls and, often, many factors combined to cause cliff face instability.

Jan 1, 1992

By P. R. Day, W. K. Webster

"The introduction of large boreholes underground initially involved taking the techniques of open-pit bench blasting to the production stope, but with deeper boreholes and narrower stopes more controlled techniques must be developed in order to maintain good stope walls and prevent dilution of ore or structural damage to pillars due to blasting overbreak. The points discussed are drilling accuracy and drill pattern, the relationship between open-pit wall control and underground mining, the varied explosives products and initiation devices available, and some of the many ways that variations in loading, such as deck charging, etc., can produce desirable results.IntroductionThe use of large-diameter blastholes for underground mining began ten years ago and today they are widely employed in a variety of orebodies and stope configurations. These big blastholes, which range in size from 4.5 to 8 inches in diameter, were originally employed in the same manner ' as open-pit bench blasts; that is, the stope was silled out to full width and all holes were drilled vertical and parallel. This was suitable for competent, massive orebodies, however the popularity of the big drills saw their usage in more narrow stopes, often with poor ground conditions. The dipping orebodies and small drill sublevels resulted in inclined drilling.Today, there is full-ring drilling of 4.5-inch holes. Some 6.5-inch holes are drilled up to 350 feet deep. A 350-foot borehole may contain 6000 to 7000 pounds of explosive. The detonation of this size of charge weight within the confines of an underground stope can have considerable effect on the stability of stope walls and adjacent pillars. Obviously, precautions must be taken to minimize the damage which would result from the large charge weights possible with these big boreholes."

Jan 1, 1982

By F. D. Wright, H. D. Fara

The solution to the plastic and elastic stresses around a circular shaft in a hydrostatic stress field that has appeared in two editions of a widely used book on rock mechanics1 is in error. Although this is a relatively minor matter, the correct solution was not found by a literature survey, so it appears worthwhile to present it. For a homogeneous, isotropic, rigid plastic-elastic body in plane strain which obeys Tresca's yield criterion the following equations must be satisfied:'," In the plastic zone,

Jan 1, 1963

By Stan Merjan

Composite piles with precast concrete tapered pile tips (TPT Composite Piles - U.S. and foreign patents) are a new and important addition to the piling types available to the construction industry. TPT Piles were invented by Stanley Merjan, Vice President of Underpinning & Foundation Constructors, Inc.. U. F. C. installs these piles in the Northeast United States and licenses piling contractors in other parts of the country. TPT Piles have been developed for use in sandy subsoils at depths to 70 feet or greater. The TPT system (see Figure 1) is simple. A pile stem of conventional material (shell, pipe, steel, wood, precast concrete) is connected to a socket formed in a precast concrete tapered pile tip (TPT). This composite assembly is then driven as a unit by ordinary pile driving methods until adequate driving resistance (established by formula or load tests) is met in a suitable soil strata. This driving resistance develops from the displacement and densification produced by the TPT. Many combinations of tip shapes and stems are available to suit particular job requirements with respect to subsoil conditions and pile capacities. TPT Piles should be considered for use on a wide variety of jobs. The advantages offered by a TPT installation include: ? High capacity piles in marginal soils ? Minimal lengths required to produce these capacities ? The use of conventional pile driving equipment and procedures ? Pile inspection techniques that are the same as for ordinary pile driving Furthermore, TPT piles are economical due to a combination of a low cost per ton of pile capacity and high productivity, both of which lead to significant savings in foundation costs and time required to complete foundation work.

Jan 1, 1987

By O. Q. Leone

Excellent metal quality, with lower power requirement, is attained in electrorefining titanium by using internal heating of the fused-salt bath. An internal heater provides more effective heat utilization, simplifies structural components in cell design, and prolongs cell life by eliminating direct application of heat to the cell container. This Bureau of Mines report covers one phase of the research in progress at the Electrometallurgical Experiment Station at Boulder City, Nev., for improving the techniques and lowering the total power requirement for electro-refining titanium metal.

Jan 1, 1959

By H. J. Schroeder

Legislation and Government Programs.-The Occupational Safety and Health Administration (OSHA) accepted written comments until July 23, 1976, and held an informal hearing on August 24, 1976, to receive oral testimony regarding an economic and inflation impact statement prepared by OSHA on the proposed standard for occupational exposure to inorganic arsenic. These written and oral submissions were to be used in conjunction with information supplied at 1975 hearings to promulgate emission standards. An in-depth study for the Environmental Protection Agency (EPA) assembled and interpreted comprehensive information on arsenic and its compounds and the effects of these substances on people, animals, and plants.2 Another study for EPA assessed the role of arsenic and its compounds in the environment and in the economy of the United States and evaluated the need for and the projected effect of controlling its production, use, dissipation, and emission.3

Jan 1, 1978

By W. H. Somerton

Many oil-producing formations contain significant amounts of clay. Because of the large surface area and reactivity of such surfaces, the response of the formations to various recovery processes may be dominated by the reactions of fine-grained minerals, including clay minerals, in the formations. Thus, the success or failure of enhanced oil recovery (EOR) methods may be controlled to a large extent by the amount and nature of these minerals in the formations to which the methods are being applied. One of the deterrents to the successful application of chemical EOR methods is the loss of chemicals injected into the formation, to non-oil recovery processes. These chemical loss processes include adsorption onto mineral surfaces, chemical reactions with rock and fluids in the formations, possibly leading to precipitation and plugging of the formation, and trapping of chemicals in parts of the rock structure so that they become unavailable for displacing oil. Chemicals that may be injected include surfactants, polymers and caustic solutions which react with organic acids in the crude oil to produce surfactants in-situ. These losses are most pronounced in fine-grained reservoir rocks containing substantial amounts of clays.

Jan 1, 1984

By J. W. Bridge

Triaxial compression tests at various confining pressures and temperatures, as well as tangent modulus tests using ultrasonic waves, were conducted for wax-coated granular composite materials. The material used is a surface for Thoroughbred horse racing. The purpose of these tests is to examine how track shear strength and tangent modulus at a range of loads respond to changing temperatures. Previous work has shown that a wide range of operational temperatures are experienced which have been reproduced in the lab. Using differential scanning calorimetry, it is confirmed that these operational temperatures correspond to distinct thermal transition regions for the wax that is used to coat the sand in these surfaces. Preliminary results show that both shear strength and tangent modulus are sensitive to temperature changes with maximum strength and modulus correlating with major DSC wax transition regions.

Jan 1, 2010

Upon cessation of mining activity open-cast mine pits typically fill with water, forming a æpit-lakeÆ. The water in these lakes, in some instances, contains high concentrations of ædeleteriousÆ material. Containment and/or dilution typically requires an understanding of how stratification in the pit-lake will develop over a long timescale (say 100 years). Vastly different transport rates can develop due to differing hydrogeochemistry, basin morphology and climate. Numerical (computer) modelling is the most likely approach for successful prediction over long times. While lake modelling tools are available, useful numerical modelling requires improved understanding of transport in such systems because they are different to natural lakes in a number of ways. Notwithstanding the effort required to improve our understanding, the modelling provide a means of testing approaches to active management of pit-lakes.

Jan 1, 2002

Surface subsidence that results from longwall mining can be large magnitude and can affect significant areas. Conventional methods for subsidence monitoring include leveling, global positioning system (GPS), and photogrammetric surveys. Remote sensing techniques, including aerial LiDAR, terrestrial laser scanning, and satellite-based differential interferometric synthetic aperture radar (DInSAR), are also used to measure deformation associated with subsidence. DInSAR data are different than data from conventional subsidence surveys. Images capture data over large areas (hundreds of kilometers), and each pixel (data point) in an image quantifies the average displacement over an area of square meters. DInSAR data can have fairly high time resolution; imaging periods typically range from weeks to months.

Jan 7, 2020

By E. H. Burroughs

This bulletin is the fourth in the series of petroleum bibliographies being published by the Bureau of Mines, the three preceding, Bulletins 149, 165, and 180, being compilations for the years 1915, 1916, and 1917, respectively. In this bulletin the same general plan has been followed in arranging the references, but a few changes and additions have been made in the classification, the more important changes being in the classes "Geology and Origin" and "Refining and Refineries." Dl1'ring the year German periodicals were not available, and, as in the bibliography for 1917, references to articles in foreign journals that were not available have been taken' from other sources and credit given to those sources.

Jan 1, 1921

By Raymond C. Voige

"The use of current electronic technology in the design of new underground mine communications equipment is providing improved and expanded voice communications which can, in turn, contribute to improved productivity and safety. A review of equipment that is now available or under development Includes the following categories:WIRED SYSTEMSI.Pager phones with selective calling, audible and visual alerting and message indicator.2. Mufti-conversation pager phones that use multiwire cable ormultiplexing techniques.WIRELESS SYSTEMSLow-and medium-frequency inductive systems utilizing ""near"" magnetic fields for both vehicular and personal communications.Wired SystemsCommunication systems in underground mines have evolved slowly in many parts of the world. For many years, magnetotype telephones were the only means of communication from one mine level to another and to the surface. These units were located near the shaft and communications to the working areas were limited."

Jan 1, 1981