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By M. Louarrat, G. Enaime, A. Yaacoubi, A. Baçaoui, J. Blin

"The purpose of this study is to prepare a new activated carbon from olive stones for use in gold recovery by carbon-in-leach (CIL) and carbon-inpulp (CIP). The preparation method chosen was physical activation using steam. The effect of four process parameters: the residence time for carbonization, the activation temperature, the residence time for activation, and steam flow, were studied by the mean of response surface method (RSM) in order to optimize the yield, iodine index, and attrition characteristics. These two last responses were used as primary indicators of gold recovery capacity and mechanical strength. The results obtained show that optimal activated carbon can be prepared under the following conditions: a carbonization time of 157 minutes, activation at 921°C for 53 minutes, and a water vapour flow of 0.18 mL/min. This optimum carbon has an iodine value greater than 1100 mg/g and an attrition index in the order of 0.74%. These values reflect the quality of the precursor (olive stones) as a raw material for the development of an effective new activated carbon for the gold mining industry. IntroductionActivated carbon is an effective adsorbent widely used in industry due to its high surface area, well-developed reproducible microporous structure, and high degree of surface reactivity and adsorption capacity. World consumption of activated carbon is steadily increasing. It is primarily used in industrial wastewater and gas treatment and also for silver and gold recovery from cyanide solutions (Syna and Valix, 2003; Soleimani and Kaghazchi, 2008; Buah and Williams, 2010; Eddy et al., 2011). However, activated carbon is expensive and it needs to be regenerated after each adsorption cycle. In order to decrease the cost of manufacturing activated carbon, low-cost forest and agricultural wastes are considered promising new materials. In recent years considerable research has been reported on activated carbon from agricultural wastes, such as olive stones (Yavu et al., 2010), acorn shells (Sahin and Saka, 2013), peanut shells (Wu, Guo, and Fu, 2013), grape seeds (Jimenez-Cordero, 2014), coconut shells (Yalcin and Arol, 2002; Gratuito, 2008), palm shells (Sumathi, 2009), cherry stones (Jaramilloa, Gomez-Serrano, and A´lvareza, 2009), macadamia nut shells (Eddy, 2011), apricot stones (Soleimani and Kaghazchi, 2008), and bagass (Syna and Valix, 2003)."

Mar 1, 2019

By S. M. Rupprecht

A deposit to be mined by underground methods can be accessed by a number of methods: ? Adit ? Decline or ramp ? Inclined shaft ? Vertical shaft. Adits are an economical approach when the orebody is above the general floor elevation i.e. suitable in hilly or mountainous terrain. Incline shafts are limited to relatively shallow deposits, and because they are developed on an incline, development lengths for a given depth are the three to five times longer than for a vertical shaft. Vertical shafts are the preferred method for deposits deeper than 300 m but the development rate is slow and construction costs are very high. Declines or ramps offer early access to shallow deposits, which develops the ore body expediently, but are generally developed at a gradient of approximately 12 per cent. Decline haulages have become an attractive alternative to shaft hoisting, and over recent years the role of decline access has become more widespread throughout South Africa. Traditionally, South Africa has enjoyed the use of shaft systems, largely due to the large knowledge base of mining the Witwatersrand Basin, where vertical and inclined shafts were the norm. South Africa has also had the advantage of cheap electricity, giving shafts a definite economic advantage. However, in recent years the national power utility ESKOM has undergone an expansion programme that has led to tariff increases of nearly 100% over a three-year period. Based on the changes in electricity tariffs and technological improvements to underground haulage trucks, the economic inputs to access development have changed. This paper reviews mine access for shallow deposits as currently applied in South Africa. Based on current economic inputs, the paper investigates at what point a vertical shaft would be more economical than a decline system utilizing typical South African mining equipment.

Jan 1, 2012

By M. Kumral, Y. A. Sari

Underground mining operations tend to have higher operating costs than surface mines. When metal prices decrease, profitability is jeopardized due to the high costs. Therefore, mining management harnesses new practices that increase operational efficiency. One way to manage this challenge is to invest in new mine planning practices. Stope layout optimization as a part of underground mine planning aims to identify a portion of the orebody in the form of production volumes (stopes) to maximize profit under roadway and stope dimension constraints. In this paper we propose a novel approach based on identifying ore-rich areas of the deposit and prioritizing their extraction through an iterative heuristic clustering approach. The proposed approach is compared with and validated by an exact method through a small mining example. The heuristics produced nearly identical results in a very short time. Finally, a case study was carried out using a larger data-set. The cluster-based iterative approach generated nearoptimal stope layouts in a computationally effective manner.

Mar 1, 2021

By T. Mützea, L. Schützenmeister, G. Kacheb

High-Pressure Grinding Rolls (HPGR) are employed in cement plants worldwide. Although the technology has been mastered in the majority of applications, design-, scale-up- and operationalchallenges still exist today. In addition to modelling throughput, energy requirement and comminution success, the prediction and avoidance of malfunctions is of great importance in current research. The performance of the mill is highly influenced by the roll speed and the fineness of the feed material. Another parameter influencing the composition of mill feed is the circulating load, which is determined by the grinding circuit configuration, the target fineness and the separation efficiency of the classifier. In order to meet this circumstance and simultaneously maintain a reasonable level of material input and testing effort, a complete grinding circuit on a small technical scale was set up in the research centre of Thyssenkrupp Industrial Solutions AG. The present study varied the roll speed (0.5-2 m/s) and the proportion of fines in the feed (0-75 %) in order to investigate the influence of both parameters on the finish grinding of a Portland cement with a target fineness of 4000 cm²/g according to Blain. The experimental results are compared with model concepts and critically examined with regard to their transferability to industrial plants. Keywords: Cement grinding, grinding circuit, HPGR

Jan 1, 2020

By C. Ndou, T. Mothupi, H. Mandende

The technological advances in efficient, rapid, and non-destructive hyperspectral core logging systems for systematic mineral mapping have led to the discovery and exploitation of new mineral deposits Hyperspectral imaging in the long-wave infrared range has been recently used successfully to identify various phosphatebearing minerals (monazite, xenotime, and britholite), with limited work on apatite associated with mafic-ultramafic layered intrusions. In this study we investigate the effectiveness of a hyperspectral imaging (HSI) system with long-wave infrared (LWIR) bandwidthsto identify apatite in the Upper Zone of the Bushveld Complex. The accuracy of the HSI results was validated by mineralogical and geochemical data. The two apatite-enriched zones detected by HSI suggesting widespread development of apatite throughout the uppermost 600 m of the Upper Zone. The lower apatite-enriched zone is approximately 40 m thick, while the upper apatite-enriched zone is about 23 m thick, consistent with previous thickness determinations by traditional logging and analytical methods. Spectral mixing observed in the response of apatite is ascribed either to the common association of apatite and olivine in these rocks, or to differences between the spatial resolution of the hyperspectral image and the size of apatite grains. The VNIR-SWIR wavelength region did not show prominent spectral features of apatite. Nonetheless, HSI in the LWIR range is effective in mapping apatite and should therefore be considered as an exploration tool. This research advances our knowledge of the reflectance spectroscopy of REE-bearing minerals, which makes it easier to detect, identify, and quantify REE-bearing silicate minerals by HSI.

Feb 6, 2023

By E. Hakami

The objective of the study was to estimate the largest shear displacement that could be expected on a pre-existing fracture located in the repository area, due to the heat release from deposited waste. Two-dimensional numerical analyses using UDEC have been performed. The maximum shear displacement, at the fracture centre, amounts to 0.2 – 13.8 cm depending on fracture parameters. The fracture extension, friction angle and shear stiffness are found to be the most important. Le but de cette étude est de déterminer le déplacement maximal en cisaillement qui puisse se développer le long d'une fracture préexistante en réaction à la chaleur dégagée par les déchets radioactifs enfouis dans la roche. Les analyses numériques ont été réalisées à l'aide du code 2D UDEC. Le déplacement maximal en cisaillement enregistré au centre de la fracture varie entre 0.2 et 13.8 cm en fonction des propriétés de la fracture. L'ouverture, l'angle de friction et la rigidité au cisaillement semblent avoir une influence dominante sur les résultats. Zielsetzung der Studie war die Abschätzung der maximalen Scherverschiebung, die auf einer innerhalb des Endlagergebietes existierenden Rissfläche infolge der Wärmeabstrahlung des eingelagerten Materials zu erwarten war. Es wurden zwei-dimensionale numerische Berechnungen mit UDEC durchgeführt. Die maximale Scherverschiebung im Zentrum der Rissfläche beträgt 0.2-13.8 cm, abhängig von den Risseigenschaften. Dabei hat sich herausgestellt, dass Rissgrösse,Reibungswinkel und Schersteifigkeit den grössten Einfluss haben.

Jan 1, 2003

By P. van der Steen

This paper examines the historical developments in diamond beneficiation technology and the impacts on the industry. The art of diamond beneficiation has given way to the application of scientific process, but at considerable capital expenditure. The shift in beneficiation methodologies has been disruptive to the traditional skills set of the industry, but evolutionary change continues and has been beneficial to the quality of the final product.

Jan 1, 2010

The November General Meeting of the Branch was held at the S1. Helena Club on Friday, 15th November, 1968. Mr. J. G. Kirchner (Chairman of the O.F.S. Branch) was in the chair. There were also present: President: Mr R. C. J. Goode. Eighteen Members: Mr A. E. Gilfillan (Council Member), Messrs T. Zadkin, J. N. Saunders, N. A. Honnet, D. D. Waterman, C. R. Netscher, (Committee Members), Messrs G. Thorburn, Z. Lombard, H. V. Henwood, C. J. Isaac, S. L. S. Swart, J. D. McNamara, H. H. Schellhorn, J. W. Wilson, G. C. P. Labuschagne, L. J. Thorne, R. C. Espley-Jones, J. Handley. Seventeen Associate Members: Messrs H. J. Reeders, R. Campbell, P. A. Hoffman, D. E. Couperthwaite, M. D. de Lange, G. J. C. Young, G. W. Futcher, U. Visser, F. H. De Groot, E. Schmid, K. G. Pearce, D. A. Viljoen, H. W. M. Eschenburg, R. Still, W. B. Howe, A. H. Edwards, R. H. Drake. Three Graduates: Messrs T. R. Stromsoe, J. G. Cockburn, T. A. Ward. One Affiliate: Mr O. A. Huss. Twenty-three visitors. Total present: 64. Apologies were reseived from Messrs L. O. W. Leimer, V. C. Barnes and A. Louw. WELCOME TO VISITORS The Chairman declared the meeting open and extended a special welcome to the following: Mr R. C. J. Goode, President of the S.A. Institute of Mining and Metallurgy; Mr A. E. Gilfillan, Member of Council and Mr D. A. Viljoen, all from Johannesburg. Also to Mr J. D. McNamara, the guest speaker for the evening who had made the trip from Oranjekrag. MINUTES OF PREVIOUS GENERAL MEETINGS The minutes of two meetings, viz., the General Meeting held on 26th June, 1968 together with those of the Annual General Meeting held on 14th August, 1968 were taken as read and their adoption moved by Messrs T. Zadkin and D. D. Waterman. MATTERS ARISING FROM THE MINUTES There were no matters arising from the minutes. ADDRESS BY PRESIDENT OF COUNCIL, MR R. C. J. GOODE With regard to the 75th Anniversary of the Institute, the President called upon those present to bear the following two dates in mind, viz.: 21st March, 1969-Banquet at the Wanderers' Club, to which ladies are invited. 24th March, 1969-General Meeting at Kelvin House at 9.30 a.m., the speakers being the President of the Institute, the President of the Chamber of Mines and Dr H. J. van Eck.

By B. k. Kenzhaliyev, M. A. Naimanbayev, Zh. A. Baltabekova, N. G. Lokhova

In research various desorbents were used to desorb the following rare-earth metals from Purosorb 140 cation exchanger, i.e. ammonium chloride; ammonium sulfate; a mixture of nitric acid and ammonium nitrate; a mixture of hydrochloric acid and ammonium chloride; a mixture of sulfuric acid and ammonium sulfate. It was established that a solution containing 30 g/dm3 of H2SO4 + 300 g/dm3 of (NH4) 2SO4 is the most optimal desorbing solution to desorb REMs from macroporous Purosorb 140 cation exchanger impregnated with rare-earth metals from industrial dihydrate wet-process phosphoric acid. It was established that the residual REM content in the cation exchanger decreased from 0.89 to 0.10 wt. % with an increase in the ammonium sulfate concentration from 10 to 400 g/dm3. Technological desorption regimes for rare-earth metals from cation exchanger were developed. The optimal conditions were determined to desorb rare-earth metals from the Purosorb 140 cation exchanger, particularly temperature 25°C; L:S ratio = (0.8 ÷ 1.1):1; duration = 1.0-1.5 hours. Keywords: Rare elements, sorption, cation exchangers, wet-process phosphoric acid, desorption

Jan 1, 2020

By T. Käyhköa, J. Liipoa, S. Khizanishvilic, M. Sinche-Gonzalezb

The use of geometallurgical modelling is becoming more common in concentrator plant design and during the operational phase. Predictive modelling aims to define optimised process parameters for the concentrator plant to accommodate variability within the ore feed. The main objective of this study is to show how the metallurgical response of different types of ore blends can be simulated using kinetic models derived from experimental flotation tests with different geometallurgical end-member ore types and their blends. For these validation tests, four different end-member ore types containing different ratios of chalcopyrite, chalcocite and oxidised copper minerals from Rich Metal Group’s Madneuli copper-gold mine, Georgia, were tested. Kinetic flotation tests, including both rougher and cleaner flotation tests, were carried out. The simulations were performed using HSC Chemistry software based on mineral compositions of the ores and kinetic models using rectangular distribution equations and flowsheet model. Simulated and experimental results of copper grade, copper recovery and concentrate mass pull correlated well with R2 values of >0.95. Based on these results, the metallurgical response of different ore blends can be simulated based on the flotation kinetics of end-member ore types. The use of this kind of simulation will create savings during the test work phase and increase the flexibility and predictability in the processing stage. Keywords: Ore body characterisation, geometallurgy, process mineralogy

Jan 1, 2020

By E. C. de Beer

"SynopsisA number of important areas in nuclear fuel cycle, at both the front end and back end, offer ideal opportunities for the application of non-destructive evaluation techniques. These techniques do not only provide opportunities for non-invasive testing of e.g. irradiated materials, but also play an important role in the development of new materials in the nuclear sector. The advantage of penetrating radiation used as probe in the investigation and testing of nuclear materials makes X-ray and neutron radiography (2D) and tomography (3D) suitable for various applications in the total nuclear fuel cycle. The unique and different interaction modes of the two radiation probes with materials provide several opportunities. Their complementary nature and non-destructive character makes them most suitable for nuclear material analyses, analytical method development, and the evaluation of the performance of existing nuclear material compositions. This article gives an overview of the X-ray and neutron radiography/tomography applications in the field of nuclear material testing, and highlights a few of the success stories. Several selected areas of application in the nuclear fuel cycle are discussed to illustrate the complementary nature of these techniques as applied to nuclear materials.IntroductionDuring the development of new materials for the nuclear industry, materials testing and characterization are of the outmost importance to maintain safety standards and reliability. No compromise on safety in the workplace in any area within the total nuclear fuel cycle can be tolerated, and therefore most in-situ material characterization and testing is conducted by certified and qualified personnel schooled in destructive and non-destructive testing (DT and NDT) methods. Certification and qualification in NDT can be obtained through many training centres in South Africa in accordance with European, American, and other international standards (SGS, n.d.; SAIW, n.d.; African NTD Centre, n.d.)."

Jan 1, 2015

By C. Birch, J. Perold

"Due to the challenging geological environment of the Postmasburg Manganese Field (PMF), a study was conducted to determine if any benefits would derive from the inclusion of resistivity data during threedimensional (3D) modelling of the manganese resource. This was achieved by estimating manganese resources from 2011/2012 drilling data and comparing them with manganese resources estimated from the same drilling data and resistivity data collected during 2013 and 2017.Both models were adjusted to limit their extent to the same 3D modelling space. Significant volume and tonnage differences were observed for all lithological units. The greatest differences were noted in the manganiferous zones of alteration – 7.200 Mt for the geological model versus 3.700 Mt for the geoelectric model.This study showed that the inclusion of resistivity data can reduce exploration costs significantly, as a direct consequence of the resistivity data allowing more accurate siting of boreholes. This decreases the number of boreholes, samples, and analyses required due to the 3D electrical delineation of mineralized areas prior to drilling.An additional benefit is the ability to more correctly forecast the net present value of an operation due to more accurate estimation of manganese resources and stripping ratios. This is clearly demonstrated by the estimated gross profit estimation of R409 million for the geological resource model versus R264 million for the geoelectric resource model.The addition of resistivity data can, therefore, reduce exploration costs and can increase confidence in geological and financial modelling. It would be reasonable to conclude that this approach could also be used for karsthosted massive sulphide deposits. IntroductionAccording to Corathers (2014) and Gajigo, Mutambatsere. and Adjei (2011), South Africa holds between 75–80% of global manganese reserves, followed by Ukraine (10%), Australia (3%), India (3%), and Gabon (2%). The known, land-based, manganese resources located elsewhere are estimated at 2%.The majority of economically important sedimentary manganese ore deposits in South Africa are situated in the Northern Cape Province (Gutzmer, 1996). Manganese ores of the Postmasburg Manganese Field (PMF) were discovered in 1922, and the Kalahari Manganese Field (KMF) in 1940. According to Astrup and Tsikos (1998) and Gutzmer (1996), mining of manganese ore from the PMF ceased during 1989 in favour of the superior quality of manganese ore from the KMF."

Mar 1, 2019

By G. Jandieri

An improved methodology is presented for assessing the economic feasibility and effectiveness of recycling industrial waste. The methodology is based on the break-even control mechanism, but at the same time provides for the introduction of new evaluation criteria such as the threshold of conditionality and the degree of ore substitution. Based on an improved analysis, it becomes possible to more precisely predict recycling efficiency. A more refined determination of the lower limit of concentration of recoverable metals, at which technogenic waste can be assigned the status of secondary raw materials and processed profitably, leads to a significant expansion of the secondary raw material base suitable for recycling. The potential for recycling manganese-containing dust from the production of ferrosilicomanganese, dehydrated sludge from the hydro separation of slags, and cake from the production of electrolytic manganese dioxide at the Chiatura mining enterprise is used as an example. It is shown that with a threshold of –24% Mn content, the highest recycling efficiency can be achieved by the production of low-phosphorus manganese slag and conversion to ferrosilicomanganese using the above waste to replace 40-60% grade III and IV manganese concentrates in the feed.

Jan 26, 2023

By J. Moema, L. Mampuru, M. Phasha, D. Mkhonto

The global liquified natural gas (LNG) storage market size is projected to reach USD17.5 billion by 2025. Currently, owed to its high toughness, tensile strength, and excellent weldability, the 9% nickel steel is the most used in building infrastructure for cryogenic applications such as the construction of tanks and pipes for storage and transportation of LNG. However, this alloy is not readily available because of its complex production process and high cost. This provides an opportunity for suitable alternative materials to build infrastructure for cryogenic applications. Among strong contenders is the Fe-Mn based alloys, which have sparked global interest due to their desirable properties such as relatively lower density, low cost, high toughness and strength, due to a high manganese (Mn) content. These attractive properties render Fe-Mn based alloys preferred candidates to replace traditional steels in engineering applications in which strengthweight ratio is critical. In response, as a build-up to designing and developing austenitic Fe- Mn alloys, the present study employed density functional theory (DFT) based first-principles computational materials modelling technique to investigate the structural, thermodynamic, and magnetic properties of binary Fe-Mn alloy composition in competing FCC, HCP, and BCC crystal structures. Using this approach, it was possible to unravel the key underlying elastic properties that are directly correlated to experimental tensile strength and high toughness in binary Fe-Mn alloys. Besides successfully validating the existing experimental data, the current predicted properties and the deployed approach will serve as a benchmark from which further alloying required to improve other properties will be conducted.

Mar 4, 2025

By I. A. Mwamba

Titanium aluminide of composition Ti-47.5 at.% Al was prepared by melting titanium and aluminium of commercial purity with additions of precious metals of 0, 0.2, 1, 1.5 and 2 at.% content. The microstructure, hardness and oxidation properties were assessed. It was found that at 47.5 at.% Al, the microstructure of plain TiAl alloys was duplex, consisting of duplex lamellar grains and ? grains. The lamellar grains consisted of alternating lamellae of ? (TiAl) and a2 (Ti3Al), with overall aluminium content in the range of 43?47 at.%. The ? grains had a aluminium content above 50 at.%. The addition of precious metals to the TiAl alloy resulted in the formation of a new phase, with a high precious metal content, occurring mostly in the ? phase, without any major change to the microstructure. Increasing the amount of precious metals resulted in an increase of the new phase amount, at the expense of the ? phase. The hardness of the different alloys was around 300HV10. Overall, the research has shown that addition of precious metals to TiAl resulted in a slight increase in hardness and a significant improvement of the oxidation resistance. This shows that alloying TiAl with precious metals, at the addition levels investigated, does not alter the mechanical properties very much, but improves oxidation resistance.

Jan 1, 2012

By I. Mitov, A. Stoilova, D. Krastev, B. Yordanov

We present three technological scenarios for the recovery of valuable components from gangue, stored in the tailings dam at Kremikovtzi metallurgical plant in Bulgaria, into marketable iron-containing pellets. In the first approach the iron concentrate was recovered through a two-stage flotation process, desliming, and magnetic separation. In the second proposed process, the iron concentrate was subjected to four sequential stages of magnetic separation coupled with selective magnetic flocculation. The third route entails the not very common practice of magnetizing roasting, followed by selective magnetic flocculation, desliming, and magnetic separation. The iron concentrate was pelletized in a laboratoryscale pelletizer. Each technology has been assessed with regard to the mass yield of iron concentrate, the iron recovery. and the iron, lead, and zinc content in order to identify the most effective route.

May 1, 2021

By F. Roelofse, D. Grobler, and M. Purchase, C. Gauert, E. Kotze

Scandium is an important industrial metal for which demand is projected to increase in the future. Although many Sc deposits are secondary, Sc is scavenged by clinopyroxene during fractional crystallization of primary, mafic-ultramafic magmas. Sc may thus occur in sub-economic concentrations in mafic-ultramafic intrusions. In this work, we present new data on the concentration of Sc in the Bushveld Complex (BC) of South Africa. The eastern and western limbs of the BC are considered to be largely pristine, primary magmatic deposits, whereas the northern limb shows evidence of largescale, localized crustal contamination. Samples from the primary magmatic cumulates of the eastern limb, from the mineralized Flatreef of the northern limb, and from the crustal-contaminated Footwall Assimilation Zone (FAZ) of the Flatreef were analysed for Sc. Despite the FAZ containing abundant clinopyroxene, interpreted to have recrystallized from the original cumulates in the presence of melted sedimentary rocks, no significant differences are seen in the concentration of Sc compared to other cumulate rocks of the BC containing less-abundant clinopyroxene. The concentration of Sc in the analysed samples is mainly controlled by mineralogy, with anorthosites, chromitites, and harzburgites containing under 20 ppm, and norites and pyroxenites containing 20–40 ppm. The parapyroxenites of the FAZ are less enriched in Sc than expected, suggesting that Sc may have been lost during alteration and recrystallization.

Sep 1, 2022

By J. O. Claassen

"A study conducted at 22 operating mines in the southern African region indicated that each mine employs about five management and improvement methods with roots in the manufacturing industry. All respondents reported the implementation of cost-saving initiatives, whereas 80% of the mines are affected by restructuring. TQM, Six Sigma, BPM, and TOC were found to be the most prevalent manufacturing management and improvement methods used. A mechanistic vs systemic evaluation of the suitability of these methods to bring about positive change in the industry suggested that complex, ever-changing mining systems are better served by a systemic flow-based approach, which is embedded in methods such as TOC, JIT, TPS, and Lean Production. These methods, however, lack industry presence, possibly because they do not effectively deal with the unique challenges associated with the mining environment. It is argued that successful mining business management and improvement depends on management’s ability to deal effectively with mining industry-specific requirements, the integration of the geologymining- plant system, and the implementation of systemic flow-based principles in all aspects of mining. IntroductionThe study aims to explore the use of manufacturing management and improvement methodologies in the southern African mining industry. Considering the unique challenges associated with mining operations, attention is given to the applicability of the most commonly used manufacturing methodologies in the tactical, operational, and strategic environments. The article endeavours to stimulate more research and debate in an unexplored field of study."

Jan 1, 2016

By M. Salimov, J. Sattarvand

The conventional visualisation method of remote equipment is through the installation of one or more cameras on the machine, and sending a live feed to the operator’s flat display. However, the performance of the teleoperation can be enhanced using better visualisation through virtual reality (VR). This paper presents the process of the design and manufacturing of a robotic platform that will be used in the next phase of the project for a VR-assisted teleoperated excavator. The robot consists of a loading boom and arm arrangement installed on the undercarriage of a CAT300-9D. All hydraulic cylinders are replaced with electric actuators, and crawling motors are substituted by electric motors. The pieces of the boom and the arm, as well as the bucket were designed in Autodesk Inventor, and manufactured from aluminium sheets using a desktop and CNC machine. Parts are joined by pins and welding as needed. An Arduino-based control system is developed for the robot, and motor controllers are used to convert the power commands from the microcontroller to the high-amperage actuators. The control system is capable of communicating with a wireless Play Station controller to operate remotely. The manufactured robotic excavator is planned to be utilised in multiple autonomy research projects.

Sep 1, 2021

By D. R. Tesarik, F. M. Jones, J. B. Seymour

As part of safety and stability studies at three underground mines in the United States, researchers installed earth pressure cells and embedment strain gauges in cemented rockfill to measure stress and strain changes as mining progressed and the rockfill was loaded. Data from these instruments were used to calculate the in situ modulus of the rockfill for two of the mines. A three-dimensional numerical model of a cemented rockfill cap was validated with data from extensometers anchored in the mine roof and sill; this model was then used to estimate deformation modulus at the third mine because the earth pressure cells and embedment strain gauges recorded negligible changes. Rockfill binder used at these mines ranged from 4 to 8 per cent of the dry components by weight, the water-to-cement ratio was from 0.42 to1.0, and the largest aggregate size in the three mixes ranged from 5 to12 cm (2 to 4.7 in). The range of the calculated in situ deformation modulus values was large, but as expected, it was bracketed by modulus values for cemented tailings and roller-compacted concrete with similar cement contents and water-to-cement ratios. Dans le cadre d’études sur la sécurité et la stabilité de trois mines souterraines situées aux États-Unis, les chercheurs ont installé des palpeurs de pression des terres et des extensomètres d’encastrement dans les remblais cimentés afin de mesurer les variations relatives à l’effort et à la déformation des terrains durant l’exploitation minière et le chargement du remblai. Les données recueillies à l’aide de ces instruments ont servi au calcul du module in situ du remblai dans deux de ces mines. Le modèle numérique tridimensionnel de la semelle d’un remblai cimenté a été validé à partir des données recueillies par les extensomètres ancrés dans la voûte et dans la semelle de ces mines; ce modèle a ensuite été utilisé pour estimer le module de déformation à la troisième mine, étant donné que les palpeurs de pression des terres et les tensiomètres enfouis avaient relevés des variations négligeables. La matière d’agrégation de l’enrochement utilisée dans ces mines comportait entre 4 % et 8 % des composantes sèches par poids; le rapport eau-ciment se situait entre 0,42 et 1,0; et la taille des agrégats les plus gros dans ces trois mélanges était de 5 cm à 12 cm (2 po à 4,7 po). L’écart entre les valeurs calculées des modules de déformation in situ était grand, mais comme on s’y attendait, cet écart a été compensé par les valeurs modulaires des résidus cimentés et du béton tassé au rouleau avec des teneurs en ciment et des rapports eau-ciment semblables. Als Teil der Sicherheits- und Stabilitätsstudien an drei Bergwerken in den Vereinigten Staaten von Amerika installierten Forscher Erddruckgeber und Einbindungsdehnungsmesser in zementierter Steinschüttung, um Spannungs- und Dehnungsveränderungen während der fortlaufenden Bergarbeiten und der Belastung der Steinschüttung zu messen. Daten von diesen Instrumenten wurden dazu verwendet, das In-Situ-Modul der Steinschüt-ung für zwei Gruben zu berechnen. Ein dreidimensionales numerisches Modell einer zementierten Steinschüttungsschwelle wurde mit den Daten von den im Grubendach und in der Schwelle verankerten Extensometern validiert; dieses Modell wurde dann dazu eingesetzt, um das Deformationsmodul in der dritten Grube zu schätzen, da die Erddruckgeber und Einbindungsdehnungsmesser nur geringfügige Messabweichungen feststellten. Das in diesen Gruben verwendete Steinschüttungsbindemittel variierte zwischen vier und acht Prozent an Trockenkomponenten nach Gewicht, der Wasser-Zementfaktor betrug zwischen 0,42 und 1,0 und die größte Zuschlagstoff-größe in den drei Mischungen schwankte zwischen fünf und zwölf Zentimetern. Die Reichweite der berechneten Werte des In-Situ-Deformationsmoduls fiel etwas breit aus, aber es fand erwartungsgemäß eine Klammerung der Modulwerte zwischen den Zemen-trückständen und dem durch Walzen verdichteten Beton mit ähnlichem Zementanteil und Wasser-Zementfaktor statt.

Jan 1, 2003