Search Documents

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 Keith L. Harris

Surprisingly, real gross national product (GNP) surged at a seasonally adjusted annual rate of 4.3% for the first quarter of 1987 according to preliminary estimates made by the Department of Commerce, the highest rate in 3 yr and significantly above the revised fourth quarter 1986 rate of 1.1% (table 1). The spurt, however, was caused by an unusual $59.5 billion rise in inventories, mostly cars and trucks, and there was little support from other sectors of the economy. Motor vehicle inventories rose as consumers continued to tighten their purse strings--consumer spending declined 0.4% for the second quarter in a row. Nonresidential and residential fixed investment and government purchases of goods and services were also down from the previous quarter. The increasing cost of energy was the major factor in the jump to 3.696 in the rate of inflation, as measured by the fixed-weighted price index for GNP, and rising inflation also helped put a damper on consumer spending. The underlying good news was that the trade deficit shrank for the second quarter in a row as imports declined at an annual rate of 11.1%. Also, profits in the manufacturing sector rose strongly in the fourth quarter, and for the first time in 9 quarters, the primary metal industries became profitable (table 1). If one discounts the anomalous inventory growth, the bottom line is that the economy continues to grow at close to the expected 2.5% level experienced over the past 2 yr. Of concern over the next several quarters, though, is the impact of the large over- hang of motor vehicles inventories on the economy. EMPLOYMENT The civilian unemployment rate declined to 6.636 in March after remaining at 6.7% for the previous 3 months. Employment continued to expand in February and March, although growth was significantly slower in March than in previous months. The manufacturing sector, however, lost 24,000 jobs in March after gaining 46,000 in February. Three-quarters of that gain came when striking workers at USX Corp. and Deere & CO. returned to their jobs. Employment in the manufacturing sectors of direct interest to the mineral industries has generally been increasing for at least the last quarter, while worker hours for these sectors have been on the upswing since April 1986 (figures 1 and 2).

Jan 1, 1987

By William J. McDonough

Advanced materials are polymers, metals, and ceramics fabricated as intermaterial compounds, alloys, or composites. The resultant components have higher strength-to-density ratios, greater hardness and wear resistance, and one or more superior thermal, electrical, or optical properties when compared with traditional materials. Advanced materials, the basis for many of today's emerging technologies, offer savings in total energy consumption, improved performance at reasonable cost, and less dependence on imports of strategic and critical mineral resources.

Jan 1, 1992

In this issue, the Bureau of Mines announces the availability of the latest of its Mineral Perspectives series: ?MP-4, mineral Industry of Western Europe." This publication describes the mineral industries of 19 Western European countries. For readers unfamiliar with this new series, reproduced below and on the two succeeding pages, is the section dealing with the mineral industries of France. Information regarding acquisition of this publication is found inside the back cover of this issue. FRANCE France is a moderately important producer of minerals, including iron ore, coal, potash, fluorspar, and uranium. In addition, France is a significant processor of imported minerals, chiefly for its own consumption. In general, it has exportable surpluses only of a little iron ore (low-grade ore exported to Luxembourg) and some nonmetallics.

Jan 1, 1977

By Gordon T. Austin

The combined production value of natural abrasives, which consist of tripoli, special silica stone, garnet, staurolite, and emery, increased in 1987. The increase was, in certain cases, because the materials were used in nonabrasive applications, such as the increased use of tripoli as a filler and special silica stone material as a special-purpose crushed stone. The increased use of garnet as a blasting media accounts for most of its growth. Production and sales of garnet were at a record-high level in 1987. [ ]

Jan 1, 1989

By A. Brown

This report details work performed and results obtained in a study of the water management aspects of oil shale mining and retorting in the Piceance Creek Basin. Three specific sites were investigated, and optimal water management systems for both conventional and in-situ extraction processes were generated. Water-related legal and environmental constraints on development were identified and the water management schemes were developed in compliance with these regulations. Limitations on shale oil production implied by limited water supplies were evaluated. Potential Basin-wide effects of development were evaluated using a computer model, and mitigation strategies were developed. Recommendations for additional investigation and analyses were presented.

Jan 1, 1977

By Roberto Antoniolli

"IntroductionSINCE ancient times, the precious metals have played an important role in influencing the course of history. Silver and gold happened to occur, although in small amounts, in those countries where the early civilizations developed. Their persistent brightness certainly amazed the primitive people, who also found it easy to shape them into ornaments •and implements. Ever since then their properties have made them seem desirable possessions.Use of precious metals as money was the natural consequence of man's desire for them. The possibility of changing an ornament into a tool or food at any time, and the ease with which such medium of exchange could be carried and hidden, further increased the demand for the two metals.Silver was probably discovered after gold and copper, and was undoubtedly found by prehistoric man as native silver. The oldest silver articles have been discovered in Chaldean tombs and date back to 5000 B.C. The earliest ascertained producers of silver were Asia Minor and the Iberian Peninsula. The Romans worked deposits in Spain, Britain, and France. In the Middle Ages, some silver was extracted from German deposits, and near the end of the Middle Ages systematic workings were carried on at Freiberg, Schneeberg, and Joachimsthal (1).Before the discovery of the New Continent, the Aztecs and Toltecs in Mexico, and the Incas in Peru, had made extensive use of silver. In the 16th century the Mexican deposits became the largest source of the world silver."

Jan 1, 1954

It is probably safe to say that, as the economic well-being of the mining industry goes, so goes the fortunes of mineral explorationists. And in 1977 the industry was not well at all. The year-long depression of the copper industry, marked by layoffs, temporary shutdowns, and mine closures, provided an appropriate background for the collapse of the nickel market, passage of a surface mining law that will affect the hard-rock industry in ways that are yet unclear, and the threat of operating under a new set of rules brought on by reform of the Mining Law of 1872.

Jan 5, 1978

The Kaiser Aluminum and Chemical Corp. announced plans to raise June ingot prices by 4 cents to 57 cents per pound. Producers? April value for 99.5 percent unalloyed aluminum ingot was at 53 cents per pound. Domestic merchants last month were quoting the metal at 48-49 cents per pound. Primary aluminum producers began restarting production facilities following the settlement of the coal strike. Noranda Aluminum Inc. recalled workers to prepare potlines for production at its plant at New Madrid, Mo., which had closed February 14, 1978 due to the shortage of coal. Eastalco Aluminum Co. resumed full capacity production at its Frederick, Md. smelter where production had been cut by 30 percent. Anaconda Aluminum Co. resumed full capacity production at its Sebree, Ky. smelter.

Jan 1, 1978

Mitsui Aluminium Co. of Japan announced that it would finance 25 percent of the construction costs for the 217,000 ton-per-year primary aluminum smelter being built by Alumax, Inc. at Holly, SC. Mitsui would receive 25 percent of the plant's production in return. Construction on the smelter began early in 1978, and is scheduled to be completed in 1981. The Aluminum Company of America (Alcoa) announced plans to restart a third potline at its Point Comfort, TX primary aluminum smelter in July. The company previously announced plans to restart two potlines at the facility in May. Reynolds Metals Co. began preparations to restart primary aluminum production in May in one of two 57,000 ton-per-year potlines at its Corpus Christi, TX smelter. The plant has been closed since 1975.

Jan 1, 1979

By Gordon T. Austin

The combined value of production of natural abrasives, which includes tripoli, special silica stone, garnet, staurolite, and emery, increased about 21070 in 1989. The increase in the value of staurolite and tripoli production was the result of an increase in the quantity of materials produced and an increase in the unit value. Emery decreased due to the significant decline in the volume of the material produced. Special silica stone experienced both a decrease in unit value and quantity produced. Garnet showed a small increase in quantity, but a decrease in unit value. The silicon carbide industry saw a slight decrease in the quantity produced and a 12070 increase in the value of production. The fused aluminum oxide industry showed a 5070 decline in the quantity produced, but enjoyed a 15070 increase in the value of production. Combined production for both industries decreased 4070 in quantity but increased 13070 in value compared with those of 1988.

Jan 1, 1991

By Gordon T. Austin

The combined value of production of natural abrasives, which includes tripoli, special silica stone, garnet, staurolite, and emery, increased about 9% in 1988. In the case of emery, the increase was due to an increase in unit value of the material produced. The increase in the value of garnet and staurolite production was simply the result of an increase in the quantity of materials produced. However, special silica stone experienced both an increase in unit value and quantity produced. The nonmetallic manufactured abrasives industry, which includes only silicon carbide and fused aluminum oxide in the reported statistics, enjoyed the best production year since 1981 in terms of total quantity produced. Production increased 22% in quantity and 16% in value com-pared with those of 1987.

Jan 1, 1990

By George H. Willis

In the second half of the nineteenth century, bimetallism progressively replaced by gold standard. After World War I and 1931-33 depression, gold mainly reserved for official international transactions and internal use restricted. Changes since 1971 have shrunk official international use of gold. International payments deficits and surpluses now financed by private and official credit, rarely by gold. Historical review covers evolution of: (1) internal and external private use, (2) internal official use, (3) external official use, (4) role in IMF and (5) use as unit of account.

Jan 1, 1978

Martin Marietta Aluminum, Inc. followed Howmet Aluminum Corp., Revere Copper and Brass, Inc. and Anaconda Co. in lifting August prices of 99.5 percent unalloyed aluminum ingot by 3 cents to 56 cents per pound. Prior to these moves, Kaiser Aluminum and Chemical Corp. raised its June ingot listings by 4 cents to 57 cents and Consolidated Aluminum Corp., 4.5 cents to 57.5 cents. Domestic merchants increased July quotes by slightly more than 1 cent to 51.3-51.8 cents per pound. ARSENIC The Occupational Safety and Health Administration (OSHA) issued new standards, effective August 1, for worker exposure to inorganic arsenic, a toxic substance linked by OSHA to lung and lymphatic cancer. The new standard will limit worker exposure to 10 micrograms per cubic meter of air over an 8-hour period, a drastic reduction from the previous standard of 500 micrograms for a like period. Implementation of the new standards may be the most difficult and costly for copper smelters where arsenic is associated with the copper feed material but problems will also be encountered by producers of arsenic containing products such as for pesticides and herbicides. The new standards allow use of personal protective gear for workers as an interim measure until plant engineering controls can be put into effect.

Jan 1, 1978

Real economic growth for the year will most likely exceed the Administration's estimate of 3.2%, up from 2.9% in 1986, unless consumers change their spending patterns more than expected as a result of the October stock market decline. The economy grew at a real annual rate of 3.7% in the first three quarters of the year, Analysts agree that the stock market decline will slow economic growth-- most have lowered their growth expectations for 1988 by about 1%; but few would argue that the economy will slow significantly in the fourth quarter of 1987. [ ] During this economic recovery, personal consumption expenditures provided the main impetus for growth and a deeping trade deficit, the main hindrance to growth. In 1987, however, personal consumption expenditures grew at a lower rate than the overall economy. Mush of the economic growth resulted from a reduced trade deficit and growing investment by business in equipment to improve productivity and to meet the domestic and foreign demand for products. The declining value of the dollar resulted in a better competitive position for U.S. goods but also contributed to a rising rate of inflation as imports rose in price. Inflation, as measured by the fixed-weighted index for gross national product, was still far below the rates in the early 1980k, however. More than 2 million jobs were created during the year, predominantly in the service sectors of the economy, and the monthly unemployment rate in September fell to the lowest level in a decade. Then, after 13 months of decline, the unemployment rate edged up 0.1 percentage point to 5.9% in October.

Jan 1, 1987

By Keith L. Harris

Buoyed primarily by growing consumer spending, the economy rebounded from a weak second quarter. According to preliminary estimates released by the Department of Commerce, real gross national product (GNP) grew $2 1.9 billion during the third quarter, producing a seasonally adjusted annual growth rate of 2.4%, compared with a rate of 0.6% in the second quarter of 1986 and 4.1% for the third quarter of 1985 (table 1). Third-quarter real personal consumption expenditures and Government purchases of goods and services rose $42 billion and $7 billion, respectively, but those gains were partially offset by the continuing decline of gross private domestic investment, off $16 billion, and the growing trade deficit, up $11 billion. Three quarters of the growth in consumer spending occurred in the durable goods sector as consumers responded to discounted financing offered by automobile manufacturers attempting to lower inventories of 1986 vehicles, Increased purchases of other durable goods, such as furniture and home furnishings, also contributed to the strength of the durable goods sector. The success of the automobile inventory reduction program as well as weak factory output led to a $20 billion decline in inventory growth. Investment for housing and producers' durable equipment expanded, however, and mitigated some of the impact of slower inventory depending on gross private domestic investment, Capital spending for nonresidential structures declined for the third consecutive quarter. The declining capital spending and the growing trade deficit continued to be significant and interrelated problems for the economy. Real capital spending for new plants and equipment during 1986 is expected to decline 2.5% after rising 8.7% in 1985 and 15.8% in 1984 (table 2). It is likely that capital expenditures bottomed out in the second quarter and that they will expand in the third and fourth quarters. The first-half decline was partially attributed to uncertainty arising from the pending tax- overhaul bill. Furthermore, there is little impetus for corporations to invest in new capacity since factories are operating at less than 80% of capacity (table 3) largely because of the continuing growth of imports. The growth rate of the trade deficit dropped sharply in the third quarter to less than half that of the previous quarter. Low oil prices, declining auto- mobile and steel imports, and increased exports of agricultural goods contributed to this decline. The continued low growth of the economy caused the Federal Reserve System to reduce the discount rate for the fourth time this year (in late August), drop ping it to 5,596, the lowest level in about 9 years. Inflation, as measured by the fixed- weighted GNP price Index, continues to remain low, but rose from the revised second-quarter level of 1.7% to 2.596, mostly because of rising food costs.

Jan 1, 1986

The contribution of minerals to the growth and development of the United States is best demonstrated by the uses which have evolved during the past two centures. During pre-Revolutionary days the colonies were essentially agricultural in character, producing cotton, tobacco, rice, indigo, grains and flour, fish, livestock, dairy products, and timber. Shipbuilding was the major manufacturing industry. In 1763, the total value of exports for Virginia, Maryland, New York, Pennsylvania, and Massachusetts was £2,722,000, of which £55,000, or 2 percent, was for "copper ore, and iron in pigs" (3)1 and £49,000 was for 21,000 barrels or hogsheads of "pot-ash." The value of 75 ships built for sale in 1763 by the colonies was £61,500.

Jan 1, 1976

By Robert G. Clarke

The production of natural abrasives varied in quantity and value compared with those of 1974. Output of tripoli-type materials and garnet both decreased in quantity and value. Special silica stone products decreased in quantity but in-creased in value. The production of emery increased 38% in quantity. The production of manufactured abrasive materials decreased for all types and the decreases were more in quantity than in value. [ ] FOREIGN TRADE Imports of abrasive materials were 15% less in value than in 1974, and exports plus reexports decreased in value 10%. Net exports, the excess of exports and reexports over imports, were $9.3 million, about four times that of 1974. The volume of all abrasive materials exported decreased and the value of nearly all decreased.

Jan 1, 1977

By Gordon T. Austin

The combined value of production of natural abrasives, which include tripoli, special silica stone, garnet, staurolite, and emery, increased about 4% in 1990. The increase in the value of tripoli production was the result of an increase in the unit value. Emery increased owing to an in? crease in the volume of the material produced and an increase in the unit value. Special silica stone experienced a decrease in unit value and an increase in the quantity produced. Garnet showed a 10% in? crease in quantity and a 73% increase in unit value. Staurolite decreased about 8% in the quantity produced, and the value of production decreased about 10%. The fused aluminum oxide industry showed a 5% decline in the quantity produced and in the value of production. The silicon carbide industry saw a 10% decrease in the quantity produced and a 9% decrease in the value of production. Production for both industries decreased 7% in quantity and value compared with those of 1989.

Jan 1, 1993

By W. T. Adams

The production of natural abrasives var¬ied in quantity and value compared with 1975. Output of tripoli-type materials and garnet increased in both quantity and value; special silica stone products decreased in quantity and increased in value; the production of emery decreased. The production and value of manufactured abrasive materials increased for all types. [ ]

Jan 1, 1978