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By Zhen-lu Zhao

The manipulators possibly used in underground mining must deal with unpredictable obstacle while keeping certain positions and orientations of end effector, and in some cases, are required to possess redundant joints in order to be more flexible. This kind of manipulators might be fitted with jumbo drill or platform as auxiliary to potentially deal with some utility works in versatile way, such as installing rock bolts, guniting, blasting, charging, surveys and measuring work, etc.. This paper describes numerical procedures of performing inverse kinematic problems for redundant manipulators .The procedures, based on the generalized pseudoinverse of Jacobian matrix, are developed to lead to kinematic solution at both singularity and ill conditioning, and to guarantee continuous sequence of positions of the end effect or. Furthermore, the solution to optimization and obstacle avoidance is investigated. A numerical example is shown to illustrate the approach.

Jan 1, 1989

By Natesa Jayaraman, Jon C. Volkwein, Edward D. Thimons

The Bureau of Mines has studied the impact of shuttle car movement on face ventilation. Real-time measurements of air velocity, methane gas, and respirable dust were recorded and compared with a time study of face shuttle car movement. Work was conducted in a blowing face ventilation section where a scrubber-equipped mining machine operated. Air velocities decreased by an average of 35% as the shuttle car entered the face, restricting air flow, and increased by an average of 35% as the shuttle car pulled away from the face, drawing with it additional air. Return air methane levels follow the face air flow volumes, decreasing as air volume increases. The surge of air created as the shuttle car leaves the face helps to dilute methane. Respirable dust levels, however, were found to increase as the air flow increased and decreased the scrubber capture efficiency.

Jan 1, 1989

By J. A. Brierley, Arpad E. Torma, Victor C. Storhok, C. L. Brierley, Batric Pesic

Chemical and electrochemical studies were performed during bioleaching of cobaltite concentrate with Thiobacillus ferrooxidans. The two principal minerals present in the concentrate were pyrite and cobaltite (CoAsS). During chemical studies, the effect of pH on dissolution rates was examined under uncontrolled and pH-controlled conditions. It was found that in the pH range 1.5-3.0 there was no pH effect if the initial pH was not controlled (maintained). When the initial pH was controlled, the leaching of Co, As, and Fe depended strongly on pH. Electrochemical studies were performed by using cyclic voltammetry and constant potential techniques. A sequential reaction mechanism was proposed for dissolution of cobaltite.

Jan 1, 1993

By B. D. Shah, H. S. Soto

Lack of selectivity in mixed mineral flocculation can be attributed to one or more of the following factors: dissolved ion interference, hetero- coagulation, mechanical entrapment in flocs, and entrainment of fines between flocs. In a study of the apatite-dolomite system, it was determined that dissolved ions do not have a significant effect on selectivity. Heterocoagulation was minimized by choosing proper process conditions and addition of a dispersant. Mechanical entrapment was proved to be insignificant and efforts were made to reduce entrainment by choosing an appropriate method of separation of flocs from fines. A new factor termed "polymer induced entrapment," which occurs due to limited affinity of the polymer to the mineral that is not flocculated, is postulated to be the cause for the loss of selectivity.

Jan 1, 1988

By Timms. Greg P., John W. Bennett

A field-based method for measuring the diffusive oxygen flux through covers placed on sulfidic waste rock dumps has been developed and applied at a number of mine sites. The technique provides a means of quantifying oxidation rates in dumps and can thus be used to assess the effectiveness of cover systems. Two instruments can be used. The first is portable and easy to set up, enabling a picture to be built up of the overall diffusive flux into a dump by making measurements at a sufficient number of locations. The second is installed beneath a cover and is preferred in situations where oxygen is consumed in the cover since it provides a direct measurement of the oxygen flux into the underlying waste rock.

Jan 1, 2000

By J. G. Groppo, J. G. Justice, B. K. Parekh

Removal of particulates and/or metal ions from mineral/coal processing waste water is a necessity from the environmental point of view. This paper describes application of a novel AC- electrocoagulation technique to remove the particulates as well as metal ions using AC power. A series of laboratory tests conducted on a stable black water sample obtained from a sub-bitminous coal operation provided a clear supernatant (-10 NTU) from the suspension. The process also shows promise in removal of up to 90 percent of phosphate ions and other metal ions (copper and nickel) from solution. A preliminary economic evaluation of the process will also be included.

Jan 1, 1992

By A. J. Neale, B. C. Flintoff

A relatively inexpensive and reliable method of using liquid phase tracers to aid in the solution of material balance problems is introduced. The method is of value in situations where one is required to calculate a material balance around a process that has the operating appearance of a "blender" or "splitter" with respect to the available slurry sample data. The paper briefly reviews material balance development and tracer applications in mineral processing, introduces the problem to he addressed, and provides both theoretical and industrial evidence establishing the potential of the method.

Jan 1, 1987

By George F. Weaton

During the past eight years there has been a dramatic change in the iron ore industry of Minnesota, in that its status has changed from that of a seller's market to a higly competitive buyer's market. Minnesota's natural ores must now be beneficiated and up-graded considerably to be marketed in order to compete with the higher grade foreign ores as well as with the locally produced and highly desirable taconite pellets. With the passage of the "Taconite Amendment' in the November, 1964 election, the taconite industry commenced to expand in Minnesota, which, although initiated in that state, was benefiting many other states and some foreign countries to a much greater extent than Minnesota. These other areas were actually appropriating markets that had been established and retained by Minnesota for many years. Since the approval by the state voters of this amendment, there has been a great increase in the development of taconite properties on the Mesabi Range.

Jan 1, 1966

By M. Karmis

The algorithms for the mathematical modeling to predict productivity of underground room-and-pillar mining systems are well known and documented. These algorithms consider the time-varying relationships between mining equipment for a given geometty of operations as well as other constraints. This paper presents WebConSim, a newly developed, Web-based, user-friendly computer simulation tool for the Windows environment. The simulator is easily customized for use by field engineers, planning engineers and management and will help mine operators plan the optimum mining sequence for different mine geometrie and equipment layouts. Program output includes production data and equipment utilization indices, as well as time driven event chains that can be used for virtual reality presentations.

Jan 1, 2002

By James Lonergan

This paper describes the application of the Graphics Assisted Under Ground Engineering (GAUGE) software to a 2-layered room and pillar hard rock mine. The graphics- assisted mine modeling and mine planning capabilities of GAUGE are demonstrated. The system uses polygons to model the room and pillar mine design and displays the model in plan view on the graphics screen,. The planning engineer interactively specifies areas to be mined in the medium or long term. The system calculates and accumulates tonnages and grades for the user-specified areas based on the layer being mined and the particular unit operation (drifting, widening or benching).

Jan 1, 1989

By Z. T. Bieniawski, Christopher Mark

A new method for the design of long- wall chain pillars, called Analysis of Longwall Pillar Stability (ALPS), is described. The method provides estimates of the relative stability of different longwall pillar designs during all stages of their service life. The key issue addressed by ALPS is the magnitude and time-of-arrival of the longwall abutment loads applied to chain pillars. A field study was conducted and other available field data were analyzed in order to develop an approach for estimating the abutment loads. An example based on longwall experience in the Pittsburgh seam is used to illustrate how ALPS can be used in mine design.

Jan 1, 1986

By Jan Walaszczyk

The paper concerns the calculation of stresses and displacements in working area of room-and-pillar mining system of cooper ore mines. A three-dimensional rock mass model based on the finite element method has been developed. The complete strain-stress characteristic for pillars has been applied, but for the purpose of modeling the curve has been approximated by three segments of lines: - the first represents a behavior of pillar before a failure, -the second corresponds to a progressive pillar failure phase, - the third represents the part of the curve, where the increase of strains do not cause the stress changes, and it is called the residual strength. The criterion of model stability has been derived, which can be useful for predicting rockmass stability. The programs have been built, which allow to calculate stresses in bar elements, displacements in plate nodes, and estimate the stability of the model, which consists of plate elements and one-dimensional elements with a segment strain-stress characteristic. The programs were used to consider two different problems, which are connected with mining design and the exploitation systems.

Jan 1, 1992

By Kathleen S. Smith, Katherine Walton-Day, James F. Ranville

Four different scales of observation were used to evaluate the potential effects of a fluvial tailings deposit on water quality along the flood plain of the upper Arkansas River south of Leadville, Colorado. First, we collected surficial material and subjected it to batch water-leaching test. Second, we excavated and leached an intact eight-inch diameter core. Third, we examined the water quality of the shallow ground water beneath the fluvial tailings deposit, and fourth, we monitored water quality along a 5-km reach of the adjacent Arkansas River. Leaching of surficial samples indicates that there is a reservoir of readily water-soluble material yielding elevated metal concentrations and high acidity. However, there are minimal measurable water quality effects of the fluvial tailings deposit on the adjacent reach of the Arkansas River.

Jan 1, 2000

By F. F. Aplan

Estimations have been made of the tonnage of raw ores and coal treated by various beneficiation processes. The amount treated by gravity concentration is substantially greater than that treated by flotation, with coal representing the bulk of the material treated by gravity means. A discussion is given of the trends and anticipated improvements in gravity methods. Except for the concentration of iron ores, magnetic and elec- trostatic separation processes find their greatest use in the beneficiation of non-sulfide ores. Exciting new developments in magnetic materials and separation process (and, to a lesser extent, in the electrostatic process) indicate a substantial increase in the application of such processes to ores and a broad variety of non-ore uses.

Jan 1, 1989

By Robert J. Watters, Peter C. Kelsall, Joseph G. Franzone

Two separate studies investigated the compressive strength of basic igneous rocks and its relation to index properties such as porosity, density and soundrave velocity. The rocks tested were weathered dolerite from S. W. England and vesicular lavas from California. In both cases strength was affected considerably by porosity. In the dolerite, strength was also affected by fissures (microcracks) which were formed in the parent rock by shearing and later accentuated by weathering. While test results show that porosity, density and sound velocity are not reliable indices of rock strength, these properties are useful in interpretation of strength test results. Index testing can be used to classify samples according to similar behavior and to recognize the influence of fissures.

Jan 1, 1986

The application of Kirchoff's laws to two adjoining mine ventilation network meshes containing fans results in the construction of two general quadratic equations. These equations may be solved to give the resultant airflows and hence fan duties within the system for given network parameters and fan characteristics. This technique has a wide application for calculating the duties of fans in various combinations within a mine ventilation system. Recent difficulties in economically maintaining environ- mentally safe conditions in underground working areas distant from main ventilation fans has led to increasing interest in the use of controlled partial recirculation of ventilation. This paper develops a recirculation model which can be solved directly using mathematical techniques obviating the need for iterative techniques such as the Hardy-Cross method. The advantage of a direct mathematical analysis is that mathematical algorithms may be constructed to completely describe the ventilation system under a wide range of operating conditions. This technique is applied to controlled partial recirculation ventilation systems to demonstrate its advantages for mine ventilation planning.

Jan 1, 1989

By M. Sengupta

Surface mining in arctic regions is characterized by many unique problems. Continuous and discontinuous permafrost (perennially frozen ground) occurs in most of the arctic and subarctic areas. Permafrost presents special problems of slope stability. Stability of permafrost depends on its temperature, moisture content, and material type. Permafrost slope fails due to solifluction, disturbance of ice-rich slopes, and liquefaction. Drilling and blasting of frozen ground present special problems. Depending on their degree of saturation with water, freezing soils and rocks have a number of important characteristics that affect blasting efficiency. Metals used in mining equipment and mining structures require special selection. At low temperatures, many steels lose most of their normal ductility and toughness (resistance to brittle fracture). This paper discusses engineering solutions to unique problems of arctic mining.

Jan 1, 1988

By A. S. Ibrado, D. W. Fuerstenau

The adsorption of the cyano complexes of Ag(I). Cu(l), Hg(II), Cd(II), and Zn(II) on activated carbon was investigated as a function of pH and correlated with the speciation diagram for each metal. The results show marked changes in uptake with pH, closely resembling the predominance profiles of their neutral and singly charged cyano complexes. Multicharged negative complexes are repelledby the negatively charged carbon surface. The sensitivity of activated carbon to the charge of the adsorbing species indicates that silver adsorbs as an anion, not chemically bound to the coadsorbing counterions. For the same reason, activated carbon is selective to metals that preferentially form neutral and singly charged cyano complexes, namely gold and silver.

Jan 1, 1990

By L. E. Baker, M. J. Leck

OSIRIS is a continuous monitoring system for respirable dust which has been specifically designed for mining and related industries. By using the latest microprocessor technology, OSIRIS provides a sophisticated dust measuring system which is a cost effective alternative to regular gravimetric sampling. The system is certified intrinsically safe for use underground. Up to eight underground OSIRIS sensors can be controlled and monitored by a single IBM PC computer located at the mine surface. This computer provides continuous and instantaneous information about the dust concentrations at the sites being monitored. Information is available in tabular and graphical form. The paper gives details of proving trials of the OSIRIS system in some UK coal mines. During these trials, adjacent OSIRIS sensors placed on the same underground roadway cross-section gave virtually identical results. Throughout a good correlation was obtained with conventional gravimetric dust samples. The OSIRIS equipment proved both reliable and easy to operate. OSIRIS was designed and developed by the Safety Engineering Laboratory of the UK Health and Safety Executive. It is now available commercially and is being

Jan 1, 1987

By J. Brent Hiskey, Srini Raghavan

The physical chemistry of dissolution of silicate and complex oxide ores in aqueous lixiviants has been reviewed. Particular attention has been paid to the analysis of dissolution mechanisms and kinetic models and to the elucidation of the role of the porous nature of the materials on dissolution behavior. Importance of the physico-chemical characteristics of the leach residues on leaching efficiency has been discussed.

Jan 1, 1989