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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

Several factors contributing to the loss of fibre during treatment are a function of the paragenesis of the veins. The occurrence, of magnetite from the cap rock within the veins prevents complete fiberization. There is a marked similarity between these veins and those in the Koegas-Westerberg area of South Africa.INTRODUCTIONAn investigation of the mineralogy of the Wittenoom Gorge crocidolite veins was undertaken in the latter part of 1962 at the request of the Colonial Sugar Refining Co. Ltd. It was anticipated that such a study might reveal the cause or causes of the lack of recovery of some asbestos during beneficiation. Some interesting features of the mineralogy and paragenesis of the crocidolite veins become apparent, but it is emphasized that the investigation is far from complete, as the study did not extend to the field occurrence.The samples examined were selected from the mill and from the untreated ore.GEOLOGICAL SETTINGWittenoom Gorge is situated on the Fortescue River in the Hammersley Ranges of Western Australia and is one of several gorges in these ranges, on the sides of which 'crocidoIite asbestos is known to occur. The Hammersley, Ranges consist essentially of a series of quartzites, shales, ferruginous quartzites and dolomites. These' rocks are part of the Nullagine Formation (Proterozoic) and are usually either horizontal or gently folded. In some 'areas small beds of riebeckite as well as crocidolite are known to occur interbedded in the sequence.Riebeckite is a monoclinic amphibole, the formula of which may be stated as Na2Fe2"Fe2" (OH) 2Si8O22, and crocidolite is a fibrous variety of this mineral. This formula...

Jan 1, 1963

Lead isotope measurements indicate that lead from the A.B.H. Consols mine and two transgressive veins in Browne's shaft is "Thackaringa" type and not "Broken Hill" type.

Jan 1, 1970

By Mostafa Benzaazoua

Les remblais en pâte cimentés sont de plus en plus utilisés dans les exploitations minières souterraines. Une autre alternative d?utilisation du remblai en pâte consiste à le pomper et à le stocker dans des empilements de surface. En plus d?avoir des avantages d?un point de vue de stabilité physique des ouvrages, le remblai en pâte cimenté en surface permettrait également de stabiliser les contaminants dans la matrice du remblai à l?aide du processus de solidification et de stabilisation. Dans cette étude, des remblais en pâte constitués d?un résidu minier sulfuré renfermant beaucoup d?arsenic et de différents liants ont été testés afin d?évaluer la stabilisation des contaminants dans la matrice de remblai. La méthode utilisée pour évaluer la stabilisation et la solidification des contaminants est le test de lixiviation en extracteur de Soxhlet. Les résultats géochimiques issus de ces essais ainsi que la caractérisation chimico-minéralogique des remblais lixiviés ont été analysés pour comprendre les phénomènes chimiques présents dans les remblais durant le temps de cure. Les résultats obtenus montrent que les sulfures présents dans les remblais étudiés (pyrite FeS2 et arsénopyrite FeAsS) s?oxydent et provoquent la dissolution des hydrates les plus vulnérables (dissolution de la portlandite Ca(OH)2 et/ou décalcification des gels CSH). Le calcium produit permet de précipiter les sulfates (essentiellement sous forme de gypse plus ou moins hydraté) et l?arsenic sous forme d?arséniates de calcium plus stables. Les différents liants utilisés donnent des résultats différents en termes de stabilisation et de solidification qui seront discutés dans cet article.

Nov 1, 2002

By D Reddy

Rosh Pinah Zinc Corporation is a zinc-lead mine located in southern of Namibia. It is currently considering the development of a low grade ore body containing about 2.8% zinc. This ore can be utilised by the concentrator if it could be upgraded prior to the ball mill. Preliminary work indicated that the ore may be upgraded in a pre-beneficiating stage by using dense medium separation, X-ray sorting or a combination thereof to a feed grade of minimum 9% zinc. This paper describes the process followed in evaluating the technologies for pre-beneficiation. The results from test work indicated that the low grade ore is amenable to pre-beneficiation by both dense medium separation and X-ray sorting. A comparison between the two technologies showed that dense medium separation marginally outperformed X-ray sorting on grade and recovery. The results for the X-ray sorting were achieved by tuning the calibration curve specifically for the samples tested.

Jan 1, 2008

By David Smith, Bernie Martin

The Queens Bored Tunnels consist of 11,000 feet of 19'-6" inside diameter tunnels mined through rock, mixed face and dense glacial till, constructed with bolted gasketed one pass reinforced concrete liner. The tunnels are to be excavated with a pressurized face TBM, either EPB or slurry. The construction of the tunnels will require ground stabilization in the mixed face area, instrumentation and monitoring of railway infrastructure, underpinning of bridges, relocation and protection of utilities, demolition of some industrial buildings, construction of open-cut approach tunnels and emergency exits and vent plants. The purpose of this paper is to describe the scope of work, the suggested methodology and the proposed construction schedule.

Jan 1, 2005

By A. V. De Forest

INSPECTION and test methods of great diversity have been used from the most ancient times to select raw material, control its manufacture, and appraise its finished properties and value. The "miller thumb," expert in grading flour, the vintner's sense of taste, the goldsmith's micro-wear test on a touchstone, the enquiring sniff over the doubtful egg -these are all nondestructive inspection methods, accurate and depend- able, but not readily reduced to numbers in the c.g.s. system. A horse trader inspecting a possible purchase is interested in more than age, size, weight, color. heredity, speed, or drawbar pull which can be reduced to figures. Behavior, temperament, stamina, health-past, present and future---are just as important as the numerically determinate constants.

Jan 1, 1940

By Maral Papazian Bedian

Construction contracts in the USA contain the clause "Value Engineering" ? an interesting and curious clause allowing contractor initiated design changes. Misleading is the interpretation of value engineering implying cost saving and sharing with the owner, and curious is the timing, just before beginning of actual construction. It is not surprising that such a clause would simply be ignored, because it involves change, often major design changes in very short time; and change is feared, moreover, it is vehemently resisted by all parties, owner, designer, contractor. The problem in the USA may lie in the divergence and separation of the two entities: Designer/Engineer and Builder/Contractor, assigned to the "one" engineering project. The priorities and incentives of these two groups are very different. The Engineer spends years, even decades, in design and prepares contract drawings often without a deep understanding of construction methods. Worse, with all the time available to him and in our era of tremendous advances in computational methods and speed, the designer turns in plans that are inexcusably exaggerated code-based design with excessive safety factors. As to the Contractor, he builds, often without appreciation of design principles or regard for design engineers. Redesign to apply a new technology or optimization of an inferior design just before construction becomes unthinkable. It is not surprising that adverse and hostile relationship between the designer and the contractor is a norm with extended disputes and claims, not to mention the cost these entail. Surprisingly, "Value Engineering" was successfully implemented in record speed on several very large projects in the metropolitan New York area. The process of change was unconventional, painful, and even comical. Four case studies are presented: two Design/Build: the 1.2 billion dollars Hudson-Bergen Light Rail Transit System in New Jersey and the 90 million dollars MTA Bus Depot in Manhattan, and two Conventional Design/Bid/Build: the 90 million dollars Queens Boulevard Bridge and the 150 million dollars Long Island Expressway.

Jan 1, 2002

By M. J. Little

Potgietersrust Platinums Ltd (PPRust) is Anglo Platinum?s only open pit operation. The major slope stability concern at PPRust is rapid, small-scale brittle failure on the west wall of Sandsloot open pit. In order to improve safety and mine more economically, a comprehensive slope monitoring strategy has been implemented. In the last 3 years four new state-of-the-art monitoring systems have been installed namely an ISSI microseismic monitoring system, a GeoMoS automated prism monitoring system, prismless Riegl laser scanners and a GroundProbe slope stability radar (SSR). Groundwater monitoring and visual monitoring have also been improved over the same time period. To complement the visual inspections, SiroVision digital photogrammetry is now used for predicting where future failures may occur. All these monitoring tools provide primary monitoring which is used to identify high risk areas. The SSR is then set up in that area to provide early warning of failure so evacuation can be successfully done. Fault tree analysis has proved that with this comprehensive slope monitoring strategy the geotechnical risk at PPRust is greatly reduced, allowing mining to continue safely and economically in challenging conditions.

Jan 1, 2006

By William R. Bond, Jim V. Rouse

Introduction The pressure/vacuum (p/v) lysimeter or soil water sampler has become useful for monitoring vadose zone or unsaturated zone water conditions. The soil water sampler was first introduced around 1961. It was used as a monitoring and research device for studies in agriculture and soil contamination around landfills. Since then, it has been used for many purposes. The use of p/v lysimeters at mining facilities to monitor for solution loss is a relatively new idea. The primary purpose of the lysimeter here is to function as an early warning system. It detects leakage through liners of tailings ponds, heap leach pads, and leachate holding ponds. Their use has proven valuable for collecting baseline data and detecting loss of precious leachate fluid. Different lysimeter designs are capable of vadose moisture sampling from near the surface and down to 90 m (300 ft). They are also capable of sampling soil moisture or saturation plume contaminants from areas not accessible by conventional water well installations. The most common installations are usually simple and cost-effective. In many cases, they can be installed without the use of heavy drilling equipment. A properly placed and installed lysimeter can detect solution leaks in several days or weeks. A conventional perimeter monitor well may take months or years to detect a leak of the same magnitude. A discussion on the general design and installation of p/v lysimeters will give an understanding of its versatility. Three case studies of lysimeter installations at mining sites will be examined in detail. Design, Installation, and Sampling Design The basic design of a p/v lysimeter chamber consists of a porous material through which the soil is drawn into a collection chamber. Access tubes run from the unit to the sample station at the ground surface. Most units currently available range from 25 to 76 mm-diam (1 to 3 in.-diam). The sample collection chamber, or body, can vary from 0.6 to 1.8 m (2 to 6 ft) in length. The body can be constructed of PVC casing or Teflon, depending on the installation desired. The collection chamber functions as a holding reservoir for the collected soil moisture. The intake, or porous material, on the lysimeter is the most complex and vulnerable portion of the unit. The pore size selection varies based on the needs of the installation, type of fluid to be sampled, and type of soil material surrounding the unit. Teflon (PTFE) and porous ceramic are used in fabrication of the porous inlet portion. When using a Teflon material, which is hydrophobic, a larger pore size of 70 µm is needed to overcome surface tension and draw water into the collection chamber. It is typically used at sites involving organic contamination, because of its inert properties. Ceramic material is generally hydrophilic, having less surface tension. Therefore, it has a smaller porosity range to conduct the moisture through the porous medium while under vacuum. Pore sizes may be selected from 0.16 to 6 µm, and can be manufactured for the specific needs of the installation. The final major design component of the p/v lysimeter is the access or sampling tubes. The tubes are usually of 6.3-mm-outside-diam. (0.25-in.-outside-diam). They are made of rigid polyethylene or flexible Tygon with a wall thickness of 1.5 mm (0.06 in.). The con-

Jan 4, 1985

By P Taskinen, D Lindberg

The increase in metals demand in the electrifying globe means significant growth in the smelting of copper, nickel, zinc, and lead, produced from primary sulfide sources or using sulfide mattes as the intermediates of the process chains. This means that leaner and complex mineral deposits will be evaluated as ores and are in the future traded in the commodity market for smelting and refining to pure metals. An important issue in the trend is the technology metals, like antimony, tellurium, and gallium, which exist as trace elements in sulfide ores and form no ores of their own. Their recovery becomes important in the coming decades as will be the case with growing slag amounts without use in other industries. The key is to produce environmentally acceptable slags in the smelting operations. It sets new boundary conditions to the treatment of flue dusts. This means that all material streams of smelting and refining must be re-evaluated for the deportments of the main and minority metals. In copper smelting, the recoveries of precious metals are today important for the feasibility of the custom smelters but due to low prices of many minority metals they are discarded in slag landfills. It is one of the emerging issues also in the secondary copper smelting today and once the demand grows, the same question will be faced also in the mining-beneficiation-smelting-refining chain of the primary production of nickel, zinc, and lead. The distributions of many technology metals in the copper and nickel smelting have been recently studied using methods where the chemically bound trace elements in the slag and its phases at the smelting conditions have been studied. Thus, the key data about options for process modifications and additional processing steps are piling up. Short processing routes in the metals smelting and refining are attractive due to their simplicity. At the same time, complexity of many raw materials challenges the fluxing at high oxygen partial pressures in low silica slags with high metal concentrations. The compromise between high primary recovery and safe operation is a demanding task in conditions where slag foaming outside the processing window is evident. The increase in the demand of pure nickel is challenging the raw material basis where low-grade sulfide ores are soon smelted along with nickel laterites to matte. It is a demanding task at high MgO concentrations. The low solubility of MgO in iron silicate slags requires new fluxing strategies and new smelting end points for the operation at reasonable temperatures; the direct nickel matte smelting in one-matte mode may be an option.

Aug 21, 2024

By Brent Duncan, Doug Harding, Bob Stier

The 73rd Street Tunnel Project is part of “The Tunnel and Reservoir Plan” (TARP)also known as the Deep Tunnel Project, and is located in the Village of Bedford Park, County of McCook, State of Illinois. The project consists of a ø 4.42 meter × 2,060 meter long (14´-6? bore, 6,760 foot)tunnel. The completed tunnel is used as a bypass tunnel for the McCook Cup Reservoir Project. The project was awarded to Affholder Inc. of St. Louis, in 2000. The paper describes the project in which a new, high-powered open gripper type main beam machine was used in which high advance rates have been achieved using conventional muck haulage techniques. Features of the project include the installation of rock support consisting of counter-sunk rock bolts that are required to be pull-tested for strength per project specifications. Installation and testing of the bolts are done during the boring cycle. Muck haulage was done by conventional muck car train and hoisting at the construction shaft. As the site layout did not include a tail tunnel, the trains needed to be shuttled at the shaft bottom. Even with the bolting requirements and the muck haulage without a tail tunnel, the Affholder site personnel still achieved high advance rates on the 73rd Street Project.

Jan 1, 2003

By H. Utsunomiya, J. Su, K. S. Tamimi, S. Yue, M. Sanjari, L. Kestens, Hara, A. S. Kabir, R. Petrov

Manufacturing of thin sheet is difficult in industries. Some approaches, such as small-draft multi-pass rolling, intermediate annealing, isothermal rolling and high-speed rolling were proposed to overcome the deformability. In this study, different rolling speeds from 15 to 1000 m/min were employed to twin rolled cast AZ31B magnesium alloy to different reductions. The results show thatAZ31B sheets rolled at 15 m/min and 100 °C has fractured for reductions of more than 30% per pass. However, by increasing the rolling speed to 1000 m/min the rollability was improved significantly and the material can be rolled to reductions of more than 70% per pass. The high speed and heavily deformed materials are fully recrystallized even at 100 °C.

Jan 1, 2014

By Alan R. Buehler

The Bureau of Mines conducted a mineral investigation of the 177,000-acre Secesh study area; most of the area had been proposed as wilderness. Bureau personnel mapped and sampled several hundred mine and prospect workings; 1,715 rock, soil, and placer samples were taken during the investigation. The study area is centered about 25 mi east-northeast of McCall, Idaho, in the Payette National Forest. Five mining districts extend into or are adjacent to the study area. There have been more than 3,000 mining claims located inside the study area, 884 are current. In excess of $17 million (historical value) in placer and lode gold has reportedly been produced from the Warren district alone. The study area contains gold, silver, copper, lead, zinc, tungsten, and antimony. At least six properties that would be in the proposed wilderness contain gold resources; more than 18 million tons averaging 0.038 oz/ton gold have been identified. Additional resources may be located at 4 other localities. The 4th of July mine is currently producing gold/silver/lead ore. Similar resources may be located on at least 3 other properties. Placer samples from the study area contained up to 0.34 oz gold/yd3 ($120/yd3). The samples are representative of relatively small occurrences and do not constitute resources; small quantities of gold may be recovered by recreational placer miners.

Jan 1, 1993

The Golden Cross project was a joint venture between Coeur NZ Ltd (80 per cent) and Viking Mining Company (20 per cent). The site is located in the Waitekauri Valley, 8 km north-west of Waihi, on the Coromandel Peninsula, in the North Island. The mine-site is situated close to the Coromandel Range Divide between the headwaters of the Waitekauri River and the Martoto Stream. The site has a history of Gold Mining dating back to 1892. The more recent mine comprised an open pit and underground gold and silver operation from December 1991 to April 1998, MacGillivray, Maton and Goldstone (2000).Doug Hood Ltd commenced the first of three contracts on site in September 1997 and was responsible for completing the final stages of open pit mining, landslide remedial works mine closure and rehabilitation works. The Mill Closure and Rehabilitation and Drainage Works contract, for which this submission relates, commenced in September 1999 and was officially completed by Doug Hood Ltd. on the 26 May 2001.This paper endeavours to highlight the project objectives and backgrounds them against the difficulties experienced with respect to the site-specific conditions, the design complexities and risks associated with the contract, from a contractorÆs perspective.

Jan 1, 2002

By F. Parada Torres

Xstrata Tintaya S.A. opera el yacimiento a tajo abierto y procesa el mineral en dos plantas: Planta Concentradora de Sulfuros y Planta de Lixiviación de Óxidos, donde anteriormente consideraba al mineral mixto complejo como intratable en la planta concentradora, por lo que se le destinó a ser tratado como óxido marginal en la planta de lixiviación. En este sentido, el presente texto describe el nuevo tratamiento al mineral complejo en la planta concentradora. De forma que se busca definir las variables geometalúrgicas del mineral de Chabuca Norte, optimizar los procesos metalúrgicos del mineral mixto mediante la investigación geometalúrgica, así como correlacionar el entendimiento de la geología y alteraciones del yacimiento con los procesos metalúrgicos y crear valor mediante la optimización de la tasa de tonelaje de tratamiento y el incremento del porcentaje de recuperación de cobre en el proceso.

Sep 12, 2011

By Edward L. McHugh, Louis J. Denes, Jami M. Girard

A prototype portable hyperspectral imager that operates in the visible and near-infrared ranges of the electromagnetic spectrum was field tested at an open-pit mine. The tests were sponsored by the Spokane Research Laboratory, National Institute for Occupational Safety and Health, as part of an investigation of remote sensing technologies for use in detecting and monitoring conditions in surface mines that could lead to catastrophic slope failure. The spectro-polarimetric imager, built at the Carnegie Mellon Research Institute, employs an acousto-optical tunable filter (AOTF) to control wavelength, a phase retarder to measure polarization signatures, and a digital camera and computer to capture data. The spectral range of the instrument is 450 to 1000 nm at 10-nm intervals. High-resolution hyperspectral images of highwalls, outcrops, hand samples, and drill core were collected in the field. Spectra from the images closely matched those of specific minerals present and were used to classify the images. The field tests were designed to examine the feasibility of using spectral imaging to assist in compiling objective geologic maps of mine highwalls and other hazardous slopes. Results illustrate the capability of the method to discriminate materials within the image, validating the concept of simplified spectral imaging. A contributing factor in many slope failures is the presence and distribution of mechanically incompetent, clay-rich altered rock in slope faces. Spectral features of clays and other minerals are more distinctive in the short-wave and mid-infrared part of the spectrum; the capabilities of the instrument need to be extended into this range to apply the AOTF-based technology to common geologic materials. A field-portable hyperspectral imager could find broad application in remotely identifying diverse materials from solids and coatings to gases.

By Joe Pease

"The demand for minerals and metals is increasing. Head grades of ore bodies are dropping. Remaining ores are becoming finer grained, more complex, and more logistically challenging. Mineral processing – in particular comminution – already consumes a huge amount of energy. But in 20 years’ time, it will require about six times as much energy as today to meet the world’s mineral demand.Unless we do something different.As minerals professionals, it is our job to find that “something different”. The world is relying on us. Of course, we must look for new breakthrough technologies and techniques. We must find them, and we will find them – most likely in surprising areas.But what if we also already know how to make 30-50% improvements to efficiency? Just by using existing technologies, by applying modern analytical techniques, by custom designing our plants, by applying manufacturing principles, by breaking down our management silos between disciplines.The thing is, industry professionals already know this. Yet – in spite of a lot of intelligent people trying very hard – we just can’t seem to make it happen.This discussion considers why, despite our best efforts, we don’t get the best out of what we already have. Why we are wasting energy and money. Once we understand why, we can set about unlocking that value and improving industry productivity and energy efficiency. We will discuss the role that professionals and volunteer professional organisations like CMP and CEEC can play in catalysing the changes."

Jan 1, 2015

By M. Sharafodin, A. A. Hassanipak

Abstract - The essential aims of additional borehole drilling are to improve the reliability of grade and tonnage estimates in each reserve class and to increase ore tonnages. The "GET" function presented in this paper considers strategies for achieving both of these goals simultaneously, and therefore is advantageous for selecting sites for additional boreholes. The "GET" function is either a linear or a non-linear product of three variables G, E, and T: f(G,E,T,) = G??E??T??where the values of any or all of the exponents ?, ?, and ??may differ from unity at the discretion of the user. G and E are the average estimated block grade and the average estimation error for ore blocks in one vertical column, and T is the compounded ore thickness within the column. To illustrate its utility, the GET function has been used for determination of the most advantageous sites for additional drilling in the Shah-Kuh Pb-Zn deposit in west central Iran.

Jan 1, 2004

By F. D. Sutterfield

This study was conducted to provide experimental evidence on the effect of modifications of gasoline front-end composition on the photochemical specific reactivities of automotive emissions. Evaporative and evaporative-plus-exhaust emissions from an automobile operated with four fuels of different volatility and varying levels of C.-C5 olefins were irradiated in a 10040 environmental chamber at three sets of initial hydrocarbon-nitrogen oxides concentrations. Reactivity was measured and expressed in terms of rate-of-NO2 formation and dosages of oxidant, peroxyacetyl nitrate, and formaldehyde. The compositional changes that were necessary in reducing fuel volatility were found to have no significant effect on the reactivity of the emissions. However, replacing C4-C5 olefins with saturated components resulted in sharp decreases in all reactivity manifestations observed for the evaporative emission samples. A lesser influence (of C4-C5 olefin replacement) was found with the composite exhaust-plus-evaporative samples; the effect that was observed could be attributed to the evaporative emission portion of the sample. The data therefore suggest that saturation of front-end fuel olefins had no large effect on exhaust emission reactivity.

Jan 1, 1971