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By Andrew B. Pervis

With the ever increasing demand for Finer powders by industry there has been a continuing effort by air classifier manufacturers to improve and offer machinery capable of producing these fine powders. Common to these classifiers is the use of a multivaned rotor through which passes all of the air used to transport the particles to be classified. Rotor revolutions per minute and the amount of air passing through the rotor are the main variables in determining the particle sizes which will be able to pass through the spinning rotor. A simplified equation derived by setting the air drag force carrying a particle through the rotor equal to the centrifugal force due to the spinning rotor's action on the entering air and particle is: Diameter of Particle = [ ] Where K is a function of air viscosity, particle configuration, rotor and blade configuration; RPM is rotor revolutions per minute; M3/sec. is air quantity passing through the openings between the rotor blades.

Jan 1, 1983

By Terrence Chatwin, Michael Sweeney, Steve Accardo

Sutter Gold Venture excavated an exploration decline into a mineralized zone in the Sutter Creek gold mining district. Delays in obtaining the conditional-use permit resulted in 7 to 10 million gallons of water accumulation in the decline containing elevated dissolved arsenic. Sutter received a permit to land apply the water after reducing the arsenic concentration to 0.05 mg/L. Initially the water was treated by co- precipitation arsenic with ferric hydroxide. Operational difficulties of this treatment system resulted in Sutter pursuing alternative treatment methods. The activated alumina adsorpting was selected due to its flexibility and ease of operation. Operating and maintenance data and costs will be presented.

Jan 1, 1995

By Z. D. Hora, W. N. Hamilton

Introduction Some unique opportunities exist for industrial minerals in British Columbia and Alberta. The region's diversified geology, particularly in British Columbia, offers favorable environments for a rich variety of mineral resources. Many minerals have been produced for years. For some, however, the level of production is far less than the potential. Others have had production in the past, but are not currently produced. Still others are known to exist and may have been actively prospected. But they are not yet developed. In addition, a number of speculative possibilities have recently come to light. The potential significance is not fully confirmed, but is suggested in showings in favorable geologic settings. Location and geography British Columbia and Alberta are the westernmost provinces in Canada (Fig. 1). The region overlaps two major physiographic divisions of the country, the Cordillera and the Interior Plains. It also takes in a small segment of the Canadian Shield on the east. The entire territory is greater than 1.6 Mkm2 (618,000 sq miles). Most of British Columbia lies within the Cordillera, a mountainous belt some 800 km (500 miles) wide. The belt is made up of three main physiographic components, the Eastern, Interior, and Western subdivisions. The Eastern subdivision embraces the rugged, linear ranges of the Rocky Mountains, elevations between 2600 and 3300 m (8530 and 10,800 ft). They form a 100-km (62-mile) wide band straddling the BC-Alberta border and extending northwest across northern British Columbia. The Interior subdivision includes several ancient mountain ranges but is dominated by an intermountane plateau area of low relief (average elevation 1200 m or 3900 ft). The Western subdivision is dominated by the Coast Mountains (elevations between 1800 and 4000 m or 5900 and 13,123 ft). These form a band about 175 km (110 miles) wide into which are sculptured the spectacular fiords of the BC coastline. Alberta lies largely within the Interior Plains, a prairie region of low to moderate relief (elevations between 200 and 1200 m or 650 and 3940 ft) formed of nearly horizontal bedrock strata. The Plains surface rises gradually to the southwest toward the deformed belt of the Rocky Mountains, where the bedrock strata are upturned, folded, and faulted. To the east, the Plains merge with the Canadian Shield, which exposes the Precambrian crystalline basement of western Canada. The total population of the BC-Alberta region is about five million people. Minerals, forestry, and agriculture are the primary industries here. It has well developed infrastructures to service these industries. British Columbia is third among the Canadian provinces in metal mining - $1.1 billion in 1985 - and first in forest products. It is also second in hydro-electric power development. Alberta leads all provinces in total mineral production, largely due to its extensively developed petroleum and natural gas resources - $26.2 billion in 1985.

Jan 12, 1987

By Raymond Sandiford, Kenneth Xu, Taehyun Moon

Tunnel approach structures situated in slow moving earth flows are subjected to significant earth pressures. The authors have developed a system, utilizing collapsible concrete columns, that limits such loading. The system uses an array of collapsible concrete columns in front of the structure to absorb downslope movement and limit-imposed loads. This concept has been modelled using 3D FEM analyses and a rudimental lab test. For implementation, the collapsible columns would be prefabricated in strengths to mimic the soil strength profile. This concept has merit, and analytical results demonstrate that collapsible columns are a viable means to limit loading.

Jun 23, 2024

By Klaus Rabensteiner, Klaus Chmelina

"INTRODUCTION Urban tunneling is often related with special geotechnical risks. Typical causes are difficult (hydro)geological conditions, a very low overburden and the presence of critical and vulnerable (infra)structures in the influence zone of the construction (e.g. existing tunnels, roads and pavements, sewer pipes, gas and power lines, landmarked buildings, historic monuments). To manage these risks appropriately, an early detection and warning of unexpected behavior of the affected geotechnical objects ground and tunnel, as well as existing structures are mandatory. To accomplish this, the design and execution of a dense geotechnical monitoring program is of high importance. In more detail, this means specifying and performing a systematic and continuous acquisition, processing and analysis of monitoring data to support decision making. In recent years the development of new automatic sensors and (wireless) data transfer techniques and the general trend towards an automatic acquisition of monitoring data has led to an enormous increase of data production frequencies and volumes. In order to handle this data explosion efficiently, information systems and geo-databases have been developed and used successfully in many projects. They represent IT tools that support the different tasks of a given geotechnical monitoring program including data acquisition, transfer, check, processing, backup, analysis, distribution, reporting and, last but not least, alarming. Meanwhile, some tools already have developed the capability to connect to other theme-specific databases used in the project and, thus, serve as a central data management system for all kind of digital data produced. This makes possible the implementation of further useful functions and services supporting tunneling tasks such as machine control, tunnel simulation, geological prediction, process optimization, etc. where data from different engineering disciplines must be combined and processed in an integrated way. In the following chapters our aim is to describe how monitoring data management, geotechnical monitoring, alarming and reporting are organized and technically implemented at the metro project Cityringen in Copenhagen (Denmark). We want to highlight the specific role and tasks of the used tunnel information system in the project, and particularly inform on the most relevant challenges."

Jan 1, 2016

By Ed Schodowski

Wireless technology is a hot topic for anyone involved in the design, operation, maintenance or upgrading of mines or mineral processing plants because wireless technologies overcome barriers that have prevented many useful data inputs. Wireless communications can contribute to worker safety, satisfy environmental concerns, support plant security, track human and physical assets, and improve equipment maintenance. The cost structure of wireless is compelling and users can realize savings ? up to 90 percent less installed cost than wired instruments ? since wireless technology eliminates the need for expenses associated with cabling, engineering, construction and documentation. Many applications previously considered too expensive have become economically feasible with wireless. Two examples are continuous monitoring of safety showers to notify operators when one has been activated, and monitoring effluents to ensure environmental regulations are being met. In many cases, wireless transmitters can be installed where wired devices were too expensive to justify, or were not feasible due to physical or technical barriers. Examples include monitoring temperature measurements inside a rotating reactor or monitoring process variables in a tough, corrosive environment too challenging for a wired solution. Wireless also gives operating personnel mobility with the ability to communicate from remote or hard-to-reach zones. According to a recent Venture Development Corp. survey covering radio frequency (RF) of microwave industrial monitoring and control products, these features are contributing to the expected nationwide growth rate for industrial wireless applications of 19 percent annually from 2007 to 2012 (Taylor, 2008). At the same time, mineral producers have many questions about wireless systems including their applicability, reliability and security in this industry. Just what can wireless do? Is it secure and reliable? Can these instruments stand up to the rigors of the industry? Can wire-less technology provide the flexibility needed for mining applications?

Jan 1, 2009

By Joseph Matoney, B. K. Parekh

INTRODUCTION The term "dewatering" refers to removal of water from coal. Water associated with coal can be categorized as "free or surface" and "inherent or chemically bound" moisture.' The free moisture is found on the surface of coal, in capillaries and small spaces between two or more particles. The inherent or chemically bound water is found in the interior of the coal and as part of coal structure. A significant amount of free moisture can be removed by mechanical dewatering techniques. However, inherent moisture can only be removed by applying energy intensive techniques, e.g., direct or indirect heating. Moisture in the coal offsets some of the benefits of coal cleaning. Extra water in clean coal adds to extra cost in transportation, heat lost during vaporization, and plugging of chutes. From a utility perspective, a 1 % increase in moisture can offset a 4.5% decrease in ash.2 Mechanical dewatering can be classified into two major process categories according to the principles involved, namely, 1. Sedimentation-liquid is constrained and particles move freely. 2. Filtration-particles are constrained by a medium and the liquid flows through. Each of the process categories is composed of various separation techniques shown in Fig. Equipment currently being used by the mechanical dewatering of coal of varying size ranges and final moisture content is illustrated in Fig. 8-2. This figure indicates that sizes larger than 13/, in. (37.5 mm) present no particular dewatering problem. Shaker screens of the very crudest types and designs are capable of producing these sizes at low surface moistures. High-speed vibrators are used for the intermediate sizes and can be used for smaller sizes down to 0.02 in. (0.5 mm) if high moistures (15% surface moisture or greater) can be tolerated in the product. Usually, however, the vibrator is not used below 3/, to 3/, in. (9.5 to 6.3 mm) because of the moisture associated with these fine sizes. At this level, centrifugal force is usually employed to aid dewatering. Centrifuges of various types and designs are used practically

Jan 1, 1991

By Jill Dill Pasteris

Several mineralogical prospecting techniques are used in diamond exploration. Most are concerned with identifying indicator minerals such as garnet and ilmenite, which are derived from mantle xenoliths hosted by kimberlites. The first goal of such prospecting is to locate kimberlite intrusions; the second goal is to identify the diamond-bearing kimberlites. Explorationists have worked much less on the indigenous kimberlite phases. The kimberlitic opaque oxides, ilmenite and particularly spinels, promise to be useful in discriminating between intrusion episodes in identified kimberlites, and perhaps in the evaluation and prediction of diamond grades. Several petrologists have showed that spinel compositions and zoning patterns are specific to certain intrusive facies in South African and Canadian kimberlites. Careful evaluation may indicate a correlation between spinel parameters and diamond content.

Jan 1, 1983

By C. I. Basilio

The adsorption of dialkyl di-and mono-thio-phosphinates on gold, silver and gold-silver alloys has been studied in the present work. These reagents, which are selective collectors for sulfide flotation, have been found to improve precious metals recovery from ores. Voltammetric studies have indicated that dithiophosphinate adsorbs on gold at much higher potentials than on silver, while monothiophosphinate adsorbs only on silver. However, both adsorb on gold-silver alloys with the adsorption potential decreasing with increasing silver content. Using FTIR spectroscopic measurements, the surface species formed during the interactions of these collectors have been identified. The results of the electrochemical and spectroscopic measurements have been compared with the contact angle data obtained at controlled potential conditions.

Jan 1, 1992

By S. C. Termes

This paper discusses recent Federal Bureau of Mines research on the selective flocculation of various minerals with insoluble crosslinked starch xanthate (ISX). ISX is insoluble, has a shelf life of over a year when kept cold, and has a higher molecular weight due to cross linking than the soluble noncrosslinked starch xanthate used in previous flocculation studies on nonsulfide minerals. ISX readily flocculates a number of sulfide mineral fines but not silicious gangue. Floc formation, floc size, and settling rate are strongly dependent on pH, with the pH dependence differing for each mineral. Bornite has been selectively flocculated from bornite-quartz mixtures, and the bornite-containing flocs were separated from the unflocculated quartz using decantation and washing procedures.

Jan 1, 1982

By Paul M. Jr. Musgrove, Thomas D. Henderson, Mark B. Nesbitt

Introduction History. Vat leaching operations began in October 1953. Since that time, about 4.2 million tpy of oxide ore averaging 0.72% copper have been treated. Economic conditions, improved operating methods, and increased production facilities have allowed the ore grade to be reduced over the years. The average ore grade was 0.84% Cu during the 1950s, 0.68% in the 1960s, and was 0.50%, or below, during the 1970s. By 1961 some 35 million tons of oxide ore had been removed from the mine, exposing the underlying sulfide ore body. A 5,000¬ tpd concentrator was constructed and put into operation to treat the sulfide ore in November 1961.1 The original crushing plants were used for both oxide and sulfide ores, but by adding a third crushing shift, six days per week, the total ore treated was raised from 12,000¬17,000 tpd. Dwindling oxide ore reserves prompted expansion of the concen¬trator to 13,500 tpd in 19672 so that exhaustion of known reserves of both ores would occur at nearly the same time. Again, no additional crushing facilities were added during the expansion. It was anticipated that the treatment rate of oxide ore would be reduced from 12,000 to about 9,000 tpd. Instead, the addition of two crushing shifts per week and improved operating procedures have increased the treatment rate to 26,500 tpd-13,000 tpd to the leaching plant and 13,500 tpd of sulfide ore treated in the concentrator. Geology. The Yerington ore body is a disseminated porphyry copper deposit where a quartz monzonite porphyry intrusive contains the major part of the ore values, with some copper mineralization found in the adjacent granodiorite and other rocks. The geology of the Yerington Mine was aptly described by J. R. Wilson (Mining Congress Journal, June 1963). The ore body is one of few porphyries where geologic conditions were optimum for the formation of an important concentration of oxidized ore with minimum economic effect of secondary enrichment. The principal mineral in the oxidized zone is chrysocolla, which irreg¬ularly occurs dispersed throughout the rock and as narrow seams along fissures. The grade of the ore in the oxidized zone is generally the same as in the primary sulfide below, although some massive concentrations do occur as vein-like fissures and as filling of breccia zones. Cuprite, tenorite, melaconite, malachite, and azurite occur but are not abundant. Lying between the chrysocolla horizon and the primary sulfide is a transition zone whose limits are irregular but seldom with vertical range exceeding 50 ft. Chalcocite, cuprite, melaconite, native copper, and chrysocolla occur superimposed on the primary sulfides. Chalcocite replacement of chalcopyrite, as well as secondary chalcocite, do occur. The primary sulfide minerals are chalcopyrite and pyrite, with minor amounts of bornite and covellite. There are no appreciable gold or silver values, and molybdenite has rarely been noted.

Jan 1, 1985

By D. Naden

Sulphuric acid leaching is the most common method of recovering uranium from its ores and in the following discussion various alternative low cost routes are investigated for recovering uranium from milled ore acid leach liquors. Historically uranium has been recovered from dilute impure leach liquors by packed bed ion exchange (IX), solvent extraction (SX) or a combination of both. All three process routes as commonly practised require complete separation of leached solids and liquids, as well as extensive solids washing in order to reduce soluble uranium losses to a minimum. Separation and washing are costly and often require equipment covering large areas of land. The size and capital cost of the post leach solids washing operation is controlled by the ease of washing the slimes fraction of the ore and the key to the problem of cost reduction, as many others have realised, lies in the ability to separate the slimes fraction of the ore from the more easily washed sands, to wash the sands in low cost equipment and to recover uranium from the slimes stream. Sands and slimes are usually defined in this context as the material larger than, and smaller than, 325 mesh (44 microns). The proposed flowsheets which minimise solid-liquid separation and washing have usually incorporated ion exchange (Refs 1,2,3), and resin in pulp is in fact practised in several mills in the USA (Ref 1). The resins used in these flowsheets and [cranium] recovery throughout the world have been strong base resins which load rapidly and are moderately selective for the uranyl sulphate complex anion over the range of pH which is conveniently achieved in an acid leach operation. Strong base resins are, however, not as selective as weak base resins and weak base liquid reagents owing to the adsorption of competing anions, some of which find their way into the product while others act as resins poisons. Ion exchange using strong base resins must therefore be followed by a more selective weak base SX purification step if pure yellow cake is required.

Jan 1, 1976

By John A. Reeves

The Coal Creek Preparation Plant is the coal cleaning facility of Mid-Continent Coal and Coke Company. Located three miles west of Redstone, Colorado, and at an elevation of 8,040 feet the preparation plant cleans coal produced at the company's Dutch Creek Mine and L. S. Wood Mine. (See Fig.1.) Current production is at the rate of 2500 tons per day clean coal. Plant capacity is rated 350 TPH raw coal. Reject rates vary with mining conditions from 8% to 25%. Factors which influenced the design of the coal cleaning facility were the characteristics of the coal, the location in a tourist oriented resort area, and the extreme winters of the area. Lack of areas suitable for settling ponds and the necessity of keeping effluent waters out of the fishing streams dictated a closed circuit plant. Severe winter conditions, which last six to seven months out of the year and temperatures which have dropped to 40° F. below zero on occasions demanded that the plant be totally insulated and enclosed indoors.

Jan 1, 1967

By P. A. Korpi

The angular spiral lining system reduces energy consumption and grinding media consumption in grate discharge ball mills. This paper discusses the effect of this lining system on mill product size distribution. Performance comparisons of a grinding circuit outfitted with angular spiral liners in the ball mills are made with respect to standard double-wave liner installations. The angular spiral lining system was developed by Waagner-Biro of Austria. The installation of this lining system at Magma Copper Company, San Manuel, Arizona, is the first of its kind in a grate discharge ball mill used for wet grinding.

Jan 1, 1979

By Ross W. Smith

Many studies have been made of the microflotation of quartz (1,2,3,4,5,6) and alumina (3,5,6, 7,8) using various anionic and cationic hetero- polar hydrocarbon surfactants as collectors. A few studies have been made on these minerals using amphoteric hydrocarbon collectors ( 9,10, 11,12) and only a few studies have been made on the use of fluorocarbon surfactants as flotation collectors (13,14). The present investigation compares microflotation response of the two minerals in hydocarbon and fluorocarbon collector systems of the anionic, cationic and amphoteric types. An attempt is made to relate flotation response of the minerals to their electrokinetic behavior and the pKa values of the collectors.

Jan 1, 1979

By Christine M. Kammer

In 1852, six barrels of iron ore were loaded aboard the steamer Baltimore at Marquette, MI, after a trip by mule wagon from the nearby Cleveland Iron Mining Co. Shipped to Sault Ste. Marie, they were portaged around rapids and reloaded onto another ship for the final journey to the steel mills of Cleveland. In 1855, the same company-the predecessor of Cleveland-Cliffs Iron Co.-chartered the brigantine Columbia to carry the first iron-ore cargo through the newly opened Soo locks. In 1981, about 2,190 iron-ore shipments in the form of taconite pellets were transported by water from US Great Lakes-ports. The total volume during the 284-day shipping season was 63 Mt (62 million It). Counting Canadian ship¬ments, almost 76 Mt (75 million It) of iron ore were moved on the lakes last year. The five Great Lakes-Superior, Huron, Michigan, Erie, and Ontario-contain 20% of the world's fresh water. The area surrounding the lakes has 26% of the nation's populations, 47% of its steel production, and over 80% of the raw materials required to make steel. That figure includes 71% of the country's iron ore and 40% of its limestone. Only the availability of low-cost water transportation of raw materials has kept the heartland steel producers competitive. Iron ore shipped on the lakes originates in the Lake Superior district's Mesabi and Marquette iron ranges. Major mines and their principal partners are Cleveland-Cliffs Iron Co.'s Empire, Republic, and Tilden; Armco and Republic's Reserve Mining Co.; Oglebay Norton Co.'s Eveleth; Hanna Mining Co.'s National and Butler; Inland Steel Co.'s Minorca; Pickands Mather & Co.'s Erie and Hibbing, the latter operated in conjunction with Bethlehem Steel Corp.; and US Steel Corp.'s Minntac. Pelletized ore products at these facilities is shipped through seven principal ports on the upper lakes: Duluth, Two Harbors, Silver Bay, and Taconite Harbor, MN; Superior, WI, and Marquette, MI, on Lake Superior; and Escanaba, MI, on Lake Michigan. In 1981, tonnage volumes ranged from 13.3 Mt (13.1 million It) shipped from Duluth, to Marquette's total of 5.4 Mt (5.3 million It). The ore docks, with two exceptions, are operated by railroads, most of which are owned by mining companies. Table 1 illustrates US iron-ore shipments in 1981. In the lower lakes, ore is discharged at dock facilities close to the great steel-producing centers of Chicago, Detroit, Cleveland, Pittsburgh, and Buffalo. Between the mines and mills, lakes and connecting waterways form one of the country's most effective transportation systems. Each year, vessels on the Great Lakes transport about 181 Mt (200 million st) of bulk industrial and agricultural materials-a greater quantity at a lower cost than can be achieved by any other transportation mode. Major commodities in Great Lakes trade are iron ore, coal, grain, limestone, cement, sand, and petroleum products. About 125 US flag vessels serve this trade, among them 13 "1,000-

Jan 10, 1982

By N. Edmonson

An examination of the statistics of the world phosphate fertilizer industry since 1980 reveals an increasing tendency for fertilizer manufacturing activity to concentrate in phosphate rock mining areas. The economic justification for this resource-oriented strategy is clear. The choice between shipping phosphate rock, a comparatively low-value product, and shipping more valuable finished fertilizers will always be resolved in favor of the latter if cost considerations control the decision. The historical existence of substantial phosphate fertilizer manufacturing capacity oriented toward fertilizer-consuming activities and dependent on imported phosphate rock shows that narrow cost considerations have not always determined the industry's location. One is entitled to ask what conditions have changed to precipitate the observed relocations, and how permanent these changes are. These questions are the subject of this investigation.

Jan 1, 1995

By Veerendra Singh, NILAMADHABA SAHU, ARIJIT BISWAS

Manganese (Mn) ferroalloys are chiefly consumed in the steelmaking process as a deoxidizing agent or as an alloying element to produce high-quality steels. These alloys are typically produced in a submerged arc furnace using coke, fluxes and manganese ores of a specific manganese/Fe (Mn/Fe) ratio. Preferred-grade manganese ores should have Mn content greater than 46 percent and Mn/Fe content greater than 5 to produce commercial-grade, high-carbon ferromanganese [1]. Selective mining of high-grade Mn resources has created a scarcity of these resources, which is emerging as a major challenge for the manganese and steel industry. Manganese ore resources are mainly distributed in South Africa, with about 32 percent; Ukraine, with about 17 percent; Australia, with about 17 percent; and Brazil, India, China, Gabon and Mexico, with lesser amounts.

By Erika Moonin, Jim Nickerson, Claudio Cimiotti, Roberto Bono

"In response to the severe drought on the Colorado River basin and in order to preserve existing water capacity to the Las Vegas Valley, the Southern Nevada Water Authority contracted a new deep-water intake (Intake No. 3) located in Lake Mead. The current project (Contract No. 070F-01-C1) includes 5 km (3 miles) of tunnel with very difficult geological conditions and a 200- m (650-ft) deep shaft and marine works. This paper will present the current status of the design-build contract being constructed by Vegas Tunnel Constructors and the challenges and problems faced and the innovative solutions developed to handle the difficult conditions encountered during tunneling with up to 15 bars of pressure.ProjectbackgroundThe Las Vegas Valley receives the majority of its water from Lake Mead, which is located approximately 30 km (20 miles) east of the Las Vegas, NV metropolitan area. Due to the severe drought that has hit the southwest region of the United States, the water level in Lake Mead has receded from its high water level of 372 m (1,221 ft) above mean sea level (amsl) to a low of 330 m (1,076 ft) amsl in June 2015. Should the lake level continue to fall, at elevation 320 m (1,050 ft) amsl, the current water intakes will not be able to draw enough water to meet the needs of the local area. The risk of losing water capacity has prompted the construction of a new deeper intake. Not only is the new Intake No. 3 situated at a lower elevation in the lake at 262 m (860 ft) amsl, the new Intake No. 3 is also located to draw better quality (Fig. 1).Project challengesThe project has had several difficult challenges to overcome:• The work consisted of a 1.2 kt (1,300 st) structure constructed on a barge and lowered 100 m (330 ft) into Lake Mead anchored with 9,200 m3 (12,200 cu yd) of tremie concrete.• The drill-and-blast starter tunnel was impacted by three inflow events, resulting in a one-year project delay.• One of the main challenges was selecting the tunnel boring machine (TBM) and excavating the tunnel with expected hydraulic head pressure of as much as 17 bar (16 bar was the highest pressure recorded during the drive), crossing faulted areas, low rock cover and the risk of tunnel instability due to direct connection with the lake.• Extensive pre-excavation grouting with a constant head pressure ranging from 12 bar to 15 bar.• Structural repair of the cutterhead in difficult hydrogeological conditions [water inflow of approx. 800 m3/hr (4,000 gpm)].• Complete repair of the cascade sealing system for the main bearing and two replacements of the pinion bearings.• The TBM approach to the intake structure."

Jan 1, 2015

By M. A. Trevits, G. W. Luxbacher, L. D. Patts

"It is almost a given that post-disaster mine conditions will have compromised the mine ventilation system, resulting in a hazardous atmosphere in portions of the mine, and often complicated travel through debris fields and roof falls. Robotic technologies provide the opportunity to gather valuable information to assist decision making or lessen exposure to dangerous conditions. MSHA's Mine Emergency Operations Division (MEO) has utilized a fully permissible mine robot, the V2, for a number of years, constantly updating the unit as new technologies became available. The National Institute for Occupational Safety and Health, as part of the MINER Act Extramural Contract Program, examined the need for additional robotic units and ultimately funded three different types of prototype technologies: two robots, the Snake Robot and the Gemini-Scout, and a mine rescue robotic assist vehicle known as the ""Mule"". The Snake Robot is designed to be lowered through a borehole and to conduct surveillance (gas monitoring, video and audio) in the immediate vicinity, while the Gemini-Scout, designed to be deployed in the mine opening, serves as a more mobile and agile exploratory tool as compared to the MSHA V2 robot. The Mule was developed in response to needs expressed by mine rescue teams for a versatile remotely operated support vehicle and it will move from prototype to MEO utilization in the near future. This paper describes the development of the robot prototypes and discusses their limitations in the prototype stage, possible enhancements and potential applications, as well as the utilization of the Mule. INTRODUCTION The conditions in a coal mine may be dramatically altered after a mine fire or explosion. For example, the ventilation system may not be functioning correctly as control devices may be compromised or damaged beyond repair. The visibility in the mine opening may be limited due to accumulated smoke and dust. Roof support systems may be damaged or no longer functional. Equipment and materials may be strewn about the mine opening. Debris fields, blocked openings, roof falls, flooded areas, gas accumulations and active burning make it very difficult or impossible for those managing the post-event emergency to permit mine rescue teams to enter the mine to conduct search and rescue operations. With the evolution of robots and robotic assist technology there has been a proliferation of purpose-built units for the military, police and law enforcement agencies, urban search and rescue and those contending with hazardous environmental conditions. In each case, the technology used is designed to limit human exposure to the unsafe conditions or to provide access to areas under difficult conditions. For example, a specially-designed marine robot has been deployed into the damaged core of the Japan’s Fukushima Daiichi Nuclear Power Plant to assess the conditions of the containment vessels, where melted fuel is believed to have accumulated. Human access to the area is prohibited due to dangerously elevated levels of radioactivity [1]. Multiple robots were deployed in Amatrice, Italy, to assist in the response after the 6.2-magnitude earthquake devastated the town. The robots were used to explore two medieval churches that were severely damaged and deemed too dangerous for human entry [2]. Tactical robots are regularly used by police and law enforcement agencies when the conditions of the emergency place intervening officers directly in harm's way [3]."

Jan 1, 2018