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By Robert Bissonette, Samir Sbai

A critical component of implementing autonomous systems is the ability to use information from a robust sensory and information system to make sound, predictable, and repeatable decisions to assure safety. This means that any such system would need to evaluate what objects (people, equipment, boulders, etc.) of interest exist in that environment (with relevant data about identity, trajectory, characteristics, etc.), project a future continuum of those objects (including considerations for variabilities), and make control intervention choices to minimize risk due to exposures in the present operational area. The components of an overall system would include: a) sensor and data fusion, b) probability projection of future states, c) generation and evaluation of alternate futures, and d) implementation of best course of action to reduce risk. The National Institute for Occupational Safety and Health (NIOSH) Spokane Mining Research Division (SMRD) is studying this framework for applications for autonomous mining equipment. This paper focuses on using information from the sensor fusion engine to generate a continuous projection of future and alternate states (b and c above) incorporating the factors of confidence, accuracy, tolerance, and other variabilities. We refer to this as Machine Situational Awareness (MSA).

Jun 25, 2023

By Thomas C. Atchison, James J. Olson

INTRODUCTION Technologic progress depends on new and innovative ideas, the practical application of these ideas, and finally as the technology is developed and demonstrated, the engineering improvement or replacement of existing capabilities. In many areas the new ideas, although known, are not immediately put to practical use in all applicable fields. Good technologic forecasting for research and development within the excavation field coupled with adequate technology transfer is necessary to ensure timely application of innovative ideas to remove bottlenecks in the total system. The purposes of this paper are (1) to show the potential ability of technologic forecasting to meet future demands in rapid excavation through the acceleration of excavation rates by research and development in several related technologic fields, (2) to provide a brief review of the initial development of the ARPA (Advanced Research Projects Agency) Rock Mechanics and Rapid Excavation Program, (3) to draw attention to the research projects completed or underway in the FY 1970-1972 ARPA program and explain where information or program results can be obtained, (4) to summarize the progress and accomplishments of applied research contracts in the rock disintegration element of the ARPA program, and (5) to discuss the research directions planned for the remaining years of the program. The Advanced Research Projects Agency (ARPA) is a group within the Defense Department responsible for conducting basic and applied research and development for advanced projects assigned by the Director

Jan 1, 1997

By T. P. Meloy

Current coal cleaning technology uses heavy media (HM) for the recovery of coal in particles larger than 1/16 of an inch. Through the use of float sink measurements of the feed and products to commercial HM unit operations, a selection function, sometimes called Tromp curve in the coal industry, can be computed. Since the selection function is a plot f the probability of a particle appearing in the float versus the particle density, the slope of the curve will be sharper at the point where the particle has a 50% chance f appearing in the float. Thus, the separation will be better. Fine-tuning a unit operation or a circuit of unit operations requires that the selection function be accurately known. By current practice, it is difficult to obtain an accurate measure of the slope because, when the selection function is plotted versus density, the data forms an S-shaped curve which lacks data points near the 505 point of the curve. This lack of sensitivity in measuring the slope means that small recovery improvements cannot be detected; thus, only large improvements are measurable. Since most engineering improvements are small when individually considered, but large when aggregated ever many small improvements, this lack of measurement sensitivity rules out the slew march toward improved efficiency. This paper presents a method of analyzing heavy media selection functions resulting in a far more effective measure of the selective function slope. Furthermore, this improved method is applied to a number of industrial coal cleaning plants for both heavy media and heavy media cyclones. Using the work of Hudy (1968), and Deurbrouck and Hudy (1972), selection functions for individual unit operations in each plant are calculated as a function f particle size as well as density.

Jan 1, 1982

By V. J. Hucka

Coal, which was discovered in Utah in 1849, covers about 18% of the total area. Production in 1981 vas more than 14 million tons. However, some Utah coal mines are quite gassy. If longwall face technology is applied, then a release of a high volume of methane may be expected during the mining process. Investigations on methane content have been made by use of an isothermic bubble desorbometer. The desorbable methane content of 5 m3 to 16 m3 of methane per ton of coal mined has been determined.

Jan 1, 1983

By R. Venugopal, V. K. Saxena, A. K. Mukherjee

"Coal, iron and manganese ore samples were exposed to different ultrasonic intensities of 250, 300 and 350 W/L for five minutes and to an ultrosonic intensity of 270 W/L for different time durations of 3, 5 and 7 minutes. The ultrasonically treated samples showed reductions in D80 particle diameters of 6 percent for the coal samples, 5.95 percent for the iron ore samples and 35.63 percent for the manganese ore samples during grinding. The ultrasonic treatment was also observed to assist in reducing ash content in the coal product by 8 percent and to reduce manganese losses in rejects by about 5 percent. Ultrasonic treatment was concluded to be capable of assisting in the comminution of friable ores more prominently than the hard and porous materials.IntroductionComminution is an important unit operation in the mineral-processing, cement-making, powergeneration and pharmaceutical industries. But most of the milling technologies are considered to be energy inefficient, with less energy consumed in real size reduction and most of the energy consumed in the machine. This is more critical for the mineralprocessing industry because of the growing need to exploit lower-grade ore bodies and process rejects (Blazy et al., 1994; U.S. Department of Energy, 2005). Low-grade ores require crushing and grinding to liberate the valuable minerals, which are further separated from gangues by various beneficiation methods such as gravity separation, flotation and leaching. Various studies have been carried out to minimize energy consumption during milling by developing pretreatment methods that can initiate new fractures or improve the fracture density in materials before comminution. These studies were mainly focused on chemical additives; thermal, ultrasonic and microwave treatments; and electric disintegration (Klimpel and Austin, 1982; Norgate and Weller, 1994; Bearman, Briggs and Kojovic, 1997; Gaete-Garreton, Vargas-Hermandez and Velasquez-Lambert, 2000; Kumar et al., 2010; Wang, Shi and Manlapig., 2011, Singh et al., 2012).The fragmentation effect of ultrasonic fields in solids has been investigated since the 1950s, and Gärtner was probably the first researcher who attempted it (Gaete-Garreton, Vargas- Hermandez and Velasquez-Lambert, 2000). Sound waves can propagate in solids in the form of longitudinal waves, shear waves and surface waves, and in thin materials as plate waves.In surfaces, fractures and interfaces, various types of elliptical or complex vibrations of the particles make other waves possible. During ultrasonic-vibration treatment, cavitation bubbles nucleate, grow and collapse, generating microjets, whose impacts on the particles initiate microcracks. The ultrasonic waves can enhance the nucleation, growth and coalescence of flaws, caused by tensile or shear stress. The mechanisms operating in the materials and inducing these stresses have been identified as spall and compression-induced tensile microcracks, nucleating at preexisting flaws. These mechanisms are driven by the shock wave and cavitation effects in the surrounding fluid (Chen, Huang and Shih, 2003)"

Jan 1, 2016

By Judson H. Whitman

To evaluate intelligently and to market a source of rare earth raw material, it is necessary that the producer understand the requirements of the processor and the manner in which these requirements effect the value and salability of his product. This paper will be an attempt to aid in such an understanding. The majority of rare earth processors are primarily chemical companies, not mining or metallurgical companies, as the complexities of the processing procedures are' much more chemical in nature than metallurgical. The rare earths and the rare earth industry are normally divided into two groups - the ?light? or cerium group and the ?heavy? or yttrium group. They are so named because cerium and yttrium are the most common elements in 'heir respective groups and are so divided on the basis of mineralogical and chemical characteristics. The dividing line of the two groups is not rigidly fixed but usually is considered as being between samarium (atomic number 62) and europium (atomic number 63). Although the two groups are quite similar, processing procedures differ significantly, hence most processors tend to specialize in one group or the other. There is, however, a growing tendency toward participation in both groups.

Jan 1, 1960

By Courtney Chamberlain

The Telfer Project, Australia's newest, largest and most remote gold mine, treats 480,000 metric tonnes of ore grading 9.33 grams per tonne derived from open pit mining operations. Coarse gold is recovered by gravity concentration with jigs and further upgraded using a continuous strake, table and by amalgamation. Remaining gold is recovered in a cyanide circuit and incorporates flat bottom air agitators, CCD and stellar filters for clarification and precipitate removal. Overall recovery into bullion averages 98 percent. The mill incorporates a number of design features which allow for maximum efficiency and security using a minimum number of operating personnel.

Jan 1, 1980

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 R. Canello, J. Jenkins

El Abra has the world's largest leach, solvent extraction and electrowinning facility, The crushing plant capacity is 120,000 metric tonnes per day and the cathode production capacity is 225,000 metric tonnes per year. The El Abra mine and plant are located in the Province of El Loa, in Region I1 of Chile, 55 km. north of the city of Calama. The ore deposit outcrops on the southern slope of Cerro Pajonal at an altitude of 3,900 to 4,100 meters above sea level. The processing plant and camp facilities are located at a lower 3,300 meter elevation on an alluvial slope, 15 km southeast of the deposit. The operating company, Sociedad Contractual Minera El Abra, is 51% owned by Cyprus Arnax Minerals Company through the Cyprus Climax Metals Company subsidiary and 49% owned by Corporaci6n Nacional del Cobre de Chile (Codelco). The present paper describes the ore reserves, mine operations, crushing, leaching, solvent extraction, electrowinning and infrastructure facilities.

Jan 1, 1998

By Alfred Haack, Günter Girnau

INTRODUCTION From 1967 to 1976 in the Federal Republic of Germany about loo km tunnels and 125 underground stations were constructed for municipal and commuter railways solely. Additional a remarkable amount of road tunnels and sewers were built. In 1977/78 a further 27 km railway tunnels, 3.5 km road tunnels and 65 km sewers and utility lines were under construction. This shows an enormous volume of tunnel construction work. In connection with this activity various technical research and development programmes have been carried out. They deal with nearly all fields of underground works as for example soil and ground exploration, excavating and lining techniques, calculation and last but not least waterproofing problems. It is impossible within the framework of this report to touch on all the problems. Therefore, only one problem area with its different aspects will be discussed: waterproofing systems and their last developments in Germany, especially, joint sealing with special consideration of the waterproofing of concrete segmental tunnel lining (1)

Jan 1, 1979

By Martha McJunkin, Lawrence Pietrzak

This paper describes and demonstrates the application of systems analysis and mathematical modeling techniques in the planning of actual tunnel projects and research and development to improve tunneling techniques. A recently completed tunnel project located in Utah is used as an example. Although cost estimating computer programs are used in tunnel project planning, the introduction of performance modeling, simulating the time to excavate, has added advantages that are explored here. The performance/cost tunneling model (TM) described herein mathematically simulates on a high-speed digital computer the important activities of a number of tunneling techniques accounting for activity interactions, variable external environments, mechanical failure, and other uncertainties. A cost accounting segment is included to facilitate cost-effectiveness comparisons. It is shown that, when combined with informed judgment and appreciation of limitations, the TM can be a useful tool that may help improve tunneling operations and cost estimation, for example, by achieving more balanced system designs or bounding the performance/cost implications of geologic and other uncertainties. Ultimately, this might lead to more competitive bids and greater profits. The need for systems analysis and modeling in tunneling research and development (R&D) is well recognized and documented.(1-5) In R&D one must seek broadly useful solutions to the basic problems of face fragmentation, materials handling, ground support, and environmental control. These solutions must take account of the interdependence of these elements and, for a variety of ground conditions, the limitations or constraints that any innovation in one element may impose on total system performance and cost. In this regard the structure and logic of the TM has been kept as simple and modular as possible so

Jan 1, 1974

By M. R. Rosen

A technique is presented for simple characterization of the performance of flocculents in various mining applications. The method utilizes three key parameters obtained from raw settling data and combines them into a single athematical parameter called the desirability coefficient. The first two parameters are the timesrequired for the slurry-supernatant interface -to fall to two selected fractions of the starting height, and the third is the clarity of the supernatant liquid. The relative values of the three parameters may be assigned different weights in order to make them correspond with laboratory and field performance requirements of a particular industry. Provision is also made of an, internal comparison of test flocculant data with that of a control.

Jan 1, 1980

By Stephen G. Tough, Ted M. Noskiewicz

INTRODUCTION For many years, in Europe and in North America, pre-formed metallic and concrete segmental linings in tunnels have been used extensively as temporary and permanent ground support systems. In the United Kingdom the use of cast iron as a means of ground support in mining shafts dates from the first decade of the 19th century. Although at that time wood tubbing was extensively employed, cast iron was used in shafts at Wallsend and Percy Main collieries in the North East of England. The original form of cast iron tubbing consisted of cylinders which were lowered bodily into the pit and were built from the bottom up, but subsequently they were subdivided into segments which involved the making of vertical as well as horizontal joints. Principally, the practice of providing immediate pre-formed support developed because of the incompetent state of the surrounding ground and, although this still remains the over-riding consideration nowadays, several other factors are examined before finally deciding what type of lining to use. Other branches of sub-terranean technology such as tunnel thrusting or immersed tubes (both of which involve pre-formed linings) can provide alternative solutions to problems hitherto thought better solved by bored tunnelling methods. However, this paper will confine itself to those linings developed for the more traditional tunnelling methods. Usually the shape of segmentally lined tunnels is circular because this profile is the most suitable for bad ground and many tunnelling machines. This does not always lead to the most economic use of space within the tunnel and horseshoe or elliptical linings are sometimes used in suitable ground. The number of segments

Jan 1, 1974

By Gabriele Eccher, Michele Caponero, Paolo Cucino, Roberto D’Angelis

"This paper describes the optic fiber structural monitoring system implemented for Pavoncelli Bis tunnel. The paper highlights the optic fiber sensors customization capabilities, how they smoothly fit precast concrete lining processes and TBM operations, and how a lifelong service monitoring can be achieved. An overview of readings’ evolution during excavation concludes the paper.INTRODUCTIONPavoncelli Bis is a 10 km hydraulic tunnel designed to by-pass the existing Pavoncelli tunnel which experienced severe damages during the 1980 Irpino-Lucano earthquake, in south of Italy (Barla 2009). Pavoncelli Bis excavation work commenced in 1988-90, however, when excavation approached pk. 0+583 in 1992, water percolations became more and more consistent and resulted in work suspension. The tunnel was eventually sealed at pk. 0+383, leaving a flooded section between pk. 0.383 and pk. 0+583. Work resumed in 2012 where EPB-TBM excavation was adopted to cross the flooded section and to overcome complex hydro-geological conditions in various lito-types and, in particular, in the Varicolori Clay-shales area (Figure 1).Consequently, stress evolution monitoring is extremely important during construction and during the service life of tunnel lining in clay-shales and in faults areas. In particular, the paper focuses on the monitoring system proposed for the newly EPB-TBM excavated portion from pk 0+583 onwards where optic fiber sensing technology was chosen for its reading stability and reliability in presence of water and its ability to be connected in series and remotely interrogated at kilometers of distance. FBGS OPTICAL FIBER SENSOR TECHNOLOGYFiber Bragg Grating Sensors (FBGS) are gaining increasing attention in the field of experimental stress analysis. Basically, Fiber Optic Bragg Sensors are strain-measuring devices and therefore provide many of the advantages of the well-known metal foil strain gages (Kreuzer 2007).Bragg gratings are written into so called single-mode fibers. These fibers consist of a very small inner core of 4 to 9 µm diameter and an outer part (cladding) of pure glass (SiO2) of 125 µm diameter. The difference of refraction indexes between inner core and cladding causes the light to propagate only inside the small core."

Jan 1, 2016

By Ivan V. Klumpar

If components of a gas-liquid stream react with each other and with stationary solids, involving parallel and sequential, reversible and irreversible, and slow and instantaneous reactions, the process can be defined by a set of simultaneous differential rate equations and simulated as multistage semibatch re¬actors. Each stage is divided into finite time increments. Within each increment, even the simultaneous reactions are treated as sequential. The proposed method follows process evolution from non-steady state startup to normal operating conditions. It allows computing byproduct buildup in recycles, tracer response curves and, in case of underground processes, expansion to adjacent parts of the deposit.

Jan 1, 1979

By B. W. Cavender

Innovative mining and metallurgical operating techniques and processes can be identified and developed by analyzing changes as they occurs within the mine, plant, technology or industry. Sources of change to be monitored for innovative opportunities include unexpected successes or failures, incongruities between perceived and actual events, process needs, changes in perceptions and the development of new knowledge. Innovation can be organized, practiced and managed. The perception of change as an opportunity rather than a threat is mandatory, as is the systematic measurement of innovative performance. Innovation is enhanced by specifically designed policies regarding organizational structure and staffing, daily management practices and compensation and incentives.

Jan 1, 1996

By A. Mull, J. Weyer, J. Brune

"The “Reiche Zeche” mine in Freiberg, Germany, a 600-year-old lead-zinc-silver mine with extensive open mine workings, experiences severe ventilation losses due to leakage. Much air leaks into abandoned workings, decreasing the airflow available to active working areas. Usually, this leakage occurs in remote areas that lack transportation infrastructure like roadways or rail, making it difficult to haul construction materials to the sites to erect passive ventilation controls such as stoppings, regulators and seals. Transportation distances make it impractical to hand carry traditional construction materials, such as bricks and concrete. Alternative materials, such as brattice, foaming polymers, concrete canvas, and some innovative ventilation control designs have been investigated for this purpose. The suitability of the materials investigated depends on many factors including the pressure it can withstand, the ease of transportation, and workability. Impacts of mine water must be considered, as the Reiche Zeche is below drainage and experiences significant inflow of water. Researchers must consider the effects water inundation as well as how the stopping construction material reacts to being exposed to acidic mine water. INTRODUCTION Problem Statement Mining in the area around Freiberg, Germany began in the 12th century. The mine is used for research, mining engineering education, tourism and air conditioning for a local hospital. The first records of mining in the Reiche Zeche are from around 1384. Due to the strength and competency of the host rock, many of the oldest workings still stand and remain open today, although they may not be accessible. Reiche Zeche also connects to several other, closed mines in the area that are largely unmapped. This allows air to leak into neighboring mines, reducing the air available to ventilate to the working areas of Reiche Zeche. In order to improve ventilation efficiency, it is necessary to control the ventilation and reduce leakage by constructing seals, stoppings and regulators. A challenge with building traditional seals and stoppings in the Reiche Zeche is that the old workings lack transportation pathways or rails. Also, the lack of compressed air, water or electricity makes it difficult to operate power tools and drills. This means that construction materials must be hand carried – some over distances of several kilometers. Figure 1 shows a typical drift in the Reiche Zeche. Researchers investigated using lighter, more easily transportable materials including concrete canvas, expanding polyurethane and polyurea foams, and brattice. The applicability and utility of these materials depends on a variety of factors including the ventilation air pressure, chemical resistance to acidic and mineral-laden mine waters, ease of transport, and ease of construction. Stoppings and seals must be substantially constructed so that they remain tight and do not require maintenance. It is also important to consider the toxicity of the construction materials in case of a mine fire."

Jan 1, 2016

By William C. Larson

The Bureau of Mines, as a result of its contract research program, is developing a retractable core bit for the wireline drilling system (Retractable Sit System, No, H0272004). The prime contractor, Longyear Company, Minneapolis, Minnesota, and the subcontractor, Doerfer Division, Cedar Falls, Iowa, have designed, fabricated, and are currently field testing the in-hole retractable bit system. he objective of the program is to develop a minerals exploration core drilling system that allows retraction of a worn out bit and insertion of a new core bit, without pulling the drill rods out of the hole. To date, the results of the project are encouraging, and the retractable bit contract is currently in the last phase of a four-phase program, which is on schedule and under budget.

Jan 1, 1980

By X. Wen, D. Tao, B. Li

A high effective method using a hammer mill, a column pneumatic separator and an electrostatic separator was studied for recycling copper from waste printed circuit board. The factors influencing the copper liberation degree and following separations were discussed. Two different physical separating methods were compared and discussed. Experiment results show that a well-controlled impact action can produce a satisfactory degree of copper liberation at a relatively coarse particle size. Around 90% copper recovery from printed circuit board for coarse particle size can be achieved by using a combination of electrostatic separation and pneumatic separation.

Jan 1, 2003

By Rollin A. Slater

The bulk materials handling industry has served silently for years as the skeleton structure and often the central system of nerves and nourishment for the body of basic production industries. During the past two decades, this body has undergone substantial growth and mutation to meet the surging demands of our national economy for more and better products. The steel industry has been prominent in this phenomena and plants of the sixties are as unlike the second war vintage as our current crop of basketball players differ from their fathers. Steel has kept pace with spiralling demand by innovation which has resulted in new processes and improved designs which generally yield greater production from fewer units. The supporting industry of materials handling has likewise improved its techniques and currently has a new stronger generation of equipment to perform its necessary supporting function. It has been my fortunate experience to have been instrumental in the creative stages of several new steel mills which are currently in conceptual design or actual construction. Drawing upon exerpts from this experience, this paper will describe a basic approach to the selection and application of modern bulk materials handling systems to an entirely new steel plant. Specific details of past work are not available for publication, therefore, the plant described herein is a composite of ideas and will be the new plant of the Hypothetical Steel Corporation which will be located on the lower shores of the Great Lakes.

Jan 1, 1967