Search Documents

The MineSight Schedule Optimizer (MSSO) is a new production scheduling tool developed by Mintec, Inc. using mixed integer linear programming (MILP) techniques. This tool was developed to solve the short- and medium-term schedule problems for surface and underground mining operations that involve multiple mining areas, multiple processes, multiple destinations and blending requirements. MSSO finds the optimum schedule in each period that achieves the objective while satisfying comprehensive product quality and quantity requirements as well as physical and technical constraints. Using the MineSight Planning Database (MSPD) as a central data hub, MSSO seamlessly works with MineSight 3-D (MS3D) block models and third-party data, MineSight Interactive Planner (MSIP), MineSight Haulage (MSHaulage) and MineSight Activity Planner (MSAP) to prepare data, formulate MILP models, calculate, report, fine-tune, save and visualize schedules. This paper presents the features and capabilities of MSSO. A case study is also given to demonstrate the applications of this new tool.

Jan 1, 2009

By S. F. Diehl

Drill cores from uranium roll-front deposits, hosted in lower Cretaceous strata, were examined from the proposed Dewey Burdock in-situ uranium recovery site in the northern part of the Edgemont uranium district, South Dakota. Uraninite (UO2), coffinite U(SiO4)0.9(OH)0.4, and doloresite (H8V6O16) occur as pore-occluding cements within the Fall River Formation in the Dewey area. In contrast, within the Lakota Formation in the Burdock area, uranium (with very little vanadium) is absorbed onto woody fragments and amorphous carbonaceous material in pressure-solution seams. Both areas have typical uranium roll-front mineralogy with 0.5 wt. % pyrite in the reduced solid phase and no pyrite in the oxidized solid phase. The groundwater at the ore zone is not oxygenated, so the uranium is relatively insoluble. Uranium in solution in ground waters is <10µg/L at Dewey and <22 µg/L at Burdock. Micromineralogic and geochemical data are being used to understand water/rock interactions, uranium distribution and movement, and as input factors for predictive reactive transport models.

Feb 27, 2013

By Andrea Koschinsky, Akira Usui, Michael Bau, Katja Schmidt, James Hein, Thomas Kuhn

Marine ferro-manganese (Fe-Mn) crusts and nodules are metal-rich chemical sediments that are archives of paleoceanographic proxies and potential metal resources and targets of deep-sea mining. Traditionally, crusts and nodules are subdivided into hydrogenetic, diagenetic, and hydrothermal types. While hydrogenetic Fe-Mn crusts are a potential resource for Co, Te, Pt, and REY, nodules are enriched in Cu, Ni, Mo, and Li, and hydrothermal deposits may be enriched in individual metals such as Mo, Ba, and Li, depending on the temperature and composition of the hydrothermal fluid. The different types of marine oxidic Fe-Mn precipitates, therefore, have different economic potential. Hence, a robust classification is not only helpful in the general geochemical characterization of such precipitates (and as such is a useful teaching tool, for example), but may also simplify the evaluation of their importance as a potential metal resource, which helps to prioritize exploration targets for deep-sea mining.

Sep 1, 2014

By A. A. El-Midany

Traditionally, the choice amongst different upgrading techniques or in finding the optimum operating conditions for a given upgrading technology depends on whether one is looking at the grade or the recovery of the valuable mineral in the concentrate. In fact, the conclusions are not usually the same. This is because the best technique or optimum operating conditions for the highest grade are not the same as the conditions to achieve the maxi-mum recovery. Therefore, a unique measure that takes into consideration both grade and recovery is urgently needed. Finding such a measure is the objective of this paper. A proposed measure provides a selectivity index in the range of 0 to 1, where 0 is no selectivity and 1 is ideal selectivity. The index can be obtained by plotting the so-called Fuerstenau upgrading curve, which relates the recoveries of the components in products of separation and a running regression applying a one-parameter equation. The measure was applied to assess the selectivity of selective flocculation under different operating conditions when used as a sensitive upgrading technique for ultrafine ground ores. After applying the proposed selectivity measure in the case of the selective flocculation of ultrafine Egyptian iron ore without the addition of cations, it was found that the optimum conditions are pH 11, 1 kg/t sodium silicate and 0.4 kg/t potato starch with a selectivity index of 0.55. With the addition of cations, the optimum conditions were found to be pH 11, 1 kg/t sodium silicate and 2 kg/t potato starch with a selectivity index of 0.65. It should be noted that determining these optimum conditions using the traditional grade or recovery measures was highly ambiguous.

Jan 1, 2008

By Richard F. Flanagan, Robert H. Marshall

The Republic of Singapore’s Public Utilities Board is implementing the Deep Tunnel Sewerage System Project. The project’s deep tunnel component, 48 km of deep, large diameter sewer tunnels has been successfully completed (the works are in the defects liability period). Six International Design/Build tunnel contracts utilized eight Earth Pressure Balance TBMs ranging up to 7.23 m in diameter to deal with varied ground types ranging from deep soft clays to fresh granite. Numerous access/workshafts were constructed and using various support systems. This paper provides an assessment/overview of the tunnel contracts, tunnel excavation methods and equipment, and the shaft systems. Suggested enhancements to similar future projects are provided.

Jan 1, 2007

By Martin Herrenknecht, Karin Bäppler

The last five years have seen a remarkable increase in tunnelling projects in both soft ground and hard rock applications. Part of the increase is a result of recent Research & Development efforts to improve Tunnel Boring Machine (TBM) adaptability, capability and reliability. This paper will review the latest innovations in the TBM industry and explain in detail the results of these innovations followed by a forecast where the technology will take the tunnelling industry in the future.

Jan 1, 2005

By S. G. Malghan, J. P. Van Dillen

Introduction Some uranium minerals are paramagnetic and hence are amenable to concentration by high gradient magnetic separation (HGMS). This paper describes effects of the HGMS parameters-pulp velocity, field strength, matrix loading, and magnetic field gradient-on the product recovery and grade. Unsatisfactory separation of uranium minerals by HGMS is related to ore-specific properties, such as lack of liberation, fine dissemination of uranium minerals, uniform distribution of magnetic minerals throughout the ore matrix, and interference of fine-sized slimes. Experimental techniques to identify and resolve some of these problems are outlined. HGMS of Uranium Ores The mechanism by which uranium minerals are attracted to a magnetic field is either due to its magnetic susceptibility or its association with other minerals that are magnetic. Data on magnetic susceptibility of uranium minerals are scarce. The only reported data are for uraninite at 2360 X 10-6 cm3/mole. Povarennykh (Andres, 1976) concluded that the magnetic properties of minerals depend on: • Structure of the outer electron shell in a mineral with electropositive atoms; • Valence of the atoms; • State of the chemical bonds; • Type of coordination; and • Proportion of magnetic atoms (Fe, Mn, Cr, and Ni) in the composition of the mineral. However, information on the magnetic susceptibilities of the constituent atoms of a mineral alone does not suffice for evaluating the mineral compound as a whole. Most often, uranium minerals can be beneficiated by HGMS if they are associated with other minerals that are magnetic. This appears to be a more predominant mechanism by which the uranium minerals are beneficiated. Experimental A Sala-HGMS (Malghan and Subramanian, 1981), model 10-15-20, separator was used in the experiments. The matrix material-ferromagnetic stainless steel in the form of expanded metal or steel wool-was packed into a 38-mm (1.5-in.) diameter by 360-mm (14-in.) long canister. The matrix material occupied only a 150-mm (6-in.) length. The experimental set-up and slurry flow direction are described elsewhere (lannicelli, 1976). The response of uranium ores in the HGMS was studied by feeding well-dispersed slurry at 10% solids and examining the influence of process variables on selectivity and overall uranium recovery. The chemical and mineralogical characteristics of the ores under study are presented in Table 1.

Jan 12, 1983

By R. Unger, L. Mallett

The use of virtual reality (VR) technologies to train miners is an evolving area in research and development. In July 2006, representatives of 14 international organizations met to discuss current VR-related efforts and explore ways to employ VR in the future. This paper gives an overview of the various approaches presented at the meeting and discusses directions for future implementation. An example of a training package that teaches mine map-reading skills is presented. The meeting was the first step to building collaborations for furthering VR applications for mining. Planning has begun for a 2008 meeting open to broader participation.

Jan 1, 2007

By Mark P. Juzli

During the 1980s, a revolution has been taking place in industrial minerals marketing. Transportation deregulation and a handful of creative marketing and distribution managers have completely changed the rules for marketing many industrial minerals. Minerals are being transported much farther than in prior decades and at much less cost. Bulk and package terminals are becoming increasingly common as a means to take advantage of freight rate savings and to provide enhanced service to faraway customers. Water and rail transportation are being used increasingly to penetrate markets considered unreachable just a few years ago. No longer do the textbook rules of thumb for industrial minerals marketing apply. This author recalls three of those rules he was taught in mineral economics graduate school in the 1970s. As recorded in class notes: • construction aggregates are seldom shipped more than 32 km (20 miles) from the quarry; • cement is sold within 240 km (150 miles) of the mill; and • industrial sand is sold regionally - it is freight constrained to a market radius of no more than 320 to 400 km (200 to 250 miles) from the plant. And yet, the author looks up in 1989 and observes overland movements of aggregates of many hundred miles, overland movements of cement and industrial sand of 1600 km (1000 miles) or more, and water movements of both aggregates and cement into the United States from sources halfway around the world. Truly, industrial minerals are in the midst of a marketing revolution. The companies that have led this revolution have enjoyed considerable financial success in the 1980s. They have enhanced their profitability by increasing market share, capacity utilization, and average selling prices by taking product to remote markets where premium prices are available. They have consistently outperformed their competition, many of whom remain unaware that the marketing revolution going on around them is actually a transportation/distribution revolution. The successful industrial minerals company of the next 10 to 15 years must participate in the transportation revolution as it continues to evolve. Additional human and capital resources must be committed to maximize the effectiveness of a company&apos;s transportation and

Jan 1, 1989

By D. Brady

The need for onsite gas monitoring during, or following, a major incident at an underground coal mine has long been recognised. Recommendations from inquiries following Queensland mine disasters have included ?qualified persons and equipment for rapid analysis of gas samples be available in times of emergency? and that ?this may be accomplished by either mobile laboratories or laboratories established in each mining locality.? Following the Moura No. 2 disaster, the Queensland Government allocated funds to Simtars for a mobile laboratory to respond should such a disaster occur again in the future. This vehicle was commissioned in 1997 and has been used at many mine sites under a wide range of scenarios. Simtars, armed with over ten years of operational experience with this mobile laboratory, has taken an active role in the design and construction of a modernised replacement unit. With a twenty point tube bundle system and ultrafast gas chromatograph the result is, arguably, the best equipped mobile gas analysis laboratory for mine emergency response in the world. This paper outlines the features of the new laboratory, its capabilities and the philosophy behind the design and inclusions.

Jan 1, 2012

By Gregory Yates

INTRODUCTION Project Description The Silver Line is a Bus Rapid Transit (BRT) Line and is Boston?s newest transit service. Silver Line Phase I extends along Washington Street entirely on the surface in priority bus lanes from Dudley Station in Roxbury through the South End and Chinatown neighborhoods to downtown Boston. The Phase I opened in July 2002. Silver Line Phase II consists of an underground transit tunnel from South Station to the South Boston Waterfront with underground stations at Courthouse and World Trade Center to Silver Line Way east of D Street. Phase II continues through the Ted Williams Tunnel to all the terminals at Logan Airport, and on the surface to the Boston Marine Industrial Park and City Point. Phase II opened in December 2004. Silver Line Phase III is a one mile tunnel connection to the existing Phase II tunnel in the vicinity of South Station and will eventually portal on Tremont Street just north of Marginal Road. After leaving the portal, the buses will use dedicated bus only lanes on the surface roadway network to connect to the Phase I service. Figure 1 shows the alignment of the Silver Line upon completion of the Phase III project.

By Qingming Feng, Bo Huang, Dongbo An, Jinhong Zhang

A study of the application of mine tailings as precast construction materials through alkali activation has been carried out, focusing on efficiently activating mine tailings, reducing alkali consumption, decreasing curing time and improving compressive strength. Firstly, the effect of temperature on the alkali activation of mine tailings was studied. Secondly, the impact of additives, i.e., calcium hydroxide and aluminum oxide, on the compressive strength of samples was investigated. Thirdly, the impact of forming pressure on sample strength was studied. Test results showed that unconfined compressive strength (UCS) of 40 MPa was achieved with the geopolymerization products through optimization. Finally, to elucidate the geopolymerization mechanism of mine tailings, microscopic and spectroscopic techniques including SEM/EDX, XRD, and FTIR spectroscopy were used to investigate the microstructure and the elemental and phase composition of the geopolymerization products. The findings of the present work provide a practical method for applying mine tailings as precast construction materials through alkali activation.

By Qingming Feng, Bo Huang, Dongbo An, Jinhong Zhang

A study of the application of mine tailings as precast construction materials through alkali activation has been carried out, focusing on efficiently activating mine tailings, reducing alkali consumption, decreasing curing time and improving compressive strength. Firstly, the effect of temperature on the alkali activation of mine tailings was studied. Secondly, the impact of additives, i.e., calcium hydroxide and aluminum oxide, on the compressive strength of samples was investigated. Thirdly, the impact of forming pressure on sample strength was studied. Test results showed that unconfined compressive strength (UCS) of 40 MPa was achieved with the geopolymerization products through optimization. Finally, to elucidate the geopolymerization mechanism of mine tailings, microscopic and spectroscopic techniques including SEM/EDX, XRD, and FTIR spectroscopy were used to investigate the microstructure and the elemental and phase composition of the geopolymerization products. The findings of the present work provide a practical method for applying mine tailings as precast construction materials through alkali activation.

By M. Ahrens

The paper describes the main drive systems of an iron ore pelletizing plant and related important design aspects. It is shown how today?s drive systems provide the desired flexibility for the process and lead to high energy efficiency and system reliability. With respect to electric drives expansion projects have many technical issues in common with green-field installations. However, there are aspects where important, distinct differences occur. It is shown which considerations for selecting and sizing drive systems for such a plant as well as for integrating them into an overall plant control concept need to be taken into account. Besides the design of the drive systems a key aspect for such an expansion project is the network interaction. Harmonics levels at different points in the plant network need to be checked carefully with simulations during the design phase to avoid problems later-on during operation. The power factor compensation and the harmonic filtering of the new production line cannot be designed independently of the already existing plant. The paper highlights areas where problems could occur and which points need to be paid attention to when a plant is expanded.

Jan 1, 2008

By John F. Beesley

INTRODUCTION This paper discusses the design of the subsurface nuclear waste repository at Yucca Mountain, Nevada; and possible concepts for construction of the subsurface facility. Subsurface construction at Yucca Mountain is planned to last for 20 or more years, and may be accomplished using tunnel boring machines (TBM), drill and blast methods, raise bore machines, and roadheaders. The design of the subsurface facility includes approximately 107 km (66 miles) of tunnels and drifts. The vast majority of the repository will be excavated with TBMs. Design and construction concepts for the subsurface repository discussed in this paper are based on the License Application that was submitted to the U.S. Nuclear Regulatory Commission (NRC) by the U.S. Department of Energy (DOE) on June 3, 2008. The License Application was subsequently docketed by the NRC in September 2008. When a Construction Authorization is received from the NRC, notices to proceed with subsurface construction at Yucca Mountain will be issued by DOE. The Yucca Mountain site is located in the Mojave Desert approximately 150 km (90 miles) northwest of Las Vegas, Nevada. The site is on federal land in southern Nevada and is shown in Figure 1. Yucca Mountain is a ridge of volcanic rocks com-posed primarily of solidified volcanic ash. Previous underground construction work at Yucca Mountain included excavation of two tunnels using two different TBMs. The first tunnel, the Exploratory Studies Facility (ESF), is a 7.62 m (25 ft) diameter tunnel that is 7,877 m (25,843 ft) long and was described by Morris and Hansmire at the Rapid Excavation and Tunneling Conference (RETC) in 1995. The second tunnel, known as the Enhanced Characterization of the Repository Block (ECRB), was a TBM drive of 5.0 m (16 ft, 5 in.) in diameter and 2,681 m (8,796 ft) long. The second tunnel was excavated in 1998 and was described by Fulcher, Eastlund and Copeland at RETC 1999 and is named the East?West Cross Drift in that paper. (These previously excavated tunnels are shown in Figure 2.) In the volcanic rock formation where the vast majority of the planned repository will be con-structed, previous tunneling conditions were generally very good.

By K. Nielsen

The paper presents a brief overview of the mineral industry in Norway, followed by a description of the mineral policy and relevant legislation including the roles of the Norwegian Directorate of Mining and Geological Survey of Norway in this context. The discussion then proceeds to describe the land use planning framework on a national, regional and local level, the interaction between land use planning and the Directorate of Mining and the Geological Survey respectively, and how this impacts on the mineral industry and the exploitation of mineral resources. Some recent Norwegian examples of land use planning conflicts are also presented.

Jan 1, 2005

By Heiner J. Sander

Stanford University operates the National Research Facility which is located at the Stanford Linear Accelerator Center (SLAC) in Menlo Park, California. In order to improve and allow for enhanced experiments, the current facilities required expansion. A1500 foot long tunnel (20 ft wide by 21 ft high) and a 220 foot long underground cavern (49 ft wide by 32 ft high) were excavated through the Ladera Sandstone formation which is an intermediate geo-material with week rock properties. The overburden between surface and crown of the structures varies from 10 to 80 feet. The underground structures were excavated according to the principles of the NATM (New Austrian Tunnel Method). This paper addresses the challenges that were encountered during the construction phase of the project and how construction issues were resolved mutually by the owner, engineer and contractor. The implementation of geotechnical instrumentation, recorded data and interpretations, soil conditions and behavior encountered during construction are also presented.

Jan 1, 2008

By J. D. Morgan

The US economy continued to grow steadily in 1988, reaching an annual rate of $5 trillion in the last quarter (US trillion = 1012). The value of domestically processed mineral-based materi¬als rose 20% to $300 billion (US billion 109). The value of metals produced from US ores rose 40% to more than $10 billion, industrial minerals rose 6%&apos; to $20 billion, and recycled scrap more than doubled to $10 billion. Increasing economic activity stimulated metal prices. Yearly lows and highs were 95 cents and $1.68 for copper, 52 cents, and $1.30 for aluminum, 34 cents and 42 cents for lead, and 43 cents and 75 cents for zinc. A number of mining and metal companies experienced significantly increased profitability. Consumer demand strongly affects mining because the US economy is relatively saturated with long-lived products. Consumer, mortgage, and Federal debt continued to rise. About 246 million US citizens already possess 170 million licensed motor vehicles and 100 million dwelling units. New car production remained at the 1987 level of 7.1 million units. Truck and bus production, however, rose 7% to 4.1 million units. New housing starts fell 7% to 1.5 million units. Imports supplied a significant proportion of total US consumption of several important mineral materials. By year-end, imports of crude and refined petroleum exceeded domestic crude oil production. Such imports cost $42 billion. Imports of nonfuel mineral-based materials were valued at $44 billion and exports at $35 billion. The US and Canada-the world&apos;s two largest trading partners-consummated a historic free trade agreement. In February, President Reagan transferred responsibility for stockpiling strategic and critical materials to the Secretary of Defense. And, in July, the GSA group that bought, stored, rotated, and sold stockpiled materials was transferred to the Defense Department&apos;s Defense Logistics Agency. Concern about apartheid in South Africa continued, resulting in increasing attention to chromium, manganese, platinum-group metals, cobalt, vanadium, and gold. The Defense Production Act, authorizing priorities and allocations, supply expansions, voluntary agreements, and the National Defense Executive Reserve, was amended to include provisions for averting harm to national security from foreign takeovers. The DPAct, in effect through September 1989, is now up for further extension. Under the Act, the US Bureau of Mines maintains the Emergency Minerals Administration. During the year, consultations were held with Canada to strengthen the North American Defense Industrial Base. Coal production, 60% from open pits, rose 5% to 870 Mt (960 million st). Nearly four-fifths was burned to generate 57% of US electricity. Exports included 56 Mt (62 million st) of metallur- gical coal and 29 Mt (32 million st) of steam coal, with a total value of $4 billion. Domestic petroleum produc¬tion fell 2% to 574 hm3 (3.6 billion bbl). Uranium mining, including recovery from phosphates, was unchanged at 5.9 kt (6500 st). Nonfuel minerals Major metals Raw steel production-a major con¬sumer of many minerals-rose 14% to 92 Mt (102 million st). Domestic iron ore production rose 25% to 59 Mt (65 million st), about 96% pelletized. Net imports rose 37% to 16 Mt (18 million st). Raw steelmaking capacity of 102 Mt (112 million st) was unchanged. Voluntary Restraint Agreements with 21 steel exporting nations limited im¬port penetration to about 20% of the domestic market. Domestic producers of bulk ferroal¬loys of chromium, manganese, and sili¬con operated at about 75% of capacity. The US mined no manganese or chro-

Jan 1, 1989

By R. G. Benson, P. R. Wotruba, K. W. Schmidt

Introduction The Fortitude deposit is located in Nevada&apos;s Battle Mountain mining district in the central Great Basin region of the Basin and Range province of the western US. The deposit is at Copper Canyon in the southernmost portion of the district, about 19 km (12 miles) southwest of Battle Mountain (Fig. 1). Mining activity in the district began in 1866 (Roberts and Arnold, 1965). Base and precious metals were mined by underground methods intermittently until 1955. Placer gold was first discovered at Copper Canyon in 1912. Moderate scale dredging of alluvial gravel at the mouth of Copper Canyon was conducted by the Natomas Co. from 1944 to 1955 (Johnson, 1973). In 1967, Duval Corp. began large scale open-pit copper mining. (Sayers, Tippett, and Fields, 1968). Copper prices decreased and precious metals prices increased in the mid-1970s so Duval&apos;s exploration efforts at Copper Canyon shifted to precious metals. These exploration efforts resulted in the discovery of the Tomboy-Minnie deposits and shortly afterward, the Northeast Extension deposit at Copper Canyon (Blake, Wotruba, and Theodore, 1984; Fig. 2). The Fortitude deposit was discovered in late 1980, after Duval had proceeded with precious metals production at Copper Canyon. Converting the existing plant facilities at Copper Canyon to a precious metals recovery system was completed in 1978 (Jackson, 1982). Production from the Tomboy-Minnie deposits began in early 1979. Precious metals production moved to the Northeast Extension deposit in 1982. In late 1984, after three years of preproduction stripping and mining of the Upper Fortitude ore zone, production from the higher grade Lower Fortitude ore zone began. Currently, Battle Mountain Gold Co. operates the Fortitude deposit. Production from the Battle Mountain mining district before 1967 included 4.6 t (150,000 oz) of gold, 65.3 t (2.1 million oz) of silver, 13.6 kt (15,000 st) of copper, 4.5 kt (5,000 st) of lead, and 13.6 kt (15,000 st) of zinc (Roberts and Arnold, 1965). At the time of Duval&apos;s 1967 start-up, ore reserves at Copper Canyon included 12.6 Mt (14 million st) in the East ore body and another 3.6 Mt (4 million st) in the West ore body. Both had average grades of 0.79% copper, 16.1 g/t (0.47 oz per st) silver and 0.86 g/t (0.025 oz per st) gold (Blake et al., 1984). The Tomboy-Minnie deposits collectively contained 3.5 Mt (3.9 million st) of ore grading 3.09 g/t (0.09 oz per st) gold and 9.6 g/t (0.28 oz per st) silver. The Northeast Extension reserves were identified as 1.4 Mt (1.5 million st) of ore with an average grade of 2.9 g/t (0.085 oz per st) gold and 5.1 g/t (0.15 oz per st) silver. Initial total reserve estimates for the Fortitude deposit were 14.5 Mt (16 million st) grading 5.14 g/t (0.15 oz per st) gold and 29.8 g/t (0.87 oz per st) silver (Jackson, 1982). Therefore, before large scale mining, the Copper Canyon area contained a minimum of 102.6 t (3.3 million oz) of gold and 541 t (17.4 million oz) of silver as mineable reserves. The Fortitude deposit reserves as of Jan. 1, 1985 were 10.6 Mt (11 million st) grading at 5.28 g/t (0.154 oz per st) gold and 28.5 g/t (0.83 oz per st) silver. Currently, the company is producing 6.8 t (220,000 oz) of gold and significant amounts of

Jan 7, 1986

By Hyung-woo Kim, Kiyoung Sung, Sup Hong, Jung-Yeul Jung

Many concepts for the commercial production of deep-seabed manganese nodules have been studied since the 1970s. However, the bearing capacity of the deep seabed is not strong because it is composed of fine particles with high moisture content. So it is impossible to carry manganese nodules in the collection system. Therefore, the validity of continuous mining by riser pipe from the seabed to the vessel is highly appreciated. A continuous mining system is composed of mining vessel, lifting pipe, buffer system, transport tube (flexible pipe), and self-propelled mining robot. A conceptual diagram of this system is shown in Fig. 1(a). Korea Research Institute of Ships and Ocean Engineering (KRISO) developed a deep-seabed self-propelled mining robot called "MineRo" to collect manganese nodules in 2012 (as shown in Fig. 1(b)). In 2013, real sea experiments at around 1380 m depth were carried out to evaluate the collecting and driving performance of MineRo. However, we found that the roller in MineRo did not work well at times. To elucidate the problem, we analyzed the rheological characteristics between the bushing and drive shaft under deep-water conditions.

Sep 1, 2014