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In this paper, we present design and implementation details of a fuzzy-behavior-based controller for an automated excavator. This robotic excavator must be equipped with sensors, actuators and an embedded control system. The excavator controller uses neural-networks to interpret forces and torques gathered from bucket mounted force sensors during the excavation process. Implementation details and experimental results using the fuzzy behavior based excavation controller are given for several excavation tasks. These excavation tasks demonstrate some of the complex skills that are essential for an autonomous mining excavator controller.

Jan 1, 1996

By Taghi Sharizadeh, MAURICE SUNKPAL, ELAHEH TALEBI, PEDRAM ROGHANCHI

Excessive heat exposure is among the health and safety hazards that have adverse effects on the mine workers. The very nature of the underground climate makes it a convenient avenue for heat generation and accumulation from several heat sources including autocompression, equipment, and heat from strata. This study investigated the effects of clothing insulation and acclimation on the thermal comfort ofmineworkers who are exposed to heat in underground working environments. Several clothing ensembles have been considered to analyze the effect of the thermal resistance of clothing on the thermal comfort of workers. To investigate the impact of the clothing insulation, the thermal comfort limit of an underground miner was calculated in the form of maximum allowable exposure time for an 8-h shift. Parametric analyses were subsequently performed using an already developed thermal comfort model using MATLAB software. The results demonstrate that clothing insulation has a significant effect on the thermal comfort of mine workers. Increase in the clothing insulation decreases the maximum allowable exposure time of mine workers. This is especially true for the new and non-acclimated workers. Since acclimatized workers can tolerate a higher level of the dehydration and are capable of losing more water by sweat per shift, the maximum allowable exposure time for the acclimated workers are higher than non-acclimated workers. These analyses have shown that acclimated workers can have more continuous work per shift compared with non-acclimated workers. For example, in an environmental condition with clothing that a nonacclimated worker cannot work more than 5 h, an acclimated worker can work a full 8-h shift.

Jun 29, 2020

By Stephen Pogorski, Colin R. Phillips, Atika Khan

An optimized counting scheme for a mixture of radon daughters and thoron daughters typical of Ontario mines, developed in a previous study, was experimentally examined under mine conditions. The counting scheme requires a 10 minute sample and 5 1/2 hours counting instead of a 60 minute sample and more than 40 hours counting as required by a previous method. Taking into account the uncertainties associated with concentrations, flowrate and radioactive decay, the precision of the counting scheme was analyzed and found to be on average better than the 40 hour method.

Jan 1, 1981

By M. J. Richards

Spontaneous combustion caused by the movement of air through the waste is a major problem. Combat methods attempt to exclude oxygen rich air, but little is known about airflow through the waste. The use of a tracer gas technique to monitor the flow of nitrogen from an injection hole during inertisation is described. Correlations are drawn between barometric pressure changes and the nitrogen entering the waste. As no information was obtained about airflow and oxidation zones, a second experiment was conducted to sample from the waste, but the results were inconclusive. A finite element method developed to model the pressure and airflow distribution, under steady state and nitrogen injection conditions is outlined

Jan 1, 1987

By Lynn Salvati, Colin LaVassar, Loic Galisson, Joel Theodore, Lynette Sla

"Sound Transit’s University Link and Northgate Link projects will add 6.75 miles (10.9 km) of twin-bored tunnel to Seattle’s light rail system, extending the route north from downtown Seattle. The tunnels are being constructed primarily in glacial soils using pressurized-face tunnel boring machines. Cover over the tunnel alignment varied from 13 feet to over 300 feet (4–91 m). Since the tunnels are located in densely populated urban areas, controlling ground movements and monitoring settlement were essential to success of these projects. Hundreds of geotechnical instruments, including extensometers, surface settlement points, and near-surface settlement points, were used in both projects to monitor settlement. The observed data were compared to settlement predictions made prior to tunneling, and analyses performed to update empirical factors to better estimate settlements. Recommendations for designing efficient and cost-effective settlement monitoring programs are provided based on the review of the monitoring data and analyses.INTRODUCTIONThe paper includes data from Sound Transit’s University Link and Northgate Link projects. These projects will add 6.75 miles of twin-bored tunnel to Seattle’s light rail system. The tunneling for University Link will extend the light rail system from downtown Seattle to the University of Washington. Tunneling from downtown Seattle to the Capitol Hill Station was completed under the U230 contract, and tunneling from the Capitol Hill Station to the University of Washington Station was completed under the U220 contract. The Northgate Link extension will extend the light rail line north of the University of Washington, including approximately 3.5 miles (5.6 km) of twin tunnels between the University of Washington Station and the Maple Leaf Portal and two stations, U District Station and Roosevelt Station. Tunneling for the Northgate Link project is still underway as part of the N125 project. At the time of writing, tunneling from the Maple Leaf Portal to Roosevelt Station has been completed. Therefore data labeled as N125 in this paper only include the portion of the alignment from the Maple Leaf Portal to Roosevelt Station."

Jan 1, 2016

During foundry sand reclamation process development, molds formed from reclaimed chromite sand showed a rapid decline in tensile strength during thermal cycling tests. Because this characteristic could limit reuse of chromite sand in the foundry, the sand was examined in detail. Scanning electron microscopy, x-ray mapping, magnetic susceptibility, and x-ray diffraction were utilized to evaluate processed chromite sand. It was found that process variables such as binder composition, reclamation temperature, and processing method had a significant effect on the chromite sand particle surface. X-ray diffraction indicated a crystallographic change in the processed sands. Magnetic susceptibility also increased after processing. Diffusion of iron to the particle surface and increased surface roughness were identified as potential causes of the decreased tensile strength in the molds.

Jan 1, 1993

By N. Merriam

This report describes Koppelman's work to develop the K-Fuel® Series C Process used to dry and stabilize Powder River Basin coal. It also contains summaries of the results of bench-scale and pilot plant tests conducted to prove the Series C Process. The process is being used by the KFx-Thermo Ecotek partnership for a 500,000 ton per year commercial plant that has been constructed near Gillette, Wyoming. The plant is presently undergoing shakedown.

Jan 1, 1997

By T. J. Fenner

Surface and underground mining operations are often hindered by unknown tunnels and stopes and the precise locations of adjacent workings. Mine safety and planning are adversely affected especially in previously undermined areas where historical records are incomplete or non-existent. The results of several Ground Penetrating Radar (GPR) studies for the detection of known mine tunnels in underground coal; salt, and gold mines are presented. A case study to locate unknown, abandoned mine workings at a surface gold mine successfully located all workings to a depth of 11 meters.

Jan 1, 1992

By E. Ben-Awuah, H. Askari-Nasab, N. Al Habib

Open pit mines are getting deeper with time and transportation expenses are increasing because of the increasing haulage distance. In-pit crushing and conveying (IPCC) is getting popular in deeper open pit mines as a suitable alternative to truck haulage because it offers a lower operating cost due to shorter haulage distance and less truck requirement. Semi-mobile in-pit crusher, currently the most popular IPCC system, is relocated every two to five years and the short-term plan needs to be updated accordingly. Short-term planning with IPCC is an area of research that has not been explored extensively yet and hardly any model can generate short-term extraction sequence considering an IPCC in place. This research work proposes a mixed integer programming model to generate short-term production plan within a time horizon of 12 months. The objective of the model is to optimally allocate shovels to minimize cost of material handling and maximize revenue subject to meeting plant requirement, maximum allowable tonnage variation and IPCC location constraints to achieve production and NPV targets set by strategic plan. The proposed model has been implemented in a hypothetical case study for verification. The comparison of results between scenarios with and without IPCC is expected to justify the use of IPCC in large open pit mines from a short to medium term perspective. A semi-mobile IPCC system with one relocation is considered in the case study.

Feb 1, 2023

By J. Herhold, S. Plaum

"Current and future operational processes in the mining and underground construction sector are under the influence of the prevalent competition and the acute necessity of optimization approaches concerning corporate and project processes. Besides general construction procedures, especially underground construction procedures and procedures in the field of deep shaft construction are high-profile. Those processes describe high technical challenges as well as increased requirements to occupational safety and health. Therefor an occupational safety management, which should be adjustable to the company itself and adaptable to all kinds of projects, shall be created. The creation of such an occupational safety management would lead to an economically optimized and safe (within the scope of OSH law) implementation of internal activities for the performance of construction services underground and in the field of deep shaft construction. With this approach the satisfaction of the high safety request as well as the demand for process optimization, as part of keeping the own competitiveness, will be satisfied successfully at once. PROJECT BACKGROUND Introduction The health and safety protection as well as occupational safety look back on a long historical development, which had brought more important sectors and developments during the last years, not only in Germany but also on the European and international level. The accident insurance protected by law has already been reported in 1884, which is astonishing early. The launch time point is strongly connected with the on-going economic development in the end of the 18th century, but above all this increased in the 19th century. The progress of occupational safety and especially the interest in the integration and the concentrated consideration of occupational safety and the health and safety protection in the company process is strongly visible during the 19th century and directly connected to the industrial revolution. [9] The industrial revolution and with that the development of work places lead to changing demands in the field occupational safety and health and safety protection. Insufficient security precautions caused problems in the industrial revolution, such as personnel and material losses as well as serious injuries and their consequences. These and the fundamental economic endeavours of the entrepreneurs lead therefore to the important step to develop an occupational safety system. [9] The prevailing basic ideas seize the insufficient security precaution of work places as well as the economical and profitable ideas of the entrepreneurs and bring them together. From this the necessary entrepreneur’s task comes into being and that is bringing the work conditions to the way that life and health of employees are not in danger. [9]"

Jan 1, 2017

By Syd S. Peng

According to accident statistics (l, 2), roof fall accidents occur quite frequently at the intersections of underground? openings and account for up to 30% of the roof fall fatalities. But this figure will certainly go up considerably if roof falls not associated with any fatal accident are included in the analysis. Unfortunately, nonfatal roof falls are seldom documented. In the underground coal mines, there are two types of entry intersections. One is the three-way (V type) and the other is the four-way (T type) intersections. A three-way intersection occurs whenever the mainline track haulageway turns at an angle into a section haulageway. The four-way intersections by far the most common type in the U.S. under-ground coal mines are formed by the intersections of two entries which are oriented perpendicular to each other or by the intersections of entries and crosscuts. However, crosscuts are frequently driven at an angle to the entry to facilitate machine movements. The four-way intersections formed by this method of crosscut development are angled. At the intersection of two underground openings, the diagonal roof span is wider than the width of each individual opening. This is one of the major reasons why roof falls occur more likely at the intersections than in the entry between pillars. Consequently, special intersection support plans are usually employed (Figs. 1 and 2) for intersections. The most popular practices are to decrease roof bolt spacing 1 ft. less than or to increase roof bolt length 1 to 2 ft. longer than those employed in the entry between pillars (3). The increase in bolt length or decrease in bolt spacing can be applied to all of the bolts in the intersection or employed only for the strategically located bolts depending on the individual mine practices. These rather generalized practices seems to be adequate for some areas but in many cases inadequate for others. Occasionally, the neighboring two lines of chain pillars are staggered such that the crosscuts in one row of chain pillars face the centers of the chain pillars in the neigh-boring rows. This layout forms T-type three-way intersections which are also inadequate for most weak roofs (3, 4). A study was therefore initiated to develop special techniques for intersection supports. The first phase of the study was the analysis of the stress fields for the underground entry intersections. A three-dimensional stress analysis was necessary for this purpose. Unfortunately, the three-dimensional problems of complicated boundary conditions are beyond the existing analytical methods. The three-dimensional finite element method (FEM) was therefore employed in this study. In the analysis, square pillars of 40 feet wide and an entry height of 8 feet were assumed while entry widths varied at 14, 20 and 26 feet. This model was selected to simulate the mine where roof falls data were collected. The second phase of the study was the collection of field data. The sizes of the roof falls including heights, lengths and widths were collected and analyzed. In the third phase study, the results of the first and second phases were compared and discussed. The analysis of field data revealed an arching zone within which roof falls occurred. The arching zone above an entry obtained empirically was compared with the calculated stress contours. Assuming that the bolts must be anchored in the rock strata outside the arching zone, the preferable systems of bolting were proposed. Also the amount of pretension required to inhibit sliding between layers was discussed.

Jan 1, 1978

By Yongsik Jeong, Kwangmin Kim

Conventional tailings slurry contains a significant amount of water, and water management is key to ensuring the stability of a tailings storage facility (TSF). Simply reducing the water content in the slurry before discharging it from the mill could be an effective way to improve TSF water management. This study investigated the potential for using an environmentally friendly polymer as a new drag reduction agent (DRA) to reduce frictional pressure loss and also conserve water. It entailed conducting pipe loop tests to assess the polymer’s effect on pressure loss in tailings flow and then applying the test results to validate a numerical model using computational fluid dynamics (CFD). The model was also used to determine the polymer’s optimal concentrations at given solid concentrations and flow rates, its effect on energy efficiency for tailings transportation, and its potential for saving water. A case study for a mid-sized, hard-rock mine with a throughput of 50,000 t/day found that the solid concentration could be increased from 30 to 45% with no pressure loss by applying 1996 m3 of the polymer per day. Adding the polymer also resulted in water savings of 57,552 m3/day. The results of this study demonstrated the potential for using the new DRA not only to improve TSF stability but also to save water.

Jun 29, 2020

By Thomas E. Finch

Engineering mine design encompasses a range of situations, and each situation has its own range of detail and fineness. The most time consuming, and perhaps repetitive design situation involves evaluation of new or alternate mining methods. Many man years are consumed examing alternatives conjured up at all levels of the design team, from the number crunching engineer to the engineering manager. Many alternatives are intuitively disregarded, some are briefly evaluated and thrown out, and many others are started but not completed due to time constraints. All alternatives have similar input characteristics and evaluation procedures. In the design process, production requirements are known and equipment production capabilities are generated to determine the numbers and costs of an equipment type required to match a given situation. The end result is some comparative figure, typically cost per ton or yard upon which a decision is built. The similarity of input data and problem solving techniques lends design to computer solution. Computer aided equipment evaluation is not new to the mining industry. An existing and accepted technique is exemplified with the programs used by truck manufacturers. Given a haulage profile and production requirements, the number of anyone capacity, horsepower, tire size, gear ratio or similar characteristically identified truck can be determined. This information can be outputted in varying degrees of complexity and the results used with equally varying percentages of credibility by design or production engineers. Most engineers are willing to accept-the computer's effort with relief and a desire for belief. Although inherently more complex, the ultimate end of computer manipulation should be total mine design. This is an extremely large step in the evolution of mine design, and not many engineers, including the authors, believe the results would be directly applicable or necessarily correct. As with computer simulations of an operation, total computer design of mines requires such complex and lengthy input that each mine might be manually designed more quickly and cheaply. The existence of computer programs which initially evaluate a mining system or part of the system is upon us, however.

Jan 1, 1978

By R. J. Grace

Carbon in the form of coke is used as a reactant in various chemical and metallurgical processes, The high cost of by-product coke along with its periodic lack of availability and high investment necessary for additional by-product recovery facilities indicate the need for a low-cost production unit based on a new procedure for coke manufacture, Traveling-grate coking-stokers were developed by Shawinigan Chemicals Ltd. to produce coke required for carbide manufacture, They were adapted to kilns so that the hot volatile gases could be used for lime burning, Their operation has been described in various patent disclosures (1, 2, 3), and their application to rotary lime burning kilns has been described by Andersen (4). Details of the process and plants have also been published by Kurt Baum (5,6).

Jan 1, 1958

By L. P. Johnson

Longwall mining has gained acceptance as a safe method of maintaining coal production where conventional systems were unsuccessful or uneconomic due to bad roof conditions (Kuti8). One of the major problems confronting American operators involves the correct choice of equipment which should be selected to suit the local mining and geologic conditions for optimum productivity. To achieve this, factors such as rock strengths, local geology, panel geometry, and panel orientation must be examined to optimize production and minimize down time due to ground control problems. Little quantitative information is available in the literature regarding the effects of geologic conditions on American longwall operations, and past implementations of longwall systems appear to have been based largely on experience. When mining engineers are able to assess the geologic conditions both quantitatively and qualitatively, they can more fully optimize equipment selection and panel design.

Jan 1, 1977

By A. Warren Wilson, Hugh R. Wilson

This paper describes the evolution of the Waste Management Program at the Lupin Mine through the years 1982 - 1986. Echo Bay Mines' Lupin Mine is located on the western shore of Contwoyto Lake in Canada's Northwest Territories about 80 km. south of the Arctic Circle. The gold mine commenced production in 1982 and the Waste Management Program was based originally on the total containment concept. Due to an expansion of the mill circuitry and increased throughput, it was apparent that total containment was no longer applicable and therefore studies were undertaken to characterize the tailings, to evaluate the effectiveness of natural degradation of contaminants in the tailings pond and to determine what additional treatment steps would be necessary to meet the requirements of the mine's Water Licence. These studies indicated that arsenic and cyanide concentrations in the tailings pond decant water would not meet Water Licence discharge limits unless certain measures were under taken. As a result of this work, in late 1984 a decision was made to create a two-ponds-in-series system and the necessary civil work was started in 1985. In addition, a series of dykes were constructed to contain the solids portion of the mill tailings in a confined area of the first pond. To remove cyanide, the ponds are operated in a sequential fill and decant mode to take maximum advantage of natural degradation. For arsenic removal, a chemical feed system was constructed for iron salt addition to the decant stream from the first to the second pond. Decanting of the ponds is accomplished by means of a series of 500 mm (20 inch) Sclairpipe syphons.

Jan 1, 1987

By James M. Neilson

In contrast to the rather generalized title of this paper, the subject of discussion will deal with two specific cases of sliding in glacial lake clays in northern Michigan. The slides in question occurred on lands owned by the Upper Peninsula Power Company a short distance south of Lake Superior. Slope failure problems have plagued the Company's operations for many years. It is hoped that this paper may provide some insight into the causes and possible mechanisms of clay slides in general as well as providing details of the two slides specifically cited. LOCATION The Upper Peninsula Power Company's Victoria facilities lie in section 29, T. 50 N., R. 39 W., in Ontonagon County, Michigan. The power site is situated on the West Branch of the Ontonagon River, approximately five miles southwest of the town of Rockland and only one mile to the southeast of the old mining location of Victoria. The area lies wholly within the Precambrian Shield and it is geologically similar to adjacent parts of Wisconsin, Minn¬esota, and Ontario. (Figure 1). THE VICTORIA HYDROELECTRIC SITE The Victoria hydroelectric power facilities were constructed in 1930 on a portion of the West Branch where meanders are conspicuously developed. The generating station is actually sited on an abandoned meander at a place where valley widening has occurred. Water is conducted from Victoria Dam through a 6000-foot, 10-foot diameter wood stove pipe - through a surge tank - and into the powerhouse where

Jan 1, 1971

By Yuemin Zhao, Daniel Tao, Rick Honaker, Maoming Fan

"Froth flotation is the most widely used method of separating fine coal, especially coal with coking properties. However, froth flotation is not efficient for treating ultrafine coal and coarse coal particles. Our previous fundamental test results demonstrated that cavitation-generated nanobubbles around 700 nm in diameter can significantly improve coal and phosphate flotation performance over a wide particle size range. In this study, the effect of nanobubbles on the flotation performance of different particle size fractions of coal was investigated using a bank of 10-L flotation cells, a specially designed 50-mm inside diameter column and a 152-mm inside diameter column. It was found that nanobubbles that were either directly formed on or subsequently attached to the surface of coal particles during the froth flotation process improved flotation efficiency. The use of nanobubbles in a bank of mechanical cells flotation and column flotation significantly increased the flotation recovery at a given product grade. Nanobubbles increased the flotation rate constants of different coal particle sizes. The presence of nanobubbles in flotation slurry could extend the lower and the upper particle size limits for effective coal flotation.IntroductionFor minus 0.6 mm fine coal or minus 0.15 mm ultrafine coal particles, froth flotation is known to be the most efficient and the most cost-effective separation technique. However, flotation efficiency decreases sharply with ultrafine and relatively coarse coal particles. Studies have shown that the low flotation efficiency of ultrafine particles is mainly due to the low probability of bubble-particle collision (Yoon et al., 1989; Ralston and Dukhin, 1999). Enhanced flotation of fine and ultrafine coal can be achieved by increasing collision and attachment probabilities.The top size of particles that can be recovered by flotation depends on the combination of mineral properties and flotation devices. Turbulence in flotation devices is an important factor that affects the stability of bubble-particle aggregates. Even in the flotation of fine particles, bubble-particle detachment can significantly influence the kinetics of flotation taking place in mechanical cells, which provide intensive turbulent agitation (Deglon et al., 1999). Coarse particle flotation is more difficult, because increased agitation is required to maintain particles in suspension and coarse particles are more likely to detach under turbulent conditions (Mankosa and Kohmuench, 2002; Soto and Barbery, 1991). More efficient attachment of particles and improved flotation rate has been observed when tiny bubbles coexist with conventional-sized flotation bubbles (Attalla et al., 2000; Tao et al., 2010; Fan et al., 2010a, b, c, d; Fan et al., 2012)."

Jan 1, 2015

By M. Yekeler

The critical surface tension of wetting values (Ye) of realgar (AsS), talc [Mg3si401o (OH) 2]' stibnite (Sb2S3), and sulfur (S) were determined by flotation in the absence of conventional flotation collectors as 38.7, 38.0, 35.5, and 30.0 dyne/cm, respectively. The surface tensions of flotation media were arranged by methanol. Separation of binary mixtures of these minerals was performed exploiting their Ye differences-which form the basis of the "ganuna flotation process". One step flotation test showed that sulfur floats preferentially from its mixtures with realgar and stibnite at recoveries of 73.6 and 70.7 % and grades of 81.7 and 91.2 %, respectively. The separation of stibnite from realgar gave a recovery of 4.1 % and a grade of 41.2 % for stibnite, indicate that a minimal Ye difference of 3.6±0.2 dyne/cm is essential for such separation when conventional flotation reagents are not used. This paper presents data and describes the approach employed in these separations.

Jan 1, 1994

By Raymond L. Jones

With the inauguration of the open pit operation in Bagdad, plans were formulated for a large scale leaching operation. Dump stockpiling was started almost immediately, but actual production was not initiated until the spring of 1961. Like all neophytes, we started something about which, on a commercial scale, we knew next to nothing, either dump preparation or leach procedure, and as a consequence, we are still paying the piper. True, we had been through an extensive laboratory pilot program, but it soon became apparent that there was considerably more to increasing solution volumes than simple multiplication. Had we initially possessed our present acumen, the Cyprus Bagdad plant could be operated more efficiently and at a better profit. During the past several years, the art of dump leaching of copper has improved in many ways, primarily because of the application of scientific principles gleaned from general mining practice. Rigid pH control and the use of atomic absorption techniques for rapid," accurate assaying have probably played a leading role in this respect, although we cannot overlook the other sophisticated electronic controls lending improvement to acid addition and pumping, better piping materials, and lastly, the more efficient use of our pregnant liquors. Thin too, the years of experience have given us a greater understanding of dump behavior in general; and, we can, to a greater extent, measure, predict, and avoid some of the idiosyncrasies inherent in every dump. However, it is my firm belief that we will still be confronted with unexplainable dump behavior as long as we are involved in leaching. We have found our dump to be a wonderful money bank, but one that is capable of yielding a wildly fluctuating profit.

Jan 1, 1975