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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 Wu Aixiang, Zhou Qian, Zhou Zaibo, Liu Juanhong, Wang Hongjiang

To improve the pumping capacity and engineering efficiency of fresh thickened tailings slurry, a high charge density superplasticizer was developed to improve the rheological properties of tailings slurry. The effects of superplasticizer content, the concentration and fineness of tailings, the proportion and type of cementitious materials, temperature, and hydration time on the rheological properties of unclassified tailings slurry and backfill materials were studied. The variation characteristics of the slurry yield stress, plastic viscosity, and thixotropy with different factors were measured by a Brookfield R/S-SST plus rheometer. The experimental results of fresh thickened tailings illustrated that the higher the concentration of the slurry and the finer the tailings, the worse the rheological properties of the slurry. The results of cemented paste backfill materials indicated that the rheological parameters increased as binder content and time increased. The rheological parameters decreased as the temperature increased. The addition of a superplasticizer reduced the rheological parameters and improved the rheological behavior of the fresh thickened tailings and cemented paste backfill materials, which was beneficial to the slurry’s pipeline transportation. This paper can provide technical guidance for slurry transportation in the backfill system and provide a reference for designing the superplasticizer used in tailings.

Jan 5, 2022

By William E. Bonini

Gravitational field anomalies have been observed over many igneous intrusives of medium (4000 km2) to small (100 km2) size in outcrop area. These studies give good results because the residual anomalies can be separated from larger scale crustal anomalies and density contrasts usually are present. Although unique solutions are not possible, the analysis of the gravity anomalies can put limits upon the geologic interpretation of such bodies. Three examples in Montana, U. S. A. are discussed: (1) the Boulder Batholith, a late Cretaceous quartz monzonite series of intrusives of 4000 km2 outcrop area; (2) the Little Rocky Mountains, an up-domed area, in which an Eocene porphyry (130 km2) has intruded the Precambrian crystallines and lower Cambrian sediments; and (3) the Crazy Mountains, an Eocene diorite (100 km2), which has intruded the Paleozoic and Mesozoic sediments. In both the Boulder Batholith and the Little Rocky Mountains, intrusive rocks are less dense than the surrounding rocks and negative anomalies are found (40 and 28 mgal, resp.). In the Crazy Mountains, the intrusive is more dense than the surrounding sediments and a sharp positive residual anomaly of 42 mgal is observed. The analyses of the gravity anomalies predict that: (1) the thickness of the Boulder Batholith is on the order of 10 to 15 kms and is concave upward; (2) the Little Rocky Mountain syenite is not a simple laccolith, but is T-shaped and extends in depth to about 16 kms; (3) the Crazy Mountain diorite is not a simple small scale series of stocks, but a large connected body extending in depth 5 kms to the basement (although nothing can be said of it within the basement because there is little density contrast). The analyses of the anomalies place important limits on both the areal and depth extent of the intrusive bodies. Of all possible geophysical techniques, gravity studies offer the most promise in the determination of the shape in depth of intrusive bodies.

Jan 1, 1969

By A. Singh

"Considering the dominant role of fertilizers in global phosphate production, it is evident that with the ever increasing development in agriculture there will be a growing demand for phosphate beneficiation. With the rapid depletion of high quality reserves, investigations into more complex and lower grade ore bodies are required. The Minerals Processing Division at Mintek has been involved in process development and flowsheet design projects on phosphate resources since 2003. This paper will discuss the processes that Mintek has explored and employed to upgrade various phosphate ore bodies (>30% Phosphorous Pentoxide (P2O5)) in preparation for end user application. These are aimed at an improved understanding of ores in terms of their varying mineralogy and the development of appropriate process routes to meet product specification. OVERVIEW OF MINTEK Mintek is a state owned science council that undertakes R&D, consulting and sells products and services into the minerals beneficiation industry. Mintek has been in existence for 83 years with a current permanent staff complement of 750 of which 300 are professionals with a tertiary education. Being a non-profit organisation, the majority of funding comes from state grant and earmarked funding. All research is needs-driven exploring innovation through technology and process optimisation trends. Owing to a solid base of expertise, extensive laboratory and pilot facilities, and a historical database of knowledge, Mintek is well positioned and equipped to execute projects on a scoping, feasibility, prefeasibility and bankable level. USES OF PHOSPHATE Phosphate is the component in fertilizer essential for root and stem development in plants as well as rejuvenation of harshly depleted soil for which there is no agricultural substitute. Phosphate rock is essential for global food security with 87% used in the production of fertilizers. In agriculture as fertilizer, phosphate is one of the three primary plant nutrients in addition to nitrogen and potassium. In former times, it was simply crushed and used as is, but the crude form is now only used in organic farming. Normally it is chemically treated to make Single superphosphate (SSP), Triple superphosphate (TSP), or Mono-ammonium phosphates (MAP) and Di-ammonium phosphates (DAP), which has a higher concentration of phosphate and is more soluble, thus more suitable for plant absorption."

Jan 1, 2018

By Donald C. Wotring, Douglas A. Gabriel, Michael G. Vitale

"The Northeast Ohio Regional Sewer District (NEORSD) recently completed the 24-foot diameter Euclid Creek Tunnel using a steel-fiber reinforced concrete segmental lining. During construction HMM, the McNally/Kiewit JV, CSI/Hanson JV, and the NEORSD performed a test program to evaluate replacement of steel fiber with synthetic fiber. A section of synthetic-fiber-reinforced cast-in-situ lining was also placed as part of the permanent works for the starter and tail tunnels. Laboratory and field testing were performed on two complete segmental rings reinforced solely with synthetic fibers. This paper summarizes the testing program, construction, and results of the synthetic-fiber-reinforced CIP lining and concrete segments. INTRODUCTION The principal feature of the Euclid Creek Tunnel (ECT) project is a CSO storage tunnel that is one component of the Northeast Ohio Regional Sewer District’s (NEORSD) Easterly CSO storage and conveyance system. The tunnel, shafts, and appurtenant facilities will be used for the collection and storage of CSOs from the northeastern part of Cleveland, Ohio and subsequent conveyance to the NEORSD’s Easterly Wastewater Treatment Plant for treatment. The ECT project includes five drop shafts that extend as deep as 220 feet below the ground surface. The ECT alignment and shaft locations are shown in Figure 1. Traditionally in northeast Ohio, tunnel excavations were supported with a two-pass system using steel ribs and timber lagging, followed by cast-in-place concrete. Control of rock overbreak proved difficult with large-diameter two-pass operation, and invert degradation led to train derailments. To mitigate these risks, the ECT was supported using one-pass, precast, bolted, gasketed concrete segments reinforced with steel fiber alone. Tunneling operations were very successful and experienced no significant delays or claims. As a result of the positive ECT experience with steel fiber-reinforced segments, Hatch Mott MacDonald, LLC (HMM), McNally/Kiewit (MK) joint venture, CSI/Hanson (CSI/H) joint venture, and the NEORSD performed a test program to evaluate replacement of steel fibers with synthetic fibers in segmental rings. This paper presents the laboratory and field testing program, construction, and results of the synthetic-fiber-reinforced cast-in-place (CIP) lining and concrete segments."

Jan 1, 2016

By Keith Whitworth

The USSR, over the last 20 years, has continued to increase its out-put year by year and it is now almost four times what it was at the end of the Second World War. In 1975, it exceeded 700 million tons of run-oi-mine coal (all ranks) which amounts to over 20 percent of world output. This rapid progress has been due to modernization of the industry, by means of increased mechanization and automation and the development of new machines and systems for underground workings and by the expansion of open-pit workings and the development and implementation of larger earthmoving machines.

Jan 1, 1977

By S. G. Britton

Microcomputer analysis has long been a technique for engineering professionals to improve the theoretical and practical design of continuous mining systems. Such work has been typically composed of modeling observed events and then introducing a variety of known elements with predicted results to compare against the results of the model. Programs written in BASIC, Cobol, Fortran, or other language dominated such efforts. These programs have taken years to develop and prove out. This paper explores a new management tool used at TMC on a daily basis to track and improve continuous mining systems through the use of microcomputers and Lotus 1-2-3 software. By analyzing data provided by section foreman, shift foreman, and maintenance personnel against predetermined goals, new production targets are developed, weaknesses in the current mining systems are identified, and the results of changes are measured. The results of this system on the productive output of TMC systems are on the order of ten percent improvement.

Jan 1, 1991

By V. Herman, B. Knorr, D. Whalen

"Edge effect is a condition widely observed in High Pressure Grinding Roll (HPGR) operations that gives rise to reduced comminution at the edges of the roll surfaces. This effect is caused by a reduction in the local crushing pressure at the edges of the rolls resulting from the sliding friction between the static cheek plates and HPGR feed material. Practically, this has an impact on equipment sizing, as the edge effect leads to coarser particles reporting to downstream equipment in open-circuit operations and increased circulating load and diminished HPGR circuit capacity in closed-circuit operations.To address this, Metso's HRC™ HPGR incorporates an Arch-frame to maintain a parallel relationship between the rolls and allow for the use of a flanged roll design. We conducted a series of pilot-plant tests with a 750 mm by 400 mm HRC HPGR to compare the performance of the flanged roll design against that of a traditional cheek plate arrangement under similar operating conditions. The edge effect was found to be significantly reduced with the flanged roll design. Based on the pilot-plant results, the implications for circuit design, energy efficiency and overall plant performance in a full-scale application were investigated and discussed.IntroductionGlobal trends such as lower ore grades and rising operating costs are driving the market toward more energy-efficient mineral processing solutions, most notably in comminution circuit design. High pressure grinding rolls (HPGRs) have been recognized as an energy-efficient solution relative to more conventional circuit designs. The basic operating principle of HPGRs, in which a fairly uniform pressure is applied to a bed of material in the compression zone, lends itself to this improved energy efficiency (Morley, 2006). Studies have estimated that savings of 10-15 percent are possible when comparing an HPGR circuit with a traditional SABC circuit (Rosario and Hall, 2008). While HPGRs offer a more energy-efficient solution than tumbling mills, there is still room for improvement in many aspects of the design. Edge effect, in particular, is one such aspect that limits the effectiveness of the machines. Edge effect is the impaired performance at the edge of the rolls due to a reduction in crushing pressure (Morley, 2010; van der Meer, 2010). As described in our prior work (Knorr, Herman and Whalen, 2013), edge effect is caused by the interaction between the ore entering the crusher and the relatively static cheek plates positioned at the edges of the rolls. As the material is drawn into the crushing zone, the sliding friction between the ore and the cheek plates inhibits the ability of material to be effectively drawn into the compression zone at the edges of the rolls. This reduces the crushing force in those edge regions relative to the center of the roll where material is being drawn into the compression zone at a higher rate. In addition, the cheek plates of a traditional HPGR design are held in place by spring-loaded brackets that are adjustable to manage the clearance. This spring-loaded cheek plate design prevents full compression of the material in the edge regions of the roll as there is relief at the outer edges."

Jan 1, 2016

By Joseph B. Novak

In the last decade or so, the importance of effective preventive maintenance controls and practices has taken on a new and accelerated emphasis. Advances in technology and changes in equipment and product designs impose more precise and demanding standards of quality, productivity and customer service at a very rapid pace. Daily, it is becoming more apparent that in order to fulfill current requirements, existing manufacturing practices and associated control programs must also be upgraded and expanded. This is particularly true in the field of maintenance services. As production and quality standards become more demanding, effective equipment maintenance takes on more importance and becomes more difficult to sustain. In modern plants, the failure of a single equipment component can shutdown a complete production line causing interruptions to operating and shipping schedules that result in costly downtime, dissatisfied customers, and reduced profits. These costly experiences can be minimized with an effective maintenance program that provides maximum equipment reliability and minimum downtime and readily adapts to revision and change. A significant feature of an effective program is the provision of controls over activities generally identified as

Jan 1, 1971

By Robert Stefanko

The results of a recent study on the influence of continuous and conventional mining techniques on the size consist and wash- ability characteristics of coal are presented. Eight samples, four each from continuous and conventional mining sections were collected. Each sample was screened in seven size fractions, and each size fraction was totally fractionated at five gravities. The data thus collected was statistically examined for the influence significance of mining techniques, size, and gravity on the quality of the mined product. The paper presents the sample collection method, data gathering and analysis procedures, and major conclusions. The study revealed that there are pronounced differences in the products from the two mining systems and that conventional mining yielded a better product in terms of size-consist, and yield, ash, and sulfur in both the raw and washed products. The results of the study are significant in regard to consideration of resource utilization and conservation, and environmental impacts.

Jan 1, 1974

By Thomas J. Wright

The evaluation and development of the Eastern North Carolina phosphate deposit resulted in one of the world's largest and most modern phosphate mines and fertilizer complexes at an investment in excess of $90,000,000. The resulting ore beneficiation process showed excellent correlation with pilot plant data. A number of variations from current industrial practices were introduced and projected from bench scale tests through pilot plant to production. Principal among these variations were the following: 1) removal of magnesium by classification, 2) simultaneous flotation of coarse and fine phosphate, 3) the use of saponified fatty acid, 4) utilization of filter wash water for deoiling, 5) utilization of a rougher concentrate for acidulation, 6) calcination of flotation concentrates, and 7) elimination of grinding prior to the manufacture of phosphoric acid.

Jan 1, 1971

Although grinding mill liner life has been the subject of extensive studies, evaluation of the effect of liner design on power consumption, a far more significant part of total grinding costs, has been less comprehensive. The factors that effect ball mill energy efficiency are reviewed, and attention is then focused on the mechanisms of grinding. The trajectory of the outer row of balls, with different lifting face angles, is derived, and basic recommendations for mill speed and liner configuration are presented.

Jan 1, 1981

By Shaoyang Yan, Xinming Chen, Huazhe Jiao, Huaibao Chu, Chang Wang

In terms of the technical problems of rib spalling in large mining height coal face, a long-distance advanced pre-grouting layer flexible reinforcement technology is proposed in this paper. Based on the mechanism and failure mode of rib spalling in the coal face, the mechanical properties of the aluminum plastic composite pipe were analyzed by using the tensile and compression experiment. The deformation and strength characteristics of “flexible pipe + grouting” specimens were studied by uniaxial compression test, splitting test, and shear test. The UDEC numerical simulation software was used to simulate the reinforcement effect of “flexible pipe + grouting” at different positions. Combined with the field application, the feasibility of long-distance advanced pre-grouting layer flexible reinforcement technology was verified. The test results show the following: The coal face has the characteristics of brittle and large deformation. The aluminum plastic composite pipe has the characteristics of good elongation and tensile strength, which can endure the large deformation of the coal face. The “flexible pipe + grouting” can improve the tensile and shear strength of coal. The UDEC numerical simulation analysis indicated that the grouting hole layout of “flexible pipe + grouting” has a significant difference in the reinforcement effect of the coal face. Compared with single row grouting reinforcement, the reinforcement effect of double row grouting holes 1.5 m and 3.0 m away from the roof is better. According to the field application, it is feasible to use aluminum plastic composite pipe as a flexible grouting pipe to reinforce coal seam with 80–100 m long-distance pre-grouting. Long-distance advanced pre-grouting layer flexible reinforcement technology can improve the daily production of coal and reduce the support cost of the coal face. As a new method of reinforcement, long-distance layered flexible reinforcement has a significant effect on the prevention and treatment of rib spalling in large mining height coal face.

Sep 27, 2022

By M. Peters, P. Schmäh

The development of renewable energies and a sustainable power grid are the challenges for future energy supply. Underground cables will replace the vulnerable overhead lines, because of their safety benefits. Due to the public environmental awareness, smart tunnelling and trenchless solutions are required for inner-city and cross-country installations of underground cables, as well as for crossings and the landfall sections to connect offshore wind farms to the transmission grid. Methods from the tunnelling and pipeline industry provide a high flexibility in the planning of alignments, including versatile tunnel concepts and the installation of protective pipes with E-Power Pipe and Direct Pipe.

Jun 13, 2023

By Ernest L. Ohie

In 1939 the Geological Society of America published a summary of the geology of the ore deposits of the Mississippi Valley region, This volume, edited by E. S. Bastin, contained contributions from the foremost students of the area which described theregionalgeologic setting of the various deposits as wel as the detailed geology as then known. The various ideas as to the origin of the ores were discussed with the general, though not unanimous, conclusion that the deposits were hydrothermal products, Only those deposits in the immediate Mississippi Valley area were considered without any attempt to introduce evidence from other districts generally accepted as being of the "Mississippi Valley type." Since 1939, much new information has come from extended studies of two of the important districts described in the 1939 report andimportant extensions of the known ore have been found. Likewise, concentrated geologic efforts have been fruitful in severa "Mississippi Valley type" districts - both U. S. andforeign - not treated in the 939 paper. The wealth of new field information on the structural and stratigraphic relations of this interesting ore type, coupled with the results of theoretical and laboratory studies of the past 18 years, makes desirable a review of our present knowledge and interpretation of these important deposits which for many years have yielded over 20 percent of the world's annual production of lead and zinc, together with large amounts of fluorspar and barite. No restatement of the details of the geologic evidence willbe attempted here; the interested student is referred to the papers cited. Slide No. 1 shows the distribution around the world of the deposits under consideration. A principal thesis of my remarks is that there is so much similarity in all these deposits that it seems necessary for all of them to have had a similar mode of origin, whatever that may be. Variations in the shape, size and mineralogy of the orebodies give each district some individuality, but there are enough of the "typical" characteristics present in all cases to make classification in the "Mississippi Valley type" agreeableto most geologists. Thus the overall process giving rise to the ore solutions surely was the same for all in the group. Either they all have igneous affiliations or they all do not. Acknowledgment of this kinship between deposits in the various districts offers many advantages in trying to arrive at a decision as to just what the origin may have been, for the amount of guiding and limiting evidence which must fit into the hypothesis is greatly increased over that available in any one district, To a certain extent this was recognized by the authors of Special Paper 24 in treating all of the immediate Mississippi Valley areas together; by expanding the consideration to include ore deposits of this type all over the world the changes of success, i.e., arriving at the correct answer, are improved several fold. Since most of these districts are quite simple structurally, a number of hypotheses might fit the facts in any one of them, but if the facts to be met can safely be drawn from all the districts, then the explanations which will fit all the data are much less numerous. One purpose of this paper is to call attention to the field facts that have been reported from the .various areas which seem to have an important bearing on the kind of ore fluid that was responsible for the ore and on the way it circulated.

Jan 1, 1958

By L. Yuan, J. H. Rowland

"In 1995 and 2003, the U.S. Mine Safety and Health Administration (MSHA) conducted surveys to determine the number of atmospheric monitoring systems (AMS) that were being used in underground coal mines in the United States. The survey reports gave data for the different AMS manufacturers, the different types of equipment monitored, and the different types of gas sensors and their locations. Since the last survey in 2003, MSHA has changed the regulation requirements for early fire detection along belt haulage entries. As of Dec. 31, 2009, point-type heat sensors are prohibited for use for an early fire detection system. Instead, carbon monoxide (CO) sensors are now required. This report presents results from a new survey and examines how the regulation changes have had an impact on the use of CO sensors in underground coal mines in the United States. The locations and parameters monitored by AMS and CO systems are also discussed.IntroductionThe last survey conducted by the U.S. Mine Safety and Health Administration (MSHA) on atmospheric monitoring systems used in underground coal mines in the United States was in 2003 (Francart, 2005). A total of 146 active mines were surveyed. The survey report states that since 1995 there had been a steady increase in the use of atmospheric monitoring systems in underground coal mines as the technology of carbon monoxide (CO) sensors was improved by manufacturers. Atmospheric monitoring systems had become more reliable, and some CO sensors could be purchased with the capability to discriminate between the CO produced by a fire versus CO produced by diesel equipment. This increase in reliability had reduced the number of false alarms and the response time. The faster response time to a developing fire allowed miners to take the necessary action to put out the fire or exit the mine.At the time of the last MSHA survey, some mines still used point-type heat sensors to detect the presence of a fire on conveyor belts. This detection method works by measuring the temperature of the air around the sensor. As a fire starts to develop, smoke and hot gases are produced from the combustion process, and the air is heated up. Once the air and gases reach a designated temperature detected by the point-type heat sensor, a fire alarm signal is generated. Studies have shown that the response times for detecting the presence of a fire using CO sensors are much shorter than when using point-type heat sensors (Conti and Litton, 1995)."

Jan 2, 2018

By VIVEK KASHYAP, EVODY TSHIJIK KARUMB, PATRICK TAYLOR

Zinc ferrite is considered an integral phase of zinc residues as their presence can render the processing of zinc and critical metals difficult. It is a refractory phase, formed at high temperature in the presence of zinc (Zn) and iron (Fe) during oxidative roasting in zinc processing plants. Because it is refractory to efficient leaching, unreacted zinc ferrite gets concentrated in the final zinc residue, making it a viable source of zinc and indium extraction. The refractory nature of zinc ferrite makes the extraction of associated critical metals difficult. In order to explore a potential economic and carbon-neutral zinc ferrite processing technique, our previous study proposed the partial reduction of zinc ferrite followed by sulfuric acid leaching of the roasting product [1-3]. As demonstrated in our previous studies, partial reduction of zinc ferrite results in a mixture of ZnO, Fe3O4 and FeO, which can be further subjected to leaching for efficient extraction of zinc and critical metals such as gallium and indium.

Dec 1, 2022

By J. Leonard Frame

A coal-fired fluidized bed combustion (FBC) system will be installed at the Owatonna Tool Company, Owatonna, Minnesota. Two FBC combustors will burn solid fuels: coal, petroleum coke, and wood and paper wastes. Crushed dolomitic limestone will be used to control sulfur emissions to EPA limits. The combustors will supply indirectly heated hot air and hot water for paint drying operations, washing processes, and space heating. The program is sponsored by the United States Department of Energy and the Owatonna Tool Company, and is one of five programs designed to demonstrate industrial applications of coal-fired fluidized bed equipment. The paper will describe the combustion system and the results of development tests with dolomitic limestone for sulfur emission control.

Jan 1, 1978

By Alper Kirmaci, Taghi Sherizadeh, Dogukan Guner, Samuel Nowak, Khaled Mohamed, Morgan Sears

Coal ribs present a major safety hazard in underground mines, and there is currently no unified approach for their design in the United States. To tackle this issue, this study investigated the stability of underground coal pillar ribs under development load. Utilizing over a thousand 3DEC models, a framework for calculating coal pillar rib rating (CPRR) was developed. A detailed step-by-step method was outlined for computing the CPRR based on a 3DEC analysis, which was then validated with various 3DEC models, demonstrating a strong correlation between the two models. The results demonstrated that the rib factor of safety (RibFOS) under development load is directly proportional to CPRR, coal mine roof rating (CMRR), and floor strength, and inversely proportional to the overburden depth and rib height. Moreover, a regression equation was formulated to predict the RibFOS based on the aforementioned parameters. Furthermore, empirical relationships were developed between the RibFOS and the applied primary rib support density (PRSD) in U.S. coal mines. To ease the calculations, a stand-alone application, Design of Rib Support (DORS), was developed. This application can be used to assess rib stability and easily calculate CPRR, RibFOS, and PRSD.

Jul 1, 2023

By Guy T. McBride

Mr. Chairman, Fellow Keynoters, Ladies, and Gentlemen: It is purposed to consider the theme of this meeting, "The 1970's - Pivotal Decade for the Mineral Industries," from the particular -- some would say peculiar -- point of view of one engaged in mineral engineering education, and this coign of vantage prompts the textbookish subtitle, "Problems and Solutions (?) in Undergraduate Mineral Engineering Education." Three interrelated problems, or problem areas, will be presented and discussed, and where solutions seem to be emerging or seem worthy to be suggested, they will be identified. The three problems are: 1. The goals, and therefore the course requirements, of the undergraduate curricula are in question, 2. The unit costs of undergraduate education appear excessive to those who bear the charges, and 3. The social ambience of the day affects for the worse the work attitudes and the career motivation of both prospective and in-course students. The Need. - Any discussion of these problems must bottom upon recognized national needs for minerals and a technologically sound minerals industry staffed by competent engineers, particularly at the exploration, development, and production levels, Fortunately, these needs have been recognized and to some extent quantified, and they are even now under further intensive study by some of the most competent members of our society and profession. The latter reference is, of course, to the current work of the National Commission on Materials Policy (U.S.A.) under the executive directorship of Dr. James Boyd. Predating this, and perhaps to some extent

Jan 1, 1972