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By J. Nsasi Bakambu

This paper describes an autonomous platform for exploration and navigation within networks of tunnels, as those typically found in underground mines and caves. In the exploration mode, a remotely located supervisor instructs the platform to move through successive sections of the network, gathering range data that is, then, concatenated into 2D/3D survey maps of the environment. In the navigation mode, the supervisor specifies high-level missions on the previously acquired survey maps. A motion planner, then, translates each mission into a set of consecutive navigation actions, separated by natural landmarks. Mission execution consists of detecting landmarks, self-localizing and performing the planned navigation actions.

May 1, 2003

By V. Polotski

This paper describes a platform for autonomous operations in open pit mining environments. A typical operation consists of: (1) Initial locomotion toward a remote worksite; (2) Pattern navigation within the worksite; (3) Worksite manipulations and (4) Return locomotion to the start location. The platform includes precise localization module based upon the fusion of odometry, inertial and GPS measurements. The guidance module starts from a set of way points specified on a GPSreferenced map and plans and executes the mission. A typical mission includes specified manipulative tasks along the navigation path. During motion execution the on-board system continuously verifies that the path is free of obstacles and that the hardware is not overloaded. Momentary losses of external positioning measurements does not adversely affect the performance, owing to the redundancy in position and heading estimation. A rehearsal phase follows planning and allows the supervisor to examine the kinematic behavior of the platform during motion, thus reducing the need for continuous monitoring during execution and providing protection against potential losses of communication.

May 1, 2003

By Juliana Parreira

The past decade shows record increases in global demand for minerals and metals with an accompanying significant decline in skilled personnel. Mining companies today are examining new technologies to maximize production, reduce costs, and create safer work conditions to deal with this shortfall. Automation of an open-pit mine haulage system is receiving attention as a beneficial option since it provides more consistent and efficient operation of mining equipment, it removes workers from potential danger, it reduces fuel consumption significantly reducing greenhouse gas (GHG) emissions, and it can help optimize vehicle repairs and equipment replacement because of more-predictable and better-controlled maintenance. This paper describes a simulation model under development using the EXTENDSIM software package to examine scale-up issues and constraints of autonomous vehicles in comparison to a manual system. The software can predict and manage Key Performance Indicators (KPIs), such as productivity, safety, cost, equipment failures, fuel consumption, and tire wear under different road and load conditions. By breaking-down the various systems of an autonomous haulage truck and simulating the overall haulage system using a Monte Carlo approach, the model becomes a flexible and powerful tool to use within a mining organization. Direct comparison to a manuallyrun system can be done to show the cost and operational benefits of automation. Project managers can use this tool to guide decision-making about possible application of autonomous haulage trucks at a specific mine site.

May 1, 2010

By Charles A. Lindberg

Mobile cranes on tires are perhaps the most important accessory in truck-haulage pits. They usually are of 20-ton capacity at short radius and with outriggers but have considerable overload capacity. Standard booms are 30 ft but have 10-ft extensions with which they are usually operated. Cranes have two engines, both originally gasoline, but 150-hp Diesel engines have been found more reliable for the propulsion motor, the 100-hp gasoline motors being retained for hoisting. Pro- visions are made for dropping the ballast counter- weight to reduce axle weights to legal limits for highway travel. The weights are carried on a regular truck or are transported on an extra trailer axle behind the crane. Tractors-Probably equalling the cranes in usefulness are the track-laying tractors which are used to prepare roads and other surfaces, to clean up at the shovel, and for dozing on stripping dumps. A new type of tractor mounted on rubber tires has been tried out on the Mesabi Range for the past year and a half. The advantage of this design is its mobility which makes it capable of taking care of the spill at the shovel and then running to the dump to clean up. Alternating between these two jobs, it relieves heavy tractors that can be used to better advantage on heavier work that does not require so much traveling. This tractor can travel at speeds of 12 to 13 mph and is designed to facilitate repair of the expendable parts. Weaknesses have developed in the internal construction which have seriously marred the performance record of this unit, but when used within its capacity it is quite successful.

Jan 1, 1949

By Christopher J. Vise

Although production operations at mines, representing the extraction and removal of the mined material, often appear to receive the greatest amount of attention, the emphasis given to auxiliary operations is continually increasing. This is due to the changing economic, social, and environmental climate in which modern mines must operate. Auxiliary operations can best be described as those activities that are not directly related to the extraction and removal of the mined material, but must receive proper attention if recovery is to take place in a safe, efficient, and socially responsible manner. In fact, certain mining auxiliary operations, such as strata control and ventilation, are considered to be of such importance that they warrant separate sections in this Handbook. Judging from a mine-personnel standpoint, it is not uncommon for a mine to hire the same number or more individuals responsible for auxiliary operations as the number assigned to production.

Jan 1, 2008

By Kurt Tischler

This paper presents the field experience of Siemens with regard to Gearless Drives in the mining industry ? We consider the elapsed production hours of Siemens Gearless Drives to be extensive enough to provide a reliable estimation of availability calculated on the basis of data representing repair time, downtime, and operating time. The users of Siemens Gearless Drives confirm an availability of more than 98% after exclusion of some major issues. The paper addresses all of these major issues of Siemens Gearless Drives, describes successfully applied corrective measures, explains the influences on the design of the drives, and lists the downtimes associated with each of these issues.

Jan 1, 2012

By Todd Kennedy, Kurt Tischler

"This paper presents the field experience of Siemens with regard to Gearless Drives in the mining industry … We consider the elapsed production hours of Siemens Gearless Drives to be extensive enough to provide a reliable estimation of availability calculated on the basis of data representing repair time, downtime, and operating time. The users of Siemens Gearless Drives confirm an availability of more than 98% after exclusion of some major issues. The paper addresses all of these major issues of Siemens Gearless Drives, describes successfully applied corrective measures, explains the influences on the design of the drives, and lists the downtimes associated with each of these issues. INTRODUCTIONThe first Siemens Gearless Drive in mining began operation in 1980 and was installed on an iron ore grinding mill. As of September 2011, 40 Siemens Gearless Drives will have accumulated 136,000 machine days of operating time. According to pure rules of statistical analysis, this accumulated operating time may be too low to be used for a sample of field data to provide precise statistical values of availability, however we consider it large enough to provide indicative values of worthwhile consideration. This paper deduces the availability statistics of Siemens Gearless Drives in the mining industry from information received from end users and factors in all major issues that Siemens has experienced with our Gearless Mill drives. This paper does not consider Gearless Drives in other industries such as the cement industry. The cement plants, especially in the northern hemisphere, interrupt production for several months in the winter. This lengthy downtime is used to maintain the complete plant including the mills, their motors and their drives. The mining industry has more stringent and higher production requirements. In the mining industry, production must run 24 hours per day, 365 days a year."

Jan 1, 2012

By Charles L. Kimbell

The concept of data availability must be addressed, because there are perceptible changes from year to year, and the availability of accurately reported, precisely defined statistics and nonstatistical information provides the only sound basis for analytical studies required for government policy planning or industry market analysis. As the countries of Eastern Europe and the former U.S.S.R. undergo the transition from centrally planned economies to market economies, there has been a perceptible increase in information availability for rather obvious reasons. Any industrial operation seeking economic assistance from Government and/or private sources outside the country in which the facility is sited must provide some appraisal of its operations at the time it seeks assistance, as well as some information on previous performance to serve as tools in evaluating its potential under the proposed development scheme for which it seeks financial assistance. Additionally, there was growing governmental recognition that concealment of much of the national mineral production, trade, and consumption data for purposes of national military and/or economic security probably never was very successful, never was really necessary for most commodities, and certainly proved unnecessary with the end of the so-called cold war. Indeed, the long-term unwillingness to publish uniform statistical series of reliable,

Jan 1, 1993

By Paul C. Hyndman

The U.S. Bureau of Mines inventoried Federal mineral lands in Idaho and classified them in detail, section by section, according to their availability for mineral exploration and development as affected by legal restrictions and agencies' management practices. The Bureau also identified known mineral deposit areas (KMDAs) and areas conducive to oil, gas, and geothermal resources. This information is shown on maps (developed in part by geographic information system technology) that spatially compare the availability for mineral entry of Federal land with these KMDAs to demonstrate the extent and severity of restrictions on mineral entry. Idaho contains 53.1 million acres, 35.7 million (67%) of which is Federal mineral land. About 7 million acres of this land is within KMDAs that host medium-to high-value locatable mineral deposits; 36% of this land is available, 27% is slightly to moderately restricted, and 37% is severely restricted or unavailable. For the leasable minerals, about 1.8 million acres are within KMDAs that host medium-to high-value phosphate deposits, about 5.4 million acres are favorable for oil and gas resources, and 3.9 million acres for geothermal resources. The percentages of land availability are 30%, 45%, and 25% for the phosphate acreage, 38%, 34%, and 28% for the oil and gas acreage, and 43%, 30%, and 27% for the geothermal acreage.

Jan 1, 2012

By Robert A. McColly

This Bureau of Mines report compares the availability of federally owned minerals in Arizona with lands considered favorable for discovery of mineral resources, to deter-mine the extent to which Federal mineral lands in such areas have been withdrawn by legal action or restricted by management practice. Of particular concern are restraints on Federal lands in areas identified as highly favorable for occurrences of valuable mineral deposits. Excluding Indian lands held in trust by the Federal Government, about 32 million acres, 44%, of Arizona's mineral estate is federally owned. This total includes lands with partial Federal mineral ownership. Approximately 16.5 million acres, or 52% of these lands, are available for location or lease. This includes 496,000 acres, 62%, of the lands highly favorable, and 2.6 million acres, 57%, of the lands moderately favorable for locatable minerals in Arizona. All other Federal mineral lands are either withdrawn or restricted, reflecting a wide range of purpose, authority, and impacts on mineral exploration and development.

Jan 1, 1987

By Uday Kumar

This paper presents details of an availability study for a fleet of diesel engine operated load-haul-dump (LHD) machines used in a Swedish mine. For the purpose of this study, the LHD machines have been considered as a system comprised of many subsystems like engine, brake, transmission, etc., in series. As availability is dependent on both the reliability and maintainability characteristics of the system, together with reliability, the concepts of maintainability are also discussed. The need for exploring the data for the presence of any structure, which is very common in repairable system data sets, is emphasized with suitable examples. Simple graphical techniques are used for verifying the independent and identically distributed (IID) assumption for the data set. The error introduced due to the use of the exponential distribution in place of more appropriate distributions in estimation of availability and reliability characteristics is analysed.

Jan 1, 1989

By Renan Oss Giacomelli

A adesão de revestimentos multifuncionais em substratos moles é de extrema importância para o comportamento tribológico desta importante classe de tratamentos superficiais. Mais especificamente, testes de indentação e de riscamento são bastante utilizados na medição desta propriedade. No presente estudo, a adesão de filmes de DLC do tipo a-C:H depositados em aço baixo carbono nitretado foi investigada através de testes de indentação e riscamento. Os revestimentos foram produzidos através de PECVD em substratos de aço 1020 com dois acabamentos superficiais: lixado (Sq = 0,184 µm) e polido (Sq = 0,002 µm). Foram realizados testes de indentação Rockwell C e a adesão foi quantificada através da medição da área desplacada em imagens obtidas através de microscopia ótica. Esta análise produziu resultados semi-quantitativos, eliminando a análise qualitativa subjetiva sugerida pela norma VDI3198. Ainda, testes de riscamento foram realizados nas mesmas amostras com o mesmo indentador para que uma comparação entre ambas as técnicas pudesse ser estabelecida. Por fim, o método apresentado mostrou resultados coerentes, onde amostras com menor carga crítica apresentaram uma maior área desplacada. Amostras lixadas apresentaram um desempenho inferior em relação a adesividade.

Aug 16, 2017

By Luana Araújo Batista

Os aços inoxidáveis austeníticos apresentam interessante junção de propriedade mecânica com elevada resistência à corrosão. Porém, quando aplicados em temperaturas na faixa de sensitização e submetidos a ambientes agressivos, tornam-se suscetíveis à corrosão intergranular. Para verificação da suscetibilidade desses aços sofrem este fenômeno são realizados ensaios de corrosão. Dentre eles os mais utilizados são os contidos na norma ASTM A262, que possui cinco diferentes procedimentos. Este trabalho consiste na comparação dos procedimentos das Práticas A, C e E, contidos nessa norma, para determinação da tendência à corrosão intergranular do aço AISI 304L. Para isto, amostras do aço foram sensitizadas a 675°C por uma hora e em seguida submetidas aos diferentes ensaios descritos na norma. Após a realização dos três procedimentos, considera-se que a metodologia mais assertiva e confiável seja a Prática E, conhecido como ensaio de Strauss, e que as amostras analisadas não apresentaram corrosão intergranular.

Aug 16, 2017

By Fernanda Lourenço Fábia de Lima

O presente trabalho estuda a corrosão seletiva em chapas de aço inoxidável dúplex UNS S31803 (SAF 2205) imerso em solução de 1 mol. L-1 HCl a 60°C, com o intuito de extrair a fase ferrita, para se obter austenita e então criar padrões desta fase, gerando resultados mais confiáveis na sua quantificação, através das técnicas de difratometria de raios-X (DRX) e de espectroscopia de energia dispersiva (EDS). Este estudo foi realizado com 6 amostras, nas quais a temperatura de solubilização variou de 1.000°C até a 1.250°C, a fim de se obter diferentes frações volumétricas de ferrita, podendo assim avaliar o comportamento de extração desta fase de cada amostra pela sua perda de massa em função do tempo de imersão. Os produtos de corrosão obtidos no ataque seletivo foram analisados pelas técnicas de DRX e EDS, onde se constatou o fenômeno de corrosão seletiva. Nas amostras solubilizadas foram feitas quantificações de fases pelas técnicas de DRX, estereologia quantitativa e ferritoscópio e verificou-se que todas apresentaram resultados distintos sendo que a que mais se aproximou da condição de equilíbrio calculada por Thermo-Calc foi a técnica de estereologia quantitativa.

Aug 7, 2018

By João Alberto Fioresi Altoé

Nas indústrias petroquímicas, nucleares e farmacêuticas o avanço tecnológico tem como objetivo a segurança e confiabilidade dos equipamentos com relação à resistência mecânica e à corrosão. Atualmente, o uso dos aços inoxidáveis superausteniticos é uma solução interessante, para uma maior vida útil dos componentes industriais submetidos a ambientes agressivos, como em meios salinos. Esse trabalho tem como objetivo investigar o aparecimento de pites em um aço comercial superaustenitico de composição química aproximada 25Cr28Ni4Mo em solução salina de cloreto de sódio. O aço foi fundido e tratado termicamente por solubilização a 1050ºC por 1h com o objetivo de eliminar os precipitados. As análises microestruturais antes e após os ensaios de corrosão foram feitas por microscopia óptica e eletrônica de varredura. Observou-se com os ensaios eletroquímicos de Polarização linear e impedância, que o aço inoxidável superaustenítico apresenta excelente resistência à corrosão em meio salino, caracterizado também pelas imagens que não revelaram a formação de pites, mesmo quando submetidos a elevados potenciais.

Aug 16, 2017

By Isabela Costa Mendes Peres

As soldas dissimilares de liga de níquel 182 são utilizadas em usinas nucleares para conectar tubulações de aço inoxidável com componentes fabricados em aço de baixa liga. O procedimento envolvido na soldagem dissimilar pode modificar as propriedades do material, o que afeta diretamente a junta soldada no sentido de aumento da probabilidade de incidência do processo de corrosão. Neste trabalho foi realizado a soldagem dissimilar de corpos de prova dos aços de baixa liga e aço inoxidável austenítico AISI 316L com as ligas de níquel 82 e 182. Estudou-se o comportamento frente à corrosão da junta de solda de liga 182 em ambientes ácidos contendo NaCl e Na2S2O3 empregando-se técnicas eletroquímicas. Ensaios de polarização anódica potenciodinâmica foram utilizados para caracterizar o comportamento de corrosão localizada do material. Os resultados mostraram que o comportamento eletroquímico da junta de solda está relacionado com o aporte térmico e a presença ou não de oxigênio no meio.

Aug 8, 2018

By Raphael Calazans Cardoso

Os procedimentos de dimensionamento de juntas parafusadas devem corresponder adequadamente às condições impostas na prática, para garantir projetos de alta confiabilidade. Por isso, este estudo tem o objetivo de evoluir na compreensão do comportamento mecânico de juntas parafusadas submetidas à carga axial externa. Para tal foram realizadas simulações numéricas variando a pré-carga de aperto, o comprimento do parafuso, o atrito entre os componentes, a posição de aplicação da carga externa e os materiais dos membros apertados, de modo a verificar a parcela da carga externa transferida ao parafuso. Todos os fatores analisados alteram o comportamento mecânico da junta, exceto o atrito entre os componentes. A transmissão da carga ao parafuso se comporta de maneira não-linear pelo aumento da carga externa. Além disso, existe um patamar de carga externa abaixo do qual não há transferência de carga ao parafuso.

Oct 30, 2017

By Gabriela Grespan Câmara

O processo de galvanização a zinco utiliza como principal passivante o metal cromo na sua forma hexavalente. O presente trabalho estuda a remoção por zeólitas do íon cromo (VI) do efluente de uma indústria metalúrgica. Devido a grande concentração de Cr (VI) na amostra, primeiramente foi realizada uma redução deste metal utilizando metabissulfito de sódio, que é o agente redutor e de precipitação ideal para efluentes contendo concentrações de Cr(VI) acima de 100 mg L-1. Em concentrações menores o precipitado apresenta baixa cinética de sedimentação, necessitando de um polimento com um tratamento terciário. Este estudo foi realizado em coluna de leito fixo contendo zeólitas, onde foram filtradas soluções com concentrações de Cr(VI) variando de 0,5 a 10 mg L-1. O efluente tratado foi aplicado no topo da coluna e retirado pelo fundo. A partir dos dados de adsorção foram calculados as isotermas de adsorção (Langmuir e Freundlich). O modelo de Langmuir obtido mostrou-se significativo e preditivo com 97,93% de confiabilidade. A capacidade máxima da zeólita em remover cromo (VI) foi estimada em 0,02 mg de Cr(VI) g-1 de zeólita.

Aug 16, 2017

By S. Beskri, N. Geoffroy

When metallurgical plants are designed, a lot of consideration is almost always given to material selection and possible damage mechanisms. Materials engineers are generally involved and will strive to select optimal alloys or refractories for the design conditions. Once in operation however, things often change. Equipment is overstressed to increase production, corrosive leaks are not always promptly addressed, proper welding procedures are disregarded, etc. This paper describes various cases from the mining and metals industry where serious mishaps, associated consequences, and costs could have been avoided if simple and proactive steps had been taken. It also presents a strategy, based on safety reviews, to help predict and prevent damage to critical pieces of equipment.

Jan 1, 2015

By Erika Moonin, Jim Nickerson, Marcus Jensen

"This paper will explain how the Contractor and Owner avoided a contractual dispute involving characterization, impacts, and final remedy for challenging ground conditions encountered during drill and blast excavation of the starter tunnel required for launch of the tunnel boring machine (TBM). During excavation more than 600 feet underground, the Contractor encountered a large complex fault zone subject to more than 14 bar of water pressure. Successive ground inflows from the fault complex over a six-month period presented significant technical and partnership challenges for the team and ultimately delayed the project by nearly one year. This paper will discuss how the Contractor, Owner, and their respective consultants worked together to address these challenges, make decisions, and ultimately move the project to successful completion. PROJECT BACKGROUND AND NEED Seven states of the western United States of America rely heavily on the Colorado River and its tributaries for their water supply. The primary source of water for the Colorado River is winter snow that falls in the mountains ringing the Colorado River basin, including the Rocky Mountains, the Wind River Mountains, and the Uinta Mountains. Flows in the Colorado River vary significantly from year to year, depending on the amount of snow and rain deposited in the basin. During the 1980s and 1990s, snowfall was relatively abundant and Colorado River flows were high on average. Beginning in the year 2000 and continuing to the present day, snowfall has been well below documented historical averages and Colorado River flows have diminished. In fact, a trend toward diminishing flows is evident during the period of the historical record. This variability in Colorado River flows and the trend to lower flows is represented in the following Figure 1."

Jan 1, 2016