Search Documents

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 Dan Eyde

Low levels of thallium were detected in the mine water drainages, and process water discharges of western mining and smelting operations. This required remediation under state regulatory standards, which allow discharges of no more than .0017 ppm thallium in mine water discharges. Influent streams containing thallium can be mitigated to state discharge standards after a single pass through the series of fluidized upflow columns. Test work to determine the optimal flow rates used pilot scale systems at two separate locations treating 5 - 25 gpm of effluent. The test system at the gold mine mimics the full-scale system, which will be based on the existing upflow carbon tanks that have been converted to zeolite columns. The system installed at ASARCO's East Helena smelter has a far more complex influent stream with a high loading of competing cations. Nevertheless the columns filled with CABSORB® are successfully mitigating the thallium contamination. CABSORB® ZS500RW is a product based on the sodium analog of the zeolite mineral chabazite named herschelite.

Jan 1, 1998

By Tom Skodack

Mine and tunnel contractors face a complex environment-one in which economic risks are high, operating costs grow ever higher, ore grades are lower or recovery more difficult, and civil construction projects are intensely competitive on a world-wide scale. Within the context of this environment, the risks and rewards of proper machine selection for rock excavation have become proportionately large. Speed, depth and scope of analysis, and extensive supporting information are indispensable in the selection process. Equipment designs and their applications are also myriad and diverse. Several equipment alternatives and excavation techniques may have to be evaluated at once to choose the most cost-efficient approach. The following examples are typical of the current demand for more detailed equipment analysis: • An aggregate supplier starts a new quarry. He knows his targeted tonnage, blasting restrictions, and previous operating costs from other quarries. But he must improve on his old costs. What drill pattern, hole size, and bench height will give lowest cost per ton? How many crawler drills and what type will produce this tonnage most efficiently? • A mine is using a fleet of twin pneumatic ring drills for long hole drilling to initiate their cave. The mine is facing both air shortages and increasing operating costs with decreased efficiency in the ring drill fleet. If they invest in new hydraulic long hole drills, what impact will each drill unit have on production? Each twin drill unit? What configuration gives best operator efficiency and subsequent reduction in manpower? Which configuration gives the best return on investment? • A tunnel contractor is bidding a long straight water tunnel by conventional drill and blast methods. What is the optimum number of drill booms for the tunnel cross section and excavation schedule? How many rounds per day can he achieve? What are his total project drill, blast, and muck costs? In the past, such questions could be answered, but only approximately at best. One good prediction could involve many hours of laborious calculations that had to be repeated each time a new parameter was introduced or an existing parameter changed. In 1980, increasingly complex analysis, coupled with increasing need and quick response times demanded by industry, led Atlas Copco's project department to turn to the computer. New computer programs based on theoretical considerations and three decades of worksite performance data were developed for evaluating mine and tunnel contractors' equipment needs, productivity, and partial or total operating cost calculations for most conventional drill and blast excavation techniques-including shot rock loading and transportation. This Computerized Analysis of Rock Excavation-or CARE-program has since been available to the mining and construction industry. From each program specific results can be pre- dicted, including: • Productivity Calculations-Rock drill penetration rate for a given drill, hole size, and rock type, optimized for the best drill steel life; net machine productivity (drill-out time or drill meters-footage-per shift); total drill round time, including charging, blasting, loading, and haulage; suggested drill pattern, computer printed, including hole size for a given rock drill, rock type, and associated blasting restrictions for either drift rounds or benching applications; long-hole drill meters (ft) per drill shift; breasting down (upper drilling) drill meters (ft) per drill shift; and comparison between continuous loading machine capacity and LHD capacity. • Operating Cost Calculations-Operating costs expressed as cost per drill meter (ft), cost per cubic meter (cubic yard) of excavated rock, and cost per meter (ft) of tunnel advance. These costs may be calculated using as many cost centers as the mine, quarry, or tunneling contractor wishes. Specific operating costs may cover drill rig operating costs only, less capitalization; drill rig operating costs, including amortized equipment investment; drilling and blasting costs; drill, blast, load, and haulage operating costs; long-hole drilling operating costs per drill meter (ft) or per blasted cubic meter (cubic yard) of rock; and loading and transport operating costs. In all the above cases, any number of cost and capacity calculations may be run by simply changing important cost center variables to judge their net effect. Accuracy as a Function of Input Data and the Statistical Data Base Accuracy of a projection clearly depends heavily on the data base from which the projection is drawn.

Jan 11, 1982

By J. Gentry

Chemical grouting has been successfully used for over forty years to control the movement of groundwater in a wide variety of applications including tunnels, subway systems, sanitary sewers, mines and construction projects. This paper illustrates the versatility of chemical grouts by reviewing three projects where chemical grout was utilized to address some very difficult water control challenges. The featured product is acrylamide which can be used alone or in conjunction with other types of grout such as cementitious products. Acrylamide grout is injected as a two component product that will react and form an impermeable gel when the components combine. There are notable differences between the acrylamide based products and cementitious products. The most notable and significant difference is that acrylamide is a true solution grout that contains no particulates and has a viscosity of 1-2cps. This feature enables the acrylamide grout to penetrate very small geological features that other grouts could not penetrate and to seal small cracks and fissures where groundwater seepage is occurring. The product also has an adjustable gel set time from a few seconds to several hours which enables the operator to determine the product travel before it forms a gel. When properly applied the product has a half-life in the soil of 362 years (per testing by the US Department of Energy).

Feb 27, 2013

By Yunxing Cao, Xinsheng Zhang, Bingbing Meng, Shuaifang Guo, Li Wang, Junsheng Zhang

During the initial process of mining a longwall working face, it is often found that the roof will not collapse readily, which increases the risk of later roof collapse disasters. Explosive and hydraulic fracturing are common roof weakening techniques; however, they have certain limitations. In the present study, CO2 fracturing was used for roof weakening during the initial mining phase in the Changcun coal mine, China, which is a novel strategy. First, by analyzing the lithological characteristics of the working face and applying combined beam theory, the breaking spans of the top coal, immediate roof, and main roof were determined before weakening. An F-35 CO2 fracturing device with a rated pressure of 270 MPa was used, which provides fracturing energy equivalent to 0.968 kg of TNT. The fracture radius of the main roof was studied by ANSYS/ LS-DYNA combined with the hanging roof-breaking theory to determine the optimal layout of CO2 fracturing drills. The results show that the breaking spans of the top coal, immediate roof, and main roof were reduced by 3.99 m, 7.66 m, and 22.03 m, respectively. The main roof collapsed as the working face advanced, eliminating the chance of later roof collapse disasters. Compared with hydraulic fracturing and explosives, CO2 fracturing is safer and more practical, giving it significant application potential.

Nov 23, 2023

By Fred C. Turin, Lisa J. Steiner, Kim M. Cornelius

Like many experienced workers, remote control continuous miner operators perform their everyday jobs making choices and decisions that they may not consciously think about. While performing tasks, they are continuously processing feedback and cues which guide them for the next move. Initial training teaches the operators the tasks necessary to operate the equipment and perform the job. However, with experience they are better able to deal with hazardous conditions and non routine situations. To better understand what potential cues and feedback help to guide the operators, a questionnaire was developed to learn what factors affect decisions. Operator responses address issues related to specific tasks, equipment operation, visibility, lighting, and communication issues. The information collected is useful to understand what cues experienced operators use to make task performance decisions. Results will be used to develop interventions and training for safe and effective operator performance.

By Jay R. Hitchings

A technique that enables excellent color photograph production from black and white negatives of electron microprobe x-ray images is described in this paper. The photographs are made by superimposing one, two or three negatives of black and white x-ray images individually through assigned primary color filters directly onto color print paper. When used to examine metallurgical or geological microstructures, the resulting color photograph provides detailed, qualitative information about spatial arrangements, elemental associations and relative concentrations of at least three elements. The technique is simple and straightforward, requiring only standard darkroom equipment. The use of color to display or present complicated microprobe data also allows a non-technical reader or audience to better understand the data.

Jan 1, 1981

By G. Davis

It is well known that the anticipated mineral price at the start of a prospective mineral project can have an overwhelming effect on a property's ex ante value. However, possible price movements throughout the life of a project can also have an impact on this value. This paper demonstrates how different potential price paths can affect project value. When considering commodity price projections for mine valuations, it is thus necessary to estimate not only the expected commodity price at the start of the project, but also the manner in which that price is likely to fluctuate throughout the project's life.

Jan 1, 1995

By B. L. Eggers

This study investigates the application of computed order tracking with subsequent rotation domain averaging and statistical analysis, to the drag gearbox of a dragline used in a mining environment. Computed order tracking is a fault detection method developed to deal with the varying speed conditions often found in industry and has been proven effective in laboratory conditions. Its application to real situations, however, requires some adjustment to deal with issues such as inadequate speed data and the fact that the drag gear rotates in two directions. This provides a unique opportunity to observe the performance of the order tracking method in a bi-directional rotating environment, allowing an investigation of the relationships between the results obtained from each operating direction. A monitoring station was set up aboard the dragline and data was captured twice daily for a period spanning approximately one year. The data captured consisted of accelerometer and proximity sensor data. The key on the shaft triggers the proximity sensors, allowing speed and direction to be measured. The measured speed is interpolated by using various speed interpolation techniques. Then the interpolated speed is used to complete the order tracking procedure that resamples the vibration data with reference to the speed. The results indicate that computed order tracking can be successfully employed in real environments. Furthermore it is shown that the rotation direction that opens the gear-tooth crack gives a better indication of incipient failure. It is therefore important not to disregard either direction when monitoring rotating machinery of this kind.

Jan 1, 2007

By Jr. Wilkinson

In today's work environment a tremendous amount of data is required to provide the regulatory agencies justification to issue a mining permit. The demands for data, specifically environmental characterization data, grow and the mine plans must address the issues raised by the interpretation of that data. Computers and computer software can provide operators and consultants with the tools necessary to assimilate, digest and interpret these seemingly unmanageable data sets. This paper presents some examples of how Mincom's MineScape software can be applied to the task of developing coal mine permits in an electronic format.

Jan 1, 1996

By Jr. Wilkinson

Suncor Energy currently mines approximately nine hundred thousand tonnes of ore and waste per day at its open pit operations in the Athabasca Oilsands near Fort McMurray, Alberta. Modeling these deposits for planning purposes is particularly challenging given the characteristics associated with the deposit - stratigraphic deposition coupled with gradational grade distribution. The identification of ore and waste is a combination of bitumen cutoff grade, minimum mining thickness and separable waste thickness subject to criteria established by provincial regulatory agencies. Suncor along with Mincom Inc. have collaborated on this project to derive a methodology, automated by computer software, to streamline the ore and waste identification process. This paper explains the methodology and programs created to identify ore and waste in use at Suncor Energy and how this identification is used to categorize reserves and to generate mine design surfaces.

Apr 1, 2005

The last decade has seen the use of powerful computerized Mine-Wide Monitoring (MWM) systems for detecting hazardous conditions in underground coal mines. Recently, the U.S. Bureau of Mines and Jim Walter Resources, Inc. (JWR) expanded the scope of MWM system to include ground control. Single-point extensometers were installed in each of 30 intersections along a tailgate entry. These instruments monitored the rate of roof sag, a sensitive indicator of roof instability. Data were collected by the mine's own computerized MWM system. The paper describes the successful integration of ground control instruments into MWM, the data reduction procedures, and the identification of several hazardous areas.

Jan 1, 1994

By P. F. Mataich

When the subject of plant computers is brought up most people visualize the computer's controlling the entire plant with very little operator intervention. Actually, this picture is true today in only a limited number of cases and will certainly not be true in the minerals industries for many years to come. There are several ways in which a plant computer can significantly contribute to improving plant operation and closed loop control is only one of these. First of all, what are the basic ingredients for good plant control? For good plant control, two requirements must be met. First, the operator must get good information feedback from the process and then he must know what action to take in response to this information. Control information can be obtained through instruments, laboratory analyses, or through simple visual observation. If it is timely and accurate and the operator knows how to use it, then we have the makings of a good plant control system. The computer can be of help in both these areas by getting good data back to the operator and in helping to develop a good control scheme for the plant.

Jan 1, 1966

By J. C. Kerkering, P. M. Daling

This paper discusses a study performed to evaluate the feasibility of transferring formal system safety assessment technology to the mining industry. A representative listing of formal techniques was evaluated to select the most useful methods for the mining industry to implement. Criteria for selecting methods included the interests, needs, and requirements of mine safety officials. This paper describes one of the selected methods, preliminary hazards analysis (PHA), and illustrates the analysis procedure for a mining example. This study also includes an assessment of the adaptability of selected methods to a user-interactive computer system for use by mine safety personnel. This paper includes a description of a conceptual computerized PHA-type safety program that facilitates performance of the safety analysis and can accommodate updates and revisions as necessary.

Jan 1, 1983

By Jamal Rostami, Tom Iseley, Saleh Behbahani

Tunnels and underground infrastructures assets, like all assets, deteriorate with time. At some point, they reach the end of their useful life. Therefore, frequent inspections, higher levels of maintenance, and rehabilitation are needed to address loss of life and safety concerns. The repair cost of tunnels will increase if maintenance of tunnels is not satisfactory and timely. Historically, tunnel inspections have primarily relied on visual and manual procedures. Due to their time-consuming nature and susceptibility to human error, there is a demand for alternative automated techniques that can enhance efficiency and reliability in tunnel inspection. By utilizing a tunnel scanning system, such as laser scanner and thermography, or photogrammetry system, tunnel inspection cost, time, and personnel can be reduced. The goal of this study is to utilize deep convolutional neural networks (CNNs) for automated identification of defects in tunnel lining inspection. This paper presents a framework to classify two types of defects in tunnel lining (water leakages and cracks) using CNNs. The CNNs were trained and tested using 4,608 images. The Precision, Recall, and F1 Score were each 99.6%, confirming the viability of this approach in the automated defect identification in tunnel lining.

Jun 23, 2024

By S. Kurama

Incorporation of de-watering sieve waste of borax (TSW) from Etibor Kirka Borax Company (Turkey) on the mechanical and physical properties of a commercial floor tile composition was investigated. In order to achieve this aim, TSW was partially employed in place of feldspar in the standard composition up to 20 wt %. The formulated compositions were wet milled, dried, shaped and then fired at 1190C for a total firing time of 38 minutes (from cold to cold) under industrial conditions. It was found that using of TSW up to 15 wt % improved the physical and mechanical properties of final product. The results indicated a good prospect for TSW as a co-flux in floor tile formulations.

Jan 1, 2006

Using DEM to Model Industrial Banana Screens

Sep 13, 2010

By Rob D. Morrision, Paul W. Cleary

"The best accepted method for design of autogenous and semi-autogenous mills is to carry out pilot scale test work using a 1.8 m diameter by 0.6 m long pilot scale test mill. The load in such a mill typically contains 250,000-450,000 particles larger than 6 mm, allowing correct representation of more than 90% of the charge. This scale of DEM model is now within the practical range of standard workstations running an efficient DEM code.This paper describes various ways of extracting collision data from the DEM model and translating it into breakage and wear estimates. Account is taken of the different breakage mechanisms (impact and abrasion) and of the specific impact histories of the particles in order to assess the breakage rates for various size fractions in the mills. These impact histories have the potential to be directly related to breakage as they most resemble the single particle breakage tests which are used by the JKMRC to calibrate more traditional population balance models for variations in ore behaviour. However, the specific impact histories also show a background of many low energy collision events within the mill. This Background may constitute what is usually regarded as “abrasion” breakage. As might be expected, high impact events are concentrated in the toe of the charge and near to the mill shell where the forces associated with the load bearing on each particle is more concentrated."

Jan 1, 2003

Mill #4 processes mildly refractory ore from Carlin Trend deposits. Diagnostic analysis of plant operating data was used to generate a mathematical model containing the key parameters influencing the gold recovery. The model was used to direct modifications to plant operating practice. The cyanide dosing strategy was changed to reduce preg-rob gold losses and cut reagent consumption A finer grind was achieved without capital investment. The density in CIL was lowered, and tighter control was exercised over plant throughput. These changes resulted in a recovery increase of at least 2%, worth $111,000/month at $300/oz, and concomitant reagent cost savings of $55,000/month.

Jan 1, 1999

Mill #4 processes mildly refractory ore from Carlin Trend deposits. Diagnostic analysis of plant operating data was used to generate a mathematical model containing the important parameters influencing gold recovery. The model was used to direct modifications to plant operating practice. The cyanide-dosing strategy was changed to reduce gold losses from preg-robbing and to cut reagent consumption. A finer grind was achieved without capital investment. The density in the carbon-in-leach circuit was lowered, and tighter control was exercised over the plant throughput. These changes resulted in a recovery increase of at least 2%, worth $111,000/month at $300/oz ($9.64/g) gold, and concomitant reagent cost savings of $55,000/ month.

Jan 1, 2000