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By X. Shi

This paper presents design and implementation details of a fuzzy-behavior-based controller for an automated excavator. The robotic excavator is equipped with sensors, actuators and an embedded control system. The excavator controller uses neural-networks to interpret forces and torques gathered during the excavation process from bucket-mounted force sensors. Implementation details card 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, 1997

Provide a means for reliable in situ stress change measurements in soft, friable geologic materials under high stress. Background Effective mine design requires a knowledge of changes in rock stress generated by a mining operation. In situ stress measurement can provide a means of obtaining this knowledge from an active mine for the ultimate purpose of design verification and analysis. The Bureau of Mines has designed and tested a device for measuring changes in rock stress-the borehole platened flatjack (BPF). It has found application in investigating stress anomalies due to geologic structures, stress concentrations from multiple seam interaction, and stress abutments from pillar retreat and longwall mining.

Jan 1, 1990

The factors affecting performance of base and precious metal smelting and converting processes are considered in relation to reactor characteristics. The chemical differences between processes are related to these factors for different reactor systems. The complete smelting and converting flowsheet involves a number of operations. The process selected for a particular feed and product requirement should be one which optimises the efficiency of the process, the cost of building and operating the technology and the long-term maintenance and productivity of the units.Ausmelt's approach to achieving an efficient process using its technology is described in relation to the smelting of copper concentrates for production-of blister copper.

Jan 1, 1992

By Shantanu Patel, C. Derek Martin

"The objective of this work is to develop a practical numerical approach for applying the confining pressure to discrete element cylindrical triaxial tests. A layer of membrane particles with very low stiffness and extremely high contact bond strength was created around the lateral boundary of the cylindrical numerical specimen. To prevent the membrane particles from penetrating into the rock specimen on application of confining forces and to provide a smooth boundary surface, the space between the membrane and rock particles was filled using small-diameter packing particles. The results of this method were compared with those of rigid boundary method with confining pressure of 20MPa. The results obtained show that new approach gives both peak strength and post peak response that are in closer agreement with laboratory findings. BACKGROUNDThe discrete element method (DEM) has become the cornerstone for simulating both intact material and discrete fractures for low porosity strong rocks (ISRM Classes R3 to R6). Despite the advances in its application, simulating realistic behaviour of intact rock using the DEM remains a challenge. The bonded particle model was introduced as a potential solution for simulating the complex mineral grains in strong rock and other granular materials (Potyondy and Cundall, 2004; Utili and Nova, 2008; Salot et al., 2009). While some issues were resolved, a remaining challenge is the lack of the bonded particle model to simulate the brittle response commonly observed in strong rocks during the triaxial compressive test. Such behaviour is shown in Fig. 1 for Lac du Bonnet Granite at a confining pressure of 20MPa."

Jan 1, 2015

Ferrochrome is the major chromium source for stainless steel production, and submerged-arc furnaces (SAF) are most commonly utilised to smelt chromite ores into ferrochrome by using suitable carbonaceous reductants such as coke. Because of the complexity of feed structure and electrical-thermal-chemical interactions, there exist large gradients and wide distributions of temperature, mineralogy and other process variables in the furnace. This leads to various zones in the furnace, and different reduction mechanisms. Control of the furnace is thus often difficult due to the complicated physical and chemical situations in the furnace. The temperature profile in the submerged arc furnace has a great influence on the reduction rate and the production efficiency. Therefore, the energy generation through electrical arcs submerged in the solid feed and its distribution within the packed bed play an important role. In the present paper, an overall process model is illustrated to simulate inter-linked transport processes of fluid flow, heat transfer and reduction kinetics within the submerged arc furnace. The application of reaction kinetic data to simulate the chromite pellet/lumpy ore reduction with CO gas is presented and further adjusted to provide a submodel for a flow and heat transfer simulation for the packed bed by using computational fluid dynamics (CFD) technique. The comprehensive process model is aimed to simulate materials and gas flow, temperature and energy distribution throughout the furnace system. A preliminary model for gas flow and temperature distribution for the upper part of a 20 MW furnace (the packed bed) for high carbon ferrochrome production has been developed under simplified conditions. The integration of the reaction kinetic model into process simulation, and the future vision for a more comprehensive process modelling are discussed. It is expected that better understanding of the furnace insights through process modelling will help process optimisation and furnace control.

Jan 1, 2004

By R. Gensemer

A number of state and federal agencies are calling for development of aquatic life criteria for conductivity. These aquatic life criteria or ?benchmarks? are based on observed correlations between conductivity and benthic macroinvertebrate community composition, generally measured by composite metrics or indices. However, development of an aquatic life criterion for a composite variable like conductivity is made difficult by a number of factors. Based on a database from West Virginia, observed patterns of invertebrate community composition versus conductivity may instead be related to a combination of abiotic (e.g., ionic composition, habitat) and biotic (e.g., life history, colonization potential) factors. Many benthic invertebrate taxa also do not respond to increasing conductivity in a consistent relationship. Many states have determined that a composite variable, like conductivity or TDS, is not appropriate for criteria development, as many studies have shown that toxicity varies as a function of ion composition and can be mitigated by elevated hardness. We conclude that the relationships between conductivity and changes in benthic macroinvertebrate community composition are neither strong nor reliable enough to warrant derivation of a criterion based solely on conductivity.

Jan 1, 2011

By C. Treworgy

Geologic and technical factors such as coal seam thickness, stripping ratios, roof conditions, partings, faults, and size and geometry of the reserve block greatly impact the availability of Illinois coal for mining. Residential and commercial developments also restrict access to coal reserves in some areas. Despite the collective effects of these factors, large blocks of bituminous coal reserves suitable for efficient, low-cost underground mining remain available in Illinois.

Jan 1, 1997

By Conny Postupack

To make money in mining coal you have to sell it for a lot more than it cost you to get it out of the ground. And yet, every year it cost us more and more to stay inbusiness, while the price we get for coal does not increase at the same rate.

Jan 1, 1990

By G. van den Berg

Anglo Platinum has initiated a project to investigate hydraulic hoisting technology for platinum mines. Hydraulic hoisting systems are categorized as pumping, fluidizing feeder or displacement feeder systems. Positive displacement piston diaphragm pumps are most suitable for pumping systems but they require that the ore be milled prior to pumping. Fluidizing feeders are unsuitable for platinum ore applications due to the large percentage of fines in the ore. The three-chamber pipe displacement feeder has been most widely used for hydraulic hoisting and is the most suitable technology for platinum mines. Eight hydraulic hoisting applications covering pumping and displacement feeder technologies are reviewed. The key factors to be assessed in selecting a hydraulic hoisting system for a platinum mine are discussed. A typical platinum mine configuration will comprise an ore preparation plant (to produce -15mm material through screening or crushing), motive water pump on surface, high pressure water pipeline from surface to underground, ore slurrification plant, three-chamber displacement feeder, and a high pressure slurry pipeline to surface. The water and slurry pipelines are housed in a purpose drilled borehole. A hydraulic hoisting system selection chart is presented. A 150mm diameter system with a 25 MPa pressure rating is required to hoist 60 000 t/m from a depth of 1 200 m. Generic capital and operating costs are presented. A major potential advantage of hydraulic hoisting is that the fines, which contain a high percentage of PGMs, are captured underground and transported directly to the concentrator. Hydraulic hoisting technology is ideally suited to providing supplementary hoisting capacity to existing shafts that have reached the skip hoisting capacity limit. The main advantage for new shafts is the potential to significantly simplify underground rock handling and transportation. All hydraulic hoisting system components are proven. The only risk area is the wear rates of the valves and piping. Current estimates are based on gold ore. The business cases investigated show that the financial viability of the installations are not sensitive to wear rate. Hydraulic hoisting is technically feasible and financially attractive for platinum mines. Keywords: hydraulic hoisting, slurry

Jan 1, 2005

By J Wei, X Lan, F Wang

This paper presents a quantitative assessment model for the assessment of environmental load in gold production, which is based on environmental ecology, Life Cycle Assessment (LCA) and artificial neural network. In LCA evaluation indexes include resource consumption, energy consumption, gas waste, liquid waste, solid waste and so on. Each item represents an aspect in gold production while their combination reflects the relationship between gold production and environment. In this paper an utility function of evolution index on environmental load is given by linear or non-linear transformation, which changes evaluation indexes with different dimension into an equivalent value in range of [-1, 1]. This paper also provides a new approach to make decision on the weight for quantitative assessment with the help of a three-layered artificial neural network. The proposed approach in this paper has been successfully used to a real synthetic assessment for the environmental load in gold production, which include seven kinds of different operational technologies in China. The applications prove that the new approach is successful and reliable. It provides a new tool for the assessment of environmental load of the gold production.

Jan 1, 2003

By Roger C. Ilsley

The $2.1 billion Milwaukee Water Pollution Abatement Program (MWAP) requires the construction of several miles of underground openings at depths up to 350 feet for the conveyance and storage of sewage and storm water overflows. The system will include approximately 27km (17 miles) of deep tunnels ranging from 3m (10 f t.) to 9m (30 f t.) in diameter, 26 shafts and a pumping station cavern. The facilities will be located primarily in Silurian Age dolomites of the Niagara Group. The rock is characterized as competent with vertical to sub-vertical orthogonal jointing and predominantly thin shale bedding planes. The site investigation was carried out incrementally, commencing on an area wide basis, becoming site specific as facility plans were developed. To achieve cost savings through uniformity and continuity, a computerized data bank was established. Software was developed during the initial stages of the program for the production of borehole logs, structure contour maps, geologic profiles and summaries of data for statistical evaluations. This paper discusses in general terms the collection, compilation and presentation of data necessary for the characterization of the rock mass.

Jan 1, 1984

By J. J. Kollé

A compressed-water hydraulic pulse generator (HPG) for nonexplosive blasting of rock and con¬crete is described Energy is stored in the HPG by compressing water to ultrahigh pressure. A large, fastopening valve discharges the com¬pressed water, resulting in a high-energy impulse. The HPG can be used for small-scale bench blasting by discharging the water through a nozzle that is closely fitted into a borehole. A bench blasting system requires an HPG, a drill and an indexing mechanism to allow insertion of the HPG nozzle into a drilled borehole. Systems with discharge energies ranging from 40 to 250 kJ have been used to excavate hard rock, including andesite, granite and quartzite. The largest system can excavate 15 t/h (16.5 stph) of massive quartzite based on a 2-min cycle time for hole drilling. Blasting with an ultrahigh-pressure hydraulic pulse generator was demonstrated as an effective means of excavating hard massive rock under the confined conditions of a tunnel opening or underground sloping panel. Hydraulic blasting provides a continuous mechanized mining capability that is well suited for deep-level mining and urban excavation sites where explosives are prohibited

Jan 1, 1997

Develop an alternative to water bath exhaust conditioners (water scrubbers) for permissible diesel equipment used in gassy mines. Background Water scrubbers are a safety device used on diesel-powered vehicles in gassy mines. Exhaust from the engine passes through the scrubber, where it is cooled, and any flames or sparks present in the exhaust are extinguished. This prevents the ignition of combustible mine dust or methane that may be present. Unfortunately, water scrubbers consume large amounts of water and require frequent maintenance. Approach Methods that do not require water replenishment and frequent maintenance were investigated. The dry exhaust conditioning system was selected for investigation because no water is consumed and existing heat exchanger technology can be adapted to underground mine vehicles. In accordance with U.S. Mine Safety and Health Administration (MSHA) requirements, the system was designed to cool exhaust and trap flames and sparks. The U.S. Bureau of Mines (USBM) developed and evaluated a system for large engines and evaluated a second system for smaller engines. Both systems were evaluated on an engine test bed; if warranted, the system was then tested underground.

Jan 1, 1993

By R. S. Adhikari

This paper presents an innovative computer vision method for condition assessments of bridges with multiple defects in bridge elements using digital images. This work utilizes 3D model of existing bridges and overlays digital images on 3D model to simulate on-site visual inspection. The analysis of element condition index (ECI) of bridges requires information about the severity and extent of defects in elements. In general, ECI is evaluated manually during routine bridge inspection considering the severity of dominant defects. The evaluation of ECI with multiple defects needs to be addressed with consideration of dominant defect as well as the interaction among defects. However, Image-based quantification techniques largely depend on geometry of objects (i.e. shapes). Shape vectors of a given object change as they are translated, rotated, and scaled with different magnitudes. This work considers shape preserving algorithms such as, affine and projective transformation for proper image alignment. Semi-automated approach for detection and quantification of concrete distress such as cracks and spalling are considered for the defects analysis. The proposed methodology ensures the consistency in reporting ECI and eliminates the shortcoming of traditional approaches.

Aug 1, 2013

By Richard E. Ray

INTRODUCTION Main mine fan installations at underground coal mines must be designed to comply with the requirements outlined in 30 CFR (Code of Federal Regulations) Part 75. However, very little emphasis is typically placed on the aerodynamic optimization of shaft collar designs, ductwork configurations, and the selection of a fan isolation, or "closing door," system. Field testing has shown that poorly designed systems may produce large pressure losses between the shaft and fan inlet, as well as air turbulence problems which adversely impact fan efficiency and sometimes fan structural integrity. This paper analyzes each component of a surface exhaust fan system for an underground coal mine: • The shaft collar arrangement, • The 45 or 90-degree turning duct that isolates the fan motor from the return airstream, • Alternative ductwork arrangements for parallel fan installations, • The self-closing doors or dampers that are required for multiple fans, and • Horizontal and vertical evas6 arrangements on the discharge side of the fan. While discussion is limited to axial fan installations at shaft mines, most of the recommendations would also apply to centrifugal fan installations and to main mine fans for drift mines. FEDERAL REGULATIONS The mandatory safety standards for underground coal mines that apply to the installation of main mine fans are listed in 30 CFR Part 75.310. Stipulations which impact the design of the fan sys- tem arrangement are contained in paragraphs (a)(l), (a)(5), (a)(6),(d), and (1) of 75.31 0: • Each main mine fan shall be installed on the surface in an incombustible housing; • Each main mine fan shall be protected by weak walls or explosion doors in direct line with possible explosive forces; • Explosion doors or weak walls shall have a cross-sectional area at least equal to the area of the return air shaft or drift opening through which the pressure from an underground explosion would be relieved; • Each main mine fan shall be offset by at least 4.57 m (15 feet) from the nearest side of the mine or shaft opening; • Automatic closing doors shall be provided to prevent possible air reversals through the fans in mines ventilated by multiple main mine fans. The installation of main mine fans underground is prohibited by 30 CFR Part 75.310, (a)(l). Providing explosion doors or weak walls in line with a possible underground explosion and offsetting the fan 4.57 m (1 5 feet) from the edge of the shaft preclude the installation of the fan directly over the shaft. In addition, 30 CFR Part 75.507-1 specifies that all electrical equipment used in return air courses be permissible, which requires locating the fan motor outside of the airstream exhausted through the fan. To comply with the Part 75.310 regulations, explosion doors are typically located directly over the shaft as part of the shaft cover or 'bonnet." A sufficiently long section of ductwork placed between the shaft enclosure and fan, equipped with a 45 or 90- degree turn, enables the fan to be offset at least 4.57 m (1 5 feet) from the shaft and the motor to be isolated from the airstream. The need for the turn in the ductwork can be eliminated by driving the fan from the discharge side, instead of from the inlet side, and providing for a 90-degree bend in the evas6. For multiple main mine fan systems, self-closing doors can be located on the inlet or discharge side of the fan. FAN SYSTEM COMPONENTS A poorly designed exhaust fan arrangement will produce turbulent conditions at the fan inlet and significant pressure losses between the shaft and fan. Field tests have shown that pressure losses through inlet ductwork at some installations may constitute as much as 30 percent of the total mine head. Unfavorable flow conditions may cause a change in the operating point on the fan performance curve, resulting in reduced fan efficiency and pres- sure generation capability. In some instances, poor airflow distribution through the fan may create mechanical stresses that lead to fan blade or fan housing fatigue failures. The objective in designing an air duct arrangement for a fan system is to provide a low cost duct that will move the air from the shaft to the fan in a uniform air distribution and with minimum energy requirements. The optimum solution is a compromise between technical and economic factors. Aerodynamic design considerations for the shaft collar and cover, fan inlet ductwork for both single and parallel fans, self-closing doors, and evas6 are discussed in the sections below. Shaft Collar/Cover To prevent excessive turbulence and non-uniform air distribution through the fan, a smooth transition for the change in direction of airflow at the top of the shaft must be provided. However, the concrete lining of the shaft is abruptly terminated at the surface at many coal mine installations (see Figure I), creating a sharp 90-degree bend. The airflow exiting the shaft becomes heavily concentrated in the upper portion of the horizontal fan in-

Jan 1, 1997

After four or so long years at university, where life revolves around lectures, assignments, and drinking coffee strong enough to keep you awake for five nights in a row to finish your thesis, preparing yourself for employment is not an ea

Jan 1, 1994

Platiniferous horizons such as the Merensky Reef that are mined chiefly for their PGE contents constitute one end member of a continuum of Ni-Cu-PGE sulfide deposits; Ni-(Cu) sulfide deposits in which the PGE may or may not be by-products represent the other end of this continuum. Although it has long been thought that PGE-rich sulfides can only be developed by magma mixing in large magma chambers, new PGE data for the Bushveld Complex suggests an alternate model to account for origin of mineralization in the worldÆs most important Pt producer. Briefly, this model suggests that PGE-rich sulfides were initially deposited at depth below the Bushveld Complex as a result of interaction of a S-undersaturated mantle magma with S-rich crustal rocks. These PGE-rich sulfides were subsequently re-dissolved by a second magma, which introduced the PGE into the Bushveld Complex magma chamber, where the PGE-rich reefs were formed due to cooling of these magmas. If this model is correct, it means that large layered mafic/ultramafic intrusions are not a prerequisite for the formation of economic PGE-rich deposits. Exploration for Merensky Reef-type PGE deposits can be greatly facilitated by documenting variations in the background PGE contents of non-mineralized rocks collected on traverses across mafic/ultramafic intrusions; the mineralized horizons occur at cross-overs in ratios such as Pd/Cu, Pd/Se and Pd/S.

Jan 1, 2002

By B M. Moudgil

Atomic force microscopy (AFM) has become an important tool for understanding the nano- to molecular scale mechanisms predominant in multiphase systems. In flotation research, the use of AFM holds promise for unlocking and establishing fundamental mechanisms, ultimately leading to significant advances in process performance. From measuring and characterising surface forces, the structure of molecules at interfaces, and nanoscale features on flotation media, AFM is a powerful tool that has only begun to impact flotation research. Highlights of advances made in the utilisation of AFM for flotation research at the University of Florida are given with an emphasis on interpreting the mechanisms behind calcium activation in phosphate flotation and the impact of nanoscale asperities on collector-born surface hydrophobicity.

Jan 1, 2005

By Hector M. Valenzuela, Juan H. Rojas

This paper presents a strategic plan for automation, plant integration and process management being implemented at the Chuquicamata mining and metallurgical complex of Codelco-Chile. This five-year plan considers different levels of process control and plant integration, which include instrumentation and direct control, process models and supervisory control, plant information integration, and real time process and plant wide management. The conceptual solution developed defines an architecture for the overall system and the projects to be implemented by each production unit, as part of the proposed solution for the division wide process control, plant integration and real time process management. An estimate of the cost benefit relation of the plan is also given.

Jan 1, 1998

By C. V. O?Keefe

Volumetric flow and mass flow are two of the critical process parameters needed to understand and control flotation processes, with others being levels, densities, and metal analyses. Both volumetric flow and density measurements can be adversely influenced by entrained air, which will result in artificially high flow readings and artificially low mass flow calculations. Array-based instrumentation has been used successfully to accurately measure both volumetric flow of aerated slurry and the quantity of air entrained within the slurry. The latter measurement has been used to correct density measurements, thus providing an accurate mass flow calculation. A case study involving the use of this technology to measure both flow rates and air entrainment levels at Eland Platinum processing facility (concentrator) will be covered in detail. In addition, with certain traditional flow meters such as electromagnetic meters, erroneous volumetric flow rates can be recorded in the presence of paramagnetic or ferromagnetic material. The use of this array technology to avoid spikes in measurements due to steel fragments passing through the pipe will also be discussed.

Jan 1, 2012