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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

This report presents a Bureau of Mines study comparing the construction costs, leakage measurements, and predicted performance of different types of large stoppings built and tested in a room-and-pillar oil-shale mine. The six full-sized structures (30 ft high by 55 ft wide) included both permanent and temporary stoppings and were fabricated using materials ranging from structural steel to coated brattice cloth. Leakage across each stopping was measured at differential pressures ranging up to 1.0 in w.g., using both the brattice window method and sulfur hexa-fluoride (SF6) tracer gas. Blast air pressures resulting from a full-scale face blast of approximately 1,800 lb of ammonium nitrate-fuel oil (ANFO) explosives were measured across two of the stoppings and the pre-and post-leakage rates were compared for all the stoppings. Overall performance of the stoppings for production applications was evaluated using an operational model of a two-panel oil-shale mine. Different combinations of temporary and permanent stoppings were evaluated based upon ventilation performance and construction and operating costs.

Jan 1, 1988

By T. Szendrei, S. Tose

The Gurney approach to explosive/inert material interaction was adapted to analyse the face velocity in bench blasting. The model is based on the blasthole diameter, rock and explosive density, burden, spacing, linear charge density, and the Gurney energy constant. It is validated by comparing its predictions with a set of 20 field measurements of face velocities reported by Chiappetta et al. (1983) in an iron ore mine. The Gurney model links the observed large scatter of measured face velocities to the variation of the Gurney energy constant. This in turn is linked to the variability of the gas pressure acting on the burden. These variable pressures are generated when detonation product gases migrate into the extensive and complex fracture network around and between in-row blastholes. The energy efficiency of burden movement can be derived from the model. It is shown that ~7% of the explosive’s chemical energy is available for gas expansion work on the burden; of this quantity, 36% is actually converted to burden kinetic energy. That is, less than 3% of chemical energy is ultimately expended in burden displacement and throw. The model further indicatesnthat the projection of high-velocity (say, 100 m/s) flyrock is possible only when the path of leastnresistance through the burden has an effective density far less than the host rock. An equationnis derived that identifies the combinations of burden and path density that may yield flyrock. These values are specific to a particular baseline blast design.

Jan 30, 2026

By P. D. Kovscek

The performance of a novel prototype kerf-cutting impact mining machine was evaluated under a cooperative agreement between the U.S. Bureau of Mines and RAMEX Systems, Bellevue, WA, while operating under conditions typical of normal tunnel entry development. Selected operating parameters were monitored concurrently to determine baseline operating conditions and to study relationships between operating parameters. Using the data obtained, the specific energy requirements of the impact mining machine were calculated and compared to specific energy requirements of tunnel boring machines cutting in rock having similar hardness. Tests results indicate that the kerf-cutting impact mining machine can provide a mechanical means for mining very hard rock that cannot be effectively mined using commercially available mechanical excavators.

Jan 1, 2010

By Mojtaba Ghorbannezhad, Abbas Sam, Soroush Arabzadeh

One of the dewatering methods in mineral processing plant is filtration system. Disk filters are included the porous surface with pressure drop on both sides, Water in the pulp passes through the surface and solid particles remain as a cake on it. Wet concentrate production of magnetite processing plant at Golgohar Mining and Industrial Company with solid tonnage of 160 ton per hour and 49% solid amount contains 166 m3/h of water. In the present study, in addition to studying disc filter performance, the effective parameters on cake moisture were studied using Vacuum Bottom-Feed Leaf method (in the laboratory scale). Optimization was performed using the Taguchi method. The results showed that the cake moisture is reduced by increasing particle size and solid percentage (because of specific resistivity reduction), while the rate of cake formation and its thickness are increased. Also, it was found that by increasing pressure, the cake moisture is reduced and cake formation rate and its thickness are increased. In this study, the effect of fabric texture was also examined. Lowest cake moisture was obtained in condition of using compressed plain fabric with mono-multi filament fibres, pressure at 75kPa, solid percentage of 65 to 70, particle size (D80) equivalent to 123µm and disk rotation speed of 1.25 rpm.

Jan 1, 2014

By P. Müller, W. J. Przybylowicz, V. M. Prozesky, D. de Bruin

"Abstract -The common style of gold mineralization in the Basal Reef and other auriferous conglomerates of the Witwatersrand Supergroup comprises clusters of gold grains occurring interstitially to quartz and pyrite pebbles as well as gold accumulations attached to the surface of and infilling hairline cracks and fractures in round, compact, detrital pyrite. The latter textural association is generally interpreted as a result of remobilization of originally detrital gold during regional metamorphism and related hydrothermal fluid circulation. There is general agreement that, although gold solubility was Iow, ore modification occurred during the metahydrothermal event, but uncertainty exists about the magnitude and scale of gold remobilization .Micro-textural and chemical investigation of compact round pyrite and associated gold accumulation has established that gold is preferentially deposited on chemically heterogeneous pyrite surfaces. Combinations of alternating high- and low-As zones in pyrite result in mixed np-type conductivity accompanied by electron exchange and the reduction-driven deposition of gold at the cathode. This mode] does not explain gold accumulations which are not immediately linked to chemical heterogeneities and it is inferred that an additional control on the deposition of gold was exerted by physical defects which lead to zones of increased charge density and/or areas of focussed conductivity. The inferred precipitation mechanisms suggest that submicrocopic physical and chemical controls are the important factors that determined the sites of gold nucleation and that precipitation mechanisms based on physicochemical changes of the hydrothermal system were not involved. The Basal Reef contains on average close to 5% of round, detrital, chemically zoned pyrite which provides a large number of electrochemically active pyrite surfaces. The extremely effective electrochemical precipitation mechanism together with the low solubility of gold in Witwatersrand fluids is the main reason for the spatially restricted remobilization of gold in the conglomerate reefs."

Jan 1, 1994

By John D. Nelson

Foundation underpinning is a common component of remediation schemes for distressed foundations on expansive soils. For many applications in expansive soil, micropiles have distinct advantages over other techniques. This paper will concentrate on the design and construction of micropiles in expansive soil. It discusses the nature of building distress and the relationship between foundation movement and soil heave. It presents methods for determining the factors that are required for the design of micropiles. Such factors include calculation of expected free-field heave, depth of soil wetting, and prediction of pier movement. A finite element program developed by the authors and others to determine pier heave and internal forces is presented. The input parameters that are required for pier analysis are discussed, and the nature of the output and the sensitivity of the results to the output are described. A case example illustrates the advantages of micropiles over other methods.

Aug 1, 2013

Summary of the morning's events with a Written Contribution to Paper No. 4 and author responses

Jan 1, 1947

By Marco Fellin, Van E. Komurka

Significant cost and construction benefits were obtained from performing a bi-directional static load test prior to construction on the Russell Street Bridge Replacement project in Missoula, Montana. The project utilized 24 drilled shafts to support two three-span bridges across the Clark Fork River. A bi-directional static load test (“BDSLT”) was performed on a large-diameter production shaft to demonstrate construction methods and confirm design assumptions. Subsurface conditions consisted of gravel with sand to a depth of 20 feet (6.1 m), underlain by gravel with sand, silt, cobbles, and occasional boulders. The test shaft had a nominal diameter of 5.9 feet (1.8 m), and an embedded length of 75.5 feet (23.0 m). The geotechnical engineer of record and the BDSLT test engineer collaborated to optimize the BDSLT jack assembly location within the test shaft, determine appropriate instrumentation locations, and plan the test protocol. The maximum applied test load was 10,707 kips (47.6 kN). Significant benefits were obtained from performing the BDSLT test, including 1) reducing each production shaft’s length by using a higher LRFD resistance factor allowed by having performed the testing, 2) using test-determined unit shaft resistances to evaluate and accept two production shafts that may have otherwise required remediation, and 3) providing the Montana Department of Transportation (and other designers) with increased presumptive unit resistance values in the gravel/cobble/boulder deposits. PROJECT DESCRIPTION The project was constructed in Missoula, Montana for the Montana Department of Transportation (“MDT”). The original bridge was approximately 60 years old, and consisted of a two-lane, 420-foot-long (128-m), four-span, riveted steel plate girder design spanning the Clark Fork River. The bridge was due for replacement owing to its deteriorated state, and the need for increased traffic volume capability afforded by a four-lane structure. HDR was the structural engineer. The preferred bridge alternate was a 459-foot- long (140-m), three-span, welded steel plate girder design. The new bridge was designed to meet current standards in accordance with MDT bridge design and AASHTO LRFD criteria. The new bridge was constructed in phases to keep traffic open during construction.

Jan 1, 2019

By Y G. Anoman

This paper discusses the operating model within Endeavour Mining Corporation regarding the options of owner mining against contract mining. It’s based on the concept of ‘are we carrying out the most efficient mining’ regarding cost and performance. This question can only be answered through an extensive contract mining tender process and conducting a comprehensive comparison to evaluate the transition viability. Karma mine, located in Burkina Faso, is the subject of this paper. The Tender model included sales of equipment, parts and tooling associated with the traditional Load and Haul Schedule of Rates (SOR). The methodology focused on the structure of the tender process, which consists in the development of a SOR based on haulage profiles and mining schedule. This is a new Endeavour framework that allowed the bidders to compete on an even level. This was performed using a systemic analysis which encompassed all the elements involved in a transition such as the Human Resources (HR), taxes and customs implications, directs and non-direct costs (Finance and interest on assets, depreciation, insurance), contractor risk profiling. It was assessed against the normalised internal pricing tender-based. This paper gives an insight into how a West African mining operation addressed the sensitivities of the HR functions against the commercial aspects. This was one of the most successful transitions in West Africa and was carried out during the COVID crisis. The outcome of this project has created value by detailing a lesson learned model for both commercial and HR aspects. This discusses the commercial comparisons along with the internal model with the underlying HR functions as a risk factor that could have jeopardised the continuation of the operation. This resulted in a smooth transition with the additional cash flow generated by the sale of the parts and equipment turned Karma into a viable operation.

Jun 22, 2022

By Roy A. Grancher

Construction materials indeed face a dilemma...as does the building industry as a whole. A stop & go economy; a severe drop; in housing starts; lingering indecision over just what corrective steps are to be taken or to their degree of commitment; no less basic disagreement in regard to which of the, Nation's problems is really the most pressing -- inflation or recession? Optimism has become a rare quality these days. At moat the cautious view is that this new year will see a long, hard struggle back, with hopes that 1976 at least can truly mark a dual anniversary celebration for the United States and its economic health. Yet the paradox is that once recovery does return, those very construction minerals and materials --which in recent years have experienced the ups and downs of overcapacity, shortage, and now declining demand again-- will once more face the spectre of mass inability to service revived and growing needs for its product. Mounting costs, present marginal expansion investment, and substantial lead times required for new facilities to come into production, could well form a bottleneck to economic upswing. The result again can be another cycle of shortage-induced inflation, and with it continued gyrations within the demand supply relationships of the country's building industries.

Jan 1, 1975

By K. V. Raj, A. T. Weakley, A. L. Miller, D. A. Parks

Diesel particulate matter (DPM) is a common and well-known health hazard in the mining environment. The current approved method for monitoring both the organic and elemental carbon (OC, EC) portions of DPM is a laboratory method with a turnaround time of approximately one week. In order to evaluate exposure levels and take corrective action before overexposures occur, a portable real-time device capable of quantifying both OC and EC is needed. To that end, researchers from the National Institute for Occupational Safety and Health (NIOSH) designed and tested a device based on narrow bandpass optical filters that is capable of targeting infrared absorbance bands associated with DPM. Five optical bandpass filters were chosen based on previous work quantifying DPM using Fourier-transform infrared (FT-IR) spectrometry. The resulting device, referred to as a filtometer, is optimized to exclusively determine DPM and could serve as a cost-effective, field-portable alternative to laboratory-grade FT-IR analysis and instrumentation. The performance of the filtometer was investigated by calibrating FT-IR data from DPM (dependent variable) to the filtometer spectra (predictor variables) using a partial leastsquares (PLS) and ordinary least squares (OLS) approach. The square of the correlation coefficient and root-mean-square error of cross validation m

Mar 2, 2022

Jan 1, 1989

By D J. Williams

The approach to the disposal and storage of mine tailings is slowly evolving. Tailings disposal has been based on minimising short-term capital and operating costs, with rehabilitation costs discounted by the application of a high discount factor in a net present value approach to accounting. This has led to the widespread adoption of surface tailings storage facilities (TSFs) to store slurried tailings delivered by robust and cheap centrifugal pumps and pipelines. Depending on the site climate, rate of rise of the tailings, nature of the tailings and the extent to which supernatant water is removed from the surface TSF, the tailings may or may not dewater, densify and gain strength. High rates of rise of dilute tailings to a facility used to store both tailings and supernatant water results in a wet, low-density, soft tailings deposit that not only occupies a large storage volume but also presents rehabilitation difficulties. A low tailings density results in high containment wall costs, very high rehabilitation costs and a low potential for future land use or ecological function. Overall, the cost of slurried tailings disposal, thought to be low, is actually high. However, low rates of rise, even of dilute tailings, in a dry climate with efficient supernatant water removal can produce a dewatered, high-density, stiff tailings deposit that may occupy a large footprint but to shallow depth that is relatively easy to rehabilitate. There are advantages in dewatering tailings in the processing plant to recover process water and chemicals, facilitate tailings disposal in a more solid form and facilitate rehabilitation. However, the cost of dewatering in-plant can be high, and the process water may not lend itself to reuse. There are also advantages in removing supernatant water to facilitate solar and wind drying of exposed tailings, although water is lost to evaporation and the dried tailings may best be harvested prior to inundation by fresh tailings or rainfall run-off. This paper discusses the background and trends towards the elimination of conventional surface slurried TSFs, with examples presented of the management of black coal and other tailings, including those that are clay mineral-rich.CITATION:Williams, D J, 2015. Towards the elimination of conventional surface slurried tailings storage facilities, in Proceedings Tailings and Mine Waste Management for the 21st Century , pp 11–24 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 27, 2015

By Paula Rodrigues Caumo

A aterosclerose é um termo geral relativo a diversas doenças relacionadas ao espessamento e perda de elasticidade da parede arterial. Atualmente os maus hábitos alimentares, combinados ao sedentarismo, podem levar a ocorrência de elevados níveis de colesterol na corrente sanguínea. Este fato aumenta o risco de obstrução dos vasos sanguíneos, limitando o fluxo do sangue para o coração. Desta maneira, para desobstruir o vaso sanguíneo e manter o lúmen arterial aberto é colocado um stent. Os stents são redes, normalmente de ligas metálicas, que servem para desobstruir os vasos sanguíneos. O tratamento de doenças das artérias coronárias e periféricas usando stents metálicos tem sido adotado nas intervenções médicas nos dias de hoje. No entanto, surgiram argumentos que indicavam os benefícios de remover o stent após este ter feito a desobstrução, originando desenvolvimento de stents biodegradáveis. Estes exigem propriedades mecânicas adequadas, biocompatibilidade adequada, garantindo uma baixa toxicidade dos produtos de degradação. Com isso, o objetivo deste trabalho é o estudo preliminar sobre stents metálicos biodegradáveis, como ferro puro, magnésio. Além disso, avaliar se os mesmos são adequados para aplicação à stents biodegradáveis, avaliando as propriedades mecânicas dos metais, biocompatibilidade e toxicidade dos compostos degradados ao longo do tempo de implantação.

Aug 17, 2017

1. Theory of Wet Dust Suppression Techniques Wet dust suppression is the utilization of a liquid for the control, reduction or elimination of airborne dust, or the suppression of such dust at its source. Effective control involves: a. The confinement of the dust within the dust producing area by a curtain of moisture. b. The wetting of the dust by direct contact between the particles and droplets of moisture. c. The formation of agglomerates too heavy to remain airborne, by combining small dust particles with each other and with the droplets of liquid. From the standpoint of economy, availability and safety, water is the ideal fluid. From the standpoint of effectiveness, however, it leaves much to be desired. As a result, a tech¬nique has been devised in which very small percentages of specially formulated dust control compounds are blended with water to greatly enhance its dust suppression qualities. The terms "dust control compounds, wetting agents and surface active agents" are frequently used interchangeably. Although dust control compounds represent a specific type of wetting agent, a great many wetting agents are far from satisfactory for dust control. "Wetting Agents" is a broad category which covers such items as emulsifiers, solubilizers, detergents, foamers, penetrants, thickeners, etc. Dust control compounds, on the other hand, are carefully formulated blends in which one or more special surface active agents have been incorporated.

Jan 1, 1972

By E. T. Knight, John D. Gill

IN ITS capacity for service to the public the oil industry is truly gargantuan. But it is only in this respect that the industry is the voracious, many-headed, many-armed and many-handed creature it has been so often painted by those who know it not too intimately and only from the outside. Contrasted sharply with the immensity of the service rendered is the relatively modest share of the national income which has gone to those who provided the tools and the mental and manual labor with which the service was performed. No doubt the relative meagreness of the re- ward was the result of a combination of fortuitous circumstances respecting the nature and accessibility of the industry's raw material and the extensive development and application of the most advanced technology, spurred by an intense competition.

Jan 1, 1940

By I. L. Grigorova

As a result of the main processes of the limestone treatment ? sawing, buffing and polishing, a technological waste is usually obtained. These final tailings consist of a water suspension with highly variable solid phase content and granulometric composition. Since the waste is conducted to a tailing pool or another place, this leads to environment pollution. In this work the slurry waste generated during the limestone processing in a Bulgarian limestone manufacturing company was characterized. The chemical composition, particle size distribution, solid phase content, whiteness, yellowness, abrasion, specific surface and density were determined. The possibility of obtaining building/construction materials from limestone processing waste was studied in a laboratory scale. The technological tests included thickening, filtration and drying of waste products. Continuous operation laboratory thickener was used. Coagulant Accepta® 8302 (aluminum sulphate solution) and anionic flocculant Magnafloc® 155 were found to be the most effective in the sedimentation of the products. Filtration tests were performed using a laboratory pressure filter. Drying tests were carried out in laboratory facilities using the direct heating method. On the basis of the laboratory results a technology for limestone treatment waste was developed. A production line for building materials from limestone slurry was set up. As a result the manufacturing company has a possibility to use circulating water.

Jan 1, 2014

By F. G. Scott

This document is a proposed program plan for mining environmental research to be conducted by the U.S. Bureau of Mines in support of industrial oil shale mining and processing. This program plan is one of three research alternatives being considered by the Bureau, each based on a different level of anticipated funding. This report documents the high funding level program plan.

Jan 1, 1980

By Marcus Nadler

WAGES in the United States, in spite of the wage freeze, have increased materially. Overtime payments have become standard practice in almost all industries. Now efforts are being made to place wages on an annual basis, and if this is adopted, it will result in an increase in the cost of production. Organized labor today is more powerful than ever before; union membership is large and steadily increasing, and in many instances membership in the union is a prerequisite to employment. The treasuries of many unions are strong as a result of the large membership and full employment. The unions, therefore, today are in a much better position than ever before to carry on long strikes. Politically, too, the unions are more powerful today than they ever were. On the basis of their strength, one may expect that some of the demands that the labor unions will make in the not distant future will be granted. It is, therefore, quite evident that before long, particularly when the curtailment in war production reaches about 40 per cent, this country will be confronted with a serious labor problem.

Jan 1, 1945