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In this paper, we present design and implementation details of a fuzzy-behavior-based controller for an automated excavator. This robotic excavator must be equipped with sensors, actuators and an embedded control system. The excavator controller uses neural-networks to interpret forces and torques gathered from bucket mounted force sensors during the excavation process. Implementation details and experimental results using the fuzzy behavior based excavation controller are given for several excavation tasks. These excavation tasks demonstrate some of the complex skills that are essential for an autonomous mining excavator controller.

Jan 1, 1996

By H. M. Gao

According to the difficulty of dolomite removal from collophanite,normal-reverse floatation process has been adopted in floatation with the use of highly selective collector G-4 and depressant S721. Good indexes of flotation have been obtained with the run-of-mine ore containing 17.96 % P2O5 and 2.31 % MgO being upgraded to a concentrate containing more than 30% P2O5 and less than 1% MgO. The reagent interaction mechanism in low grade collophanite flotation has been stu-died by FTIR analysis and theoretical calculation. The results indicate that the interaction between collector G-4 and collophanite is the result of chemical adsorption in combination with physical ad-sorption with chemical adsorption playing the major role. Depressant S721 adsorbs on dolomite surface to form a water film and effectively depresses the flotation of dolomite and reduces the MgO content in the concentrate.

Jan 1, 2014

By Jacqueline A. McClaskey

The U.S. Bureau of Mines Information and Analysis Directorate collects worldwide data on virtually every commercially important non fuel mineral commodity. These data form the base for tracking and assessing the health of the minerals sector of the U.S. economy. The Bureau's data collection activity was instituted by the 47th Congress in an appropriations act of August 7, 1882 (22 Stat. 329), which placed the collection of mineral statistics on an annual basis. The most recent authority for the U.S. Bureau of Mines survey activity is the National Materials and Minerals Policy, Research and Development Act of 1980 (Public Law 96-479, 96th Congress). This act strengthens protection for proprietary data provided to the U.S. Department of the Interior by persons or firms engaged in any phase of mineral or mineral-material production or consumption.

Jan 1, 1993

By Don Opacic

The disposal of sludges and other similar industrial wastes is a major problem. Liquid wastes from industrial operations, when treated, produce significant volumes of sludge which are difficult to dispose of, because of the chemical and physical properties of the sludge. In the mining industry sludge is produced from various water treatment operations, in particular mine drainage neutralization. Waste water from coal preparation plants also produces a sludge however the sludge is in fact a slurry containing clays, coal fines and coal impurities. In many areas the disposal of these sludges is producing a serious problem. Mine drainage sludge consists of a variety of hydrous iron oxides, usually ferric oxides, contaminated with other neutralization products such as calcium sulfate. The volume of sludge from mine water or mine

Jan 1, 1973

[†Aaronson, Alfred E., Oil Producer, Pres., Tuloma Oil Cc Tulsa, Okla. '18 ¦Abad, Leopoldo F., College of Min., Univ. of California Berkeley, Cal. '23 ¦Abadilla, Quirico A., Geol. Dept., Cia. Mexicans de Petroleo "EI Aguila," S. A., Edifico "El Aguila," Esq., Calles Aurora y Comercio, Tampico, Tamps., Mexico. '20 ¦Abbey, Robert Graham, Student, Case School of Applied Science Cleveland, 0. '21 Abbott, Clarence E., Gen'l Supt., Iron Mines Div., Tenn. Coal, Iron & R. R. Co., 1405 Minnesota Ave., Bessemer, Ala. '04] [ ]

Jan 1, 1925

By J Yamatomi, Y Tamanishi, S Miwa

The four-dimensional (4D) network relaxation method, originally developed by Akaike in 1999, uses Lagrange relaxation and is known for its ability to include the price change and possible better outputs, but the computation time is huge. However, the continuous advancement in computer technologies allows the use of higher-speed computers with more memory capacity. Therefore, in this paper the authors have tried to implement the method with adjustments and improvements in its algorithm to suit the current computing system. As a result, the computation time has been drastically reduced and more constraints can be included, which makes the scheduling a more realistic one. The case study of an open pit gold mine with 129 500 blocks can be solved considering the capacity constraints in 71 seconds. In previous case studies, the mined ore had to be processed or disposed of immediately. Now, stockpiling can be included as another option. Since the details of the algorithm are still being improved, the computation time is a little longer than the previous cases without the stockpiling option. However, it is found that scheduling with the stockpiling option is possible in a reasonable time. In conclusion, the 4D network relaxation method has become more useful with advances in computer technologies and provides better results.

Sep 26, 2011

By William Rachunis

This publication describes the construction of 43.64 miles of underground tunnel to be used as an aqueduct, known as the West Delaware aqueduct. In the past, the accident history of tunnel operations has not been favorable, the "rule of thumb" being a death for each mile of progress, according to the meager accident statistics available for the tunnel-driving industry. The accident experience at this project and the use of modern equipment established safety and progress records that were accepted by tunnel people as a record at the time. The city of New York comprises 5 boroughs, with a total population of approximately 8 million people, and uses about 1,210 million gallons of water each day. The water supply for the city is the responsibility of the New York City Board of Water Supply. This organization has constructed an extensive aqueduct system, the Delaware aqueduct, to convey water to the city from the distant mountain and river sources in the Catskill Mountains in the Southern Tier areas of New York State (figs. 1 and 2).

Jan 1, 1962

By Margaret N. Maxey

For the past quarter century, it is fair to say that the political agenda of Western industrialized societies has been driven by those opposed to forms of economic growth providing sustenance to a growing population. They regard growth as the major threat to their social philosophy which champions a wholly "new ethic of biocentric equality" or "living as if Nature mattered." This ethic demands that "a violent, plundering humankind" must abandon its alleged rape of Planet Earth and derive its ethical norms from pre-existing harmonies and fragile, precarious balance present in Nature. A Green political agenda appeals strongly to deep longings shared among many people whose temperament seeks tranquillity in a world of wild natural beauty uncluttered by dependency on tools and experts and specialists. According to proponents of the Green philosophy, our world is pregnant with enormous problems. Armed with expanded political powers, regulatory guardians at state and local levels have mustered their forces with shotguns cocked, poised to prod an ignorant and lazy citizenry to the altar for an exchange of vows with Environmental Ethics. Social engineers have skillfully discredited the traditional role of professionals in scientific engineering who are summarily dismissed as the failed architects of an industrial system pillaging the earth. They stand accused of producing unmanageable offspring - from mining minerals and energy resources to disposing of toxic wastes - whose disputed parentage and expectant crimes against humanity must be prevented by removing them from normal custody. Green critics claim that markets cannot be given custody of industrial offspring - pollutants, wastes, land-use abuses. Markets appear to have failed to provide equity to present and future generations. The only custodian with sufficient coercive power seems to be the regulatory bureaucracy. The upshot is a stark Hobson's choice - Shotgun Wedding vs. Custody Dispute. It derives its fateful predestination from an uncritical acceptance of several preconceptions which currently undergird the altar of Sustainability characterized by its acolytes as "a new and exciting doctrine." It is significant that Limits to Growth slogans of the 1970s have been displaced in the 1990s by the more palatable language of Sustainability. As a policy recommended to forestall an impending doom, Sustainability derives its credibility from dire predictions of global warming, ozone depletion, acid rain and the like. The Rio Declaration announced to the world in June 1992 that, although energy is essential to human well-being, its production and consumption in wealthy industrialized nations is unsustainable. It called for a complete overhaul of energy systems with nothing short of a total replacement of fossil fuels, uranium fission reactors, and large hydroelectric projects by means of so-called renewable energy sources, augmented by coercive regulations to force conservation and limit consumption demands. The social and political consequences of such a sweeping

Jan 1, 1995

By L. H. Kalenowski

The metal lithium, its alloys, and its salts are becoming Increasingly important as industrial materials. Lithium metal, because of its great affinity for elements, such as nitrogen, hydrogen, oxygen, sulfur, phosphorus, carbon, and silicon, has become important for a wide variety of uses, ranging from purifying helium gas by removing the nitrogen to scavenging molten metals of undesirable impurities. The excellent fluxing properties of lithium salts have found increasing use in such applications as fluxes for welding aluminum and in lower melting ceramic glazes and coatings. Lithium chloride is one of the most hygroscopic salts known and is widely used as a dehumidifying agent. .About 17 lithium minerals are known. Four of these have commercial importance: Amblygonite, lepidolite, zinnwaldite, and spodumene. Spodumene is the most important source of lithium and lithium salts at present, but sizable deposits of amblygonite occur in the pegmatite area of the Black Hills of South Dakota. The size and nature of these deposits preclude the, possibility of, any assurance of an adequate supply of amblygonite for an operation processing only this mineral. Frequently spodumene and amblygonite occur associated in pegmatite minerals. Preliminary investigations indicate that a simultaneous recovery of spodumene and amblygonite can be made by froth flotation. A single process for treating spodumene and amblygonite or mixtures of thorn, would make possible more use of amblygonite as a source of lithium and obviate the separation of spodumene and amblygonite when they occur together.

Jan 1, 1952

By Barbara Mazzini Loureiro

As placas de circuito impresso (PCI) são materiais heterogêneos e sua composição pode variar em função do ano de fabricação, tecnologia empregada, propósito de utilização, legislações vigentes e país de origem, entre outros. Essas características interferem diretamente no valor econômico agregado a estes resíduos, pois dependem da composição dos mesmos, de tal maneira que as empresas recicladoras tomam como base essas informações no momento da aquisição da sucata. Assim, a classificação e caracterização de PCIs é de suma importância para o mercado de reciclagem de resíduos eletroeletrônicos. A fim de alcançar este objetivo foi realizada cominuição em moinho de facas utilizando grelhas com abertura de 9, 6 e 3mm. A etapa de caracterização incluiu ensaios de digestão em água régia, perda ao fogo, análises química quantitativa por ICP-OES e MEV/EDS. Verificou-se que o lote de PCI estudado possui 39,5% de material cerâmico, 34,5% polimérico e 26 % metálico. A porcentagem em massa de cobre na placa é de 14,28%, de ferro 3,73%, de ouro 0,012% e de estanho 1,29%. O lote não é lead free e é multilayer com quatro camadas de cobre.

Aug 8, 2018

By D. V. Bush

There has been a great deal of evaluation and discussion on the economics of semi- autogenous grinding versus conventional grinding circuits. This paper will not discuss the merits of one system over the other, but rather will discuss the Henderson Mill's approach toward achieving the most economical milling conditions in its existing SAG mills.

Jan 1, 1985

By Travis Q. Lyday

Australia was one of the world's principal producers of minerals and metals, and its minerals industry was a leading catalyst in promoting growth of the country. Australia was the world's largest producer of alumina, bauxite, diamond, ilmenite, monazite, opal, rutile, sapphire, and zircon. It was the premier exporter of alumina, coal, ilmenite, refined lead, monazite, rutile, and zircon, and was the second leading exporter of iron ore, after Brazil. Ranking behind China, the United States, the U.S.S.R., the German Democratic Republic, Poland, and the Federal Re-public of Germany, Australia was the seventh largest producer of coal (all grades) in the world. Australia was the fourth largest gold producer in 1988, after the Republic of South Africa, the Soviet Union, and the United States. It was the second largest producer of zinc, the third largest producer of nickel, the fourth largest producer of uranium, and the seventh largest producer of copper. 2 The country's mineral wealth was so extraordinary that it was virtually self-sufficient in most mineral commodities. Endowed with abundant resources of coal, natural gas, liquefied petroleum gas, and uranium, Australia was one of the few market economy countries that was a net exporter of mineral fuels. About 90% of Australia's consumption of crude oil was supplied by domestic production; this was expected to decline significantly about 1990, unless significant new oilfields were discovered.

Jan 1, 1990

By Walid El Kamash, Sadik Oztoprak

"Soft soil presents a challenge against multistory buildings in some cities of Egypt such as Port Said due to the consolidation settlement. Deep mixed (DM) columns are used to improve the soft foundation soil in order to reduce the total and differential settlements. Latest research revealed that this improvement technique also increases the rate of mechanical consolidation due to column yielding caused by stress concentration from the soft soil. In this study, extended poly-styrene (EPS) Geofoam is used to replace the soft soil over DM columns in order to control the stress concentration and settlement. To understand the effect of EPS geofoam on the degree of consolidation, stress concentration and settlement, a parametric study was carried out through a mechanically and hydraulically-coupled numerical method. A unit cell model is used, in which the soil was considered linear elastic; DM column and EPS Geofoam are elasticplastic materials. Results reveal that EPS geofoam is helpful for reducing the settlements and accelerating the consolidation. Increasing the length of the column of the deep mixed foundation with EPS geofoam has a significant effect on accelerating the consolidation.INTRODUCTIONExpanded polystyrene (EPS) geofoam is a lightweight polymeric material which is made by expansion of raw plastic beads. The expansion of the EPS beads are spherical-shaped particles containing closed hollow cells. EPS which plays an important role as an innovative lightweight construction material is now well recognized due to its low density in addition to high compressive and rupture strength. Inglis (1996) reported the first use of EPS geofoam as a seismic buffer to reduce potential seismic loads against a nonyielding basement wall. Gaskin (2000) and Bathurst et al. (2007) carried out reduced-scale shaking table test on a rigid retaining wall protected by EPS geofoam. The test data showed that the peak lateral loads acting on compressible model walls were reduced below values measured for nominally identical structure but with no compressible inclusion. Abdelrahman and El Kamash (2014) investigated the behavior of EPS Geofoam beneath raft foundation on soft soil of Port Said. They showed the ability of EPS to control vertical displacements. The investigation of the behavior of EPS geofoam with DM column has not attracted more attention of previous researchers. In this paper, the behavior of replacing the soft soil by EPS geofoam was examined in the presence of DM column."

Jan 1, 2015

By Robert G. Paul

President Reagan's Exclusive Economic Zone (EEZ) Proclamation of March 10, 1983, extended United States ocean jurisdiction 200 nautical miles offshore our coastal states and territories. The accompanying policy statement noted that this action was a result of recently discovered deposits of polymetallic sulfides and cobalt-rich manganese crusts, which could be a major source of minerals important to the U.S. economy and security. Within these 3 billion acres of exclusive economic jurisdiction, the United States has sovereign rights to explore, develop, conserve, and manage the mineral and other natural resources of the seabed. The President has directed the Department of the Interior (DOI) to encourage exploration and production of minerals from this area. The DOI, through the Minerals Managment Service (MMS), is responding to this presidential directive by developing a leasing program for nonenergy minerals in the EEZ. The authority to develop this leasing program is the Outer Continental Shelf Lands Act of 1953, as amended in 1978, which authorizes the Secretary of the Interior to grant leases for oil, gas, sulfur, and other mineral resources on the Outer Continental Shelf (OCS). The Solicitor of D01 has determined that the definition of the OCS for legal purposes extends at least 200 nautical miles offshore of our coastal states to the EEZ boundary. Section 8 (k) of the Act allows the Secretary to lease minerals, other than oil, gas, and sulfur, on the basis of competitive bonus bidding and under such terms and conditions as he may prescribe at the time of offering the area for lease.

Jan 1, 1985

By Ross W. Smith

Many studies have been made of the microflotation of quartz (1,2,3,4,5,6) and alumina (3,5,6, 7,8) using various anionic and cationic hetero- polar hydrocarbon surfactants as collectors. A few studies have been made on these minerals using amphoteric hydrocarbon collectors ( 9,10, 11,12) and only a few studies have been made on the use of fluorocarbon surfactants as flotation collectors (13,14). The present investigation compares microflotation response of the two minerals in hydocarbon and fluorocarbon collector systems of the anionic, cationic and amphoteric types. An attempt is made to relate flotation response of the minerals to their electrokinetic behavior and the pKa values of the collectors.

Jan 1, 1979

By Jairo Londono Arango

El presente texto realiza un diagnóstico sobre la producción y el mercado del carbón colombiano a través de los datos utilizados del último censo minero realizado en 1983, donde de describe los sistemas de explotación, nivel de tecnificación y los rendimientos alcanzados.

Jul 1, 1985

By Wilbert J. Huff

The Explosives Division of the United States Bureau of Mines makes certain laboratory and field investigations that deal with explosions, explosives, ignition, and combustion, together with many related problems, such as the cause and prevention of fires, and certain fundamental scientific questions bearing upon the determination of the chemical and physical mechanisms underlying some of the important phenomena encountered. Its work on explosives has been particularly directed toward determination of the chemical and physical characteristics of explosives designed for use in coal mines and in a more limited way to those used in metal mines, tunnels, quarries, and other engineering operations. This testing is handled by two units of the Explosives Division, as follows:

Jan 1, 1937

By Anderson de Farias Pereira

Estudos recentes sugerem que a produção de nanocompósitos de MgH2 com nanomateriais de morfologia 1D baseados em TiO2 produzidos via moagem reativa promovem aumento significativo na cinética de absorção-dessorção de hidrogênio deste material, o que favoreceria sua aplicação em tecnologias de armazenamento de hidrogênio em estado sólido. A proposta deste trabalho é avaliar o efeito da energia de moagem na integridade das nanopartículas e seu desdobramento nas cinéticas de sorção do material. Para tal, amostras de MgH2 com 5%p. de nanobastões de TiO2 (NR-550) foram produzidas em moinho de bolas planetário a 100, 200 e 300 rpm, respectivamente. Difração de Raios X (DRX) foi utilizada para caracterizar a estrutura cristalina e Microscopia Eletrônica de Transmissão (MET) associada com EDS para analisar o tamanho e morfologia dos catalisadores em meio ao hidreto. Os resultados até o momento indicam que o processo de moagem a 100 rpm não ocasionou variação significativa na distribuição de tamanho e razão de aspecto comparado ao aditivo puro (com valor médio de 35 nm e 2,70 respectivamente). Ensaios de cinética de sorção de hidrogênio ainda estão em andamento.

Oct 30, 2017

By Amélia de Santana Cartaxo

Nos dias atuais, a concorrência comercial estimulada pelas grandes empresas multinacionais tem direcionado o rumo das pesquisas cientificas para o aperfeiçoamento ou busca de materiais que ofereçam atrativas propriedades físicas ou químicas. O objetivo desse trabalho é analisar a influência dos métodos de síntese nas características estruturais do pó de titanato de bismuto. Foram sintetizadas amostras de titanato de bismuto pelos métodos Pechini e reação de combustão. As amostras sintetizadas foram submetidas as análises de difração de raios x, microscopia eletrônica de varredura, área superficial pelo método BET, tamanho de partícula por espalhamento dinâmico de luz, análise térmica pelas técnicas TGA, DTA e DSC. Todos os pós estudados apresentaram morfologia semelhante. As perdas de massas ocorreram em maior escala para as amostras produzidas pelo método de reação de combustão. A fase de titanato de bismuto formou-se em ambos os métodos, entretanto a fase teórica (estequiometria 1:1:3) desejada não foi formada.

Oct 30, 2017

By Lisa A. Banick, Robert A. Rubin

The lawyer's role in underground construction, certainly for the past 20 years, has been principally that of the advocate in disputes resolution. Disputes in underground construction have been steadily increasing, making the lawyer a more prominent participant in the underground construction process. It is widely believed, however, that this is not a salutory state of affairs. It is our thesis that lawyers ought not be eliminated from the process, but rather that their role should be changed. They should function as prophylactics rather than as swords, i.e., they should be used to prevent or reduce disputes rather than, after the fact, to champion their clients' causes. a. Mr. Rubin is a partner in the New York law firm of Postner & Rubin. He has litigated and arbitrated numerous complex construction disputes. He has also participated in efforts to improve contracting practices on committees of ASCE and the National Academy of Engineering. b. Ms. Banick holds a BS in Civil Engineering from the University of Virginia and is a law student at New York Law School. She is a law clerk at Postner & Rubin.

Jan 1, 1983