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By V. Polotski

Initiated and financed by the Canadian Space Agency, Micro-Rover Platform with Tooling Arm (MRPTA) project has targeted the development of a robotic system with remote control and autonomous navigation capabilities for testing a large variety of analogous planetary missions. Although developed for planetary exploration, the navigation system is highly suitable to such areas of application as construction and in mining. Autonomous navigation system is capable of moving the platform to predefined position(s)/orientation(s) while continuously mapping the terrain, assessing its traversability and choosing most appropriate path to follow. Designed according to the JAUS (Joint Architecture for Unmanned Systems) framework, the system consists of several interconnected components. Following components are of particular importance: Pose Estimator (PE), Terrain Evaluator (TE), Map Manager (MP), and Path Planner (PP). The PE uses a minimal sensor configuration consisting of an azimuth gyroscope, inclinometer and wheel odometry. The PE provides reliable pose estimates in spite of pronounced slippage by employing extensive use of fused data. The TE uses a nodding laser scanner which continuously sweeps the area in front of the platform and constructs a ?traversability grid? (TG) of the surrounding area. Multiple TGs are constantly constructed along the platform motion path are combined into a terrain map maintained by the MP. The PP uses this map to compute a motion path Obtained path is executed by the motion controller and remains current until it is contradicted by the most recent map ? at which point it is re-planned. This paper addresses integration issues, lessons learned and also outlines the possible applications for construction and mining.

Aug 1, 2013

By Romeo Calderón

El presente trabajo describe los trabajados realizados en la Compañía minera Huarón con el objetivo de realizar la explotación de vetas muy angostas y sinuosas de potencias inferiores a 1.20 m. de un modo seguro, eficiente y económico, donde fue necesario resolver el problema de carguío y acarreo en tajeos inferiores a 1.20 m. empleando equipo LHD de 0.80 m. de ancho, fabricado especialmente para este fin.

Nov 1, 1982

By Henry G. Granger

NOTHING in this paper is to be understood as even suggesting a moment's suspension of the splendid work now going forward on the Isthmus of Panama, except so far as it is related to the proposed locks. All the work already done, and all material purchased or ordered, would be available for the plan herein proposed. The situation and the problem concerned may be summarized as. follows : The scheme of a lock-canal through the Isthmus of Panama was adopted, as is well known, on two principal grounds-namely, the greater expense of a sea-level canal, and the longer time required for its construction. Of these, the latter is believed to have been the more influential. But further developments have diminished the weight of both, so that a reconsideration of the question is warranted. It is the purpose of this paper to advocate such a reconsideration-emphasizing the importance of certain objections to the lock-canal not mentioned or not duly appreciated in the report of those members of the International Board of Consulting Engineers who favored this form; showing the nature and bearing of the new facts developed; and, finally, proposing a combination of well-known methods and apparatus, which would, in my judgment, effect the construction of a sea-level canal in less time, and perhaps at no greater cost, than will be required for the remaining work on the lock-canal. I. OBJECTIONS TO A LOCK-CANAL. 1. Earthquakes. Two centuries ago Panama is said to have been destroyed by an earthquake. In 1882 a rather violent earthquake was felt at the southern end of the Isthmus. In 1898 I felt a slight shock near the present border-line of Colombia. In 1900 I felt three shocks at Quibdo, the head of navigation of the

Jan 1, 1909

By Raphael Lemos

Durante o ano de 2008 foram observados diversos “Gap’s” no processo de lubrificação, tais como: alto consumo de graxa, lubrificação em excesso, degradação de sistemas centralizados, ausência de procedimentos, mão-de-obra sem o conhecimento adequado, entre outros. Dessa forma, o processo de lubrificação foi separado em cinco grandes grupos de atuação, sendo eles: seleção de lubrificantes, gestão do processo de lubrificação, sistemas centralizados, contaminações e vazamentos. Foram aplicadas as ferramentas do MASP (Método de análise e solução de problemas) sendo a primeira delas o "Brainstorming", nos valendo das observações realizadas no Laminador de tiras a quente nº 2. Em sequência foi definido e implantado o plano de ação. Os resultados obtidos após as ações foram: a redução do tempo de parada associada a problemas de lubrificação dos equipamentos do LTQ#2, redução média de consumo de graxa no laminador de - 6.277 kg/mês, quando comparamos a média de consumo do período de Novembro de 2010 a Outubro de 2013, frente ao consumo atual no período de Novembro de 2013 a Outubro de 2014, totalizando uma redução média de aproximadamente - 75.321 kg nos últimos 12 meses.

Aug 16, 2017

By C. C. Clark, D. J. Benton, J. B. Seymour, L. A. Martin

"The U.S. National Institute for Occupational Safety and Health (NIOSH) is conducting research on jackleg use and related accidents in underground metal mines. This paper provides an analysis and overview of jackleg drill usage, accidents, operational characteristics and alternatives, based on information from injury reports, legacy research, stakeholder input and published literature. The results indicate that jackleg drills are involved in more groundfall accidents in underground metal mines than any other drill, and jackleg-drill-related injuries are most prevalent at the face in the course of installing initial ground support. Practical mechanized alternatives to jackleg drills for drilling and bolting under incomplete support in narrow underground openings have not yet been realized. Small, versatile mechanized bolting equipment needs to be developed to address jackleg-drill-related accidents and improve safety at mines where jackleg drills are being used. IntroductionJackleg drill is a generic name for a handheld, rotary, percussion rock drill equipped with an attached reaction leg to provide stability and thrust (Fig. 1). All of the drill and leg controls are located near the operator’s handle at the rear of the head portion of the drill. Jackleg drills are classified according to the bore size of their pneumatic pistons, which normally range from 6.03 to 8.26 cm (2.375 to 3.25 in.) (Kurt, 1982; Clark, 2012). Jackleg drills typically weigh 46.7 kg (103 lb), but the weight can approach 54.4 kg (120 lb) after being fitted for operation with drill steel and air and water hoses (McKibbin and Clark, 2001). In underground mines, jackleg drills are commonly used to drill 3.8-cm (1.5-in.) diameter holes up to 1.83 m (6 ft) deep in rock."

Aug 1, 2016

By Roger L. King

The Bureau of Mines has developed probes to be used in emergency mine rescue operations by being lowered through a borehole drilled into an underground mine. Various probes can provide two-way voice communication with trapped miners, continuous mine atmosphere monitoring, temperature indication, and television searching capability. At present, an infrared imaging probe is being developed for "seeing" through coal smoke.

Jan 1, 1976

By José de Camargo

Em janeiro de 2016 a Russula foi contratada pela Dojran Steel (Sidenor) para a reformulação de sua planta de Nikolic / Macedônia. O fornecimento incluiu um novo laminador de barras e perfis com capacidade para atingir 350.000 toneladas por ano, composto de equipamento mecânico, sistema de automação, bem como todo o suporte técnico necessário para a Dojran Steel expandir sua antiga gama de produtos e melhorar sua qualidade de produto acabado. Ao final da reformulação, executada em várias fases, o novo laminador adquiriu capacidade para produzir toda gama de produtos desejada: - Redondos de 8 a 40 mm, - Barras chatas de 16 x 4 a 140 x 20mm, - Quadrados de 8 a 40 mm, - Cantoneiras de abas iguais de 20 x 20 x 2,5 a 120 x 120 x 12mm,- Cantoneiras de abas desiguais de 30 x 20 x 3 a 120 x 80 x 10,- Perfil U (UPN) com altura de 30 a 140 mm,- Perfil I (IPE) de 80 a 120 mm e - Perfil T de 20 a 50 mm.

Oct 30, 2017

By Peter K. Strangway

During 1973, a 20,000 net ton (18 100 metric ton) formcoke test was carried out at Inland's 26.5-foot (8.08-meter) hearth diameter on NO. 5 Blast Furnace. The formcoke briquettes were produced from Elko1 coal by FMC at their pilot plant in Kemmerer, Wyoming. The briquettes were shipped to Inland in open railroad cars and most of them were placed in an outside storage field until a sufficient amount was available for the actual blast furnace test. The test consisted of three phases: an initial four-week base period; the actual 33-day formcoke test period; and a final three-week post-test base period. During the formcoke test period, the regular coke skip loads were gradually replaced with skips of formcoke until, after a three-week period, the replacement ratio reached 80%. The furnace operated smoothly and quality hot metal was produced. The burden remained permeable and it was possible to maintain wind rates 9 of over 100,000 scfm (47 Nm3/s) without significant blast pressure increases. Dusting from the formcoke was not a problem either in the stockhouse or in the top gas. The formcoke briquettes maintained their original shape and density as they descended through the furnace. When the 80 percent replacement level had been reached, the inwall temperatures became higher than normal (about 2000 ºF (1090 ºC)) and followed an unusual steady pattern. In addition, the top gas temperature became higher than normal, and the hot metal analyses and temperatures began to fluctuate unacceptably. In general, it is felt that the high inwall temperatures were a result of channeling of the hot furnace gases along the stack walls. This channeling appears to have been promoted by a change in distribution of the burden in the top of the furnace which, undoubtedly, was caused by the increased increments of formcoke. Since it was felt to be unsafe to operate the furnace for an extended period of time with the inwall temperatures at the high level, a decision was made to remove the formcoke from the furnace. When this was done, the inwall temperatures returned to normal. Once the inwall temperatures had returned to normal, the remaining 3,800 net tons (3450 metric tons) of formcoke were used in the furnace at a nominal 40% replacement level for five continuous days. The furnace operated smoothly during this period, and the results were representative of satisfactory furnace operation with partial replacement of regular coke with formcoke. The test was successful in proving that formcoke can replace up to about 50% of the regular coke in a large furnace operating at high wind rates. However, additional work will be required to develop acceptable charging practices for using higher levels of formcoke replacement.

Jan 1, 1977

By Mike Robotham

When RFQ?s are received they often contain detailed technical specifications which suggest a departure from the suppliers own customary approach to the design. Both client and end user are quite rightly influenced by their own experiences. The question is who is right, the client and his consultant, the supplier or perhaps a combination of these. This paper looks at some of the fundamental variances that often occur in the approach to the mechanical design of drum hoists, based on our experiences of recent years. Director of Engineering, Mike Robotham is a chartered engineer and has been with DavyMarkham for over 30 years. Having completed a craft apprenticeship he later joined the engineering department as a junior engineer. He has a wealth of experience of working on medium to large engineering projects in the field of mechanical, electrical and hydraulic equipment

May 1, 2011

By Oliver Bowles

The term" sandstone" is applied to a rock composed of mineral grains smaller than pebbles, cemented together more or less firmly. "Conglomerate" is the name given to a rock composed of pebbles, or pebbles and bowlders, of various sizes cemented together. If the pebbles are large and well rounded the rock is sometimes called " pudding stone." Although the term "sandstone" includes all varieties, certain specific terms are applied to types characterized by particular compositions, colors, or uses. "Quartzite" is a variety in which the individual grains are so firmly cemented together with quartz that the rock will fracture as easily through the grains as through the cement; "ferruginous sandstone" is one rich in iron as cementing material, or as grains, or both; "micaceous sandstone" is one in which mica is prominent; " arkose" is a feldspathic or granitic sandstone composed of angular grains; "calcareous sandstone" is one containing considerable calcium carbonate; and" argillaceous sandstone" is one containing considerable clay. The term "flagstone" is used for a rock that splits readily into sheets suitable for flagging; "freestone" for rock than can be cut or carved readily, and with equal ease in all directions; and" ganistel'," in the United States, for sandstone suitable for the manufacture of refractories. Others are named from their characteristic colors such as " bluestone," " redstone," or " brownstone."

Jan 1, 1917

By R. L. Grayson

Evidence has accumulated indicating that cultural change toward safer workplace behaviors is beginning to occur systematically in the coal industry. Through a range of programmatic mining company successes, enforcement and litigative actions, economic responses to competition, and integrated efforts by federal and state agencies, a broader participation of safety and training professionals is being achieved to address prioritized workplace problems at mines. Small steps in workplace-related improvements have been realized already, but the trends in industry safety statistics, coupled with focused programmatic initiatives, indicate that more definitive and systematic steps are occurring to improve safe behavior in the workplace routinely.

Jan 1, 1996

By J. McCreedy

The Ontario Division of The International Nickel Company of Canada, Limited, operates five underground mines and one open pit on the rim of the Sudbury Basin located in the Province of Ontario, 230 miles northwest of Toronto. Four of the mines, Frood-Stobie, Creighton, Murray and Garson, lie on the South range of the Basin within a 10-mile radius of the City of Sudbury; the fifth mine, Levack, is on the North range, about 30 miles northwest of the city. The ores are mined primarily for nickel and copper, the principal minerals being pentlandite and chalcopyrite. Other elements recovered from the ores in varying quantities are platinum, palladium, ruthenium, iridium, rhodium, cobalt, selenium, tellurium, iron, sulphur, gold and silver. In 1962, the total underground ore production was over 10,800,000 tons which was mined mainly by blasthole and caving methods with the remainder by cut-and-fill, square set, and undercut-and-fill techniques.

Jan 1, 1964

By Richard S. Fowkes

Advanced technology, including automation and computerized information systems, is being adopted in mining at an ever-increasing rate to improve safety and productivity and to decrease overall costs. This U.S. Bureau of Mines report focuses on the human factors issues related to advanced technology. Among the significant facts discovered were the following: Experts studying tile design adoption, and implementation of new technology have stated repeatedly that human factors specialists should be involved from the early planning stages, through design and fabrication, and up to and during production, since human factors has been consistently identified as the biggest obstacle to the efficient utilization of new technology. Also, middle management is generally the greatest obstacle to the adoption of advanced technology, this technology can give rise to worker alienation, boredom, stress, job insecurity, and a sense of isolation; training most of the present work force is more cost effective than hiring new workers; workers are willing to accept new technology if they are given a voice in its implementation; the social and the technical systems should be jointly optimized; and with the intro¬duction of advanced technology, the cognitive or mental, rather than the physical, aspects of human-machine interaction must be emphasized.

Jan 1, 1994

By J. J. Baz-Dresch

"The Cannon Mine, a joint venture between Asamera Minerals (the operator) and Breakwater Resources, is located in the centre of Washington state at the eastern base of the Cascade Mountains. The mine complex is located three blocks south of the city limits of Wenatchee, part of an urban area with a total population of 47 000. The closest residence is 350 feet from the mine portal.The B-Neath zone is a narrow, high-grade, downward extension of the southern tail of the mine's main ore body, the B-North zone. It also underlies the northernmost portion of the B-West zone (Fig . I) . The ore is usually reasonably competent but completely surrounded by very weak rock consisting of shear zone and unsilicified sandstones and siltstones.The zone has maximum dimensions of 420 ft in thickness, 500 ft in length , and 200 ft in width . The economic reserves extend from the 70-ft elevation (elevation above sea level) to the 630-ft elevation and consist of about 1.3 million tons of geologic reserves (proven and probable) at an average grade of 0.33 ounces per ton.Acquisition and ExplorationInitial DiscoveryThe initial discovery of the B-Neath zone was made by Tenneco Minerals during July through September, 1984. Their 22-hole surface drilling program consisted of 18 200 ft of drilling. Tenneco Minerals had acquired the 91/2 acre lease from United Mining Corporation.Asamera Minerals subsequently purchased Tenneco's lease in July, 1985; Tenneco retained a royalty position which was later purchased by Echo Bay Mining.Follow-up drilling by Asamera Minerals consisted of both surface and underground drilling. Eight surface holes (7200 ft) were drilled commencing in December, 1985. Following evaluation of the geologic data, an access drift was driven on strike along the top of the ore zone on the 500 level. Diamond drilling from this platform consisted of 17 200 ft in 79 holes."

Jan 1, 1990

By Gonzalo Díaz, Diego Mesa, Willy Kracht

"It is well known that frothers affect the amount of water that is transferred to the froth, which has an effect on both the froth stability and the water recovery. On the other hand, since non-selective recovery by entrainment is directly related to water recovery, it can be said that frothers have an indirect effect on flotation selectivity. Recent research on this subject has shown that the non-selective recovery by entrainment, which is characterized by the entrainment factor, is frother dependent. In other words, the entrainment factor is not unique, but depends on frother type.Having different entrainment factors implies that for the same water recovery, the amount of undesired particles reporting to the concentrate may vary if one changes the frother type, which suggests, as a possible explanation, that it is not only the amount of water in the froth what is affected by frother type, but also the froth structure.The purpose of the current work is to study the effect of frother type on foam structure (two phase froth). A quasi-2D cell operated with a slot sparger was used to study the foam structure in the presence of three different frothers: Methyl Isobutyl Carbinol (MIBC), OrePrep®549, and Octanol at the same gas flow rate and reagent dosage. The foam structure was studied using image analysis, and an algorithm based on textural analysis was developed to classify the foams. The results show that it is possible to classify foams according to the frother used, which proves that frothers have an effect on the foam structure.INTRODUCTIONFrothers are usually dosed paying attention to froth stability, condition that is commonly estimated by sight, according to the operator's criteria and experience. This happens because there is not an established procedure or technique for frother characterization, generating qualitative descriptions such as “powerful” or “selective” frothers, which lack of scientific thoroughness and remain under subjective factors. Nevertheless, several works have been done in this line of research. Moyo et al. (2007) classified frothers based on their water-carrying capacity, proving that this characteristic is related with gas holdup and frother type. Previously, Trahar (1981) had related water recovery and gangue particles recovery, defining the entrainment value (ENT). Nowadays it is known that entrainment affects both hydrophilic and hydrophobic because it is not a selective process. In the last decade some studies (for example the one of Konopacka and Drzymala (2010)) delved into different entrainment behaviours dependent mainly on the flotation type (batch or continuous, agitated or columnar, etc.), but there were no studies on the effect of frother type regarding entrainment, since Rahal et al. (2001) argued that the ENT factor was independent of the frother type and concentration, and froth height."

Jan 1, 2016

By Roger Cabos

El presente texto señala la necesidad de estudios microscópicos determinativos y cuantitativos como complemento de los análisis químicos, de forma que se explore la posiblidad de beneficiar el mineral oxidado por métodos convencionales.

Jan 1, 1987

By V. Svalbonas, S. M. Jones, A. Boughey

In June 1998, the world's largest grinding mill, the 40 ft (12.2 m) diameter 20 MW Cadia gearless SAG mill, was commissioned. This was a leap of over40% above the largest operating SAG mill. A significant saving in capital cost gave the incentive necessary for a single mill line at Cadia, resulting in the selection of the 40 ft (12.2 m) diameter mill. Now, after 18 months of operation, this paper will review the significant items involved in the development, design, manufacture, installation, and operation of this mill.

Jan 1, 2000

By A. M. McKim

6, 7.3 meter diameter autogenous mills at Wabush Mines are undergoing conversion from a radial configuration of pulp discharger to a curved design. Improved discharging efficiency has effectively lowered the pulp level in the mill. The low level operation enhances the grinding efficiency netting a 12% power reduction. Significant reductions to rate of wear has been a spin off benefit. The design incorporates features for holding the assembly solidly in place thus eliminating bolt hole damage and leakers. Preliminary work in one 11 meter mill at Hibbing Taconite did not indicate that all the same advantages were available in their process.

Jan 1, 1982

By Donald P. Richards

West Elk Coal Company operates its Mt. Gunnison No. I mine on the western slope of the Rocky Mountains in Western Colorado. The mine is located along the north fork of the Gunnisson River near Somerset, Colorado as shown in Figure 1. The mine is designed for a sustained production of 1.4 million tons per year out of the "F" coal seam in the Mesa Verde formation. The coal seam is nominally 7 feet in thickness and dips at about 3 ½ degrees to the northeast. Mining of the seam is up dip with the entry portals on the north facing slope of Mount Gunnison. The mine is designed as a five entry system with four entries for ventilation and access and one entry for a coal-handling conveyor. The mine entry layout is shown in Figure 2. Initial mine planning began in 1979, with "permitting" complete and construction starting in the fall of 1981. A "turnkey" contract for design and construction of all five parallel mine entry tunnels was awarded by West Elk Coal Company to a Joint Venture of Jenny Engineering Corporation (design and contract management responsibility) and Affholder, Inc. (construction responsibility). The first entry access into the coal seam was completed in the early spring of 1982. The mine has been operating at full service (all five entries) for nearly 3 years.

Jan 1, 1984

By C. W. Owning

"The Bureau of Mines has repeatedly emphasized the necessity of completely ""rock-dusting all coal mines, except anthracite mines, in every part whether in damp or dry condition."" Every open accessible part of, the, mine without exception should be thoroughly rock-dusted, including parallel entries, air courses, trackless entries, crosscuts, and rooms to within at least 40 feet of every coal face. Very few mines have followed this recommendation and warning, with the result that there have been explosions not only in mines which have not used rock dust but also in so-called rock-dusted mines. Following a number of mine explosions it has been reported that the mine was rock-dusted,"" whereas it is probable that only some of the haulage roads had been given a hurried application of rock dust and in most instances not as much as 5 per cent of the mine was really rock-dusted. That is not rock-dusting.Some conscientious, well-meaning mining men have felt that rock-dusting of haulage roads would effectively stop an explosion; however, when shown, through widespread explosions in mines ""well rock-dusted"" according to the above method, that leaving large areas undusted, furnishes paths through which a violent explosion may travel, these mining men have realized the necessity of thorough rock-dusting and have adopted this explosion-prevention method.The Mather Collieries mine, Pickands, Mather and Co., operators, at Mather, Pa., was the first mine in Pennsylvania to receive, full credit for rock-dusting under the new 'stringent ruling of the Pennsylvania Compensation Rating Bureau, the provisions of which require that:"

Feb 1, 1931