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By Timothy Batchler, Khaled Mohamed

Standing supports have been used in coal mines for decades to enhance roof support capability. Sometimes standing supports are used as a tool to resist the lateral movement of spalled ribs. Researchers from the National Institute for Occupational Safety and Health (NIOSH) are conducting a testing program for different types of standing supports (steel and timber) to investigate the effect of lateral loading on their vertical loading capacities and the factors affecting their lateral loading capacities. In this paper, the mine roof simulator (MRS), at the NIOSH Pittsburgh research facility, was used to determine the response of steel props to vertical and horizontal loadings. Finite element models (FEMs) were developed and verified using the tested steel props. To justify the testing program for testing standing supports with end-conditions of rock-like materials, the verified prop models were used to study the effect of a wide range of roof and floor materials (gray shale, shale, and claystone) on the critical buckling loads of the steel props. Also, several lateral loading scenarios were evaluated in which the steel props were laterally loaded at different heights. The critical buckling load for steel props setting up against a claystone roof and floor was found to be one-half of that shown by the MRS test where roof and floor platens are made of steel. Minimum prop performance was observed when the lateral load was applied at the mid-height of the steel prop, especially at small lateral displacement (less than 2 in).

Sep 10, 2022

By Yazn Khasawneh Ph. D. P. E., Will Tjaden, Spencer E. Ness P. E., Mohammed Nasim Ph. D. P. E.

Wind turbine components undergo many loading cycles during their operational life. Additionally, wind turbines may undergo extreme loading conditions from natural hazards, mechanical failures, or emergency stops. Current design practice for the foundations of wind turbines accounts for these complex loading conditions through a simplified pseudo-static approach based structural loading combinations. A rotational stiffness for the foundation is estimated from the pseudo-static analysis and then compared to an acceptable minimum rotational stiffness provided by the turbine manufacturer. These minimum rotational stiffnesses are based on dynamic analysis of the tower and nacelle system with the foundation represented as linear springs. This approach provides a reasonable approach to the foundation design but does not accurately capture the true dynamic performance of the entire soil-foundation-tower-nacelle system. This becomes especially important for pier-type foundations, which are being more commonly used to support modern and future generations of larger turbines. Additionally, the dynamic performance of the foundation will vary as the adjacent soil undergoes a large number of loading cycles of varying strain magnitudes. In this study, the full turbine-tower-foundation-soil system was modeled using finite element methods. An advanced non-linear soil constitutive model and dynamic loading time histories were used to investigate changes in stiffness of the soil, and the possible impact on the dynamic response of the system. Results were compared to conventional design methodologies with the goal of reducing foundation capital costs while avoiding increases in O&M costs and which can lower the LCOE of wind energy.

Oct 1, 2022

By Frank E. Cash, Max S. Petersen

"INTRODUCTION Explosives have been used in ever—increasing amounts since gunpowder was invented. For hundreds of years only low explosives of the deflagrating type were used, and they were fired by means of a flame or hot object. Ben¬jamin Franklin first ignited gunpowder from a distance in 1751 by means of an electrostatic spark. Further efforts to develop a satisfactory electrical method to ignite explosives from greater distances were overshadowed by the invention of safety fuse in 1831, as this offered a relatively simple and inexpensive means of firing explosives.The discovery and introduction of high explosives of the detonating type and the invention of the fulmitate of mercury blasting cap about the middle of the nineteenth century provided the needed impetus for inventors to develop means of firing the cap by electricity. The original high-tension igniter, following Benjamin Franklin's experiment in which the detonating compound was ignited by a spark, was discarded in favor of a low-tension igniter, in which the detonating compound was ignited by a heated wire. The past 2 decades have seen considerable improvement in the design and construction of electric detonators to make them safer and more efficient, yet in spite of the improvement it is estimated that less than 50 percent of the explosives used in industry today are ignited or detonated electrically. The trend, however, is toward the use of electric methods. In recent years numerous-mining companies have introduced electric blasting exclusively at their mines as a means of improving safety and efficiency."

Sep 1, 1946

This study was conducted to evaluate the effects of a diesel particulate filter (DPF) regeneration process on the concentrations and size distributions of aerosols in an underground mine. Two active regeneration strategies were examined for an electrically regenerated sintered metal fiber filtration system, and the effects were compared with those observed for a muffler and the same system operated in a passive configuration. The effects were assessed for three steady-state engine operating conditions. The number and mass concentrations and size distributions of aerosols in mine air were found to be strongly affected by the exhaust configuration, engine operating conditions and the regeneration process. When the system was operated in active configurations, the concentrations exhibited a transient and cyclic nature. At light load conditions, the distributions of aerosols in mine air were dominated by accumulation mode aerosols for all exhaust configurations and regeneration strategies. High concentrations of nucleation aerosols were observed when the DPF system was used and the engine was operated at high load conditions. A positive correlation between accumulation of particulate matter in the filter and the efficiency of the filter in removing accumulation mode aerosols was observed for all conditions. In the case of high engine load, reductions in accumulation mode aerosol concentrations were linked to a substantial increase in number concentrations of nucleation mode aerosol. Overall, the filtration system was found to be very effective in reducing total aerosol mass and elemental carbon concentrations for all engine operating conditions. However, the system was substantially more effective in passive than in active regeneration configurations.

Jan 1, 2012

By C. W. Davis, L. R. Messer

THE name fuller's earth, which was derived from its early use in "fulling" or removing grease from woolen goods, is a term that is generally considered to designate mineral matter, containing hydrous aluminum silicates of the clay group, which has a high capacity for removing colors from oils, whether of animal, vegetable, or mineral origin. Fuller's earths are usually dried and may be "tempered" by heating or may be treated with water or reagents to improve their efficiency. For our purpose the term "acid-treated earths" will include those products from the partial decomposition of mineral water by acid which are equal to or more efficient than an untreated fuller's earth from Quincy, Fla., when used in bleaching mineral oil by the "contact" process. In general, the contact process for treating oils consists of heating and agitating a mixture of oil and finely divided adsorbent, the latter being subsequently removed by filtration. The term "adsorbent" is used because, although there has been a great deal of controversy over the mechanism of removal of impurities from oils by mineral matter, there is no doubt that adsorption, which involves the surface of the solid, plays a major part.' The properties that make fuller's earth useful in the treatment of petroleum products by "percolation1' and in the purification of edible oils by the contact process have long been studied, but the comparatively recent adaptation of the contact process to the bleaching of petroleum products has made desirable the further investigation of fuller's earth and other adsorbent earths.

Jan 1, 1929

By Antonio Adel dos Santos, Carmos Antonio Gandra, Fabricio Mazola da Silva Paiva, Vicente Tadeu Lopes Buono

Abstract Usiminas Steel Plant in Ipatinga installed an accelerated cooling device named CLC (Continuous On-Line Control) in 2010, enabling it to supply steels produced by TMCP (Thermo Mechanical Control Process) technology. This technology complements the TMCR (Thermo Mechanical Control Rolling), with the inclusion of the accelerated cooling process after controlled rolling. There are various gains in terms of quality and productivity associated to the application of such technology. However, the flatness control for API steel becomes crucial because large thermal stresses may be generated due to thermal heterogeneity during the fast cooling when the austenite phase decomposes mostly into ferrite and bainite. In literature, there is lack of knowledge regarding a full understanding of the relation among cooling conditions and plate flatness. Therefore, this work has focused on the effect of the cooling strategy for API steels, aiming at optimizing flatness and keeping the mechanical properties within the specified ranges. The starting point was dilatometer simulation, where cooling conditions such as start cooling temperature, SCT, finish rolling temperature, FRT, and cooling rate, CR, were changed in order to evaluate their effect on microstructure. Those laboratory conditions supposed to give the best results were transposed to industrial scale, so as to produce experimental lots of plates with five different cooling strategies. It was shown the possibility to find a cooling profile that guarantees the balance between mechanical properties and flatness requirements. The influence of cooling strategy on flatness was explained by the varied heat transfer regimes occurring from hot steel surface to the ambient

Oct 1, 2019

By Lifeng Yang, Xiang Zhang, Liang Yuan, Yonghui Wang, Bing Hou, Mian Chen, Rixing Zhang

Large-scale hydraulic fracturing technique has been widely applied to the development of shale gas reservoirs, where the interaction between natural fractures and critical fracture zones has substantial impact on the propagation of hydraulic fractures. Therefore, it is of significant importance to understand and experimentally verify such mechanism. To reach this end, tri-axial fracturing tests were implemented on 400mm×400mm×400mm block samples collected from Longmaxi shale outcrops. The interplay between hydraulic and natural fractures was investigated during the tests, factoring in the role of pump rate in affecting the created fracture network. Based on the experimental results, the critical fracture zone, defined as the weak formation zone nearby the wellbore created by staged pressure implementation that is observed rapid fracture propagation upon next stage of pressure increase, was thoroughly investigated. The analysis illustrates that given the high brittleness of the shale formation, abundant critical fracture zones are generated around natural fractures with pressure building up at a relatively low pump rate. As the pump rate increases, hydraulic fractures initiate and come into play with critical fracture zones, implying emergence of a large number of micro-cracks. A changing pump rate modifies the way of interaction between hydraulic and natural fractures and the subsequent formation of fracture network. Long term fracturing fluid injection with relatively low pump rate below the activation of critical zones is suggested. Also proposed is appropriate timing when applying a specific pump rate that will contribute to the improvement of hydraulic fracture propagation.

Jan 1, 2015

By C Ausa, Nyunt Htay, A, L Deiparine

The main tectonic elements in Myanmar are a late Mesozoic and Cenozoic magmatic arc system in the west, repeated in northern Myanmar by more than 300 km of dextral movement on the Sagaing Fault, and the back-arc continental region affected by early and late Mesozoic orogenies, in the east. Historically most lode gold production has been from latest Cretaceous high-grade mesothermal veins and derived placers in the Wuntho and Tagaung-Myitkyina segments of the magmatic arc. Placer deposits in the Ayerwaddy River north of Myitkyina are currently worked by more than 100-bucket dredges. South of Wuntho, the magmatic arc and Pegu Yoma fold belt host epithermal gold with associated As, Sb and Zn in mid-Tertiary marine sediments. MyanmarÆs most productive lode gold deposit, the Kyaukpahto mine, lies within a north-trending district east of the magmatic arc and north of Mandalay. Here mineralisation and associated jasperoidal silica occur in Eocene sandstones and Permian and Triassic carbonates. Possibly this district continues southeastwards, across the Sagaing Fault, as sediment-hosted Sb Au and locally skarn Au mineralisation within a 1100 km long fold-thrust belt. Also present in the back-arc region are sandstone-hosted Au Cu in a Palaeozoic slate belt, and gold and stratabound gold-base metal mineralisation in the medial metamorphic belt. While untested targets remain in the magmatic arc, particularly for high sulphidation Au, the best potential is clearly within the back-arc slate and fold-thrust belts in the western part of the Shan Plateau and in northeastern-most Myanmar.

Jan 1, 1999

By Sven Schröer, Lilma Schimmel, Dimiter Alexiew

"The Geotextile Encased Columns (GEC) deep foundation system for embankments on soft soils was introduced some 20 years ago and is now considered State-of-the-art worldwide.The GECs consist of compacted granular fill, similar to common gravel columns, with one decisive difference: they are confined in a high-strength low-strain flexible geotextile “cylinder” (encasement). This engineered element provides a very efficient tool to control and optimize the behavior of the system. GECs perform very well even in extremely soft soils ensuring bearing capacity (stability) and reducing settlements. Due to the encasement, they a lso provide high lateral ductility. A wide range of fills including sands can be used.The remarkable reduction of vertical stresses in the soft soil surrounding the GECs results in a decrease of lateral pressure as well. Such reduction combined with the lateral ductility allow GECs to be also used for lateral pressure-relief adjacent to sensitive foundations, e.g. rigid piles. The application of GECs as lateral pressure relief was recently used in Brazil and Germany where bridge abutments were built on concrete reinforced-piles. The GECs below the bridge approaches and adjacent to the piles decreased the lateral pressure to acceptable values.This paper presents two case studies for which the most relevant parameters, the geotechnical conditions, specific problems, engineering philosophy, final solution and lessons learned are discussed. Furthermore, instrumentation programs were applied in both projects. The most important results in terms of displacements and stresses are shown, evaluated, summarized and commented upon, focusing on the lateral stress-relief, followed by conclusions and recommendations."

Jan 1, 2016

By Balmer Neilly

Early in my term of office it was announced that my Presidential Address would make particular reference to the subject of Mine Taxation in Canada. With this purpose in view there was drafted a Balance Sheet and Earnings' Statement of a Gold Mining Company. This in turn was submitted to the Dominion Income Tax Authorities in Ottawa and to the Minister of. Mines of each of the several Provinces of Canada. The response to the invitation was not as complete as we had hoped it would be, but the figures that were obtained will be presented during the present meeting, and they constitute, I hope, a sufficient basis for extended study and additional enquiry during the year to come ( 1) . In the form letter that accompanied our request to have the submitted earnings assessed, I made the following assertion: "In this work we have three objects in mind. 1.--We will get direct comparison between the different Provinces in Canada. 2.-We will in this way educate our members concerning taxation as it affects the mining industry. 3.-We will publish the details as to how the assessment is calculated by each body, so that a Mine Manager in the most remote district will have a ready reference to guide him in his annual return to the taxing bodies. As things stand, there is no intention of making this a basis for a critical attack on the present rates assessed. It is intended as an authoritative summary of actual conditions as they presently exist".

Jan 1, 1934

By C Li

Removal of gangue minerals from ilmenite concentrates can be accomplished by relatively low temperature roasting in controlled gas atmospheres to selectively enhance the magnetic separation characteristics of the ilmenite. At roasting temperatures below 800¦C the magnetising reactions are often not consistent with phase equilibria considerations. Metastable phases can nucleate and control the roasting products. In weathered ilmenites the phase assemblages and microstructures in the altered ilmenite grains can influence the roasting reactions. In this paper we give an overview of the phase chemistry of chemically weathered ilmenites and of metastable phases formed by low temperature roasting. We also report the results of roast experiments conducted in a neutral gas atmosphere. Major increases in magnetic properties after short roasting times at low temperatures were obtained for a range of ilmenite concentrates. For example heating a secondary ilmenite concentrate from Western Australia for 15 minutes in nitrogen at 600¦C gave an increase in the three kilogauss magnetic fraction from three to 92 wt per cent. The solid state phase changes accompanying the inert atmosphere roasts were characterised by combining elemental analyses with quantitative phase analyses of the ilmenite concentrates and their roast products. It was found that the phase reaction that is principally responsible for the increase in the magnetic properties of weathered ilmenites involves a transformation of disordered ferrous-containing pseudorutile to an ordered ilmenite-hematite solid solution containing typically ten to 35 mole per cent of the hematite component. Examples are given of the application of the inert atmosphere roast to effect separations of ilmenite from gangue minerals.

Jan 1, 2001

By F. G. Cottrell

(New York Meeting, February, 1912.) ABOUT a year and a half ago, at the San Francisco meeting of the American Chemical Society, in connection with the excursions to local smelting-works, I had occasion to show some lantern-slides illustrating the recent commercial development of electrical methods for precipitating the suspended matter from smelter-smoke, the underlying phenomena of which were clearly brought to the attention of the technical public by Sir Oliver Lodge as long ago as 1884. In the Journal of industrial and Engineering Chemistry, August, 1911, most of these views were reproduced, together with an account of the work from its beginning up to July, 1911. To-day I wish particularly to show you some of the further developments of the work since that time; but in order to make these clear they will be prefaced by a brief abstract of the article above referred to. The removal of suspended particles, front gases, by the aid of electric discharges is by no means a new idea. As early as 1824 we' find it suggested by Hohlfeld 1 as a means of suppressing ordinary smoke, and again a quarter of a, century later by Guitard.2 These suggestions, which do not seem to have stimulated any practical study of the question, were soon entirely forgotten, and only brought to light again by Sir Oliver Lodge,3 many years after he himself had independently rediscovered the same phenomena and brought them to public attention 4 in a lecture before the Liverpool Section of the So-

Jul 1, 1912

By C Jenkins, M Mativenga, C Stanton, J Gerber

In 2014, Arrium completed an optimisation program on its magnetite concentrator, enabling a reduction in the overall cost base of producing concentrate through an increased ability to treat a wider range of ore types, previously considered waste. The development was the culmination of four years of work, conducted in house by Arrium’s mining development group. The overall intent of the plant design focused on improving the concentrator’s ability to treat a wider range of magnetite ore types. Metallurgical analysis of these feed ore groups outlined a need for more grinding power if production quality was to be maintained and throughput increased. As such, a tertiary grinding circuit was designed which, alongside the rectification of key operational bottlenecks, would allow the plant to continue to produce concentrate at the required specification and rate. The technology chosen for the tertiary grinding application was the XT IsaMillTM, which is known for efficient fine grinding when compared to conventional ball milling. The transfer sizes between the existing comminution circuits were coarsened, allowed for the treatment of different ores at the required rates. The optimisation project was successfully completed in February 2014 after a three month commissioning phase. The initial metallurgical testing and engineering of new equipment proved highly successful with all equipment meeting or exceeding design parameters.CITATION:Stanton, C, Mativenga, M, Gerber, J and Jenkins, C, 2015. Unlocking plant capability through targeted debottlenecking of Arrium’s magnetite concentrator, in Proceedings Iron Ore 2015, pp 185–190 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 13, 2015

By L. W. Beckstead

In a conventional zinc refinery plant, zinc concentrates were roasted at 950°C. The calcine was ground and leached in a series of leaching vessels using sulfuric acid. The pH in the first leaching vessel was maintained at 2.5, while the pH of the solution exiting the last vessel was about 5.4. The leached residue typically contained (in percent) 0.1 Ag, 0.2 As, 0.7 Cd, 2 Cu, 15 Fe, 10 Pb, and 15 Zn, and it was classified as hazardous material according to the EP-toxicity test. In order to make the residue non-hazardous, and to recover most of the metal values from the residue, a brine leach process was developed. The process consisted of leaching the zinc leach residue in CaCI, brine solution at pH 2 for 1 hour at 90°C. Silver extraction was about 95 percent, while lead, copper, cadmium, zinc, and iron extractions were about 80, 50, 50, 30, and less than 0.5 percent, respectively. More extreme conditions of acidity could have been used in the leaching stage to increase zinc dissolution, but iron dissolution would have significantly increased which would have complicated subsequent recovery steps. The leached and washed residue passed the EP-toxicity leach test and could be disposed as non-hazardous. Silver, copper, and lead in the leach solution were recovered by zinc cementation, while zinc and cadmium were recovered by sulfide precipitation. The resulting solution can be recycled in the process after magnesium precipitation.

Jan 1, 1993

By Curt D. Edgerton

This study was made to determine trends in fresh water usage by California petroleum refineries, to forecast fresh water requirements to 1975, and to evaluate water conservation practices. Statistical data used in the study were obtained largely from published sources and from records of selected companies. An adequate sampling of the State's refining capacity was obtained, and the data were extrapolated to the total California refining capacity. A breakdown of the data was then made on the basis of the following refining regions: (1) the Los Angeles Basin and Southern Coastal region, (2) the Southern San Joaquin Valley, and (3) the San Francisco Bay area. An unpublished forecast of crude oil input to refineries by a major oil company operating on the West Coast was used as a basis for predicting fresh-water usage. The 1963 fresh water intake by California petroleum refineries was 84 million gallons per day. This is expected to increase to 128 million gallons per day by 1975. The fresh-water to crude-oil ratio is increasing in all regions except the Southern San Joaquin Valley. At present, the supply of fresh water available to almost all of the State's petroleum refineries, mostly from surface sources and company-owned wells, is adequate, although shortages may develop within the foreseeable future. Present conservation methods are centered around the following four objectives: (1) minimum intake of fresh water of the lowest possible quality commensurate with sound technologic practice; (2) optimum recirculation; (3) proper treatment before discharge; and (4) substitution of air cooling for water cooling.

Jan 1, 1965

By A. J. Barry

To determine the torque-load relationship for SIB-inch (nominal)-diameter roof bolts, the Bureau of Mines tested 5 makes of expansion shells and 2 types of bolts (regular and high-strength) in 2 sandstone and 2 shale mine roofs. Unused flat-steel bearing plates in as-received condition were used in these tests. The relationship between torque and load was found to be approximately 50 pounds of load per foot-pound of torque for both the regular and high-strength bolts. This relationship is valid up to 130 foot-pounds for the regular bolts and up to 175 foot-pounds for the high-strength bolts. A torque of 130 foot-pounds on a regular bolt will produce a load of 6,150 ± 1,910 pounds 90 percent of the time, and a torque of 175 foot-pounds on a high-strength bolt will produce 8,050 ± 2,750 pounds 90 percent of the time. Above these values, the torque-load relationship tends to be erratic due to binding between the bolt and plug threads. Binding causes excessive torque to be expended in producing torsion in the bolt rather than tension. This torsion adversely affects the yield load of the bolt. Therefore, the installed torques should not exceed the 130-and l75-foot-pound values. A statistical analysis of the data showed that the torque-load relationship was not significantly affected by the type of bolt or expansion shell unit but might have been affected by the type of rock.

Jan 1, 1956

By J. B. Zadra

After the discovery of the rare-earth mineral deposit in the Clark Mountain area near Mountain Pass, San Bernardino County, Calif., two samples wore obtained through the Mining Division of the Bureau of Mines for investigation of possible method of concentration. Three other samples were received later from different locations in the same area. The rare-earth mineral in this ore had been identified by E. T. Schonk as bastnaesite, a fluocarbonate of the rare-earth metals containing cerium, lanthanum, praseodymium, thorium, uranium, etc. Associated with the bastnaesite were barite, silica, and some calcite. The bastnaesite contained a small amount of iron as a coloration and some manganese. Twenty to fifty percent of the weight of the samples studied was bastnaesite, or ten to twenty-five percent total rare-earth oxides; about half was cerium oxide. Apparently, none of this mineral occurred in pure form. Even the highest-grade particles 'wore contaminated by fine, interlocked grains of barite, calcite, and silica; barite contamination predominated, and the barite was interlocked with varying amounts of bastnaesite. While the specific gravities of pure bastnaesite and barite (approximately 5.0 and 4.50 respectively) differ enough to allow separation by gravity, the interlocking of the minerals nullified this difference. Consequently, only a partial separation could be made by gravity concentration. The extremely fine grained texture of most of the ore prevented grinding to a size that would make concentration by flotation practicable; a partial separation of barite by this means was effected.

Jan 1, 1952

By Arthur Mitchell

POSSIBLY in no other of the non-ferrous mining districts of this country has the use and develop-ment of mechanical loaders been carried to such an extent as in the "lead belt" of Southeast Missouri. It has become apparent to the four mining companies in the district that it is imperative to apply satisfactory mechanical methods to the chief remaining stage of the entire operations-mining, milling, smelting and refining-in which manual labor is still largely used to handle material in process. With increasing wages and with the reduction of the metal divisor by the extension of mining into lower-grade orebodies, the shoveling cost per ton of lead produced has become relatively so large that in an effort to reduce it there is ample justification for considerable capital expenditure. Hand shovelers load about 18 tons of ore per shift and the average grade is less than five per cent. lead. Further, the ore is relatively heavy, about 21 cu. ft. to the ton when broken, and is often so coarse and so closely compacted after shooting that it requires much more block-holing, sledging, and muscular effort to shovel than, for example, does the cherty and more granular ore of the Joplin district or the finer ore in the headings of a drift mine. No mining company desires to pay for mere back muscles if it be economically feasible to avoid it, and labor saving machinery should be susceptible of operation by older employees, who are no longer capable of the more strenuous manual occupations.

Jan 4, 1923

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 Curt D. Jr. Edgerton

This study was made to determine trends in fresh water usage by California petroleum refineries, to Forecast fresh water requirements to 1975, and to evaluate water conservation practices. Statistical data used in the study were obtained largely from published sources and from records of selected companies. An adequate sampling of the State's refining capacity was obtained, and the data were extrapolated to the total California refining capacity. A breakdown of the data was then made on the basis of the following refining regions: (1) the Los Angeles Basin and Southern Coastal region, (2) the Southern San Joaquin Valley, and (3) the San Francisco Bay area. An unpublished forecast of crude oil input to refineries by a major oil company operating on the West Coast was used as a basis for predicting fresh-water usage. The 1963 fresh water intake by California petroleum refineries was 84 million gallons per day. This is expected to increase to 128 million gallons per day by 1975. The fresh-water to crude-oil ratio is increasing in all regions except the Southern San Joaquin Valley. At present, the supply of fresh water available to almost all of the State's petroleum refineries, mostly from surface sources and company-owned wells, is adequate, although shortages may develop within the foreseeable future. Present conservation methods are centered around the following four objectives: (1) minimum intake of fresh water of the lowest possible quality commensurate with sound technologic practice; (2) optimum recirculation (3) proper treatment before discharge; and (4) substitution of air cooling for water cooling.

Jan 1, 1965