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By X. Shi

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

Jan 1, 1997

By John J. Reed

Since the beginnings of, the human struggle for survival and improvement, mining has been one of the basic endeavors of life. Until relatively recent times it was classed as an art. Now we are at work trying to, raise mining to the level of an engineering science where it belongs if we are to prosper. It should be self-evident that this goal can be attained only through industrial progress: based on education and research. It is true that our industry, left to itself, will develop a few new ideas and techniques through the years. However, we mining' engineers are relatively few in number compared to the other disciplines, and the rate of our improvement by such "accidental" discoveries is simply tooslow to keep pace with the rest of our technical civilization. It will be evident in the remarks that follow, that the rapid development of mining education, research, and the industry are extremely interdependent, and will be largely controlled by the amount of cooperation, support, and cross-fertilization that can be developed among all three.

Jan 1, 1961

By Dan Plazak

Discussion by Dan Plazak The authors are to be congratulated for presenting a simple and practical tool for quick estimates of ground water flow rates. At the risk of detracting from the simplicity of the method, I would like to suggest a slight refinement to the equation as presented. As the authors noted, the Jacob-Lohman equation (1952) assumes confined-aquifer conditions. To use confined-aquifer equations in water-table aquifers, Jacob (1963) presented a correction to convert water-table aquifer drawdowns [Ahw] to equivalent confined aquifer drawdowns [Ah,: 2] [Ah Ah = Ah - w(1) Cw 2H where: Ah, = Drawdown in confined aquifer: Ahw = Drawdown in water-table aquifer and H = Original saturated thickness of aquifer] Substituting the above in equation ( I) of Hanna. Azrag and Atkinson [4nT Ah - 2H ) Qj2.25 T t(2) 1 nr2 S W] Since the above expression predicts lower pump rates, it causes the Jacob-Lohman equation to agree more closely with appropriate analytical and numerical models. Figure 1, adapted from Fig. 5 of Hanna. Azrag and Atkinson, illustrates the closer agreement of the modified equation to their numerical model, as reflected in Qm/QJL ratios closer to unity. The agreement improves particularly as drawdown [Ah] becomes large in relation to aquifer thickness H. An additional advantage of the modified equation is that Hanna, Azrag and Atkinson's correction factor C is much more stable as pit depth increases. Assuming, as did Hanna, Azrag and Atkinson, that their numerical model is an accurate predictor, it is clear that the modification incorporated in equation (2) improves the accuracy of preliminary estimates of ground water flow to a pit.[ ] References Jacob, C.E and Lohman. S. W.. 1952, "Nonsteady flow to a well of constant drawdown in an extensive aquifer." Transactions, American Geophysical Union. Vol, 33, No. 4. pp. 559-569. Jacob. C. E.. 1963, `Determining the permeability of water-table aquifers,' USGS Water-Supply Paper 1536-1, pp. 245-271

Jan 1, 1995

By SH. Shahsavari, H. Akbari, M. Noaparast, M. Oliazadeh

Mejel valley zircon ore in Iran is located in north part of Iran and was sampled to evaluate its concentration. The aim of this project was to define the mineralogy of this zone and separating zircon from other minerals using gravity concentrators and magnetic separators. It is constituted of various valuable minerals, mainly zirconium, niobium-tantalum, titanium, rare earth elements particularly cerium-bearing minerals namely zircon, sphene and rare earth elements oxides. We used statistical method for designing of experiments. Yates method used for analysis of basic experiments results. The grade of zircon in primary sample was 1.1%. Different experiments were designed to optimize all required parameters. The final concentration with 75% zircon was produced and final recovery was 79%. Finally, lab-scale based flow sheet was prepared using experiments results.

Jan 1, 2005

By J. A. Mielczarski

An infrared external reflection spectroscopy (ERS) technique has been developed to study the structure of the adsorbed layer of ethyl xanthate formed on copper and natural chalcocite (Cu2S) electrodes. The infrared technique provides information concerning the identity and the orientation of the adsorbed species at monolayer and submonolayer coverages. X-ray photoelectron spectroscopy (XPS) studies have also been conducted to monitor changes at the surface. The results show that the first oxidation peak on the voltammograms for copper and the first and second oxidation peaks on the voltammograms for chalcocite electrodes are not characteristic of a chemisorbed xanthate species, which is contrary to what has been reported by other investigators previously. As evidenced by the XPS spectra, there was an increase in sulfur relative to copper on the copper and chalcocite surfaces over the potential region where these oxidation processes occur. The spectroscopic results (ERS, XPS) indicate that the second and third (on copper) and the third and fourth (on chalcocite) oxidation processes recorded on the voltammograms are due to cuprous ethyl xanthate adsorption. The orientation of the adsorbed molecules of xanthate was observed to change with increasing surface coverage. Therefore, it has been concluded that xanthate can modify the copper and chalcocite surface in two different ways. At lower potentials, xanthate is a source of sulfur for the formation of a sulfur-rich surface. At higher potentials, an adsorption layer of cuprous ethyl xanthate is formed. Contact angle measurements show that both of these processes of xanthate surface modification lead to an increase in the hydrophobicity of the substrates.

Jan 1, 1990

By B. V. Clingan

A practical application of recent design concepts makes it possible to design a column cell to fit a specific set of conditions. The design and operating parameters Of a column cell installation that replaced a conventional two stage copper flotation cleaning circuit at MAGMA COPPER COMPANY, SAN MANUEL, ARIZONA using these design concepts is described. A survey of other mineral processors using column cell technology was conducted. The results of this survey will also be discussed.

Jan 1, 1987

By V. M. Johnston

The most abundant fuel resource in the U.S.A. is also the most under-utilized. Proven reserves of bituminous coal, sub-bituminous and lignite constitute from 60% to 90% of our total fossil fuel reserves -- dependent upon the parameters used by the analyst making the estimate. Despite this ample supply, bituminous coal provided only 20% of U. S. energy consumption in 1967 and 1968, this dropping to 17.57 in 1971 and 1972. By 1978, according to my projections, 16.7% of the Nation's mechanical energy will come from bituminous coal. However, our energy needs are growing at such a rate that the 20.6% provided by bituminous in 1967 equalled 480 million tons while the 16.7% of U. S. consumption visualized for 1978 will require nearly 650 million tons. In order to view coal's position with perspective in this developing energy crunch, it is necessary to examine the total energy situation. To this end, I have prepared a couple of tables which you should have before you. I chose this procedure rather than slides because I would need to utilize an entire wall to make the data visible to an audience. Therefore, I refer you to the long sheet entitled "U. S. Energy Consumption - Trillion Btu - 1967-1978." As you can see from the heading, I am confining my treatment of the problem to the intermediate term. In the long run, if we are willing to pay the cost, we can do a lot of things, including the complete conversion of coal into a sulfur-free fuel.

Jan 1, 1973

By G. Barbery

A review is given of the present applications of random sets and integral geometry in fragmentation and liberation models of ores and minerals. Although attempts have ben made in the past to apply such mathematical techniques to the comminution of solids, it is shown that it would not result in major progress. In liberation modelling, it is demonstrated that the approach can lead to fruitful results. Following a recent paper by Davy (1984), a model of liberation prediction is developped, which can be calibrated far ore texture and breakage using image analyzers. The model is demonstrated for the case of a Poisson polyhedra ore texture and monodisperse fragment size. The model enables to predict the complete composite particle distribution, and is thus valuable for integration of ore breakage models with minerals separation models.

Jan 1, 1985

By C. Hosten

This paper presents the results from an extensive research program on the vacuum filtration of iron ore slurries. Experiments were conducted with the addition of several types of flocculants and surfactants. The filtration response of the slurries was studied in terms of the cake formation rate and the residual cake moisture. An analysis of the results is presented in ascertaining the role of flocculants and surfactants during filtration

Jan 1, 1983

By Rodney L. Stone

As part of an overall laboratory and plant test program to determine mixing and other techniques relating to the more economic use of bentonite as an iron ore pellet binder, a settling test was developed for measuring the bentonite content within a pellet or within a batch of pellets. Between pellet batches, each containing a different level of bentonite, the dry fracture load is directly proportional to the bentonite content between pellets of the same batch, however, the fracture load is inversely proportional to the bentonite level; this is explained by a negative correlation between a pellet's size and its bentonite content and the fact that larger pellets can withstand a higher fracture load than the smaller.

Jan 1, 1968

By Fred T. Towne

Recent developments in fine grinding by the means of mechanical impaction are the result of continuing improvements in modern machine construction. This is especially true when related to the bearings and mechanically operated parts of impact mills. These improvements allow manufacturers to increase the speeds of the impacting members Most of the more common forms of size reductions, such as percussion, pressure, friction and sectioning, or cutting were at one time accomplished by human hands. These actions were transferred to machinery. Originally of limited application, their use widened as industrial materials and construction became more sophisticated.

Jan 1, 1965

By D. E. Pollock

Recent NIOSH published information has shown an increase of rapidly progressive coal workers? pneumoconiosis (CWP) in the southern Appalachian coal region (SAR) of the U.S., despite the fact that compliance data indicates that most coal miners have been exposed to coal mine dust concentrations below the statutory limit of 2.0 mg/m³. While the exact cause of these elevated CWP levels in the SAR has not been established, several factors may be contributing to the increase in occupational lung disease among coal miners. The mining of high rank coal is known to lead to higher CWP rates, and this type of coal is mined in a portion of this region. Also, a high percentage of the mines in the region are on reduced dust standards because of the high silica content of the airborne dust resulting in miners possibly being exposed to excessive amounts of respirable silica dust. Exposure to excessive amounts of respirable silica dust can lead to silicosis, a disabling and potentially fatal lung disease. NIOSH's Respiratory Hazards Control Branch has been investigating the possible causes that would account for the observed higher trends in disease progression through literature review, data analysis, and in-mine surveying. The investigation to date has revealed that underground mines are faced with cutting large amounts of rock in order to maintain haulage clearances. Cutting rock not only increases the potential for silica exposure, it increases the requirement for machine maintenance which was a concern observed during dust surveys conducted by NIOSH. Over half of the mines operating in the SAR are on reduced standards due to high silica content. Adequate face ventilation of the continuous miner and roof bolter and limited down-wind operations from the miner are also issues of concern and items which require the constant attention of miners operating in these conditions. Disclaimer: Mention of any company or product does not constitute endorsement by the National Institute for Occupational Safety and Health.

Jan 1, 2009

By Glen Church, Don W. Deere, Christoph M. Goss

The Standley Lake Dam Rehabilitation Project in Colorado included the complete replacement of the outlet works. This required two 1.8m (6 ft) diameter microtunneled wet lake taps, 380m and 186m (1246 ft and 636 ft) long, a permanent valve shaft 12.2m(40 ft) wide and 32m (105 ft) deep, and a 3.5m (11.5 ft) diameter (962 foot long) outlet tunnel driven with a roadheader. The tunnels were driven in low-strength, expansive, and slickensided claystone. The paper addresses the site investigation, shaft construction, roadheader performance, shotcrete placement, tunnel convergence, long distance microtunneling, and wet lake taps.

Jan 1, 2005

By Richard E. Thill

Backfilling of mine voids is used to prevent or control the effects of subsidence on surface structures. The pumped-slurry, blind-backfilling process has been particularly successful for stabilizing ground over abandoned and inaccessible underground coal mines. Using this newer technology, vast quantities of backfill material can be distributed over wide areas in underground openings from a small number of injection boreholes. The rapid and successful development of this backfilling method, however, has outstripped technology for monitoring and controlling backfill placement. Surface or borehole remote sensing methods are needed to determine where fill material is being distributed underground and how effectively the material is packed in the voids. In search for improvements in backfill monitoring and control technology, potential remote geophysical sensing, process monitoring, and tracer methods were evaluated to select candidate systems for monitoring backfill placement under the constraints imposed by the injection process and the surface and subsurface conditions. ' A multiple objective ranking matrix, based on theoretical considerations as well as pragmatic experience with systems working in related or similar conditions, was used to narrow down potential methods to several most-favored candidates. Two of the candidates were field tested under actual operating conditions at a backfilling site in the Wilkes-Barre-Scranton region of northeastern Pennsylvania. Although process and acoustic emission monitoring indicated promise for improving existing backfill monitoring technology, more extensive testing under different conditions at various sites is required to establish the validity and utility of these methods. Results indicate that no single method is adequate in itself for backfill monitoring, and that a successful system will require the Integration of several methodologies.

Jan 1, 1982

By Richard F. Hewlett

The purpose of this paper is to provide a framework within which problems in the evaluation, development, and operations of a mineral property can be solved, Solution of these problems must be made with a computer because of their complex nature, Individual problems will be collectively discussed in terms of an overall objective - computation of the optimum mine limits. The concept of quantifying geologic and mine sampling data has been advanced and demonstrated in the United States by two pioneers in the application of statistics. These men are, respectively, Dr. W. C. Krumbein Northwestern University, and S. W. Hazen, Jr., U. S. Bureau of Mines, Dr. H. S. Sichel and D. G. Krige of South Africa have pioneered specific applications of statistics, particularly to gold deposits. Implementation of statistical and mathematical methods to the solving of problems in the mineral industry creates the need for a computer. The steps required to solve evaluation, development, and operational problems with a medium sized computer are discussed in this paper.

Jan 1, 1963

By C. Sun

The Leeville underground mine has been in operation since 2006 and currently produces 3,500 tons of ore per day with an average gold grade of 0.34 opt. The mine has a large horizontal extent of 2,500 feet by 500 feet and a vertical extent of 20 to 200 feet. Based on the characteristics of the ore bodies, a long-hole stope and cut-and-fill mining methods are used at the deposits which are divided into several mining zones. Cemented rock fill (CRF) is used as the backfill in the open stope. CRF design includes the aggregate design, the ratio of cement and fly ash design, and strengths for the long-hole stope and cut-and-fill. In the aggregate design, the particle size distribution is one of the most influential aggregate characteristics in determining how it will perform as a basic backfill material. Gradation helps determine durability, porosity, cement and water requirements, strength, and shrinkage. To cut the backfill cost, fly ash usually is added into the binder to replace some part of cement. However, adding fly ash can affect the strength of the backfill. The reasonable percentage of fly ash is also important for making a good and low cost backfill. Based on the different mining method, the different backfill with different strength is designed. A systematic quality control procedure for aggregate and backfill is followed. After four yeas application, CRF system in Leeville achieved very good results.

Jan 1, 2011

By Peter Riba

Up until ten years ago the industry had arrived at a relatively conventional, and consistent design of coke ovens. Through the years the designers and builders were not being heavily taxed to come up with revolutionary new designs. However, the stimulus for design change was ever present. These stimuli for change are quite important and they are the driving force which produce improvements. The most obvious stimulus to change a design is commercial. To "build a better mouse trap and the world will beat a path to your door" is the well used cliche which best befits this philosophy. As in all businesses, coke oven designs require that all of the considerations, which affect the cost or the desirability of the design, be optimized. One way to increase the desirability of the particular design, 1s to make the design in- expensive to operate. Or, put another way, to increase production for the same operating cost

Jan 1, 1980

By D. R. Nagaraj

Secondary Ion Mass Spectroscopy (SIMS) was used to study copper ion adsorption, and its effect on subsequent sulfide collector adsorption, on pyrite and pyroxene minerals under flotation related conditions. Copper was found to adsorb on both of these minerals and cause enhanced sulfide collector adsorption. The distribution and depth profile of copper and collector on these mineral surfaces were obtained by using SIMS in the imaging mode. The results of this study have provided a valuable insight to understanding pyrite and gangue flotation observed frequently in operating plants.

Jan 1, 1995

By D. J. Gilbert

As a preventive action, the geotechnical department at the mine analyzed the original topography overlying a conveyor tunnel at the mine. Several dewatering drains were installed to intercept water collecting from an old lakebed. Subsequently, 20 steel arches were installed to provide additional support in an area of tunnel where original geological mapping indicated Type IV rock. This project was completed ontime with no loss to production. Construction schedules had to be developed to half hour precision, to accommodate the installation.

Jan 1, 2011

By J. A. Herbst

In spite of potential theoretical and economic advantages of large-diameter ball mills, many manufacturers elect not to build these mills owing to what is perceived as an excessively large design risk. This risk results from the fact that traditional predictions for mill-scale-up to large diameters are not always accurate. It is apparent that alternative methods of analysis and scale-up are required. Recent studies have shown that detailed population balance models which account for important grinding subprocesses, i.e., grinding kinetics, material transport, and classification, are capable of predicting the performance of small- and intermediate diameter mills (up to 4.3 m (14 ft)) from small-scale batch tests. These same models are used in the current study to predict the performance of a "borderline" large ball mill (4.7x5.5 m) at Asarco's Sacaton operation, a ball mill (5.0x5.8 m) at Kennecott's Chino operation, and one of the world's largest ball mills (5.5x6.1 m), at Cities Service Pinto Valley operation. Model parameters required for scale-up have been estimated in a 380-mm diameter batch mill. Predictions are compared with the results of detailed plant sampling in the three plants. For the Sacaton and Chino operations, the error of the predictions was found to be less than 2.5%, while the corresponding error for the Pinto Valley operation was less than 2.7%. It is concluded that proper representation of the major subprocesses of grinding in the model equation is the key to achieving accurate scale-up. Of special importance is the need to account for the size distribution of the grinding media and the influence of the size distribution environment in the mill on grinding kinetics.

Jan 1, 1983