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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 Roe-Hoan Yoon

INTRODUCTION In 1960, coal accounted for 49% of the world energy consumption, an amount that was reduced to 29% in 1973 because of the availability of cheap oil. At that time, it seemed that oil would remain available for a long time in unlimited quantities. However, this situation changed drastically in 1973/74 when a series of closely spaced price increases from $3 per to $12 per bbl by mid-1974 hit both industrialized and developing countries. Another sharp price increase in 1979/80 to the $34 to $38 per bbl level also hit the world economy hard and, at the same time, set in motion powerful technology development forces for increased coal utilization. At this point, the price of coal was approximately $1.50 per MM Btu, while that of oil approached $6.00 per MM Btu. This huge price differential offered an incentive for developing new coal technologies including liquefaction, gasification, fluidized bed combustion, coal-water mixture (CWM), etc. The CWM technology was of particular interest to the utility industry, which consumes more than 80% of the coal mined in the US for power generation. In this technology, a powdered coal is mixed with water to produce a stable slurry that can be stored for an extended period of time without settling and is readily pumpable. Various reagents in the amount of approximately 1% by weight of the coal are added to inhibit sedimentation during storage and to reduce the viscosity for atomization in burners. The coal loading is in the range of 50 to 80% solids, depending on the particle size and its distribution. With very fine particles, it is difficult to increase the coal loading above 50%, and a binomial distribution helps increase the coal loading. The presence of water consumes a relatively small amount of the heating value of the coal during combustion; for a coal-water slurry containing 30% water, less than 5% of the calorific value of coal is usually consumed due to evaporation. The major advantage of burning coal as a slurry is that many of the oil-burning furnaces can be converted to coal-burning with a minimum retrofit cost. Considering the substantial price margin between coal and oil, the pay- back period for retrofit costs can be relatively short. Nevertheless, the retrofit cost can be further reduced if low-ash coals are used as feedstocks for CWM; there will be savings in the capital cost of installing bag filters or electrostatic precipitators that are designed to remove the ash from the combustion gases. Furthermore, the use of low-ash coals can minimize derating of boilers because the velocity of the combustion gases can be maximized without creating erosion

Jan 1, 1991

By Enrique Rubio Esquivel, Matías Fuentes Bustamante

The transition from open pit to underground mining represents a key strategic challenge in modern mine planning. This paper presents a multicriteria and multivariable methodology to plan such a transition, integrating technical, economic, environmental, and social considerations. The proposed framework focuses on risk reduction (de-risking) through the identification of alternative development paths, the use of stochastic simulation to model geological and technical uncertainty, and different mining strategies such as methods, production rates, sequence, etc. for ultimate underground implementation. The study summarizes the limitations of traditional planning methods—which usually treat the open pit and underground mine designs as independent processes—, also often it considers a single mining method and production rate for the underground option. Instead it is proposed an integrated approach that leverages synergies between both mining methods and scalable production rates. Also the proposed methodology incorporates the definition of critical variables (geotechnical, economic, and social, among others), the construction of multiple operational and technological transition paths, and the evaluation of each path under criteria of economic attractiveness and practical do-ability (capacity to be executed). Using simulation tools (SIMPLAN for operational performance and SIMVAL for economic evaluation), probabilistic distributions of the different path are obtained, enabling the quantification of the project’s Value at Risk (VaR). A subsequent multicriteria analysis weights the expected profitability against the feasibility of execution of each alternative, producing a decision matrix that provides a framework for evaluating the different project path. As a result, the proposed approach identifies OP→UG transition strategies that maximize business value by capturing remaining resources while minimizing financial and operational risks. Finally, strategic conclusions and recommendations for the industry are provided, emphasizing the importance of early transition planning even challenging the open pit sequencing of the latest push backs by introducing early underground operations. Future work includes strengthening the methodology—such as integrating real-time analysis and adaptive decision-making—and providing recommendations for its application in various mining operations. In summary, this paper delivers a technical and professional framework to guide mining companies on when and how to carry out a successful transition from open pit to underground mining, balancing resource recovery with financial, operational, and social security.

Feb 22, 2026

By Les Gutzwiller

Fan applications in the mining industry have changed during the last 70 years. In 1922, J.R. Robinson authored a technical volume entitled Practical Mine Ventilation. At that time, atmospheric control had only recently shifted from natural to mechanical. The large, mechanical draft fans that were used then were centrifugal. The fans ran at low speeds, about300 rpm. Most were steam-engine driven. In the late 1920s and early 1930s, mines became larger, increasing the pressure and volume requirements of the fan equipment. Axial fans were designed to run at much higher speeds (710 to 880 rpm) and were driven by electric motors. They were also smaller and less expensive to install than the cumbersome centrifugal units. However, changes in mining have resulted in progressively higher static-pressure requirements. So centrifugal fans are once again proving to be a good choice.

Jan 1, 1999

By D. Shink

A small scale continuous flotation cell was designed and constructed at Noranda Technology Centre to develop a mobile testing flotation circuit located next to the production circuit. This mobile small scale flotation pilot plant can easily and economically be set up at any circuit in a mill and used to evaluate and predict plant performance against a given flotation condition. The main feature of the cell, beside the provisions of automatic pulp level and feed rate control, is to provide a reduced surface to volume ratio approaching to that of an industrial machine. This paper describes the basic design and the results of various testwork carried out to date including aeration, conditioning, reagents, recirculation, flotation gas, etc. are presented in comparison with the plant production results.

Jan 1, 1992

By Verya Nasri, Jaeseoung Lee, Ashish Bhargava, Shashank Gupta

This paper presents the unique design and construction challenges for the Technoparc Station, located in downtown Montreal as a part of Réseau Express Métropolitain (REM), a light rail rapid transit system. The station is located 15 m below the street with rock-bearing secant pile wall as the primary structural system working as both the retaining and gravity structure. The paper highlights the challenges related to the support of excavation structure, invert slab resisting high hydrostatic forces, waterproofing tightness etc. It also focuses on the importance of Building Information Modeling (BIM) in underground tunneling projects for effective coordination, clash-free, optimized design and costs.

Jun 13, 2021

By J. M. Link

A technique is presented for the economic selection of a slurry pipeline with the aid of a computer. Mathematical models for the flows of homogeneous slurries are utilized. Only the pipeline and its prime movers are considered. Slurry flow properties are first obtained from rheology and/or pipeline data measurements. A rheological model is then selected for the slurry. It must be emphasized that the accuracy of the method is greatly affected by the accuracy of the slurry flow-property data. Approximate cost parameters may be selected from data for plain and lined pipes, centrifugal and positive displacement pumps, motors and engines. Cost data for the purchase, operation and maintenance of slurry pipelines are also described. A total cost equation for the ownership and operation of a slurry pipeline system is then established. The complexity of the equation is a function of the rheological model selected to describe the slurry. The equation is solved with the aid of a computer for several combinations of pipeline diameters and throughputs to yield minimum total annual cost for the system. A mean velocity is then computed to give the required throughput. The velocity is constrained by an upper and lower bound. A high velocity is undesirable from an energy consumption viewpoint and if pipeline wear is possible. On the other hand, the velocity must exceed the deposition velocity for a heterogeneous suspension or the critical velocity for a homogeneous suspension. There is no guarantee that the velocity developed by this method will lie within the constraints applied, nor that the constraints are even known. This is particularly true for heterogeneous slurries. An important feature of the method is the ease with which the variables can be adjusted to measure the sensitivity of the total cost to the variables. The purpose of the sensitivity analysis is to identify those critical variables that. if changed, can considerably affect the total cost. Mathematically, individual variables are changed and the effect of such a change on the annual total cost is computed. But from a designer's point of view, individual components in the system are changed to study their effect on the annual total cost. A change in one component of the system may involve a change in one or more variables. For example, the replacement of a steel pipe by a smooth-lined pipe will change the pipewall roughness and wall thickness as well as purchase, operating, and maintenance costs.

Jan 1, 1974

By W. E. Coughlin, R. L. Faverty, F. H. Lightner

Introduction The intent of this paper is to present the general strategy and method of implementation to achieve a "fast-track" mine development. The major objectives of a "fast-track" or rapid development schedule are to minimize front-end development expenditures and to realize an early cash flow from operations. The Borealis project of Houston International Minerals Corp. (HIMCO) is used as the working example to illustrate the development schedule. Borealis is a 2.3 kt/d (2,500 stpd) gold-silver heap leach operation near Hawthorne, NV, Pre-Feasibility Planning Proper early planning and identification of priority items were necessary to expedite project progress. On April 1, 1978, HIMCO leased the rights to the Borealis prospect and initiated exploration activities almost immediately. Since Borealis was showing excellent potential for mine development, an effort to clear the way environmentally was initiated during the summer of 1979. With the Borealis properties located within the Toiyabe National Forest, the US Forest Service (USFS) was recognized as the "lead" or respon¬sible agency for addressing the environmental issues. Early scoping of the environmental issues by both HIMCO and the USFS allowed HIMCO to take the initiative and address two potentially critical issues-archaeological and biological. Third party consultants, agreed upon by HIMCO and the USFS, were contracted to conduct archaeological and biological surveys. Desert Research Institute of Reno, NV, provided archaeological services, and JFL & Associates of Boulder, CO, provided biological services. These efforts began in the fall of 1979 and continued through the summer of 1980. Conservative Design Criteria By adoption of conservation design criteria, flowsheets and processing data required for detail engineering were firmly established with a minimum of impact on schedule. On Oct. 21, 1980, HIMCO formally initiated a feasibility study to evaluate the Borealis project. Four organizations were contracted for particular scopes of work: • John T. Boyd Co.: Ore reserve estimation, preliminary mine plan, and mine capital and operating cost estimation. • Bechtel Civil and Minerals: Conceptual engineering, processing capital and operating cost estimation. • Hazen Research Inc.: Metallurgical testing. • Sierra Pacific Power: Cost estimation for power supply. Metallurgical testing and conceptual engineering of both heap and agitation leach flowsheets were investigated concurrently. Numerous economic evaluations were conducted for both heap and agitation leaching at varying production capacities. The results indicated a heap leaching flowsheet treating 454 kt/y (500,000 stpy) yielded the best economics and was compatible with the "fast-track" development goal. Conservative design criteria was established to provide operating flexibility and ensure plant productivities. A summary of major design criteria is presented in Table 1. HIMCO assembled the results of the studies of the various consultants along with internally generated studies to produce the feasibility document. The decision to supply 100% equity by HIMCO rather than arrange project financing help to expedite the project. Cooperation Between HIMCO and Regulatory Agencies With cooperation and mutual trust established between HIMCO and regulatory agencies, the time required for environmental permitting was streamlined as much as practical. To expedite the required construction permits, HIMCO proposed to the USFS that HIMCO fund the total cost of an Environmental Assessment Report (EAR) and that issues be addressed at the technical level of an Environmental Impact Statement (EIS). The previous studies on the critical issues of archaeology and biology provided HIMCO with the information to satisfy the proposed approach. Houston International Minerals and the USFS agreed to have Environmental Research and Technology (ERT) of Fort Collins, CO, prepare a draft EAR for the USFS.

Jan 11, 1983

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 Lana Alagha, Keitumetse Cathrine Monyake

The abstract discusses the synthesis and investigation of polyacrylamide functionalized chitosan polymers (CS-PAMs) as selective depressants for pyrite in the flotation of galena and chalcopyrite from complex sulfide ore. The study employed response surface methodology (RSM) to model and optimize the flotation process, varying parameters like the degree of deacetylation of chitosan, weight ratio of chitosan to acrylamide, and CS-PAM dosage. The developed RSM models effectively predicted iron and lead grades and recoveries, while optimization showed optimal pyrite separation from galena and chalcopyrite using CS-PAM synthesized from chitosan with a high degree of deacetylation and a specific chitosan:acrylamide weight ratio.

Apr 9, 2022

By F. -J. Wodopia

Sustainability of energy supplies has been an issue of general interest for a long time. Whilst in the past the continuous productive use of natural commodities was in the fore, its compatibility with the environment and climate and ultimately also social aspects have recently gained more and more attention. Today many discussions focus on the climate compatibility of individual options to act. Fossil fuels, in particular coal and lignite, are generally challenged because coal use makes a significant contribution to global man-made CO2 emissions. The drastic increase in the consumption of fossil fuels is not explained by the fact that coal utilisation technologies are not or cannot be sustainable but rather by the growing world population and the endeavours numerous national economies trying to catch up economically. Coal is the world’s No. 1 fuel and, in the view of many experts, will keep this position also in the foreseeable future. The access to its deposits plays a significant role for the economies of the emerging countries. Consequently the aspects of energy security and economic efficiency need to be considered at eye level with climate compatibility. In Germany, however, the public acceptance of fossil fuels and of large industrial projects is in the focus of attention.

Jan 1, 2011

By Myles E. Robinson

During the last decade there were pronounced changes in the competitive pattern of the fossill fuels It is proposed to trace these trends and describe inter-fuel competition, first as it relates to the economy as a whole and then more specifically to examine competition of the fossil fuels as these share the electric utility market. Table 1, Competitive Fuels and Water Power Used in the United States, 1950-1959, shows the growth in the consumption of coal, oil, gas and water power 'during the past decade. Uses which are not directly competitive among the fuels, such as tractor fuel, carbon black, and consumption of petroleum products in the making of synthetic rubber, have been excluded from these statistics. The experience of the three fossil fuels in competition since 1950 shows natural gas expanding more rapidly, than oil by roughly twice as much, 219.0 percent' compared to 124.1 percent growth in B.t.u.s of oil consumed in the ten-year period. Percentagewise, water power little more than held its own, and coal, including anthracite, actually decreased more than one-fifth.

Jan 1, 1961

By T. Hollenberg, N. Nolten

The mining industry is one of the major energy consumers in Namibia. Energy costs increase the operating costs of Namibian mines, in particular, the processing plants, and result in an overall increase of production costs. A substantial part of the energy used is directly imported from South Africa. The cost of energy has been increasing rapidly in the past few years and will most likely continue to do so in the future. In 2015, the average wholesale price for energy from national power utility NamPower was US$87/MWh after rising more than 12 percent annually in the two previous years. At peak times, which are early in the morning and late in the evening, imported-energy prices are extremely high and have to be factored into the electricity tariffs. This problem is expected to intensify due to a projected 4 percent annual increase in energy demand. A major target of the Namibian mines, therefore, is to consider possible ways to address energy-saving challenges and to investigate possibilities for the mines to generate electricity internally during peak times. This is in alignment with the mines’ strategic plans and objectives to reduce total energy consumption and costs from both national and foreign electricity suppliers. In this paper, we explore addressing some of the key energy consumption and optimization challenges through process energy reuse and solar energy production to decrease demand for imported energy through a case study carried out in cooperation with Skorpion Zinc Mine and Refinery.

Jan 1, 2018

By David Mast, Amanda Foote, Mina Shinouda

The Michigan DOT’s I‑75 Modernization Project, Segment 3, is a 30-year, $1.2 Billion design-build-finance-maintain project in Southeast Michigan. The scope includes building a nearly 4-mile long, 14.5-foot ID stormwater storage tunnel. The tunnel and pump station are being built concurrent with new roads and bridges, requiring multiple levels of design and construction coordination. Underground risks include the poten‑ tial for encountering granular soils, groundwater, and explosive gases. The new tunnel will be mined by a new open-face TBM and lined with a one-pass steel-fiber-reinforced precast concrete segmental lining. Shaft construction began in early 2020 and tunnel mining in July 2020.

Jun 13, 2021

By T. Braun, J. Parker

On June 25, 1999, BHP Billiton (BHPB) announced the suspension of operations at the BHP Copper Inc.(BHP) San Manuel copper mine in Pinal County, Arizona. Subsequent to this announcement, BHPB aggressively pursued a number of alternatives for the underground mine and open pit facilities, including continued curtailed operations, sale to a qualified mining operator and closure of the property. After consideration of these various alternatives over a 2.5-year period, BHPB announced final closure of the mine site on January 15, 2002.This paper describes how the BHPB charter and HSEC policy apply during the closure process.

Jan 1, 2004

By J. M. Mercier

Approximately seven (7) years of recent intensive mining activity in the Wasatch Plateau Coal Field of Utah has revealed distinct geologic patterns which, at times, profoundly influence reserve estimates, coal quality, mine layout, and reserve accessibility. Mine planning, economic feasibility, and resource recovery activities by Getty Coal Company utilize a multi-faceted approach by necessity when evaluating Utah properties. Two specific operating mines offer examples of the affects of adverse geologic conditions on mine operation and project economics.

Jan 1, 1984

In recent years, Computational Fluid Dynamics, CFD, has been commonly utilized in the mining industry to model the fluid flow behavior in underground mine workings. This paper uses CFD modeling to simulate the airflow behavior in underground crosscut regions, where brattice sails are used to direct the airflow into these regions. Brattice sails are cost effective ventilation control devices for temporary or permanent use in underground mining. They can be used to deflect air into the unventilated areas such as crosscut regions. Their design and installation is a fundamental issue for maintaining a sufficient supply of fresh air and achieving effective air circulation and contaminant removal. At the same time, they should have little impact on the mine ventilation system. This paper presents the results of a two-dimensional CFD model, which examines the effects of brattice length on fluid flow behavior in the crosscut regions. The results of this study will assist in understanding the ventilation air behavior and in determining the optimum size of brattice curtain (sails), which provide a highly effective contaminant removal from the unventilated mine areas. This, in turn, helps the mine ventilation designers to meet the mine safety requirements.

Jan 1, 2009

By DING TANG, JINGHE CHEN, Shuiping Zhong, CHEN KUANG

The Zijinshan gold-copper mine, in spite of the low-grade nature of the ore, has become one of the largest production-scale and most profitable non-ferrous metal mines in China. The successful application of hydrometallurgy as well as proper engineering design are the key factors for large-scale development of the Zijinshan gold-copper mine. In this contribution, the practical experience acquired in the development of the Zijinshan gold and copper mines is summarized. This covers most aspects of the production process including mining, beneficiation, ore stacking, heap (bio)leaching, carbon-in-leach, solvent extraction, electrowinning, wastewater and tailing treatments. The authors believe that this practical experience will not only help to promote the development of hydrometallurgy, but can also serve as a model for other gold and/or copper plants around the world.

Jun 3, 2020

By S. K. Oraee

Managers always look for systems with minimum hazards. The hazards create problems for performance of projects. The largest and most important hazards of working underground mine can be related to health, safety and environmental, because if one of these sectors be in hazard, maybe lead to close mine. Failure mode and effects analysis (FMEA) is a widely used quality improvement tool to identify the potential failure modes for measuring reliability of a product or a process. FMEA is performed by developing a risk priority number (RPN), which is the product of severity, occurrence, and detection ratings. On the other hand, with regard to uncertainty in the decision-making, fuzzy theory will be able to model this uncertainty. Fuzzy FMEA provides a tool that can work in a better way with vague concepts and without sufficient information than conventional FMEA. This article by using Fuzzy FMEA and based on HSE criteria evaluate hazards of Parvade No. 1 Mine in Tabas Coal Mine. The results demonstrate the most hazardous parameter is rock burst in this mine.

Jan 1, 2011

By James M. Stauffer

There are many types of filters designed to separate a solid from a liquid, including plate and frame presses, pressure leaf filters, gravity filters and vacuum filters. This discussion will be limited to continuous vacuum filtration and, specifically, to continuous rotary vacuum disc filters, drum filters and horizontal belt filters. The use of vacuum filtration can be advantageous in that: 1. The feed slurry can be delivered to the filter either by gravity or by a simple, inexpensive low pressure pump that only has to overcome the resistance of the feed piping system. 2. The filter equipment does not have to withstand high pressures. Consequently, a wide range of materials of construction, including plastic and fiberglas reinforced polyester (FRP), can be used in the fabrication. 3. After the form time, the filter cake is exposed to the atmosphere and the cake is accessible for further operations such as mechanical or physical dewatering, washing, and sampling on a continuous basis. 4. The discharge of the dewatered solids is continuous for directly feeding to the next operation; for example, a dryer. 5. Various methods of discharge can be fitted to the filter to effect optimum discharge of the dewatered cake solids. The principal of operation of a vacuum filter, regardless of type, is basically the same. The filter incorporates a filter medium supported on a drainage system and arranged so that the mixture to be separated (feed slurry) can be introduced to one side of the filter medium on which the solids are trapped and through which the liquid (filtrate) flows due to the applied vacuum.

Jan 1, 1979