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A discussion on simulation tools to aid the development of robotics platforms is presented. The focus of the work is towards mining robotics platforms where operations are typically in unstructured, unpredictable environments and a high degree of dependability in their operations is required. It is argued that a test-based development approach leads to more robust solutions and faster development cycles than traditional single-track field-only development and that the key enabling technology for this development paradigm is the judicious use of simulation tools. The future direction of simulation for use in online applications such as active planning and as a means to assist tele-operation in high latency communication applications is also brief y considered together with the requirements for a useful simulation environment in terms of the simulator architecture. Finally, a case study is presented on the application of the discussed methodologies to an unmanned ground vehicle (UGV) for earth-moving tasks, which is being developed in an accelerated time frame with a transient development team.

Dec 6, 2010

By R. Degel

Keywords: Pyrometallurgy, DC furnaces, electric smelter, FeCr, FeNi, FeMn, Si metal, ferro-alloys, platinum production, circular furnace, energy recovery system In 1906, the first submerged-arc furnace was supplied by SMS Siemag. Since then, the division has become established in various industries such as ferro-alloys and non-ferrous metals, and in numerous other special applications. During the evolution of this technology, more efficient units with longer lifetimes were developed. Today, especially the potential of DC-based smelters, raises worldwide attention, with some projects having already started to implement this kind of technology. This paper evaluates SMS Siemag?s general viewpoint regarding the potential application of DC smelter technology and possible options for the ferro-alloy and non-ferrous industry. SMS Siemag is currently executing a FeCr project in Kazakhstan, where four of the world?s largest closed-type DC smelting furnaces, with a power input of 72 MW, will be installed. These furnaces include the latest technological features of modern DC smelters, which are described in this paper. SMS Siemag has started a long-term research and development project allowing a direct comparison of AC versus DC technology on a large scale, using a recently installed 1 MVA test furnace at the IME at the University of Aachen, in Germany. For open-type ferro-alloy and Si-metal furnaces, SMS Siemag has developed an energy recovery system, which is presented in this paper.

Jan 1, 2011

By Anne Lemnitzer

Full-Scale cyclic field testing was performed on a 3x3 pile group consisting of nine cast-in-drilled-hole (CIDH) reinforced concrete shafts and a comparable single-shaft in order to investigate group interaction effects. Both specimens were constructed with pile diameters of d = 0.61m (2 ft), fixed head boundary conditions, and placed in stiff clayey soil at a test site near the LAX Airport in Southern California. Internal instrumentation was installed in the single pile as well as in three piles within the pile group to obtain pile curvatures. External instrumentation controlled the lateral displacement of the specimens. A combination of experimentally and analytically obtained p-y curves for the single pile was used to simulate results for piles located in the group when field data were not available. All test specimens were tested to structural failure and excavated after test completion to investigate pile damage and plastic hinge formations. Calculated group interaction factors ranged between 1.0 at very small displacement levels of <2.5 mm (0.1 in), 0.8 at the initiation of the pile-soil-pile interaction, i.e. between 4 mm - 15 mm (0.16-0.6 in), and increased towards 0.9 near structural failure (displacement >25 mm or 1 in). A literature set of p-multipliers was found to reproduce an accurate fit to the available load displacement test data from the group.

Jan 1, 2010

By R. J. Pine, J. M. Rance, J. S. Coggan

ABSTRACT: The safe design of excavations created in a fractured rock mass is of paramount importance in rock engineering. Depending on the nature of the stress regime acting on an excavation, and the associated deformational behaviour of the rock mass surrounding the excavation, a number of potential failure mechanisms exist. These involve a combination of shear failure on existing joints, extension of critically oriented joints and propagation of new fractures through previously intact rock. Conventional numerical codes usually adopt either a continuum or discontinuum approach; this often results in significant over simplification and kinematic limitations particularly when modelling complex rock mass behaviour in the close vicinity of excavations. This paper describes the results from several case examples using a combined finite element-discrete element code, ELFEN that incorporates a crack propagation mode. Through the use of selected rock engineering examples, the authors demonstrate the potential of the code in the realistic simulation of complex rock failure both in underground and surface excavation applications. RÉSUMÉ: La conception sûre des excavations créées dans une masse de roche fracturée est d&apos;importance primordiale dans la géotechnique. Selon la nature du régime d&apos;effort autour d’une excavation, et le déformation associé de la masse de roche autour de l&apos;excavation, il exsite un certain nombre de mécanismes potentiels d&apos;échec. Ceux-ci comportent une combinaison d&apos;échec de cisaillement sur les joints existants, la prolongation des joints d’orientation critique et la propagation de nouvelles ruptures dans la roche précédemment intacte. Les codes numériques conventionnels adoptent habituellement l’approche, soit d’un continuum, soit de discontinuum; ceci a souvent comme conséquence une sursimplification significative et les limitations cinématiques en particulier en modelant le comportement complexe de la masse de roche très proche des excavations. Cet article décrit les résultats de plusieurs exemples de cas en utilisant un code qui s’agit d’une combination d’élément discret et d&apos;élément fini, ELFEN qui incorpore un mode de propagation de fissure. Par l&apos;utilisation des exemples choisis géotechniques, les auteurs démontrent le potentiel du code dans la simulation réaliste de l&apos;échec complexe de roche pour les applications aux excavations soit au fond soit à l’extérieure. ZUSAMMENFASSUNG: Das sichere Design der Aushöhlungen, die in einer zerbrochenen Felsenmasse verursacht werden, ist vom paramount Wert in der Felsentechnik. Abhängig von der Natur des Druckregimes, das auf einer Aushöhlung und dem dazugehörigen deformationalen Verhalten der Felsenmasse umgibt die Aushöhlung fungiert, bestehen eine Anzahl von möglichen Ausfalleinheiten. Diese beziehen eine Kombination des Scherausfalls auf vorhandenen Verbindungen, Verlängerung der kritisch orientierten Verbindungen und Ausbreitung der neuen Brüche durch vorher intakten Felsen. Herkömmliche numerische Codes nehmen normalerweise entweder ein kontinuum oder discontinuum Annäherung an; dieses ergibt häufig bedeutende Übervereinfachung und kinematische Beschränkungen, besonders wenn es kompliziertes Felsenmasseverhalten in der Nähe der Aushöhlungen modelliert. Dieses Papier beschreibt die Resultate von einigen Fallbeispielen mit einem kombinierten begrenzten Element - getrennten Elementcode, ELFEN, das einen Sprungausbreitungmodus enthält. Durch den Gebrauch von vorgewählten Felsentechnikbeispielen, demonstrieren die Autoren das Potential des Codes in der realistischen Simulation des komplizierten Felsenausfalls bei Anwendungen für beide Tagebaue und Untergrundsaushöhlungen.

Jan 1, 2003

By Wilson O. A

TABLE OF CONTENTS1. Introductiona. Process Changes since 1939.b. Current Practice.2. Ore Characteristicsa. Copper Minerals.b. Gold Occurrence.3. Treatment of High Grade Acid Orea. The Ore Treatment Planti. Coarse Crushing SectionDust Controlii. The Concentrating MillDesliming SectionGranular GrindingGranular FlotationGranular Flotation ReagentsFlotation MachinesSlime FlotationConcentrate CleaningConcentrate Handlingiii. Scavanging No.1. Mill Granular Tailings at No. 2 MillRegrinding UnitScavenger Flotationb. Pyrite Productioni. Pyrite Flotationii. Pumping of Pyriteiii. Storage of Pyriteiv. Pyrite Loading

Jan 1, 1952

A large-diameter road tunnel will cross beneath the strait in Istanbul and expand the infrastructure bottleneck between Europe and Asia. The technical planning of the tunneling operations poses complex challenges. Therefore, the construction consortium ordered a specially adapted tunnel boring machine (TBM) from Herrenknecht. The 13.6-m (44.6-ft) machine, a Mixshield, was completed in early July 2013 in Schwanau, Germany. To get from the European to the Asian side of Istanbul, people and goods have to cross the Bosporus Straits. So far, two road bridges as well as ferries provide the only transport link between the two parts of the city and the two continents. The tense traffic situation for the nearly 14 million residents of the city and for international transit traffic should be improved considerably thanks to the construction of a new road tunnel under the Bosporus. ?The project is certainly one of the most challenging tunneling operations currently being addressed in the world,? said Herrenknecht project manager Georg Schleer. The route of the ?Istanbul Strait Road Tube Crossing Project? runs around 100 m (330 ft) below sea level at its deepest point. The interior diameter of the tunnel will be 12 m (40 ft) so that two lanes in each direction can be accommodated. They will extend one above the other on two levels. 3.34 km (2.1 miles) of the tunnel with a total length of 5.4 km (3.3 miles) are being created by a 13.6-m- (44.6-ft-) diameter Herrenknecht TBM that will begin its underground mission from a launch shaft on the Asian side.

Sep 1, 2013

Advances in Thickener Feedwell Design via Computational Fluid Dynamics Modelling

Sep 13, 2010

n the early days of the Hauraki goldfield (1866 to 1889) almost the only system of ore treatment was wet crushing followed by copper plate amalgamation. A further saving of bullion was in most cases obtained from the tailings by means of pans or berdans. Though this system was not always as efficient as might have been desired it answered fairly well for the bulk of the gold-bearing quartz of the Thames and Coromandel districts, where the gold occurs chiefly in the form of visible particles, and there is not a great deal of silver. It failed, however, with most of the ore found in the Upper Thames or Ohinemuri district, especially in the Karangahake and Waihi portions of the field. In those days the cyanide process was not, and the usual prescription of the mining &quot; expert&quot; was smelting. At Karangahake, many attempts were made to discover a payable method of treatment for the so-called&quot; refractory&quot; ore, but on thewhole with very &apos;little success, and the district struggled along for a number of years without adding very materially to the production of gold in New Zealand. At Waihi, the Martha Co.&apos;s stamp battery treated by wet crushing and copper plate amalgamation some 18,000 tons from the Martha Reef, worth probablyat least &#163;4 per ton, but the average return was considerably less than &#163;1 per ton, a sum which barely paid working, expenses, and consequently the shareholders were glad...

Jan 1, 1903

By V. F. Parry

[Subbituminous coal or lignite when stored in random piles or in ordinary bins in which the temperature fluctuates and air circulates quickly undergoes objectionable physical and chemical changes, which decrease the utilization value of the fuel and increase its tendency to ignite spontaneously. Slacking takes place, and the heating value decreases. These changes are accelerated by fluctuations of temperature and by circulation of air through the storage space. When such coals are exposed to the weather they lose moisture rapidly. If evaporation from the surface of a lump proceeds at a faster rate than that at which it is replaced by moisture from the interior, the rate of shrinkage at the surface is greater than that at the interior; consequently, stresses are generated at the surface which cause the coal to disintegrate. Likewise, when moisture is absorbed by the air-dried surface the outside layers expand at a faster rate than the interior, which results in further break-down. As these cycles are repeated the lump may disintegrate completely. Therefore, successful storage of low-rank coals depends on control of the factors that influence change of moisture.]

Jan 1, 1941

By W. Lum

In the U.S., flexible metal pipe culverts are designed by ring compression theory because the pipes are capable of deflecting and deriving side support from surrounding ground. For economy, tunnel liners are often designed as flexible structures that depend on the lateral pressure of the surrounding ground to maintain stability. In this paper, simple formulas are presented to determine the maximum deflection a concrete tunnel liner may assume and the ring compressive strength of the deflected liner. A tunnel can then be constructed to work within these limits. Similar techniques may be used to design concrete pipes.

Jan 1, 2010

Every automatic citizen is an automatic recipient of a miner&apos;s right under the present Mining Act (Chapter 195), but this alone does not entitle any automatic citizen to mine for minerals on any land, even his customary group&apos;s land. Without complying with requirements of the Mining Act, any automatic citizen who engages in mining solely on the basis of a miner&apos;s right would be mining illegally. He would also be engaged in illegal mining if he mines on customary or other non-government land. Even if mining is legally pursued by an automatic citizen, he does not acquire ownership of minerals without first making the required royalty payments to the State.

Jan 1, 1991

Roof falls in coal mines typically occur in or around intersections and this has not changed in the last two decades. This research develops an improved scientific understanding of stress distribution and associated failure behavior around 4-way and 3-way coal mine intersections. Three-dimensional numerical analyses were performed to determine factors that influence intersection stability. The analyses used Hoek-Brown failure criterion. Failure zones around 3-way and 4-way intersections were developed. Intersection span and horizontal stress have a major influence on intersection stability. For the 4-way intersection, pillar corners across the intersection fail first and lead to progressive failure of immediate roof and floor layers. The mechanism of failure is similar for the 3-way entry but the shape and extension of failed zones differ. Coal ribs mostly fail due to tensile stress, while roof and floor strata fail due to shear stresses. Rib corners fail due to a combination of shear and tensile stresses. In addition to stress distribution; safety factor contours analysis was performed to assess stability of intersections.

Feb 27, 2013

By S. T. Kok

This paper presents a case study in West Malaysia for passive piles failure in very soft marine clay in open excavation. In this particular case, the thickness of the very soft marine clay ranges from 5 m to 7 m (16 ft to 23 ft) from the ground surface. Preliminary site investigation reported SPT ?N? value of zero for the very soft marine clay. The design was based on a deep foundation utilizing driven piles to support the superstructure. During pile cap construction, the piles were subjected to uncontrolled open excavation, inducing bending moment in the piles, resulting in some cracked and broken piles. Analyses were carried out using an existing three-dimensional finite element code with a non-linear soil model to predict the response of these piles during excavation. Finally, the predictions of pile responses during excavation were compared satisfactorily with the observed results.

Jan 1, 2009

Research 83 highlights significant studies conducted during the past fiscal year at Bureau facilities and offices. Readers who want more information about the projects and studies summarized here can contact the researchers whose names and locations appear with each summary, General information on Bureau of Mines programs is available from the Office of Technical Information, 2401 E Street, NW., Washington, DC 20241. A listing of principal officials, a location map of field facilities, and a selected bibliography of publications and patents issued on Bureau developments during the past 3 years are provided.

Jan 1, 1983

By J. C. Bokros, A. S. Schwartz

The irradiation-induced densification of pyrolytic carbon has been shown to take place by a simple first-order rate process. The values of the densification constant, kd, for isotropic carbons are 1.0 x 10-22, 1.4 X 10-22 and 2.8 X 10-22 (nut)-1 at irradiation temperatures of 520o, 670°, and 1000oC, respectively. The apparent activation energy obtained from the temperature dependence of kd for isotropic carbons is about 0.2 ev. Estimates of the maximum stresses that develop in isotropic carbons owing to shrinkage onto an unyielding support show that stresses in excess of 15,000 psi may be avoided during irradiatian at 600" and 1000°C if the initial coating density is kept above 1.5 and 1.9 g per cu cw, respectively. If a carbon coating on an unyielding support is not completely isotropic, stresses may continue to build up at high neutron exposures after densification is complete because of continued anisotropic distortion. Stresses in excess of 15,000 psi from this source may be avoided during irradiation at 1000°C if&apos; the Bacon anisotropy factor is kept below 1.3. A variety of applications of carbon and graphite in nuclear technology has stimulated numerous studies of the effect of neutron irradiation on these materials One of the most interesting problems associated with the use of carbons and graphites in the high fast neutron fluxes of nuclear reactors arises as a consequence of the neutron-induced dimensional changes that occur during irradiation. Energetic neutrons displace car- bon atoms from their lattice positions; and, depending on the temperature, the interstitials and vacancies produced migrate to form clusters, recombine, or are annihilated at dislocations or crystallite boundaries. The competition of various sinks for the point defects results in structure-sensitive bulk-dimensional changes that vary with temperature in a complicated way. This paper deals with the neutron-induced dimensional changes in turbostratic carbons that are being used as coatings on nuclear fuel particles. Details of the structure of these carbons and the variations of their structure with deposition conditions have been reported.&apos;-3 It has been shown in previous work that the neutron-

Jan 1, 1968

By V. F. Parry

Subbituminous coal or lignite when stored in random riles or in ordinary bins in which the temperature fluctuates and air circulates quickly undergoes objectionable physical and chemical changes, which decrease the utilization value of the fuel and increase its tendency to ignite spontaneously. Slacking takes place, and the heating value decreases. Those changes are accelerated by fluctuations of temperature and by circulation of air through the storage space. When such coals are exposed to the weather they lose moisture rapidly. If evaporation from the surface of a lump proceeds at a faster rate than that at which it is replaced by moisture from the interior, the rate of shrinkage at the surface is greater than that at the interior; consequently stresses are generated at the surface which cause the coal to disintegrate. Likewise, when moisture is absorbed by the air-dried surface the outside layers expand at a faster rate than the interior, which results in further break-down. As these cycles are repeated the lump may disintegrate completely. Therefore, successful storage of low-rank coals depends on control of the factors that influence change of moisture.

Jan 1, 1941

By Zhaohui Xie, Bin Xu, Qian Li, Yongbin Yang, Tao Jiang

A high carbon low-grade gold ore, in which gold mainly occurs in carbonaceous matters, is a typical refractory gold ore whose conventional cyanide leaching extraction is only 12.9 %. In this paper, by the process of flotation-roasting-leaching, gold was effectively enriched and extracted. The flotation results showed that the enrichment ratio of gold was relevant to that of carbon, indicating that gold occurred in close association with carbon. A concentrate containing gold 7.26 g/t and carbon 12.37 % was obtained, with gold recovery 83.10 % and carbon recovery 90.24 %. Subsequently, the roasting of flotation concentrate favorably made the removal rates of carbon and sulfur reach 99.81% and 98.79%, respectively. After roasting, the gold in the roasted product was further enriched to 29.70 g/t and the optimal gold cyanide leaching extraction reached 93.66%.

Jan 1, 2015

By Douglas A. Anderson

Much progress has been made in understanding the forward process for blast vibration simulation: that is, how to create a resultant seismogram from an empirically determined seed waveform. What has not been successfully investigated to date is the reverse process: Determining the contribution of each borehole to the resultant seismogram. It might seem that these should be two sides of the same coin, but the reverse process is much more complicated. That is because the source, geological path, and receiver contributions must be unraveled and then dissected. If that can be done, a relationship can be developed between the seismic source properties and the explosive interaction with the surrounding rock. This paper presents a first step in the unraveling process, through analysis of blast seismograms using wavelet transforms.

Jan 1, 2013

The tenth annual Mine Resale Evaluation was held in conjunction with the RMCMI 2001 convention at the Steamboat Springs Sheraton Resort, Steamboat Springs, Colorado June 23 through 26. The purpose of the mine rescue evaluation program is to provide an opportunity for mine rescue teams to learn new skills and improve their existing ones in a non-competitive environment. Several staged ?disaster? scenarios were held where the teams are called upon to exhibit their life saving abilities. The evaluators meanwhile are offering suggestions, both verbal and written, to help the teams better understand the situations presented them. This non-competitive environment allows the teams to work together and share their knowledge with fellow mine rescue teams providing everyone with a positive learning experience. Mine Rescue Chairman Bill Balaz, Balaz & Associates, was in charge of coordinating the events. Six teams consisting of seven to twelve members each (totaling 60 members) participated in the three-day event. Each ream was required to respond to direr different real-life scenarios plus a written general knowledge test daily. Cindy Burnham has assisted Bali, for a few years. Her responsibilities include grading all of the written tests. This year&apos;s tour professional evaluators included Art Seanz (Hazardous Ma¬terials) of Western Environmental Associates ; Guy Norton (Ropes), Guy Horton Rope Rescue; Mary Bailey (Medical), MBA Training and Morley Hense (Confined Space). Carolyn Durga, BHP Coal, also assisted in hazardous materials and medical scenarios. They each provided three different challenging mock situations per day per team. The teams had no prior knowledge of what the scenarios would be as details were provided only as they arrived. Ten volunteer victims added much drama and excitement to the event. Their realistic enactment, complete with false blood makeup and severed limbs, made for some very tense scenarios. The Mine Rescue Teams participating this year were BHP LaPlata, BHP Navjo, BHP San Juan, all from Farmington, New Mexico; Bridger Coal Co., Rock Springs, Wyoming; Sabine Mining, Longview, Texas; Solway Minerals, Green River, Wyoming and Western Energy Co., Colstrip, Montana. Many new friendships were made and much knowledge shared. A swap meet was held Saturday afternoon for the teams to exchange miscellaneous equipment, hats, shirts, etc. The trams were asked to evaluate the program and the evaluators. They responded with many positive suggestions that will help improve the upcoming events in the years to come. Culmination of the Mine Rescue program was a Tuesday morning awards breakfast where the teams were presented with trophies. Each member was also given a gold pin with the words Continuing Challenge - Ropes.&apos; The pin was the first in a series that will be given over the next few years. The participating victims and evaluators were also commended for their outstanding efforts. Special signed "Victim" shirts were given to select volunteers. Sponsors for the Mine Rescue program were Flanders Electric Motors, Magnum Metals, Rocky Mountain Electric Motors, Sedona Consulting and Balaz & Associates. Many hours of volunteer tine and effort from various family members of participants helped make the 2001 event a huge success.

Jan 1, 2001

By Hamid Maleki

A geotechnical monitoring program has been implemented at Energy West Mining Company for enhancing site-specific evaluation of longwall stress conditions. This program consists of underground measurements at five locations in two neighboring mining districts located in the Hiawatha and Blind Canyon Coal Seams under moderate to deep cover. Within the last five years, additional measurements, including data on recorded seismic events and face conditions, have been incorporated into the data collection program together with detailed geologic mapping of longwall gateroads. In conjunction with the measurement program, the authors have completed detailed boundary-element stress analyses of the mine plans. Models have been calibrated using the data from in-mine instrumentations and then routinely used for evaluation of mine plans at depths approaching 2,600-ft. The work has improved our understanding of load transfer, seismicity and yield pillar performance. It has identified areas of potential increased stress levels at certain longwall face positions and provided guidance to measures that could be considered to mitigate the potential for these increased stress levels.

Jan 1, 2009