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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 J. E. Friant

Until 1956, drill and blast was the only way to excavate rock. In that year, a tunneling machine using disc type cutters economically bored a small Toronto tunnel. Its amazing 105 ft/day set a new world record and set the stage for a new industry. The Disc Cutter Role in Excavation Mechanical excavation of hard rock is by now deeply ensconced in the heavy civil construction industry. All over the world, from the Swiss Alp Melange to Hong Kong Granite, to New York Gneiss, huge Tunneling Boring Machines (TBMs) create transportation, water and sewer tunnels. Powerful machines, boasting as much as 6000 hp, bore through rock, excavating in excess of 1400 tons per hour. The tool that makes this tunneling phenomenon possible is the single blade, rolling disc cutter. These hardened steel discs, from 15 1/2 to 19 inches diameter are arranged on a rotating cutterhead, to cut concentric circles in the rock. As the machine is propelled forward under great pressure, rock below each cutter is crushed. But the efficiency of the cutterhead is derived from the science of cutter spacing (distance between cutter paths). The majority of the rock excavated is not crushed, but flakes off in chips and chunks. No pick, tooth, or drag type cutting tool can duplicate the performance of a disc cutter. The economic use of drag type tools is limited to as low as 5,000 psi UCS rock strength in massive formations. In weakly bonded, foliated rock, drag tools do better, but are still limited to rock generally less than 15,000 psi.

Jan 1, 2002

By Marcus A. Wiley, Gregory Abramov

Borehole mining (BHM) is a remotely operated method of extracting rock material through boreholes by high-pressure water jets. Figure 1 illustrates a BHM tool and fluids circulation. The tool consists of at least two pipes, one for pumping down high-pressure water, the second for delivering slurry to the surface. This article reviews the BHM process. It discusses current and new applications for borehole mining and help the readers determine if BHM is applicable in their situations. Previous articles in ME about BHM explained either a particular project (ME, April 2001, pp. 33-36) or a newest patent in this area (ME, March 1991, pp. 313-318). However, neither one provided an overview on the modern BHM technology.

Jan 1, 2004

By J. Pesl, R. Hurman Eric

Metal-slag phase compositions of molten iron and ilmenite smelting slags or solid titanate phases were determined between 1500° and 1700°C. The influence of oxygen partial pressure and impurity oxide additions including Al2O3, Cr2O3, MgO and SiO2 were investigated along with amount of reductant-carbon. The XRD revealed that the quenched slag crystallized as pseudobrookite (M3O5) solid solution in equilibrium with iron. Silica additions formed separate silicate phases because of its immiscibility in the titanate phase. Under strong reducing conditions iron oxide was almost completely reduced and the slag phase solidified as a consequence thereof. Cr2O3. SiO2 and MnO were also reduced to a high degree. Under weak reducing conditions the slag was fully molten and non of the impurity oxides were reduced. A significant portion of manganese, some magnesia and silicon, in the form of SiO gas, were removed via the gas phase due to their considerable vapour pressures. Alumina was not reduced under the applied conditions. A comparison of the experimental results with industrial data clearly suggested that industrial ilmenite smelting process operated under non-equilibrium conditions.

Jan 1, 2005

By Jonathan Taylor, Irwan Halim, Frederick (Rick) Vincent

The new underground facilities for the LINAC Coherent Light Source project at the Stanford Linear Accelerator Center in Menlo Park, CA, are constructed in very weak sedimentary rock interspersed with uncemented zones. In addition to several 21-footwide (excavated) tunnels, the NATM excavations include a large, 49-foot wide (excavated) cavern, an unprecedented size in this geology. The critical design issues include characterization of the weak rock, some shallow rock cover areas, and very stringent criteria for final invert slab movements within the tunnel. The design also incorporated severe seismic criteria, since the site is in close proximity to the San Andreas Fault.

Jan 1, 2007

By William R. Yernberg

What a difference a year makes. One year ago, the iron mining industry and the steelmaking industry in the United States were in trouble. Many companies were in bankruptcy, and talk of plant and mine shutdowns was rampant. At that time, it seemed difficult, if not impossible, to remain competitive with imported steel. In addition, the World Trade Organization declared as illegal the tariffs placed on imported steel. And many questioned the viability of the ironmining and steel industry in the United States. At that time, global economic conditions were the main contributors to the industry’s problems. However, since last year’s meeting, changes in global economics have actually helped the steel industry in the United States. Heavy global demand for steel has caused raw-material shortages worldwide. Much of the increased demand is a result of the economic boom in China. In addition, because of a weak U.S. dollar and higher international freight rates, steel imports into the United States have been reduced to about 50 percent of recent levels. These factors have contributed to a rebirth of the U.S. iron mining and steel industries.

Jan 1, 2004

By Euclid P. Worden

INTRODUCTION Today, conventional raise boring is an accepted method of development in underground mines and on major construction projects. Over the years that this technique, and its associated machines and tools, have been under development, many articles have been written on the subject. To a great extent, these papers have reported operating results of one or more specific projects or have been generalized reviews of state-of-the-art machines and tools. This paper is intended as a review of the technique from an operational standpoint. Conventional raise boring, as opposed to the related variants box hole drilling and underground blast hole drilling, is a two step process consisting of the pilot hole drilling and reaming cycles. This author has covered the subject of pilot hole drilling in another article (1) . A good review of the current machines and equipment has been presented by Monroe (2) and an overall review of this entire technology was published by E&MJ (3) and Mining Journal, April, 1983 (4) . The subject of the reaming cycle is presented here together with some of the technical aspects of how the drilling tools are intended to be used. OPERATIONS Bit Change After the pilot bit has broken through at the end of the pilot hole cycle, a changeover takes place at both the machine and

Jan 1, 1985

By Zephaniah Varley, Satoshi Akai, Richard Sage, Steve Redmond, Mike Murray, Rohit Shetty, Gerald Skalla

One would be hard pressed to find another project as complex as this one given its configuration, the variety of issues to address and the required construction techniques. Contract C710 is currently under construction as part of Sound Transit’s Link Light Rail, connecting downtown Seattle with Sea-Tac Airport. The paper describes the construction-to-date of the deep mined station under Beacon Hill using the Sequential Excavation Method (SEM). This deep “binocular” station is being mined through some of the most challenging soft ground conditions in the USA. The excavated volume of the station is approximately 60,000 cy (46,000 m3) and the station comprises a variety of geometries and cross sections ranging from 235 sf (22 m2) up to 1,670 sf (155 m2). This underground complex includes platform, concourse, cross-passage and emergency ventilation tunnels together with station egress and ventilation shafts. Various excavation sequences are in use for the different tunnels including the twin-sidewall drifts for the impressive45 ft (13.7 m) wide by 42 ft ( 12.8 m) high concourse cross adits. This station has two train platforms approximately 165 feet (50m) below the surface. This station, constructed in highly variable glacial deposits including water bearing sands and silts approximately 50 ft below multiple perched water tables in an urban setting, creates a very unique and challenging situation. The ground is being managed with various types of ground improvements such as jet grouting and vacuum assisted deep dewatering wells from the surface, and from underground by use of “SEM Tool-box Items” such as barrel vault canopy, grouted pipe and rebar spiling, chemical grout,

Jan 1, 2007

By R. C. Milici

Historical production data and reserve decline rates can be used both to predict future coal production rates and to estimate when the reserve will be depleted. Reserve estimates inferred herein from historical production data and decline rates are commonly lower than estimates made from geologic data. The latter include significant amounts of lower quality (deeper, thinner, higher sub) coal which may be mined when the better deposits are depleted.

Feb 24, 1997

By Brendan Henry

The Canada Line is a 19km long automated light rapid transit system with 16 stations in Vancouver, BC, Canada. The Concession was awarded to InTransitBC to design, build, partially finance, operate, and maintain the system for 35 years. The project must be complete by November 2009 to be ready for the 2010 Winter Olympics to be held in Vancouver and Whistler, BC. The bored tunnel section consists of 2.45 km of twin bored tunnel and 3 stations. The station work is limited to the excavations and temporary support necessary to facilitate the bored tunnel works. A joint venture between SNC-Lavalin Constructors Pacific and SELI (SSJV) has recently completed the design and construction of this section. Work for the bored tunnel commenced in November 2005 with shoring and excavation works for the tunnelling operations pit that will become Olympic Village Station and will be completed in the spring of 2008. The tunnels were driven with a 6m diameter Earth Pressure Balance Tunnel Boring Machine (EPBM) and lined with 250mm thick, 5.3m diameter precast concrete segments. Seven hundred and fifty meters of each tunnel were driven through glacial and interglacial deposits of sand, silt, and clay with granitic boulders. The paper discusses the challenges faced in negotiating these soils which contained unforeseen geological conditions. These conditions were overcome by developing a systematic approach to Risk Management that included thorough risk assessments, regular risk management meetings with the participation of two of the world?s leading EPBM experts, Professor Eisenstein and Professor Kovári, and by the ability of the construction team to effectively analyze and mitigate problems.

Jan 1, 2008

By John D. Morton, J. H. LaVerne Palmer, Douglas J. Belshaw

An extensive programme of ground instrumentation and observation was carried out for the West Duff in Outfall Sewer tunnel project prior to and during construction, to establish the performance characteristics of the rock through which the tunnel and appurtenant openings were dug and to examine the nature of the lining-to-ground interaction. The existence of high horizontal residual ground stresses was confirmed, and values established by overcoring. Rock deformations and stress changes were monitored during tunnelling. Permanent stress and strain monitoring devices were set into the final lining and these are continuing to operate. INTRODUCTION The site is located on the north shore of Lake Ontario at Pickering, some 20 miles (32 kilometres) east of Toronto, Canada where a variable thickness of glacial or interglacial sediments overlies bituminous shale bedrock of. the Collingwood Formation which is lower Ordovician age. Approximately 50 feet (15 metres) of glacial cover exists at the shaft, though this thins abruptly at the regressing cliffed shoreline such that several small areas of exposed bedrock exist in the lakebed. The general location, overall geological section and detailed site plan and profile are illustrated in Figs.1,2 and 3 respectively. General properties of the rock as established during an extensive test drilling and site investigation programme are listed in Table 1, while stress determination by USER overcoring stress meter device are given in Table ll. These data formed the basis of analyses which were done to examine the intended outfall design, and to detail the construction procedure and the observational instrumentation programme.

Jan 1, 1979

By W. G. Pariseau

Equivalent elastic properties of discontinuously jointed rock masses are computed using a non-representative volume element(NRVE) approach within a three dimensional finite element program. Joint persistence, defined as the percentage of a joint plane that is actually occupied by joint material, is used in the NRVE computations as a step towards greater realism in stability analysis of mine openings. Persistence p is also the probability that a segment of a joint plane is occupied by joint material. Computations reveal a threshold phenomenon in jointed rock mass moduli similar to that observed in percolation theory. A rapid decrease in moduli occurs above a critical value pc(about 0.6). A detailed analysis of the well-known solution for stress about a circular opening in isotropic, elastic ground illustrates the effects of joint set orientation, spacing and persistence. Although stable “on average”, joint segment failures reveal a threat to stability and point towards rational design of reinforcement or support of discontinuously jointed rock masses.

Jan 1, 2003

By Nick Barton

A recent analysis of 145 TBM tunnels of more than 1000km total length has helped to quantify the time dependence of utilization (U). In fact U = Tm, where T is time in hours and m is a negative gradient of deceleration. In poor quality ground, gradient m has a strong dependence on rock mass quality Q, for example m ˜ -0.5when Q = 0.1. Good investigation is critical for ensuring faster TBM tunneling then drill-and-blasting, which tends not to slow down (in m/hr) as the tunnel length increases. Anew design model called QTBM allows more reliable prognoses be made, and occasionally will disqualify the TBM solution.

Jan 1, 2001

By D. Bour, C. Nyikos, R. Curtice

Fire in a coal mine can be disastrous on many levels. In most cases, when a fire is detected, mining operations cease and all personnel are evacuated. Underground coal-mine fires are difficult to extinguish, can burn for a long time, and often result in an extended period of lost production. In a worst-case scenario, the mine is permanently sealed and abandoned, resulting in lost jobs, lost natural resources, and possible devastation of the local economy. In some cases, seals placed within the mine to isolate the fire could eliminate the need for sealing the entire mine and the subsequent extended delay in returning the mine to full operation. Previous attempts to place remote seals to extinguish mine fires in active mines have been largely unsuccessful. The West Elk mine experienced an underground fire in early 2000. The fire could not be accessed and extinguished from the active mine workings. A method of constructing seals remotely by drilling boreholes into the affected area was needed to help isolate and extinguish the fire. This paper describes the process by which remote seals were constructed that successfully isolated the fire and provided a means of extinguishing the fire by flooding the area with water. The period of lost production in the West Elk mine was considerably shorter than is typical in similar situations.

Jan 1, 2002

By Xuchen Fan, Chenyang Zhou, Yuemin Zhao, Liang Dong, Chenlong Duan

A gas–solid fluidized bed using magnetite particles is an effective methodology for coal beneficiation in the field of dry coal cleaning. Broadening the size range of magnetite used in the bed decreases medium preparation cost. In this study, a tapered fluidized bed was used to investigate a magnetite particle size range of −0.5 + 0.074 mm. The results showed that a tapered fluidized bed effectively strengthens mixing of magnetite with a wide size range (−0.5 + 0.074 mm). The results of beneficiation experiments indicated that with increasing tapered angle, separation efficiency increased and then decreased. The highest separation efficiency was obtained at a tapered angle of 10°. The optimal results showed that the ash content of the concentrate decreased from 31.82% to 12.33% with a probable error of 0.11, which indicated that a tapered fluidized bed was efficient to improve fine coal beneficiation performance.

By A. S. Murphy, E. V. Manlapig, C. Green, J. W. Parkinson

Historically in Australia and the United States many coal mines deposited raw wash plant fines into large slurry impoundments. At the time the technology and market economics did not exist to make it viable to recover coal from these tailings. Today better technology exist to dredge and clean the tailings and there are circumstances where government regulations and market forces have come together to make coal recovery from these old tailings impoundments economically viable. This paper discusses the processes and equipment being used in tailings impoundment reclamation operations in Australia and the United States, and discusses the economic forces driving these operations.

Jan 1, 2001

By John McDonald, Peter C. Raleigh, Christopher Dishlip

This paper will discuss how the construction management team and the contractor working together on the City of Los Angeles, North East Interceptor Sewer project, managed information on a daily basis. Data was synthesized from various sources including: inspection, survey, instrumentation, laboratory and the tunnel boring machine data logger systems to produce state-of-the-art reports and graphics which will become industry standard. Special emphasis is placed on how the data is managed and interpreted in a clear and objective manner, permitting the tunneling processes to be carefully monitored and suggesting appropriate action to be taken by the construction management team and contractor.

Jan 1, 2005

Many of the world?s largest existing mines are considering substantial step changes in production volumes, compensating for declining ore grades while trying to address increases in world demand for resources. The natural configuration of coal deposits allows for many mine development openings along the strike to access the ore body and thus increase volume. Similarly, with iron ore the nature of the deposits means that additional capacity can easily be added by opening up new mesas and providing extensions to infrastructure. On the other hand most of the non-ferrous metaliferous deposits form vertically and additional extraction volume comes from increasing depth. Underground mining from the base of the strata allows for large extraction rates, but block or panel caving operations develop at rates dictated by the geophysics of the overlying strata and the need for massive tunnelling developments to establish sufficient extraction points for high volumes. For really big mine production capacity, open cast mining still allows the easiest development of more massive mining techniques. But there remains the question of whether there are limits to how large an open cut mine can become in terms of throughput?

Feb 27, 2013

By A. Zeni, S. L. Bessinger, T. A. Palm

San Juan Coal Company (SJCC) operates an underground coal mine near Farmington, New Mexico. Continuous miners and a longwall produce 7-8 million tons per year. The coal seam at SJCC has tested to have a propensity for spontaneous combustion. As such, during feasibility for this project, it was elected to utilize a bleederless ventilation system on the longwall. Three-entry gateroads are developed, and the longwall gob is sealed as mining progresses. SJCC utilizes a nitrogen injection system to continuously inertize the gob. In 2004, the mine was nearing completion of its first longwall district. The next district would contain longer panels (up to 12,500 feet). Due to the liberation of methane, and to a lesser extent hydrogen sulfide, a typical wrap-around ventilation system would not be appropriate. Not only would gas concentrations likely be challenging, but the overall ventilating pressure in the mine would have to be increased beyond limits established to mitigate the potential for spontaneous combustion. Given the above-described operating constraints, SJCC determined a need for a small ventilation shaft in the back (longwall setup area) of the next district that would draw adequate air past the longwall seals to maintain low gas levels and permit the required regulatory inspections to occur. Extensive ventilation modeling and gas desorption testing indicated that the shaft would be required to handle a volume of air ranging from 40,000 cfm to as high as 185,000 cfm. This large range is driven by the position of the longwall face with respect to the shaft and the effectiveness of the SJCC degasification program (SJCC uses vertical gob vent boreholes and horizontal in-seam methods). Ventilation simulations determined an appropriate diameter for the 350-ft-deep shaft to be 5 feet. Having determined shaft size, the next decision related to the method of shaft construction. Conventional shaft sinking was ruled out, due to the small diameter. Raise boring was an attractive option but had two drawbacks: (1) development crews would reach the bottom of the shaft just a few weeks before longwall startup, leaving a compressed timeframe to install the shaft, and (2) raiseboring requires additional underground entries to be developed to stow the project’s cuttings. While raiseboring remained a viable option, the problems associated with it led SJCC to also investigate blind drilling.

Jan 1, 2006

By R. D. Hagni, P. A. Shivdasan

Cathodoluminescence microscopy (CLM) is uniquely applicable to the study of carbonatite-related fluorspar ore deposits. The mineralogy of the carbonatites, sodic and potassic fenites, marbles, quartzites, and fluorite ores are readily determined and characterized. Calcite, dolomite, apatite, fluorite were deposited dominantly under high temperature conditions and they exhibit strong cathodoluminescence (CL). Three types of carbonatites have been recognized at the Okorusu, Namibia carbonatite complex and fluorspar mines by field mapping and laboratory CLM. The main carbonatite intrusion is fine grained and consists mainly of calcite. A later phase of pegmatitic carbonatite consists of calcite, magnetite, Fe-rich pyroxene, apatite, and pyrochlore. Pyroxene carbonatites were recognized mainly through their study by CLM.

Jan 1, 2001