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By V. Polotski

Initiated and financed by the Canadian Space Agency, Micro-Rover Platform with Tooling Arm (MRPTA) project has targeted the development of a robotic system with remote control and autonomous navigation capabilities for testing a large variety of analogous planetary missions. Although developed for planetary exploration, the navigation system is highly suitable to such areas of application as construction and in mining. Autonomous navigation system is capable of moving the platform to predefined position(s)/orientation(s) while continuously mapping the terrain, assessing its traversability and choosing most appropriate path to follow. Designed according to the JAUS (Joint Architecture for Unmanned Systems) framework, the system consists of several interconnected components. Following components are of particular importance: Pose Estimator (PE), Terrain Evaluator (TE), Map Manager (MP), and Path Planner (PP). The PE uses a minimal sensor configuration consisting of an azimuth gyroscope, inclinometer and wheel odometry. The PE provides reliable pose estimates in spite of pronounced slippage by employing extensive use of fused data. The TE uses a nodding laser scanner which continuously sweeps the area in front of the platform and constructs a ?traversability grid? (TG) of the surrounding area. Multiple TGs are constantly constructed along the platform motion path are combined into a terrain map maintained by the MP. The PP uses this map to compute a motion path Obtained path is executed by the motion controller and remains current until it is contradicted by the most recent map ? at which point it is re-planned. This paper addresses integration issues, lessons learned and also outlines the possible applications for construction and mining.

Aug 1, 2013

By Lori A. Simpson

Mission Bay is a 300-acre reclaimed site in San Francisco, California, that is currently being redeveloped. Plans include new neighborhoods, parks, a new University of California, San Francisco, research and development campus, a biotechnology campus, and commercial office buildings. New infrastructure is being constructed throughout the site, consisting of utilities, pump stations, and roadways. Previously, Mission Bay was a part of the San Francisco Bay. Reclamation of the shallow bay coincided with the booming development in San Francisco in the 1880s and continued through 1920. Subsurface conditions are extremely variable throughout the site. The stratigraphy generally consists of 5 to 45 feet of fill, up to 140 feet of weak, compressible clay (?Bay Mud?), dense sand, stiff clay, and bedrock of the Franciscan Complex that has been encountered 5 to 210 feet below the ground surface (bgs). Geotechnical issues related to these subsurface conditions include liquefaction, lateral spreading, settlement, and adequate foundation support. This paper presents case studies of the geotechnical aspects of design and construction of several buildings in Mission Bay, highlighting the similarities and variability in the subsurface conditions and the different conclusions and solutions developed for each project. The case studies will include: 1) a building supported on steel H-piles where the depth to bearing varies from about 70 feet bgs in one half of the site to 165 feet bgs in the other half; 2) a building supported on precast, prestressed, concrete piles bearing in a thick, very dense sand layer; 3) a building with over 100 feet of Bay Mud supported on 120- to 180-foot-long PCPS concrete piles driven to bedrock adjacent to buildings supported on steel H-piles driven to bedrock; and 4) sites where auger pressure grouted displacement piles (APGD) and Tubex piles were installed. Case studies will include results of pile driving analyzer (PDA) testing and static pile loads tests, where performed.

Jan 1, 2006

By J. C. Ion, O. Isaksson, J. Stjernberg

Iron ore pellets are a preferred feedstock for ironmaking. One method used for pelletizing is the grate-kiln process, first established in 1960.During the past decade, the establishment of new grate-kiln plants has increased rapidly, especially in China, and new constructors of pellet plants have started to operate in the market. It is well known that the grate-kiln method yields a superior and more consistent pellet quality compared with the straight-grate process. However, certain issues exist with the grate-kiln plant, which are discussed here, together with proposed practical solutions.

Jan 1, 2015

By Robert B. Hopler

Reefs, exposed rocks, and fast currents made the Hell Gate section of New York's East River a treacherous passage ever since man attempted to sail through the area. As the harbor's importance grew, attempts to improve the channel were made, starting in 1851. This paper discusses the first major organized effort to clear the area, which began in 1869 and culminated in a single large blast in September 1876.

Jan 1, 1981

By Jacob Chacko

The Izmit Bay bridge, a 3-km-long suspension bridge crossing of Izmit Bay, Turkey is planned to be constructed in one of the most seismically active places in the world. The site, which has the potential to experience significant earthquakes associated with the relative motion accommodated on the North Anatolian Fault, is underlain by deep deposits of soft soils, and areas of unstable and liquefiable soils. Characterizing the seismotectonic setting, foundation soil conditions, potential fault locations, as well as other geohazards was a critical component for the project concessionaire to finance the project and obtain meaningful bids for bridge design and construction. Given the Build Operate Transfer (BOT) funding mechanism, executing this work in the least possible time was critical to the concessionaire?s financing scheme. Fugro was retained to provide geotechnical, geological, and seismological evaluations for the project region, and to generate data for contractors to develop reliable designs and bids. The uncertainties in these data made it difficult for the BOT concessionaire to finance the project and tender Bridge design and construction. The investment in an early and comprehensive site characterization program to evaluate and quantify those uncertainties allowed the concessionaire to save schedule, provide a robust bid basis to bridge contractors, and persuade banks to finance what was perceived to be a relatively high risk project.

Jan 1, 2011

By Robert C. Speck

The U.S. coal industry has long utilized the pillar-extraction mining technique as a method for maximizing coal recovery. Like longwall mining, it causes large-scale movements that progressively propagate from mine-level to the ground surface and may affect the groundwater regime, surface drainage and surface structures. The U.S. Department of Energy, in an effort to foster in- creased use of total extraction mining techniques, has recognized the need for a better understanding of these movements that will lead to a greater compatibility between coal mining and present and future land use. As part of that goal, GAI Consultants, Inc. is currently in- stalling instrumentation to monitor the ground movements associated with pillar extraction mining at Kitt Energy Corporation's No. 1 mine in northern West Virginia.

Jan 1, 1982

The U.S. Bureau of Mines conducted a laboratory study to determine what effect use of water-jet-assisted cutting has on frictional-ignition suppression. A single bit with a steel tip, installed on a rotating drum, repeatedly made 22-in-long cuts in a block of Berea sandstone. The drum was operated in an enclosure that contained an explosive methane-air mixture. High-pressure front-mounted water jets operating at 2,000 to 5,000 psig and low-pressure rear-mounted sprays operating at 80 psig were used; the number of ignitions that occurred with each type of spray was compared. The rear-mounted spray was more effective for preventing frictional ignitions than the front-mounted water jet.

Jan 1, 1989

By Andrew Cecala

The Bureau of Mines performed tests to compare the effectiveness of steam and of water sprays to reduce respirable dust levels at mineral processing plants. By applying 0.22 wt pct water vapor as steam to product material, a 64-pct respirable dust reduction was recorded. By applying the same amount of moisture with water sprays, only a 25-pct dust reduction was recorded. By increasing the moisture content up to0.5 pct using water sprays, the dust reduction was increased to 55 pet, which was still less than the dust reduction achieved by adding less than half that amount of water in the form of steam.

Jan 1, 1985

By Carl Bertrand, Patrice Nadeau, Claude Bazin

"Rio Tinto Fer et Titane processes the ore extracted from the Lac Tio orebody to concentrate the hemo-ilmenite (FeO.TiO2-Fe2O3) mineral that is subsequently smelted to produce pig iron and titanium oxide slag. The ore is crushed, heat treated (roasted) and concentrated using dry magnetic separators. This paper describes a model to predict the magnetic susceptibility of the roasted ore and its behaviour in the magnetic separation plant. The model uses a classification of the ore as a function of the size and magnetic susceptibility of the particles. A subsequent division into mineral species allows the simulation of the magnetic separation process. The model is used to assess various operating options when process disturbances occur.INTRODUCTIONOre processing operations consist of ore size reduction followed by the recovery of valuable species in a concentrate that is subsequently sold for its minerals or metal content. The concentration processes are based on the physical and/or chemical properties of the minerals contained in the ore. Flotation is typically used to recover minerals of base metals such as copper, zinc, lead or nickel. Iron ore and other dense minerals are typically concentrated by gravity separation processes. Magnetic separation uses the magnetic properties of the minerals to concentrate magnetite and other minerals, to clean coal concentrate and to recycle ferrosilicon for dense separation processes (Brophy, 1985).Magnetic separators can be divided into low and high intensity separators and high gradient magnetic separators (Gillet, 2008). Most of the low gradient magnetic separators are built as rotary drums that are operated in wet or dry conditions. Dry magnetic drum separators are used by Rio Tinto Fer et Titane in Sorel-Tracy, Canada to concentrate hemo-ilmenite from the ore extracted at the Lac Tio Lake mine near Havre St-Pierre, Canada. The analysis of production data suggests that process improvement could be achieved by identifying key variables for the control of the magnetic separation circuit and/or by modification to the circuit flowsheet. The use of a process model was considered to be an effective approach to conduct a preliminary analysis of the circuit with a view toward process optimization. However, the literature contains few detailed studies dealing with the modelling of magnetic separation processes."

Jan 1, 2011

Sixteen papers concerned with the technology and utilization of low-rank fossil fuels are presented as the proceedings of the 1973 lignite symposium. This symposium, the seventh in a series of biennial meetings, was cosponsored by the Bureau of Mines and the University of North Dakota.

Jan 1, 1974

By Yi Luo, Jian Yang, Hua Jiang

Surface subsidence events induced by underground longwall coal mining operations can cause various disturbances to surface structures ranging from integrity and stability to functionality problems. Highway bridges, as a kind of special road construction that can only tolerate smaller movements and deformations than road pavements, are particularly susceptible to severe influence caused by subsidence-induced ground movements and deformations. However, based on accurate subsidence prediction and correct influence assessments, efficient and effective mitigation and remediation measures can be designed and implemented to ensure the continuous service of bridges, safety of the travelers and smooth mining operations. In this paper, based on the predicted final and dynamic surface movements and deformations, the techniques to assess subsidence influence on the integrity, stability and functionality of bridge structures (e.g., decks, beams, abutments, etc.) are presented. A number of mitigation measures to protect the bridge structures are recommended along with an actual application case.

By W. J. Millard

VAGUE rumors and stories have been heard, from time to time, about the diamond and gold deposits of southern Venezuela. It is perhaps appropriate, at this time of revived interest in gold mining, to publish a few facts in regard to this country, which has been undergoing exploration since the fifteenth century. Gold and diamonds are found principally in the State of Bolivar which lies in southeastern Venezuela and is bounded by British Guiana on the east and Brazil on the south (see Fig. 1). The famous Mt. Roraima is situated at a point where these three countries meet in a common point (see Fig. 2). Some gold is also found in the southern part of the territory of Amacuro. Good oil prospects exist in the northern part of this same territory. Diamonds are found on the Caroni river from Rio Paragua to the village of Guri. Another small district is on the headwaters of the Cuyuni river. Quartz veins containing gold are chiefly exploited in

Jan 1, 1931

By J. H. Swisher

An experimental study has been made of the possible mechanisms for foam stability in the system CaO-SiO2-Cr2O3, where Cr2O3is the foaming agent. The degree of lowering of surface tension by Cr2O3 was determined at 1600 "C for high -silica melts. Measurements were also made of foam stability under standardized conditions. The results of the two sets of measurements then were correlated by applying the Gibbs and Marangoni theories of film elasticity. It was demonstrated that the Marangoni elasticity effect is probably the largest single contributor to foam stability, although the high uiscosity of' silicate melts makes some contribution in controlling the rate of drainage of liquid from bubble lamellae. ThE tendency of metallurgical slags to foam has frequently been observed during steel-refining operations. In the open-hearth furnace,this tendency is considered undesirable because it slows down the rate of heat transfer from the burners to the molten-metal bath. On the other hand, it is sometimes desirable to have a "foamy" slag in the basic oxygen converter.' A more effective blanket over the steel bath is made by a "foamy" slag, and loss in yield of metal due to splashing is minimized. In addition, a flush slag can be removed more easily in this condition. Since slag-foaming problems in the field have been attacked largely on an empirical basis, it appeared desirable to obtain a better basic understanding of the mechanism of foam stability. The experimental work was directed almost entirely toward the behavior of Cr2O3 as the foaming agent in CaO-SiO,-Cr2O3 melts. In the first stage of the investigation, the degree of lowering of surface tension by Cr2O3 was determined at 1600°C. The second stage consisted of measuring foam stabilities under standardized conditions. The two sets of experimental results then were correlated by applying various theories of foam stability. For convenience in interpreting the surface-tension and foam-stability results reported here, a portion of the CaO-SiO2-Cr2O3 phase diagram2 is reproduced in Fig. 1. EXPERIMENTAL 1) Surface-Tension Measurements. Very little information is available in the literature on the lowering of surface tension of slags by foaming agents. Kozakevitch 3 mentioned that the addition of 1.5 pct Cr2O3 lowered the surface tension of FeO slightly. In another system, some data on the lowering of surface tension of foaming slags by P2O5 were reported by Cooper and Kitchener.4 The technique used for the surface-tension measurements was the maximum bubble-pressure method,' using a single tube immersed to various depths in the melt. This method has been used extensively in high-temperature systems, such as in liquid metals, slags, and glasses.6,7 It has the advantage that the contact angle between the liquid and the tube material need not be known. The equation used for calculating surface-tension values from maximum bubble-pressure measurements is the Schroedinger equatioq5 which can be written as follows:

Jan 1, 1964

By George S. Barnett

The Equis and El Roble projects are located in the Cordillera Occidental of Colombia. The Equis vein deposits have sulfide ore reserves of 95.9.5.5 mt (105.770 st) grading 8.51 g/mt (0.248 oz/st) gold and 12.4 g/ml (0.36 oz/st) silver with 0.94 % copper. 1.10 a lead and 11.06% zinc. Ore reserves at El Roble are estimated as 1.1% Mmt (1.21 million st) grading 4.89% copper and 3.39 g/mt (0.099 oz/st) ,old. Geologically possible reserves at Equis may total 1.6.Mmt (1.76 million it). El Roble has the potential to contain several tens of millions of metric tons. Exploration included diamond drilling, trenching, channel sampling, rock and soil geochemistry, geophysics and tunneling. Erratic high grade samples affect the weighting of channel and drill core samples. Secondary reconcentration of gold is also a factor. Sample maps and graphs show the distribution of values to be highly variable. Geostatistical treatment of some of these data gave important guidelines for parameters such as sampling densities, drill hole spacing and confidence limits.

Jan 1, 1984

By Elisa Comis, Jeffrey Peterson, Yama Ebrahimi

Construction of the Northeast Boundary Tunnel (NEBT), the last leg of the Anacostia River Tunnel System on DC Water’s Clean Rivers Project, started in September 2018 and was completed in April 2021. The 26-foot-bore earth pressure balance (EPB) tunnel boring machine (TBM) mined 26,737 feet at elevations between 80 to 160 feet belowground. Approximately 55% of the tunnel was cut through lower predominantly coarse-grained facies identified as the Cretaceous Patuxent Formation (undifferentiated) (PTX), and the remainder was cut through upper predominantly overconsolidated fine-grained plastic material facies identified as the Cretaceous Patapsco/Arundel Formation (P/A). Mixed face conditions were encountered in the transition from the P/A to the PTX and vice versa. This paper reviews the performance of the TBM that mined the NEBT through several unique challenges, including 8,000 feet of tunneling under the heavily developed Rhode Island Avenue corridor, major sensitive structures, cast iron water distribution mains, and other sensitive utilities.

Dec 1, 2022

By B. Yu, N. Verbaan, A. Mezei

The recent 20 years witnessed a boom and bust in the nickel laterite industry. Most notoriously is the story of the first three Western Australian nickel laterite projects which all suffered major ramp-up issues. Many hard lessons were learned by the industry and it has been widely reported that the major contributing factors included insufficient testing as well as a limited understanding of the materials handling characteristics at the front-end stage of the flowsheet. This paper compares the current "race to production" in the REE industry to the laterite industry 20 years ago and addresses the fundamental question: ‘Have mining and exploration companies with rare earth projects learned from past lessons and are they doing sufficient and appropriate testwork to prevent failure’? The authors will provide the perspective of a commercial metallurgical laboratory that has gone through the laterite cycle and is active in the present REE cycle.

Jan 1, 2014

By Douglas W. Fuerstenau

A detailed experimental study of breakage kinetics in a batch rod mill indicates that while the system is inherently nonlinear, the feed disappearance kinetics for the finer sizes and the coarser sizes at high holdups is well represented by first-order behavior. The set of breakage distribution functions was found to be normalizable and independent of particle holdup in the mill. The size discretized initial breakage rate functions were found to be inversely proportional to particle holdup and almost directly proportional to particle size. A linearized grinding model that results from the first-order Taylor's series expansion of the breakage rate expression was found to give good simulations of the mill product size distributions without recourse to any parameter improvement routines. Material transport through rod mills was evaluated by investigating the effect of operating variables on the holdup and residence time distribution of particulate solids flowing through the mill. Identical experiments performed in a continuous ball mill helped delineate the fundamental differences in particulate transport through these two types of mills. Mechanistic interpretations of the observed transport phenomena are presented, and their implications in the context of tumbling mill analysis and design pointed out.

Jan 1, 1980

By Kenneth C. Stewart

The overall purpose of this study was to develop and evaluate, in the laboratory, instrumentation and procedures which might allow for the use of physical measurements of earmuff attenuation which would yield results equivalent to those obtained from psychophysical measures of attenuation. The ultimate goal was to evaluate techniques which might subsequently prove feasible for physical measurement of earmuff attenuation in the field. Current instruments were modified to have a response similar to differrences observed in earmuff attenuation as observed in Volume 1 of the current contract. Mining noise spectra were selected and presented to a single subject seated in a diffuse noise field. The subject wore one of the muffs evaluated in the earlier study and was also fitted with two physical sound measurement systems. A linear system measured the "outside" noise level and a linear system plus "correction" filter measured the "in-side" noise level. These measurements indicated that, under the procedures presented in this report, a laboratory method for measuring earmuff attenuation is feasible and yields results comparable to an extensive psycho-physical procedure.

Jan 1, 1980

By P. B. Altringer

The Federal Bureau of Mines conducted a study to determine if residues from fractional distillation represent a potential source of mineral values. A literature review and discussions with tar sand specialists failed to disclose the mineralogical nature of residues remaining after bitumen extraction. To develop this information, pilot plant tar sand residues or toluene-cleaned tar sands from 23 deposits were examined. The nature of the residues was determined by standard mineralogical methods and the chemical compositions were determined by X-ray and ICP (inductively-coupled plasma spectroscopy). None of the sands or concentrates examined contained sufficient valuable minerals to be economically important.

Jan 1, 1982

By Ralf M. Kleine

THE property of Consolidated 1 Discovery Yellowknife Mines Limited, (Figure I) is situated in the Northwest Territories, approximately 50 air miles north of the town of Yellowknife. The mine is reached by a shaft which extends from surface to a depth of 4,000 feet, with working levels established at 1 50-foot intervals. Stopping operations are carried on throughout a vertical range of 2,000 feet, with both shrinkage and cut and fill methods being used, depending on the ground conditions. Production started in 1950 and milling is done in a 1 65-ton per day cyanide plant. During ten months of the year, the property is serviced entirely by air, utilizing charter aircraft from Yellowknife. A 4,000-foot runway near the mine was constructed from mill tailings. This strip is adequate to receive Bristol freighter planes carrying heavy loads. Other servicing is done by Otter aircraft, equipped with skis or wheels for winter and with pontoons for summer operations.

Jan 1, 1962