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By Donna lynne Anderson

This report documents the status of a laser-based underground guidance system for tracking and controlling the movements of underground mobile mining equipment. This research is part of a multiple project effort at the U.S. Bureau of Mines to increase mine safety and efficiency by developing technology for computer-assisted mining. Guidance systems, which can track and control the movements of underground mining equipment, are essential during computer-assisted mining operations. A continuous mining machine at the Bureau's surface test facility served as the test-bed for initial development and experimentation of this guidance system. Subsequently, a continuous mining machine in an underground mine served as the platform for in-mine experimentation The first section of this report includes details of the laser sensors, communication network, and computer hardware. The next section includes experimental results, which show the system capable of accurately tracking and controlling the tram maneuvers of a continuous miner underground. The final section discusses conclusions and recommendations.

Jan 1, 1992

By J. Sottile, J. L. Kohler

Component failures in the electrical control circuits of mining machines account for a large percentage of the total downtime of the machine. Once a failure has occurred it is always a tedious and usually a time-consuming task to locate the failed component. Moreover, the pressure to quickly locate the cause of a delay can lead to compromises in safety. Thus an onboard diagnostic system, essential for an automated machine, would be a very useful addition to existing machines. This report details U.S. Bureau of Mines development of a generic procedure for synthesizing diagnostic systems for electrical-control-circuit failures in mining machinery. A continuous mining machine is used as the testbed to illustrate the application of the developed methodology. Substantive differences among mining machine control circuits made it impossible to achieve a generic diagnostic system, but a generic approach for the synthesis of the diagnostic system was possible. As the research progressed, it became apparent that an algorithmic approach was better than an expert- system-based implementation. A prototype system was constructed and used to evaluate the diagnostic system. Prototype implementation issues are also examined.

Jan 1, 1993

By J. C. Kerkering, S. M. Miller, P. C. McWilliams

Researchers at the U.S. Bureau of Mines investigated the use of close-range photogrammetry and subsequent stereo digitizing to obtain data from rock fracture roughness profiles. The photogrammetric process yielded results that were acceptable but somewhat inferior to those obtained by a mechanical profilometer. On the basis of this study, further pursuit of photogrammetry as a data collection method in mining is proposed. Fractal geometry was investigated as a means of measuring the roughness of rock fracture profiles. Four fractal algorithms were used: divider method, modified divider method, box method, and spectral method. A comparison of the methods gave ambiguous results. Brown's modified divider method provided the best means of obtaining the fractal dimension. Shear strength estimates were obtained using the parameters of the modified divider method and Myers' Z, measure. Because of differences in results when comparing the different ways of obtaining the fractal dimension, future users of fractals in studies of rock fractures are advised to cross-check their results carefully.

Jan 1, 1993

By P. L. Swanson, F. M. Boler

The U.S. Bureau of Mimes conducts research at the Galena Mine, Wallace, ID, with the aim of mitigating the effects of rock bursting. Destress blasting is commonly used as a stress control technique at the mine. A digital seismic array and an array of borehole pressure cells (BPC's) had been installed near the site of a stope undergoing mining and periodic destressing. The instrumentation was being monitored at the time of a destress blast of the 46-99 stope. No significant seismic events occurred coincident with the destress. However, the destress was followed by a 21/2-week period of increased seismic activity, including two damaging events on February 7, 1990, at 034500 (hour, minute, and second) and 122020 Pacific standard time. BPC measurements indicated coseismic ground pressure changes on the order of 200 to 300 kPa associated with the damaging events. Fault plane solutions and dislocation models established that stress changes induced by the event at 034500 may have been significant in promoting the occurrence of the event at 122020. Theoretical investigations suggest that applying knowledge of the existing stress field, an understanding of rock burst mechanics, and fracture mechanics principles can improve destress effectiveness.

Jan 1, 1993

By Charles P. Lazzara, Alex C. Smith, Richard W. Pro, Mark W. Ryan

The U.S. Bureau of Mines conducted a study to determine if commercially available automatic sprinklers could withstand the high static pressures in deep underground coal mines without leaking and if exposure to the mine environment affected their leak pressures. New sprinklers and sprinklers exposed to the mine environment were subjected to increasing pressures until leakage occurred. The average leak pressures of the new sprinklers ranged from 640 to 2,300 psig and were significantly different for sprinklers from different manufacturers and for different types of sprinklers. Different for sprinklers from different manufacturers and for different types of sprinklers. Generally, standard-response sprinklers withstood higher pressures than fast-response sprinklers. The results indicated that most commercially available sprinklers would withstand the high static pressures in deep underground coal mines; however, they would not provide the same reliability and safety factor as sprinklers used aboveground at or below their rated pressure of 175 psig. The average leak pressures of the sprinklers exposed to the mine environment ranged from 740 to 1,180 psig. The mine environment affected the ability of 66% of the sprinklers to withstand high static pressure New sprinklers were also evaluated at pressures of at least 500 psig for 30 days to determine their ability to withstand long-term exposure to high static pressures; no leakage was observed.

Jan 1, 1993

By W. H. Strickland, R. H. King

Ultrasonic ranging sensors are inexpensive, have no moving parts, have no lenses to clean, are normally small and unobtrusive, and can measure distances through moderate amounts of dust, smoke, and humidity, so they are well suited to underground mines. In the work reported here, conducted by the U.S. Bureau of Mines, researchers tested ultrasonic ranging sensors for their abiity to define rib line features for computer-aided navigation of underground mine mobile equipment. The investigation began with laboratory tests of field of view, angle of incidence, intersensor variation, and ranging accuracy of the individual rangers in a ring array produced by Denning Robotics of Wilmington, MA. The results showed that the sensors have good accuracy and low variability. Additional experiments at AMAX's Henderson Mine showed the sensors could accurately and reliably measure the distance to mine features, including convex and concave corners and rib intersections. The results showed that when used properly, the ranger data are accurate enough for reliable mine vehicle navigation When used incorrectly, ultrasonic rangers do not provide the anticipated data. Therefore, this report explains the principles of ultrasonic range measurement, describes the ranger's strengths and weaknesses, and explains proper ranger use and data analysis.

Jan 1, 1993

By John C. Gagliardi, Walter K. Utt

The U.S. Bureau of Mines, in cooperation with Carter Mining Co., conducted vibration tests of four off-road vehicle seats. The purpose of the tests was to determine which seat provided the best vibration attenuation under laboratory conditions. Laboratory tests were constructed to simulate the mining vibration environment within the limitations of the test equipment. The acceleration test levels and corresponding response of the seats were low compared to IS0 2631's fatigue-decreased-proficiency time limits. Two of the seats employed mechanical suspensions and two seats employed air suspensions. The seats were tested using a 22,241-N (5,000-lbf) electrodynamic shaker. Mechanical suspension seats were tested with various preload-to-mass ratios (PMR's) and cushion densities. Air suspension seats were tested with various air pressure levels and seat cushion densities. Air suspension seats provided good vibration attenuation if pressurized greater than 552 kPa (80 psi). Mechanical suspension seats' attenuation performance decreased if the PMR exceeded 9.8. Seat cushions of lower density provided less vibration damping.

Jan 1, 1993

By Reno M. Pappas, Christopher Mark

This report presents results of a U.S. Bureau of Mines study of longwall gob material. The objective of this work was to determine material stiffness properties of the gob for use in numerical models of rock mass response to longwall mining. Photographs of actual mine gob were digitized to obtain approximate particle size gradations of gob material. The gradation curve was shifted down to a lab- oratory scale, and 20 uniaxial compression tests were conducted. Varying the maximum particle size was not found to affect the stress-strain behavior, but changing the gradation appeared to influence the stress-strain behavior. The stress-strain relationship of the simulated gob material was nonlinear, the stress-secant-modulus relationship, was approximately linear, and the stress-tangent-modulus relationship was approximately a second-order polynomial function. Equations were generated from these curves, providing numerical modelers with a means to estimate gob moduli based on the stress level. In addition, the experimental data were statistically evaluated using multiple regression analyses, producing a series of equations to predict the secant and tangent moduli from the given stress level, bulking factor, rock strength, and thickness-to-width shape ratio of the particles.

Jan 1, 1993

By P. Cole Gregory, Michael R. Yenchek, John C. Edwards

The U.S. Bureau of Mines investigated the performance of portable power cables under transient conditions. This research had a twofold purpose: (1) to define the thermal characteristics of electrically overloaded trailing cables, and (2) to conceptualize electrical protection for cables that allows maximum cable efficiency without diminishing electrical safety in underground mines. Several tasks were under- taken in support of these goals during the 3-year research effort. Overload tests ranging from 2 to 12 times rated ampacity were conducted in the Bureau's Mine Electrical Laboratory. Two thermal models of energized type G-GC trailing cables were constructed, one based on thermodynamic theory and the other using empirical data from previous Bureau load tests. The empirical model was then incorporated into an interactive computer program that can assist designers and approvers of mining machines in selecting the appropriate size trailing cable. This program can be the basis for a cable protection system that ensures that cables are not the source of fires, ignitions, burns, or explosions underground.

Jan 1, 1993

By Laurance L. Oden, Jack C. White, Alan D. Hartman

The U.S. Bureau of Mines, under a Memorandum of Agreement with the American Society of Mechanical Engineers (ASME), established design criteria for a facility to field residues from municipal waste combustion. This facility, which is available to potential users on a cost-sharing basis, is also applicable to a variety of inorganic waste materials from smelting or melting operations. The design consists of a mechanical feed handling system, electric arc melting furnace, fume-off gas handling system, and thermal oxidizer for final off gas treatment. Screw conveyors and a bucket elevator deliver up to 2,000 Ib/h of minus I-in material to a three-phase electric arc melting furnace. This unique 800-kVe A furnace has a water-cooled shell and roof to minimize interaction of the melt with the refractory lining. The volume of the hearth below the slag taphole is approximately 1.2 st of steel. The furnace is sealed, allowing atmosphere control within the furnace and fume duct by nitrogen or inert gas injection. A jet-pulsed baghouse removes particulate from the off gas and serves as an acid gas scrubber. The clean off gas is heated to 1,800' F for 1 s in a propane-fired thermal oxidizer before being vented to the atmosphere.

Jan 1, 1993

By John J. Baz-Dresch, Kenneth L. Bickel, Winthrop F. Watts

Catalyzed diesel particulate filters (CDPF's) reduce the concentration of diesel particulate matter (DPM) and may reduce the emissions of carbon monoxide (CO) and hydrocarbons (HC) in diesel exhaust. Asamera Minerals' Cannon Mine first installed CDPF's in 1987, and currently has 12 diesel- powered vehicles equipped with CDPF's. The Cannon Mine and the U.S. Bureau of Mines collaborated to evaluate the durability and performance of a CDPF. One of the CDPF's used at the mine was periodically evaluated in the USBM's diesel emissions laboratory after 839, 1,584, and 2,881 h of in-mine service. The objectives of this report are to present results from the USBM's evaluation of this CDPF, to describe the Cannon Mine's experience and cost analysis of using CDPF's, and to make recommendations for the future use of CDPF's. CDPF's improve air quality at the Cannon Mine, but they frequently become plugged and are subject to excessive mechanical shocks and stress, shortening their useful life. Mine records indicate that CDPF's account for 0.8 to 4.9 pct of the vehicles' operating cost at the mine. CDPF life to date has ranged from 1,671 h to more than 5,992 h. Laboratory tests of the CDPF determined that DPM removal efficiency decreased and regeneration temperature increased over time.

Jan 1, 1994

By M. E. Poad, M. M. McDonald, J. C. Johnson, W. G. Pariseau

A U.S. Bureau of Mines case study of pillar recovery in high-grade ore near the Ross shaft at the Homestake Mine, Lead, SD, has demonstrated the usefulness of the finite-element method for evaluating shaft pillar mining plans and shaft stability. This report focuses on mine measurements and calibration of the two-dimensional computer model and is the second in a series of three Reports of Investigations describing the Ross shaft study. In this study, borehole extensometers and other instruments were installed to provide data for model verification and to monitor the shaft. Results of the recalibrated two-dimensional model (UTAH2) confirmed the premining stability evaluation. However, after mining began, concern was expressed because cracks and other signs of ground motion appeared at considerable distances from the area of active pillar mining. In part 3 of the study, an intense three-dimensional modeling effort using UTAH3 was initiated. The results again showed that the observed effects were within expectations and that the shaft would remain safe. Three-dimensional analyses of alternative pillar mining scenarios indicated that more of the shaft pillar ore reserve could be recovered than previously thought.

Jan 1, 1995

By Lance R. Barron

The U.S. Bureau of Mines (USBM) conducted ground pressure analysis of a wide abutment-type chain pillar in a two-entry gate road of a Western U.S. coal mine with an extremely weak immediate roof. About 15 m of fragile, low-strength mudstone lies between the seam and the lowest competent roof member. Three-and two-entry gate road designs with several pillar sizes and various secondary support systems have been employed to improve tailgate-entry stability, with varying results. This report discusses gate road layout and performance and secondary support effectiveness. The results of the pillar pressure study are compared to pillar loading predicted by a widely used pillar design method and to similar studies in other mines. A stability evaluation of the most recent longwall headgate, using the USBM Analysis of Longwall Pillar Stability (ALPS) method, indicates marginal stability in first-panel mining and instability in second-panel mining. The ALPS method and the USBM Coal Mine Roof Rating system are used to evaluate tailgate-mining stability of the previous gate roads and to determine pillar and entry width and top coal thickness criteria for tailgate stability in future panels.

Jan 1, 2010

By F. H. Nehl

Ion elutriation was used to extract silver cyanide complexes and free cyanide from aqueous streams containing up to 10 ppm silver and 5 ppm free cyanide. Screening tests selected nine of 350 different surfactants for further, larger scale experiments. The screening procedure used 0.1 g of each of the surfactants in 300 mL of synthetic wastewater. Air was sparged into the test cell at 50 cc/min. The foam was refluxed during the tests and was not sampled. Samples of the solution were taken at specified intervals and analyzed by wet chemical methods for free cyanide and by atomic absorption for silver content. The most effective surfactants lowered the silver and free cyanide concentrations to less than 0.5 ppm in 1 h or less. These surfactants were quaternary amine salts with one long chain (C12-C18) organic group and three methyl groups. Experiments using 3 L batches of wastewater or an ion elutriation cell continuously fed with solution draining from an inactive heap leach operation confirmed the results from the screening tests.

Jan 1, 2010

By John C. Edwards, Gene F. Friel

A series of liquid fuel fire experiments evaluated the comparative responses of five types of commercially available smoke detectors and a diffusion-mode carbon monoxide (CO) detector under normal and reduced airflow conditions based upon the alarm times of the detectors. These experiments were conducted in the Safety Research Coal Mine at the U.S. Bureau of Mines Pittsburgh Research Center. Two of the smoke detectors had manufacturer set alarms. For the other three smoke detectors, an alarm point was defined in terms of their background analog signal and the detector's electrical output noise under ambient conditions. A correlation was developed of the travel time of 5 ppm CO between pairs of CO detectors with the travel time calculated from entry and crosscut volumes and measured airflow. Based upon the relative performance of smoke detectors in this limited study, smoke detectors can be as effective as CO detectors for mine fire detection once identifiable alarm values are defined. Implementation of smoke detectors as part of an atmospheric mine monitoring system will improve mine safety.

Jan 1, 1996

By John P. Shubilla1, Nicholas Kyriazi

A joint effort by the Pittsburgh Research Center (PRC) and the Mine Safety and Health Administration (MSHA)3was undertaken to determine how well self-contained self-rescuers (SCSR's), deployed in accordance with Federal regulations (30 CFR 75.1714), held up in the underground environment with regard to both physical damage and aging. This report presents findings regarding laboratory-tested SCSR's in the fifth phase of testing from mid-1993to early 1996. The SCSR's were tested on human subjects and on a breathing and metabolic simulator (BMS) at PRC. These results indicate that most of the apparatus, if they pass their inspection criteria, perform satisfactorily.

Jan 4, 1996

By William H. Schiffbauer

One of the safety and health research programs of the former U.S. Bureau of Mines Pittsburgh Research Center was the evaluation of technology that will provide remote-controlled operation of mechanized equipment in underground room-and-pillar mining. The purpose of this effort was to enable workers to be located away from the hazardous and unhealthful coal extraction area (the face). As part of this program, advanced machine navigation and control technologies were developed for underground room-and-pillar and highwall coal mining that can be applied to commercially available mining equipment. These technologies use off-the-shelf components and a flexible control software architecture to minimize the effort required to adapt them to mining equipment. An accurate, reliable navigation system that can provide the mining machine's heading and location is a critical requirement for a remote-controlled mining system. After investigating several different types of navigation sensors, researchers selected the Honeywell Ring Laser Gyro Inertial Navigation System (INS) as showing the most promise. It was installed on a continuous mining machine at our Mining Equipment Test Facility. Extensive testing at an open pit (OP) site was also performed. This report describes the INS as it was employed on the mining machine in the laboratory, in the field, and OP tests, and provides the accuracy and performance results of the OP and highwalltests.

Jan 11, 1997

By Todd M. Ruff

An average of 13 mine workers are killed each year by being run over or pinned by mobile mining equipment. At surface mines, these accidents commonly involve large dump trucks that drive over a smaller vehicle or a person that is in the dump truck’s blind spot. One method of detecting a person or another vehicle in a blind spot is to use some type of sensor technology such as radar or radio-frequency identification (RFID). Researchers at the Spokane Research Laboratory of the National Institute for Occupational Safety and Health tested a number of commercially available and experimental sensors that monitor obstacles in a vehicle’s blind spots. None of the sensors had been previously applied to the specific problem of rigid-frame surface mining trucks. This report documents the procedures and results of tests conducted after RFID and radar systems were mounted on a 50-ton-capacity dump truck. It was determined that both RFID and radar technology show promise for detecting obstacles in the blind spots of mining equipment; however, more development work is needed to meet the unique requirements of mining equipment and the mine environment.

Jan 1, 2000

By Thomas W. Camm

This study was done to evaluate the costs of various dumping operations at waste and spoil piles. It has been theorized that accidents associated with dumping operations might be reduced by short-dumping rather than edge-dumping, but many operators have been reluctant to use short-dumping because they believe it is not as cost effective as edge-dumping. To evaluate this perception, researchers at the Spokane Research Laboratory of the National Institute for Occupational Safety and Health reviewed the costs of various dumping methods at waste and spoil piles. The study found that overall cost differences between the two methods were not significant in most cases. However, while overall cost differences between the two methods appear small, capital costs could be more significant when short-dumping if numerous dump sites are used concurrently. The choice of which method to use should be based on considerations of the safety of dozer and truck operators.

Jan 1, 2000

By Todd M. Ruff

This report summarizes ongoing research at the National Institute for Occupational Safety and Health, Spokane Research Laboratory, in which collision warning systems for surface mining dump trucks are being evaluated. Common accidents involve these large trucks running over smaller vehicles or pedestrian workers. Collision warning systems currently use one of several methods, including radar, radio-frequency-signal detection, or ultrasonic signals, to detect and warn of the presence of an object or person in the blind spots of the mining equipment. Most available systems have not been tested on large off-highway dump trucks. This report evaluates several systems on two sizes of trucks, a 50-ton-capacity truck commonly used in quarries and construction and a 240-ton-capacity truck commonly used in open-pit mines. Tests were conducted to determine false alarm rates, alarm effectiveness, and reliable detection zones for a person and a pickup truck. The results indicate that radar and radio-frequency identification systems show promise for this application and that several of the improved systems are ready for extensive field tests. However, challenges still exist in applying these technologies to large trucks.

Jan 11, 2000