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By Dan Ifrim

Soft ground tunneling poses major challenges to the underground industry. Most of soft ground tunnels are in highly urbanized areas, often include limited cover, and include a strong trend of increasing diameters. Therefore, soft ground tunneling works can sometimes cause inevitable ground movements and settlements that may lead to damages to adjacent buildings, roads, structures or utilities; many of these being “lifeline” infrastructure assets. Tunneling operations, Tunnel Boring Machine (TBM) advance rates, and face pressure control can significantly increase or decrease such risks, depending on how well the TBM and operational parameters are applied to the ground conditions. Additionally, the risks of impacting existing infrastructure are heightened in many parts of North America because of cobbles and boulders. To date there is no standardized guideline that determines appropriate tunneling rates nor operator’s guidelines, to ensure safe tunnelling in soft ground. The paper analyzes tunneling records from completed soft ground tunnels to determine a relation between ground conditions, tunnel cover, TBM cutters maintenance and TBM advance rates. The records are discussed to draw several mitigation measures to be adopted during tunnelling, to reduce risks of settlements, over excavation or sinkholes.

Jun 13, 2021

By Minerals and Materials Analysis Section

During 1996, US mines produced 319 t (10.26 million or) of gold metal valued at $4 billion. At yearend, mine reserves were estimated to be 4.7 kt (151 million oz) of gold metal. Almost all of the production was from western states. Nevada accounted for about 68% of national production. Information for this article was obtained through annual reports of mining companies, US Geological Survey (USGS) databases and other public sources. Table 1 shows production and reserves by mine. It divides the mines into two categories. These are producing mines whose primary product is gold, and producing mines for which gold is a byproduct or coproduct. The mines listed in Table 1 accounted for more than 98% of US gold production during 1996. Except the Daisy Mine, the table does not include mines that produced less than 31 kg/a (1,000 oz/year). The Daisy Mine started production in December of 1996. Nor does it contain mines whose byproduct concentrate is

Jan 1, 1997

To generate a most profitable ultimate pit limit is generally the first step in mine design. This paper presents a new graph theory oriented, optimum ultimate pit limit design algorithm which will maximize the total undiscounted net profit. This algorithm performs much better than the well known Lerchs-Grossmann algorithm, in terms of the reduction in computation time and computer memory requirements. This algorithm operates on many directed trees in a graph, where each vertex in a tree represents a block in the mine model. The formation of each directed tree is based more on the ore-waste support concept than the geometry constraints alone. The general procedures of the algorithm, programming considerations and two case study results are discussed in the paper.

Jan 1, 1990

By H. Shafick Hanna

The major problems are identified the high phosphorus content and the fine dissemination or encapsulation of mineral impurities, in, ,the iron bearing minerals, A process which combined extreme fine grinding techniques with magnetizing roasting or flotation separation methods, is suggested. By these methods concentrates assaying 60-61 percent Fe exceeding the widely accepted upper limit of 56 percent Fe set for these ores, were produced with 75-90 percent iron recovery. Moreover it was shown that the phosphorus content of these concentrates could be reduced from 0.25 to 0.03 percent phosphorus by acid leaching. A brief discussion on production costs based on current and future developments in iron ore processing is given.

Jan 1, 1980

By J. Paraszczak

Metal mining at great depths presents a number of serious challenges for mine operators. Among them is the high demand for fresh air required to cool down mine openings, evacuate noxious gases and contaminants and provide sufficient amounts of oxygen for miners. At the same time, modern mechanized mines extensively use diesel-powered load-haul-dump (LHD) machines, trucks and other mobile equipment. These vehicles not only emit exhaust gases and diesel particulate matter (DPM), but constitute an additional source of heat. As mine regulations get steadily more stringent with regard to air quality, the use of diesel engines has an additional adverse impact on ventilation costs. In this context, the present paper examines possible alternatives for diesel power trains, both those commercially available and those in development. They are reviewed with regard to their principles, required infrastructure, stage of technology development and progress. The questions of their flexibility, practicality and economic viability are also addressed. Finally, their possible benefits and potential for implementation in the conditions of deep metal mines are discussed. The paper concludes with short- to medium-term predictions concerning promising drive alternatives for vehicles destined to operate in deep metal mines.

Jan 1, 2009

By Corby G. Anderson, Sheikh Abdul Rezan Sheikh Abdul Hamid, Sanjith Udayakumar, Ahmad Fauzi Mohd Noor, Teuku Andika Rama Putra

Chemical and mineralogical characterization of Malaysian monazite, a phosphate mineral, bearing rare earth elements separated from the tin tailings originated from Ipoh, Perak, Malaysia, was performed in this paper. The study aims to collect detailed information on the chemical composition, crystal phases, and microstructure of the mineral monazite concentrate that would aid to optimize the subsequent hydrometallurgical processes for high-efficient separation of thorium and other associated rare earth elements. A systematic characterization study of the concentrate was conducted using techniques such as optical microscopy (OM), scanning electron microscopy (SEM) equipped with energy-dispersive X-ray spectroscopy (EDS), and Fourier-transform infrared spectroscopy (FTIR). These techniques analyzed the morphological details on the surface, elemental analysis, and mineral association assessment and identified the surface functionalization groups. The bulk composition and the mineral phases in which the elements are present were studied by wavelength-dispersive X-ray fluorescence (WD-XRF) and X-ray diffraction (XRD) studies respectively. The XRF analysis confirmed the presence of Ce, La, Nd, Pr, and Y (rare earth oxides: REO’s ~ 60 wt.%) while thorium dioxide (ThO2) accounted for 7 wt.% of the total composition. Traces of Ca, K, Al, Fe, Ti, and Mn were also confirmed by SEM elemental mapping. The XRD results confirmed that the concentrate was primarily composed of monazite (Ce, La, Nd, Th (PO4)) along with minor impurity phases of quartz. Automated mineralogical analysis was used as a confirmatory tool to corroborate the preliminary evidences. Based on the particle size distribution analysis supported by SEM, the majority of monazite grains were found to be present in the size range of 170–210 μm. Strong bands of PO4 and SiO4 were observed in the IR spectra corresponding to the phospho-silicate matrix of the REE mineral.

By S. A. Hoenig

Introduction In an earlier publication, the application of exoelectron technology to the monitoring of dry grinding in a ball mill was reported. Recently, the author has investigated the ball mill problem in more detail with the system shown in Fig.1 . Here, some of the current generated in the ore-ball-water mixture was picked up by the metal chains and served as a measure of the rate of grinding. While the mechanism of current generation has not been completely clarified, a parallel study of electrical effects associated with rock drilling indicated that the major driving force is the zeta potential*, while oxidation of the freshly fractured material provides the remainder of the current. Both of these effects are sensitive to the exposed surface area, and it might be expected that the observed currents would provide a measure of the grinding rate. This "surface area" effect allows the measurement system to be used in any type of rock or ore grinding. Some studies with sulfide copper ore indicate higher currents than those observed with silica sand, but the overall pattern of current versus grinding rate is essentially the same. Experimental Studies The experimental system was set up as shown in Fig. 1. The initial studies were done with silica sand because of its availability and for comparison with the data of reference 1. The sand was sized to an average of 425 µm (40 mesh); a typical charge consisted of 2.5 kg (5.5 lb) of sand, 0.85 L (0.22 gal) of tap water and 2.5 kg (5.5 lb) of iron grinding balls 25.5 mm (1 in.) in diameter. For a typical "run," the mill was loaded with a fresh charge of ore and operated for periods ranging from 10-60 min. During this time, the current was measured with a Keithley 417 picoammeter and a chart recorder. At the end of the grinding period, the charge was removed and sieved to recover the 425, 300, and 212 pm (40, 50, and 70 mesh) fractions which were then drained and weighed. A fresh charge was used for each test and every attempt was made to keep the draining and weighing processes uniform. *The zeta potential is the voltage developed between the surface of a solid particle and the ion solution in which it is immersed. In the case of rock/ore materials in water, the zeta potential is negative.

Jan 1, 1984

By B. Seegmiller, W. A. Hustrulid, O. Stephansson

Introduction The concept of in-the-wall haulage was formally introduced to the mining community in the early 1970s. The basic concept is simple. Rather than the traditional in-the-pit haulage/access ramp, single or twin ramps driven in the pit wall are used with crosscut connections on the working levels. The in-the-wall pit haulage system could be considered as part of the opening of a new mine, a way of completing to final depth an existing pit, or part of the transition from open-pit to underground mining with the ramp remaining as part of the access. This paper is intended to acquaint the reader, particularly mine planning engineers, with some of the possibilities presented by the concept. Nordstrom (1983) said, "In many countries, mining engineers are either open-pit or underground specialists and, hence, often don't consider the possibilities for combining the best aspects of each into a hybrid mining system." This is believed to be true. There are few "hybrid mines" employing, for example, open-pit methods with underground haulage systems. One reason is the variance with the experience of the mining company and the engineers involved. However, with today's low metal prices, innovative and unconventional thinking may be just what a property requires to remain in production. All the possible situations where an in-the-wall ramp might be considered cannot be presented here. Rather, a few examples will be discussed for illustration purposes. Potential savings in stripping costs A major cost in open-pit mining is associated with the removal of overburden and waste rock. Although much of this stripping cannot be avoided, the volume (V) associated with the presence of an in-pit haul road can be quite large, V 100 (pit depth) a (road width) 2 x road grade (%) As an example, consider a vertical ore body 400 m (1312 ft) long, 60 m (197 ft) thick, extending to a depth of 160 m (525 ft). Cross sections are shown in Fig. 1. Other data are: ore tonnage = 11 Mt (12 million st), ore density = 2.9 t/m3 (0.09 st per cu ft), waste rock density = 2.7 t/m3 (0.08 st per cu ft), road width = 20 m (66 ft), road gradient = 10%, and level interval = 10 m (33 ft). The evaluation has been made assuming that the pit slope (0) is constant around the pit except on the side with the haul road. On this side, the slope is decreased to allow for the road. Slope angles of 30° to 60° have been selected to indicate the dependence of stripping volume (V) on slope angle. The stripping at the ends have been calculated assuming representation by cones. The volume associated with the haul road is 2.6 Mm3 (92.8 million cu ft). A comparison of the strip volumes involved is shown in Table 1. As can be seen, the percent savings in strip volume varies from about 4% to 17% and depends greatly on the slope angle. It is perhaps more interesting to examine the savings in stripping costs that could then be used to cover the cost of the access ramp and the crosscuts for stripping costs of $3/m3 ($0.08 per cu ft). The cost with the road volume is 2.6 million x 3 = $7.8 million.

Jan 1, 1988

By Tim Neil, O&apos

Introduction On the banks of the Columbia River, about halfway between Seattle and Spokane, sits Wenatchee, WA. It calls itself "the apple capital of the world." And it has a gold mining history that dates back to the 1880s. It was just outside Wenatchee - three blocks outside, to be exact-that Asamera recently dedicated its $60 million Cannon underground gold mine. At full production, it is estimated the Cannon mine will yield between 5 and 5.6 t/a (160,000 and 180,000 oz per year) of gold. That would make Cannon the largest North American underground gold mine to be brought into production this year. Cannon should also be among the top 10 of all North American gold producers. Asamera officials project Cannon's operating costs at about $4.8019 ($150 per oz). At that rate, the mine should also be one of the lower cost and most profitable gold mining operations in North America. One reason for low operating costs is low electric power costs. The Cannon operation will be paying about 2.5 cents per kWh for hydroelectric power supplied by the Bonneville Power Authority. Proven and probable ore reserves at Cannon are in excess of 4.7 Mt (5.2 million st). Reserve grades average 7.29 g/t (0.21 oz per st) of gold in three ore zones, in order of discovery - B, B West, and B North. The ore bodies could have been mined by open-pit methods. But underground mining was chosen for environmental reasons. In addition, the rich B North ore body extends beneath a nearby horse stable and arena. The Cannon mine area comprises some 20 km2 (5000 acres) in Chelan County. The mine site is located at the 305 m (1000 ft) elevation in Dry Gulch at the base of the Cascade Mountains. The initial estimate of mine life for the Cannon operation is eight years, depending on gold prices. But Asamera officials believe the Wenatchee area has excellent potential for future gold discoveries. Asamera, Inc. of Calgary, Alberta, owns 51% of the Cannon property, through its wholly-owned Asamera Minerals (US). Breakwater Resources Ltd. of Vancouver, British Columbia owns 49% of the operation. The Cannon mine is named in honor of longtime Asamera, Inc. executive and current company director, geologist Donald G. Can¬non. It was he who first brought the Wenatchee property to Asamera's attention and urged the company to pursue it. Asamera is a major explorer and producer of oil and gas. Its Cannon operation is the largest and most significant to date in its mining division, according to Rob¬ert G. Welty. He is Asamera's chairman and chief executive officer. It should be noted there was an element of serendipity involved in Cannon's development. The development program be¬gan when geologist Cannon visited the Wenatchee area. He was visit¬ing old mining districts. He liked what he saw. The Cannon property was eventually optioned for ex¬ploration, including a modest drilling program.

Jan 12, 1985

By R. G. Hite, R. G. Rowe

The Crandon deposit, located in northern Wisconsin, is a 65.8 million ton Precambrian volcanogenic massive sulfide deposit which averages 1.4% copper and 5.8% zinc. The deposit is classic in origin, mineralogy and shape. Comprehensive understanding of the geology of both the deposit and the project site has been fundamental to the credibility and success of project feasibility studies and regulatory permit preparation. Mine development in the current investment and regulatory climate requires thorough and timely application of geologic tools. From 1977-1980 geologic activities were focused on the typical objectives of orebody delineation, reserve estimation, depositional geology, and general site investigation. Results from these programs formed the basis for the project's preliminary feasibility studies. Since 1981 further geologic investigations have provided criteria for project design, site management, and operational permitting. Activities have included mine entry position definition drilling, devel reserve modeling, large diameter (150 mm) core drilling for mill pilot samples, rock mechanics testing, and evaluation of the glacial overburden/deposit geohydrology for computer simulation.

Jan 1, 1992

By Richard A. Grieve

A 63.5 metric tons per hour (70 TPH) demonstration coal preparation plant was constructed on the Iowa State University campus, Ames, Iowa, as a part of the Iowa Coal Project funded by the state of Iowa and administered through the Energy and Minerals Resources Re-search Institute. Processing equipment in the plant circuit includes a heavy media separator, concentration tables, separating and dewatering screens, and conveying equipment. Coal samples of size 907 metric tons (1000 tons) with sulfur contents ranging from 2.5 to 8.75% sulfur from seven mines in the state of Iowa have been pro-cessed in the plant. Sulfur reductions have averaged 35%. With ash reduction averaging 45%. Equipment for advanced fine coal beneficiation research is currently being installed in the plant to include a slurry pretreatment circuit, froth flotation, oil agglomeration, pelletization, hydrocyclones, advanced design thickener and disc filtration.

Jan 1, 1978

By Robert M. Matyas, P. E. Sperry, Robert J. Smith, A. A. Mathews

INTRODUCTION The first Dispute Review Board (DRB) was utilized on a tunnel project 20 years ago. Increasingly utilized on a wide range of construction projects, DRB's are becoming the norm on tunnel and underground projects. This paper summarizes the growth in this usage, uses observations and experience to establish that barriers to the utilization of DRB's are more perceived than real and that many arguments against the DRB concept are not valid, and notes some of the salient elements that should be considered in practice to optimize DRB effectiveness. The purpose of the paper is to provide an annotated checklist for current and prospective users. The basic concept, structure, and operation of DRB's are described elsewhere and will not be repeated here (ASCE, 1991). DISPUTE REVIEW BOARD USAGE A compilation of Dispute Review Board usage for tunnel and underground projects to January 1994 indicated use on 63 contracts with a cumulative construction value of $3.8 billion and a total of 60 disputes settled. As of that same date, DRB's were planned for another 63 contracts with an estimated construction value of $4.7 billion. (A listing of these 126 projects is available from the authors.) This success and popularity have spread to other civil projects as well as process and building construction. The increase in DRB usage has been exponential. See Figure 1.

Jan 1, 1995

By S. H. Brown

In our work as health physicists*, we do a lot of public speaking and interaction with the public on issues related to development of uranium mining and milling (?uranium recovery?) in the US. Understandingly, the public has important concerns about this. Accordingly, this paper is presented in a ?question and answer? format in which we have tried to capture what are some of the most common concerns we hear from citizens and address them. We have attempted to do so based on the best scientific information we have, representing information well documented in peer-reviewed scientific literature and consensus positions from both national and international scientific standard setting bodies and related committees. We have included some of the more important of these scientifically-based references to support the information provided. Practical space limitations prevent completeness in this regard in some cases. Visit the Health Physics Society?s web site or feel free to contact me directly for additional references, information or detail ? Steve Brown. The health physicist?s primary objective is to manage the beneficial uses of ionizing radiation while protecting workers and the public from potential hazards. For more information on what a health physicist is and on the Health Physics Society, visit the Society?s web site at www.hps.org.

Feb 23, 2014

By T. A. Laser

"INTRODUCTION A positive workplace environmental, health, and safety (EHS) culture affords organizations and corporations many benefits, including increased trust and employee morale, sustainable EHS performance improvements, and reliable productivity and profit margin growth. Unfortunately, many leaders and EHS professionals struggle daily to achieve and maintain positive workplace cultures and consistent business results. While lack of management support, corporate or employee buy-in, resources, and time are common factors that conflict with an EHS culture and safe work behaviors and processes, there are many other actions that threaten the positive attributes of an organization’s culture. Often these culture killers are not recognized, or worse yet, ignored because they are considered taboo. For example, voicing observations or questioning long-held management practices or process that were initially designed to promote EHS values, but no longer do so. Unfortunately, this could be viewed as challenging authority, not being a team player or even not valuing EHS. And for those that speak up, the potential for negative consequences can be real impediments to positive change. Having an open mind, constantly striving to identify culture killers, and putting forth the effort to eliminate them are the first steps to begin reaping the benefits of having a sound workplace culture. This paper helps readers to: • Recognize culture killers that negatively impact fostering and maintaining sustainable EHS cultures in the workplace. • Understand how to prevent, avoid, and respond to culture killers, before they wreak havoc in your organization. • Assess EHS culture strength, and implement plans to continuously improve it. The desire to draw boundaries around concepts, put things into boxes, and nail down requirements for something that is virtually impossible to solidify for any length of time is quite fascinating! These desires can pose challenges when trying to define what the perfect EHS culture should look like. The very act of trying to define our culture tends to create silos, and these silos, in turn, can become “culture killers”. The following is one of the most common culture killers. UNBALANCED ORGANIZATIONS TRIGGER CULTURE KILLERS Unbalanced organizations occur when an organization’s constantly shifting focus forces other important needs to take a back seat--until the focus changes again. This balancing act can be detrimental and lead to catastrophic results including low morale, lack of trust, employee dissatisfaction, high turnover, increased incidents, poor profit margins, loss of market share, and ultimately into organization-wide failure."

Jan 1, 2018

By J. R. Nawrot

Reclamation of potentially acid producing coal processing waste requires a 4-foot cover, and/or treatment to allow vegetation establishment. If not planned properly, soil covering alone does not prevent refuse acidification or formation of acid seeps. Adequate neutralization enhancement prior to soil covering can maintain an alkaline environment in the soil refuse interface and prevent acidification. Direct vegetation establishment using only limestone amendment (without soil cover) can successfully reclaim aged and weathered fine (Blurry) and coarse (gob) refuse if adequate neutralization treatment is provided for the oxidized surface zone. Acid seeps, representing an "after-the-fact" verification of an imbalance of acid-base equilibrium may also be corrected using upslope alkaline recharge techniques. Concentrated alkaline recharge pools have been constructed above previously soil covered acid gob at the Peabody Will Scarlet Mine to abate acid seeps. Preliminary monitoring results (1989-1992) from a concentrated alkaline recharge pool demonstration project in the Pit 4 area of the Will Scarlet Mine have documented a 50 to 80 percent reduction in acidity in the principal recharge pool groundwater zone. A 22% reduction in acidity has occurred in the primary seeps located downslope from the alkaline recharge pools. The initial improvements in water quality are seen as a positive indication that groundwater acidity will decrease further and amelioration of the acid seep will continue.

Jan 1, 1993

By M. Li, J. D. Miller

During the past decade, considerable effort has been made to develop improved flotation strategies for the sedimentary phosphate resources from Florida, particularly the dolomitic phosphate resources. New flotation equipment and alternate flotation strategies have been evaluated. These developments are reviewed for both traditional siliceous resources and future dolomitic resources. Most process strategies involve variation in the reagent sequence and/or the use of depressants/dispersants. Further research and development efforts in flotation technology are needed to increase flotation plant capacity by elimination of the conventional double float process, to improve the recovery of coarse phosphate, and to achieve the desired selectivity with respect to carbonate minerals, particularly dolomite.

Jan 1, 2000

By Yuemin Zhao, Wenxuan Liu, Maoming Fan, Zhanyuan Long

"Coal is mainly composed of energy-producing elements carbon and hydrogen. In addition to these elements, coal usually contains many other valuable elements, including iron, aluminum, silicon, rare earth elements, lithium, gallium, germanium, vanadium, uranium, titanium, scandium and phosphorus. These coalassociated elements are significantly enriched in coal combustion byproduct fly ash because the majority of the main components, carbon and hydrogen elements, being removed. Table 1 provides the chemical composition range of the main element oxides in 12 Chinese fly ash samples collected from coal power plants located in Northeast China, Northwest China, Southwest China and Southeast China. It can be seen from Table 1 that the major mineral components of different ashes are similar, but the bulk chemistry of different fly ashes may vary due to the changes of ratios of the mineral components in different coals. The major mineral components in various Chinese coal combustion fly ash are silicates, iron oxides and unburned carbon.Chinese coal fly ash usually contains about 5 to 15 percent of unburned carbon, which are generally chars with irregular shapes and wide particle size distribution. In addition to unburned carbon, XRD analysis of four Chinese fly ash samples from Liaoning, Shanxi, Guizhou and Shandong provinces indicates that the fly ash samples are composed of minerals such as quartz (SiO2), mullite (3Al2O3.2SiO2 or 2Al2O3.SiO2), hematite (Fe2O3), maghemite (gamma form of hematite, ?-Fe2O3) and magnetite (Fe3O4). The mullite and quartz particles are usually present as spherical particles because they are formed by melting clays, feldspars, quartz, calcite and other common minerals in coal during coal combustion. The silicate particles have usually entrapped gas to yield hollow spherical particles because their lower melting point facilitates gas entrapment.The iron oxides are usually spherical also. The magnetite (Fe3O4) is derived from pyrite (FeS2), hematite (Fe2O3), siderite (FeCO3) and limonite (2Fe2O3.3H2O) in the coal. Maghemite (?-Fe2O3) is formed by dehydration of the mineral hydrohematite (?-FeO(OH)) and/or oxidation of magnetite (Fe3O4) during coal combustion. Maghemite (?-Fe2O3) and magnetite (Fe3O4) are strongly magnetic, so they are recovered from Chinese coal fly ash and widely used for coal processing in China (Fan et al., 2005, 2000)."

Jan 3, 2018

By D. Washington

The US economy and the demand for nonfuel minerals grew at lower rates in 1995 than in 1994. Demand for major metals, such as aluminum, copper and steel, was mixed but relatively stable. The building industry, including highway construction, helped to support modest overall growth in demand for industrial minerals. The value of processed materials of nonfuel mineral origin produced in the United States during 1995 was estimated to be $395 billion, an increase of almost 10%compared with 1994 (Fig. 1). The estimated value of US raw nonfuel minerals production during 1995 was $38billion, about 7% more than in 1994. The value of US minerals production has increased in 30 of the last 35years.

Jan 1, 1996

By Kazem Oraee

In underground coal mining, particularly room-and-pillar methods, the coal pillars play a significant role in roof stability. If the pillar dimensions are increased, the pillar bearing capacity also increases, but more coal remains in the pillar and therefore the recovery of mining operation decreases. Therefore, determining the optimum pillar dimension based on technical, economical and performance parameters is important. In this paper, the coal pillar is designed by using the concept of ground reaction curve (GRC). For this purpose, the GRC for coal pillars is drawn and then the elastic and plastic zone of coal pillar behavior is determined. Based on elastic and plastic zone, different equations are presented to draw a pillar reaction curve and the process of coal pillar design based on GRC is explained. As a case study, this new technique is applied to study the coal pillar state in Tabas coal mine of Iran. The results show that the presented new approach is successfully used in the design of the optimum coal pillar dimensions, and also determines the elastic and plastic behavior limit, which is important especially for the logical design of yield pillars.

Jan 1, 2009

By A. J. Kwitowski

Teleoperation is a technology that can provide significant health and safety improvements in mining, by relocating machine operators hundreds of meters away from the face area. The U. S. Bureau of Mines (USBM) has recently developed a teleoperation system for continuous mining and haulage equipment. This system features near-real-time closed-loop control. A prototype system was developed and demonstrated on the surface. This system could be used in thin-seam applications down to 914 mm. Details are provided on the developed teleoperation system, results of testing, and expected, future applications of this technology for improved safety.

Jan 1, 1994