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By A. Bascetin

Materials produced in quarries have been used for different intentions such as concrete and cement raw material, asphalt and embankment aggregates, railway ballast. Especially in cement manufacturing, the chemical composition and the uniformity of the raw materials play a strategic role in the economy and quality of the cement process. Therefore, it is necessary to achieve uniformity and desired chemical composition and maintain these at all production stages according to the type of cement produced. To achieve this goal the production planning and pit design play an essential role. This paper briefly outlines the production optimization of cement raw materials in a quarry in Istanbul western part of Turkey. For the purpose it was used the 3D ore body modeling and the geostatistical techniques. The variation of chemical components (%CaO, %Al2O3, %Fe2O3 etc.) and quality control parametres (LSF, SR, AR and etc.) obtained from the quarry were determined. Then the values of unknown chemical components and quality control parameters in the ore body were estimated using Kriging which is one of the geostatistical interpolation methods. The open pit design was also created by specifying wall slopes and taking into consideration of the grade distributions of the benches. The most important revolution in the paper is investigating the effects of the block dimensions in block modelling which is important for reserve estimation. The other important point in the study is using the different range values in variogram analysis for determination optimal reserve estimation. n this study, the effects of two parametres on reserve and waste amount estimation were determined according to CaO% distribution. The study was pointed out that the changing of the two parameters are very important for the optimal mine planning and environmental considerations.

Jan 1, 2010

By Albert Hofstra, Joel Leventhal

The gray, dark gray and black colors of the sediments and the presence of pyrite in the Carlin, Jerritt Canyon, Horse Canyon, Betze, and Gold Acres sediment-hosted disseminated gold (SHDG) deposits indicate that these rocks are not oxidized with respect to carbon and iron sulfide. Both ore and non-ore host rocks generally are dark colored. Analyses for noncarbonate carbon (usually called organic carbon) in samples from SHDG deposits and related unmineralized rocks indicate that these rocks contain from a few tenths to a few percent carbon. We use the term noncarbonate carbon because, strictly speaking, organic carbon denotes carbon that is bound to hydrogen. However, the carbon present in SHDG deposits and related rocks has very little hydrogen chemically bound to it. Rocks with less than 2% organic carbon are usually gray in color. The dark colors in our samples are due to the relatively high temperatures that these rocks have experienced relative to organic matter maturation. We confirm the results of Nelson et al. (1982) that previous reports (for example, Radtke and Scheiner, 1970) were incorrect in reporting significant amounts of humic acids, extractable hydrocarbons (bitumen) or "carbonaceous" material. We believe these reports had problems with contamination or misdirected emphasis. Our samples consisted of unweathered rocks, collected mainly from mine cuts (benches, trenches, cores) and put into glass containers or wrapped in aluminum foil to avoid contamination. Only a few samples were collected from natural outcrops. We were careful to avoid samples in proximity to blast holes that were packed with ammonium nitrate and diesel fuel ("ANFO"). Contamination by ANFO may explain some of the previous reports of hydrocarbons, pyrobitumens, humic acids and anomalous nitrogen. When we were collecting samples, it was apparent that in addition to lithologic and color differences, the surface appearance of the rocks was distinguishable: "preg robbing" material that had a sooty surface; "graphitic" rock with a shiny surface; and more ordinary rocks that had a flat gray or black appearance. [Preg robbing is a term for ores that adsorb gold from the milling circuit; the graphitic material had not been x-rayed to actually identify graphite.] We hoped that laboratory study of these samples would show some fundamental differences that we could relate to ore genesis. Even though these sample types appeared different in the field, we could not distinguish any differences in thermal maturity (see below). Normal petroleum/organic geochemical laboratory procedures (solvent extraction, Rock-eval, pyrolysis-gas chromatography) failed to yield much information because the carbon was over-mature relative to oil and gas generation. Rock-eval results show less than 20 (± 20) mg of pyrolizable hydrocarbons per gram organic carbon (and an indeterminate Tmax) indicating that the organic matter in these deposits is burned-out relative to petroleum generation [with an H/C (atomic) ratio of less than 0.41. Because of the non-definitive results from standard organic geochemical methods, x-ray diffraction (XRD) and Raman spectroscopy were used to characterize the carbon. Prior to XRD, samples were treated with HCl and HF acids (1) to remove quartz that has a peak near 26° [20] at the position of the 002 peak of graphite and (2) to concentrate the carbon to a level detectable by XRD. The residue was put on a colodion mount and analyzed by XRD. The XRD analyses yielded a broad peak at 26° [20]. The shape of this peak indicates that the carbon is more thermally mature than anthracite rank coal but less mature than crystallized graphite. Based on XRD results from the literature (Landis, 1971) that are calibrated to metamorphic facies, results from our samples correspond to pumpellyite-actinolite to lowermost greenschist facies conditions, probably

Jan 1, 1990

By R. R. Klimpel

Over the last six years, several new commercial families of sulfide mineral collectors have been developed. This paper summarizes some plant data and use experiences gained with each of these product families. The first is a series of products (F-series) based on a chelation mechanism of attachment. The second of these families is a series of products (S-series) based on an electrochemically controlled mechanism of attachment. The major advantage of the F-series collectors is the very high metal recovery capability in complex ores involving Au, Pt, Zn, Ni, and mixed Cu minerals. The major advantages of the S-series collectors are the very high pyrite rejection capability along with reduced lime requirements in Cu/Mo plants.

Jan 1, 1995

By C. Fuellenbach, J. Brune

"INTRODUCTION Mining activities must be safe and profitable. These two requirements influence each other. The purchase and implementation of safety improvements costs money. Injuries and illnesses at mines stop or delay production and may result in additional costs or a loss of profit. Other effects of injuries and illnesses include the negative influence on employee morale, corporate reputation and conflicts with contract partners. Based on this researchers asked the question: are mines with lower rates of injuries and illnesses more profitable than mines with a higher frequencies? One aspect of this research is the evaluation of the safety situation and the measurement of benefits of safety improvements in the German mining industry. In the following paper, this part of the research will be examined. The main aim is the evaluation of injury rates in different German mining sectors and regions in Germany. SELECTION OF GERMAN MINING OPERATIONS The research team decided to focus the study on the salt and potash and the aggregate and industrial minerals mining industries in Germany. These two mining industries are different in the number and size of operators, structure of the industry, pricing and markets. The selection of two different industries adds to the clarity of the evaluation. Salt and potash mining industry The German salt and potash industry is primarily located central Germany. All salt and potash mines in Germany are underground operations. In 2015, the German potash industry employed 8,100 employees and generated a total revenue of 2 billion Euros. German potash reserves include magnesium compounds like kieserite (MgSO4·H2O), in addition to sylvite (KCl) and carnallite (KMgCl3·6(H2O)). The German salt industry employed 2,300 people in 2015 and generated revenue of 800 million Euros (Krueger, 2015) There are seven mining companies with salt and potash operations: esco-european salt company GmbH & Co. KG, K + S Kali GmbH, Saline Luisenhall GmbH, GSES Glückauf Sondershausen Entwicklungs- und Sicherungs-gesellschaft GmbH, Südwestdeutsche Salzwerke AG, Wacker Chemie AG and Südsalz GmbH. In this way, esco – european salt company GmbH & Co. KG is an affiliated company. Esco was founded as a joint venture of K + S and Solvay in 2002, since 2004 K + S is the sole holder (esco - european salt company GmbH & Co. KG, 2016). Likewise, the Südwestdeutsche Salzwerke AG has a controlling interest in Südsalz GmbH (Südsalz GmbH, 2016). Aggregate and industrial minerals mining industry The aggregate mining industry in Germany is comprised of many small mining operations and relevant companies. According to the German Department of Economics (BMWi, 2015), the following industrial materials are classified as aggregates: fluorite, barite, kaolin, quartz and quartz sand, quartzite, silica, loamy and foundry sand, pegmatite sand, shale, clay, bentonite, schistose, limestone and dolomite, gypsum and anhydrite, basaltic lava and lava sand, gravel and split, pebble and silicic sand and peat."

Jan 1, 2017

By Doug Harding

The Metropolitan St. Louis Water District’s Project Clear is a 28-year program targeting wastewater capacity throughout St. Louis, MO. The extensive program includes the Jefferson Barracks Tunnel, running parallel to the Mississippi River at 2 m ID and 5,400 m long. A rebuilt Robbins Main Beam TBM began boring but hit challenging conditions about 2,400 m in, including water inflows. A larger 4.1 m Robbins Main Beam machine will complete the remaining 3,050 m in limestone, dolomite, and shale. The TBM will utilize a high-powered, high breakout torque cutterhead along with enhanced 360-degree probing & grouting capabilities to detect any karst formations.

Dec 1, 2022

By L. Yan, N. Damiano, J. Bickson, E. Bauer, D. Yantek, B. Whisner, M. Reyes, J. Srednicki

Built-in-place (BIP) refuge alternatives (RAs) are designed to provide a secure space for miners who cannot escape during a mine emergency. Heat and humidity buildup within RAs may expose miners to physiological hazards such as heat stress. To minimize the risk of heat stress, Title 30 Code of Federal Regulations (CFR), or 30 CFR, mandates a maximum allowable apparent temperature (AT) for an occupied RA of 35°C (95°F) [1]. The National Institute for Occupational Safety and Health (NIOSH) has conducted extensive research on the thermal environment of occupied RAs intended for use in underground coal mines. NIOSH research has demonstrated that a fully occupied BIP RA can exceed the AT limit by >5.6°C (10°F) in mines with elevated mine strata and air temperatures. In this circumstance, an RA cooling system could provide a solution. This paper provides an overview of test methodology and findings as well as guidance on improving the performance of a cryogenic air system prototype by optimizing the flow rate, increasing the tank storage capacity, and improving the efficiency of the heat exchanger of the cryogenic system. This may enable BIP RAs to meet the 35°C (95°F) AT limit in mines with elevated temperatures. The information in this paper is useful for RA manufacturers and mines that may choose to implement a cryogenic air system as a heat mitigation strategy. INTRODUCTION The apparent temperature inside an occupied RA could be significantly affected by the surrounding environment’s thermal conditions, such as mine air temperature and mine strata temperature. Apparent temperature (AT) is a temperature-humidity metric for the perceived temperature caused by the combined effects of air temperature, relative humidity (RH), and air velocity. It is used to assess the perception of indoor temperatures. Depending on factors such as geographic location and season, mine air temperature, relative humidity, and mine strata, temperatures can vary significantly [2]. RAs located in cold mines may pass the 96-hour 35°C (95°F) AT limit test that poses a challenge for RAs located in hot mines. One solution in these cases is that the occupancy of the RA could be derated (i.e., the RA occupancy could be reduced) to ensure the AT limit is not reached. However, this would require mines to purchase additional RAs to accommodate all personnel in the mine. For mines with high temperatures (above 26.7°C or 80°F), the occupancy might have to be reduced so much that the necessary number of additional RAs would be impractical. In these cases, RA cooling systems could provide a solution.

Jan 1, 2019

By B. T. Lusk, J. M. Hoffman, J. Silva Castro

Blast vibration induces sounds within neighboring residences. A housewide vibration and sound monitoring system was installed in a West Virginia home subjected to blasts from various distances and directions. Eighty-nine blast events were monitored and analyzed. Fifteen channels of data were collected, including data from three triaxial geophones, one airblast microphone, one uniaxial geophone mounted on the wall of the house (response channel) and four microphones that recorded CD-quality sound waves inside the house. Each of these channels was recorded on the same time scale. The response channel signal was easily separated into ground vibration and airblast-induced movement, due to differences in the time of arrival. This response channel was then compared to the sounds recorded to determine which component of blast vibration induced the maximum sound response. Blasts at distances less than 762 meters (2,500 feet) had maximum sound responses from both ground vibration and airblast, while for blasts beyond 762 meters (2,500 feet), the maximum sound response was caused by ground vibration without exception. When airblast was identified as the dominant sound generator, the peak amplitude of the sound was directly related to the amplitude of airblast. When ground vibration was identified as the dominant sound generator, the peak amplitude of sound was not related to the amplitude of ground vibration. Findings from frequency analysis showed that the frequency content of sounds inside the house was not related to the frequency content of airblast or ground vibration, regardless of source. This finding suggests that residents will have difficulty determining the source of blast-induced noise in their homes. The proposed airblast response factor (ABRF) can aid blasting operations to determine the dominant source of sounds inside a complainant’s house based on the time-of-arrival relationships. With this site-specific information, public relations responses can be developed accordingly.

Jan 1, 2010

By L. Barry Phelps

The application of an open-pit Materials Handling Simulator (OPMHS) to analyze mine planning and scheduling problems in large surface mines is discussed. The mine chosen for this application employed a large stripping dragline working in tandem with a shovel-truck haulback system for removing overburden. Large bottom-dump trucks were employed behind a coal loading shovel to transport the exposed coal out of the pit. Specifically, the current operations and the recommendations for short term and long term improvements were simulated on OPMHS. The effects of changing the operating parameters of the equipment on the total system were evaluated. Several alternatives were also studied for the best use of the existing equipment if the current operating parameters could not be improved upon. The results of the application are discussed.

Jan 1, 1978

By Valérie J. Bertrand, Richard W. Lawrence, Marcos G. Monroy

Two cemented paste backfill (CPB) formulations containing pyritic tailings were leached in deionized water in flooded and alternating air-flooded environments and in a simulated acid rock drainage-type (ARD) solution. Scanning Electron Microscopy (SEM), solid phase chemistry and acid-base accounting measurements documented the weathering characteristics of the CPB samples. Short-term exposures of the portland-CPB samples preferentially dissolved the cement binder to a greater extent than slag-Portland CPB mistures. In all cases, the added neutralizing potential provided to backfill by cement was short-lived and insufficient to neutralize the acid generating potential of the mixture.

Jan 1, 2000

By J. Pancher

"Stainless steel castings are used in abundance in the mineral processing industry. In rotary kiln-based processes, these castings are typically exposed to high loads, corrosive elements, mechanical abrasion and cyclical temperature exposure. In the processing of iron ore pellets, it is typical to use a traveling grate preheater or a straight grate furnace to heat the pellets. Both machines have a conveyor that is mainly comprised of high temperature stainless steel castings. It is these castings which are the focus of this study. The expected life of these castings can be quite short, their cost quite high and the effort to replace them very labor intensive. The goal of this study was to gain a better understanding of the failure modes of these castings. With that basic understanding, modifications to the alloy content could be made to achieve a new operational paradigm. That paradigm could be a cheaper casting, a longer lasting casting or a casting tailored to special operating conditions (for example, highly corrosive gases or sudden temperature shocks). Over the past 4 years, Metso Minerals has sought to achieve a better understanding of the failure modes through modeling, laboratory testing and sampling of used castings from various end-users. In addition, we have tested new alloys in a laboratory setting and also in the field to see how they would perform compared to the existing ""standard casting"". Our testing has revealed interesting data concerning the impact toughness, sigma phase content and formation, chloride attack and other performance attributes of various grades of stainless steel when exposed to cyclical temperatures. Interesting results were also obtained concerning the addition of rare earth elements (Niobium, Boron, etc), nitrogen and manganese to a typical ASTM A297 grade of stainless steel. To date, a few hundred test castings have been installed in iron ore pellet plants worldwide. Many of these test castings have already experienced a year or more of operation with good results.INTRODUCTION Cast stainless steels (ASTM A297 and similar) are a main constituent used in the construction of iron ore pelletizing equipment. A typical straight grate pelletizing machine would contain upwards of 160,000lbs of ASTM A297 Grade HH castings. With a typical casting lasting only two to four years, and a casting costing around $35USD, it is easy to see that the castings are a main contributor to the overall cost of producing the pellets. Grade HH and HI (see chemical composition listed below) became the “go to” materials in the 1960’s and very few changes have been made to this day (the exception being plants that switched to flux pellet production in the 1980’s)."

Jan 1, 2015

By J. van der Walt

The Meikle Mine is located in the northeastern part of Nevada in the gold-rich Carlin Trend. First discovered in 1989, Meikle is being developed into a 2.2-kt/d (2,500-stpd) underground mine that will open during the second half of 1996. Work has already been completed on the mine’s cooling plant, a necessary item due to the high rock temperature and the hot ground water. In North American mines, there has been little need for refrigerated cooling. Therefore, Barrick needed to draw on experience from elsewhere in the world — particularly South Africa — to meet these requirements. The history of cooling mines using mechanical refrigeration dates back to the 1920s at Morro Velho in Brazil and 1936 at Ooregum in India (Dobson,1940 and Biccard, 1946). From 1940 to 1960, several cooling plants were installed on the deep level gold mines on the Witwatersrand in South Africa. These were followed by similar installations on the mines in the Klerksdorp, Welkom, Evander, Rustenburg and Thabazimbi areas. The first mine cooling plant in Germany was built during 1976.

Jan 1, 1996

By James Donald Forrester

JAMES DONALD FORRESTER 32.1-EXAMINATIONS The field examination of a mineral deposit or mining enterprise requires a comprehensive effort to determine all natural and man-made factors bearing upon the problem to be resolved by the investigation. Therefore, the purpose to be served by an examination must be fully understood before the engineer assumes responsibility, and before actual field work starts. A clear understanding facilitates planning the approach to the project for maximum efficiency and thorough acquisition of information. It follows, of course, that the engineer has the necessary knowledge and experience to discharge satisfactorily the professional obligations attending the project. Some studies are in herently more complex than others, and the requirements of the problem are not always the same. Some examinations require the detailed investigation of large operating or nonoperating mines or, possibly, of mining districts; others involve more or less reconnaissance studies; and still others rela¬tively small undeveloped mineral occurrences. Likewise, the primary objective of some analyses may be the evaluation of a mineral deposit or a mining property, whereas in other projects the major objective may be guiding mining or drilling work in the discovery of new or hidden ore bodies and mineral-bearing structures. Thus, the possible range of any given examination may extend in varying degree through one, or more, of the following types of procedures: 32.1.1--GEOGRAPHIC ENVIRONMENT Studies of geographic environment should be made to ascertain the general physical situation in the area under consideration and to identify those correlative factors hearing on the, findings resulting from the field examination. This commonly will include determinations of: A. Location of the field area with respect to the state and county in which it occurs and, if feasible, a record of the township, range and section with reference to the principal meridian, and base line (or lines) that apply. For examinations in foreign countries, or in regions outside the continental United States, it is desirable that the field locality, in each instance, be identified with reference to the boundaries of some form of political entity essentially comparable in character to the divisions used in the United States. B. Distances from existing communities and related service centers, via: 1. Roads, both improved and unimproved. 2. Railroads. 3. Navigable waterways. 4. Airports. C. Topographic relief as it will influence the selection of 1. Pit site or positions of underground mine portals or shaft sites, including dump areas. 2. Mill site, including tailings disposal area.

Jan 1, 1973

By James H. Allen

The air lift method of pumping water is discussed. A review of several large diameter hole drilling projects that used reverse circulation air lift techniques is presented. Proposals are made for reverse circulation flow rates for slow rates of bit penetration (5 fph) as well as reverse circulation flow rates for faster rates of bit penetration (10 fph). The Ingersoll- Rand air lift equations are modified for rotary drilling operations. By establishing minimum reverse circulation flow rates and utilizing the modified air lift equations, the establishment of minimum circulation equipment sizes and a more definitive requirement for improved bit body design should result.

Jan 1, 1976

By Peter Riba

Up until ten years ago the industry had arrived at a relatively conventional, and consistent design of coke ovens. Through the years the designers and builders were not being heavily taxed to come up with revolutionary new designs. However, the stimulus for design change was ever present. These stimuli for change are quite important and they are the driving force which produce improvements. The most obvious stimulus to change a design is commercial. To "build a better mouse trap and the world will beat a path to your door" is the well used cliche which best befits this philosophy. As in all businesses, coke oven designs require that all of the considerations, which affect the cost or the desirability of the design, be optimized. One way to increase the desirability of the particular design, 1s to make the design in- expensive to operate. Or, put another way, to increase production for the same operating cost

Jan 1, 1980

By Mike Perkins

The Summitville Au-Ag-Cu district in the southeastern part of the San Juan volcanic field has been a major gold producer in Colorado. Mineralization is hosted by the composite South Mountain quartz latite porphyry volcanic dome, which is believed to have been localized by the intersection of the northwest margin of the Platoro-Summitville caldera complex and the northwest-trending Platoro fracture zone. K-Ar age dates indicate that alteration and mineralization were nearly contemporaneous with emplacement of the dome at 23-20 m.y. ago, 6-7 m.y. after collapse of the Platoroo-Summitville caldera complex. The dome consists of at least four major phases including strongly altered quartz latite porphyry; a late-mineral, coarse-grained sanidine quartz latite porphyry; and postmineral quartz latite dikes. The dome was emplaced into intracaldera rhyodacite and andesite. Gold-silver-copper mineralization is concentrated near the top of the dome and is associated with pods, pipes and steeply dipping tabular zones of silicification and advanced argillic alteration. Alteration is zoned outwards from the center of mineralization through argillically and propylitically altered rocks, and is largely confined to the area of the dome. Trace element geochemical patterns for the deposit indicate a central zone of anomalous As-Au-Pb-Ag and low Mn within an exterior zone of anomalous Ag-Au-Pb-Hg and high Mn. The chief ore mineral is native gold which is associated with goethitic iron oxide in the oxide zone. In the sulfide zone, native gold is associated with copper sulfide-sulfosalt mineralization. A genetic model for the Summitville deposit is based on recent models of modern geothermal systems, with which it shows similarities in alteration, ore mineralogy, zoning, and structural patterns.

Jan 1, 2013

By W. Burr Bennett

The prestressed concrete industry in particular, and the precast concrete industry to some extent, are rank newcomers to the concrete construction field compared to the cement, ready-mixed or concrete masonry industries. This young industry reflects its youth and vigor in its enthusiasm, optimism and the belief that it can reach any goal it chooses to set -- and it is setting its sights high. The prestressed and precast concrete industry fully expects to become the major structural and architectural material by the 1980's. Before exploring how the industry expects to reach this goal, a brief look at the origins and the growth of the industry may be useful in an evaluation of the feasibility of this goal. It was always recognized that concrete, strong and efficient for supporting loads which cause compression, was weak and inefficient when used to carry loads which induce tension. Thus the reason for reinforced concrete in which the concrete efficiently carries the compression in a flexural member while low grade steel bars reinforce the concrete in the areas 'of tensile stress. (Fig. 1). The steel being relatively inexpensive, can passively, but quite effectively carry tensile force while the concrete carries compression. The concrete in contact with the reinforcing also protects the steel from corrosion and acts as insulation to provide a superior "built-in" fire resistance. The major disadvantage of reinforced concrete relative to its main competitor, steel, is its weight in relation to its load-carrying capacity. Reinforced concrete systems, such as waffle slabs, I-beams, thin shells, etc. ,

Jan 1, 1971

By Greg Beckstrom

On Oct. 1-3, SME?s Twin Cities chapter (SME TC), in cooperation with the University of Minnesota ? Duluth?s Precambrian Research Center (UMD-PRC), cohosted a symposium on silica sand mining and processing. The conference was held at the Earle Brown Heritage Center near Minneapolis. The symposium was followed by a day-long field trip to operating mines, processing plants and loading facilities located in southwestern Wisconsin. Speakers and attendees at the symposium included university professors, industry experts, regulators, mining company representatives, equipment suppliers, consulting engineers and service companies. Approximately 320 people attended the conference. In addition, about 50 people who oppose mine development and the oil and gas industry showed up to voice their displeasure with the event and those companies that operate in this space.

Jan 1, 2012

By George C. Toland

Most existing impoundment ponds and dams leak effluent into the soil or rock upon which they are constructed. However, proposed environmental legislation will require very stringent control on the release of toxic effluents such as cyanide. More exacting investigation, design, and construction techniques than have been used in the past will be required to satisfy these new regulations. This paper discusses the types of field and laboratory investigations required to develop the data for the design of an impoundment system containing toxic effluent, and discusses in detail technical considerations necessary to design this system. Design topics include reservoir sealing with natural and man-made materials; embankment sealing; embankment design considering stability, surface hydrology, capacity, and downstream catchment basins; and special implications of cyanide effluents.

Jan 1, 1975

By Yuting Xue

Classification of rock and coal is one preliminary problem for fully automated or intelligent mining. It assists in automated rib stability analysis and enables the shearer to adjust the drums without human intervention. This paper studies the classification of rock from coal on rib images using machine learning techniques. A database of rock and coal images was created by filtering photographs taken by NIOSH researchers during site visits. Machine learning was conducted on patches, smaller images randomly extracted from each rock or coal image. After training, the classifier was validated with the testing dataset and achieved an accuracy score of 0.9.

Jan 13, 2022

Automation and robotics are the keys to new intelligent autonomous mining systems which can remove operators from the hazardous and stressful mining environment and provide the tools for greater productivity. This pa-per presents the components necessary for a mining Intelligent Task Control System (ITCS) in dynamic unstructured mining environments. The proposed concept is applied to develop the ITCS for an autonomous excavator. The design and implementation of a fuzzy logic controller for an excavator that uses force/torque sensor feedback to complete excavation tasks is presented. Initial experimental results are also given.

Jan 1, 1994