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By K. Baris

Methane (CH4) present in coal seams, generally known as Coalbed Methane (CBM), Coal Mine Methane (CMM) or Coal Seam Gas (CSG), is a major energy source, as it is the primary constituent of natural gas. At the same time, released methane is a potent greenhouse gas (GHG) and a major safety hazard in underground mining operations. Therefore, a considerable effort has been undertaken to develop coal bed methane extraction and utilization technologies that can achieve both environmental and safety benefits. Countries with significant coal reserves and gassy seams, i.e., USA, Australia, Canada, China, India, Poland and Germany have developed mature methodologies and practices to extract, before and during mining, and utilize significant amounts of methane from coal seams. Nevertheless, on a global scale, methane recovery remains untested and many technical and economic challenges require urgent attention. The research presented in this paper, sponsored by the United States Environmental Protection Agency (EPA), is focused on the Zonguldak Basin, the only hard coal region in Turkey. The basin is known to contain very gassy coal seams and consists of three major regions: Armutcuk, Zonguldak and Amasra. Among the three, the Amasra coalfield is considered as the most favorable for CBM recovery, as it comprises of deeper coal seams and where a private company, Hema Enerji A.S. (Hema) is already developing coalbed methane production facilities. This study aims at developing a reservoir model to predict the potential CBM recovery from the CBM-2 well, the only producing CBM well drilled by HEMA Enerji A.S in the Amasra coalfield. History matching was utilized to model the 15-day production data and uncertainty analysis was performed to estimate the optimum values for the reservoir parameters. The produced model yielded an average production rate of 143 m3/day for 10 years. The total amount of CH4 to be produced during this period was 0.53 million m3. Furthermore, the total amount of GHG to be avoided was estimated at 6585 tCO2e.

Aug 1, 2013

By A. Grimod

The European Guideline ETAG 027 - 2008 (?Guideline for European Technical Approval of Falling Rock Protection Kits?) defines the procedures to test rock fall barriers. Nowadays, this guideline is essentially the only test and construction framework utilized by manufacturers and it is also starting to enter in the mentality of designer who can clearly specify the performances of rockfall barriers. ETAG 27 (and the related European Technical Approval and the CE marking) represents a milestone for the rockfall barrier market, because it gives the possibility to compare the performances of different fences and it ensures the quality of the certified product. For these reasons ETAG 27 presently constitutes the base for tenders all around the world. Although rockfall barriers are in common use, designers and consultants do not have a clear overview of the real performances and the technological limits of these structures. The first problem can be solved using ETAG 27 criteria, which allow designing rockfall barriers at ultimate and serviceability limit state. Even though ETAG 27 uses crash tests performed with the Service Energy Level (SEL) and Maximum Energy Level (MEL), design with these concepts is not obvious or in common acceptance. Some preliminary questions must be solved. When can these energy levels be correctly applied? In the case of rockfall simulations, what probabilistic approach must be used for the evaluation of the barrier? Unfortunately ETAG 27 does not give any information or tests relating to the technological limits of the fences. Therefore some important questions arise. How do the site specific aspects of installation affect the barrier performance? What is the behaviour of the barriers under extreme conditions? And finally, the main question lies in the background: what is the functional reliability of ETAG 27? All of the above questions require comprehensive answers, which is consistent with the experience of designers, installers and producers. Officine Maccaferri S.p.A., with its 130 year experience in the field of rockfall protection, collected a large number of case histories with barriers impacted by single or multiple blocks, debris flows, and snow avalanches. Throughout these case histories and in accordance with a recent Italian standard code, it has been possible to implement a reasonable design approach that considers the efficiency of the barrier, the uncertainties of the input data, and the fore

Aug 1, 2013

The University of New South Wales (UNSW) has been a world leader in the development of innovative virtual reality technologies over the last 10 to 15 years. These developments have included developing the world?s first 360° surround, virtual reality (VR), stereo projection theatre system known as AVIE (Advanced Visualisation and Interactive Environment), which was developed by iCinema, a collaborative venture between the UNSW Faculties of Engineering and College of Fine Arts. The UNSW School of Mining Engineering has been responsible for development of mining applications virtual reality software modules and to date, has developed eighteen different mine safety training and mining engineering education modules which run in the AVIE environment. This platform and technology package provides a unique ?immersive environment? experience for groups of trainees or students who can engage with the simulated environment in the complete safety of the virtual reality theatre. In all of the major international mining industries, safety is of paramount importance, and training of personnel is an essential component of any comprehensive proactive safety management system. All personnel need to be aware of the inevitable hazards around them at all times, as well as understand appropriate safety and operational procedures. This can be done by conventional class-room style training sessions, or by provision of training documentation. However the effectiveness of such systems is often very limited due to the inability of trainers to engage with the audience for a lengthy period of time; or to convey the often complex and variable mining environments and situations which can exist in a typical mine. The ability to immerse the trainees in a virtual mine environment, with all the reality of an actual mine but with none of the physical exposure to actual hazards, provides a far more effective and engaging training experience. Furthermore, in the virtual world, trainees can be exposed to the very unlikely, but nevertheless high consequence hazards such as mine fires, falls of ground or outbursts, without any risk to their safety and well-being. The end result is that trainees will be far more engaged with the learning environment they find themselves in, and will develop a far higher level of understanding of the topics, rather than simply experiencing a passive class-room style learning environment offered by conventional training modes. The UNSW systems have been implemented widely within the Australian mining industry and the mining engineering education sector and are now being adopted internationally. This paper presents an overview of the innovative technologies involved in these virtual reality systems ? as applied to the mining industry. Modules developed for both mineworker training and mining engineering student learning will be presented, to illustrate the effectiveness and value of such a training and education approach.

Aug 1, 2013

By Mosquera. J.

Tailings Storage Facilities (TSFs) are vast structures that respond to site-specific characteristics, rate of production, placement techniques, and the physical and mechanical properties of tailings. As a common denominator, TSFs are in some degree vulnerable to failure due to liquefaction, poor management, slope instability and/or unusual climatic events. In practice, stability of TSFS is determined by calculating a minimum Factor of Safety (FOS) using the Limit Equilibrium Method (LEM). However, it has been proven that relying exclusively on the limit equilibrium approach is not accurate because it is basically a static method that does not take into account the stress-strain distribution and displacement experienced by the constitutive materials of a TSF. In order to overcome these limitations of the LEM, the finite element method - Shear Reduction Technique (SRT) has been used as a more reliable tool for TSFs stability assessment. This paper presents a comparative stability analysis between an upstream tailings storage facility (UTSF), and a water retention tailings dam (WRTD) under static and pseudo-static states using simplified and rigorous LEMs and the SRT. Additionally, and taking into consideration the intrinsic uncertainty of tailings properties, sensitivity and probabilistic analyses in the form of Monte Carlo Simulation (MCS) and the Point Estimate Method (PEM) are applied to determine the Probability of Failure (Pf) and Reliability Index (ß) of each TSF. It is shown that the friction angle of UTSF?s foundation and the core?s cohesion of the WRTD are the main variables that govern stability. Further analysis shows that the WRTD has a higher reliability index and a lower probability of failure than the UTSF.

Aug 1, 2013

By Nehad Elsafty

It is always necessary to expand existing buildings, so that they could meet the growing societal needs. Compared with demolishing them and then constructing new ones, the expansion of existing buildings could not only reduce project cost, but also save the use of energy and raw materials in projects. Therefore, it is widely adopted in most under-developed countries. However, the expansion of existing buildings is not an easy task. It has been involved with a lot of issues in defining the scope of work, planning landscape, managing construction activities, etc. This paper investigates the potential challenges in expanding existing buildings. The project of expanding the Al-Agoza Hospital, one of the biggest and oldest hospitals in Cairo, Egypt, is selected as a case study. In the case study, the project documents have been carefully reviewed. The project engineers and the health-care professionals working in the hospital have been interviewed. This way, the point of views from the owner, the architect/engineer, and the contractor have been taken into account. Several lessons are learned through the discussion with these people. The results from this paper are expected to provide pieces of useful advice and suggestion for the expansion of existing buildings in the future.

Aug 1, 2013

By Wojciech Naworyta

The development of the Gubin lignite deposit, located in western Poland is the first mining investment of this magnitude in 30 years. Gubin is the second largest prospective lignite deposit in Poland, with over one billion tonnes of indicated reserves, which would be sufficient for a 2700 MW power plant for almost 50 years. The paper presents select problems related to the mining development of Gubin deposit. Attention has been paid to changes in legal and formal requirements for mining investments that were introduced after the change of Polish social and economic system. The significance of spatial, environmental and social conditionings has been emphasized. Typical attributes of the mine planning process have also been presented. Those include the long time horizon of the investment, uncertainty of external conditions and resulting difficulties in the project?s economic evaluation. Focus has been placed on mutual connections between particular elements of the project and time dependence during the process of their development. Iterative characteristics of the design process have been proven, together with resulting necessity of frequent verification of previous assumptions. As a background for presenting selected problems related to future development of Gubin lignite deposit, the methods of design have been discussed ? the variants method, the empirical method and the method of consecutive approximations. The tools and the possibilities of their use for solving specific problems related to mine design of an open pit have been broadly discussed. The chapter in which the authors relate to the specific problems of Gubin deposit development constitutes the main part of the paper. It depicts the assumptions on which the annual production and the total extraction of lignite during life-of-mine period have been based. The process of mine designing has been discussed, taking into consideration environmental, geotechnical, spatial, social and mining conditions. The criteria for choosing the location of the opening cut and the external dump have been mentioned. In the summary, the present state of mine design progress has been presented, together with some problems that will need to be solved during the next stages of the deposit?s development.

Aug 1, 2013

By F. Bosché

Previous research has shown that ?Scan-vs-BIM? systems are powerful to provide valuable information for tracking structural works (progress, quality, safety). However, the transferability of this capability to other construction areas such as MEP works has not been assessed so far. Comparatively, the construction of MEP systems, in particular pipes and ducts, tends to be more flexible with respect to the positioning of individual components, so that Scan-vs-BIM systems could be defeated when tracking MEP installation works. This paper presents recent results on the feasibility and performance of using a Scan-vs- BIM system to track MEP works. The approach followed is presented and then tested with two real-life challenging case studies were conducted simultaneously but totally independently in Canada and Italy. The results show that, as expected, pipes and ducts tend to be more loosely positioned than structural elements leading to a poorer performance of the Scan-vs-BIM system. Nonetheless, it appears that the system works well to assess the level of conformance of site installation works, providing valuable information for estimating emerging performance metrics like ?percent built as-designed?. In addition, the proposed system could also be useful to accelerate and thus reduce the cost of delivering as-built BIM models for in the case of new builds.

Aug 1, 2013

By X. Gu

Mining operations, especially surface coal mines, have great impacts on the local ecosystem and the environment. However, it has been a common practice in mine design that the economic evaluation considers only the operating and capital costs, while the costs incurred due to ecological damage are left out. Such practice underestimates the total cost of mining and ignores the difference in ecological impacts between different mine design alternatives. With growing interest in sustainable development, the mining industry is under increasing pressure to operate not only based on economic and engineering principles but also on principles of sustainability. Therefore, estimating ecological costs of mining and considering such costs in the mine design process is an important step towards reducing ecological impacts at the design stage. The objective of this paper is to quantify the ecological costs of open pit coal mining and to demonstrate the influence of such costs on the ultimate pit design. The ecological costs of mining are estimated based on the areas and types of land damaged by mining activities and the carbon emission from energy consumption. Four major components of ecological cost are identified, namely, lost value of direct eco-services, lost value of indirect eco-services, prevention and restoration costs, and the cost of carbon emission from energy consumption. Necessary equations are given for estimating these costs. An algorithm is described for ultimate pit optimization in coal deposits with near-horizontal coal seams. A case study is presented in which the ultimate pits with and without ecological costs are optimized and compared to show the influence of ecological costs on the pit design outcome.

Aug 1, 2013

By Yoginder P. Chugh

This paper discusses design of sprays systems for dust control around a continuous miner (CM) in about 4.2 m (14 ft.) high mining areas with about 1.0 m to 2.0 m (3-6 ft.) of out-of-seam dilution mining. The challenges included low air volumes and velocity at the end of the line curtain, dust produced from out-of-seam dilution rock being very fine with 50% of the particles less than 10 micron, poor capture of aerosol through scrubber suction inlets, dust escaping through the sides of the loading pan in mining high areas, overloading of dust-laden air in the wet-scrubber, and dust rollback toward workers. The challenges were resolved through CFD modeling of airflows; improved line curtain installation, redesign and varying the spatial locations of spray systems as compared to low mining height areas. Water sprays on CM is the primary engineering control for dust control in coal mining. In 2010, the authors developed several spray system concepts for dust control (Chugh, Patwardhan, Gurley, & Hirschi (2009), Chugh & Gurley (2009), Chugh 2012). These included increased contact time between dust particles and water droplets, improved potential for the dust aerosol to be sucked in through suction inlets, and reduced dust-roll back to the operators and workers. CFD modeling was used to understand airflow patterns around mining areas and to identify spatial locations for sprays to minimize dust exposure of CM operator (CMO), haulage unit operator (HUO), and workers downwind of the operating CM in the last open crosscut (LOXC). Face area ventilation plays a key role in dilution and removal of dust generated by mining operations. High mining heights and large pillar sizes associated with longwall mining reduce the air volume reaching the face area to achieve good dust dilution.

Aug 1, 2013

By J. A. Dubinski

One of the greatest threats of mining in hard coal mines are underground fires, which in the past often resulted in the mining disasters. Implementation of scientific principles of fire fighting into practice contributed to a significant reduction of fire hazard in coal mines. However, despite numerous achievements of science in the fight against the underground fires, they still occur creating a potential hazard for the miners and contributing to generate significant costs of fire-fighting operations, the temporary suspension of production or loss of longwalls. This concerns both spontaneous fires and exogenous ones. A significant decrease in the number of spontaneous fires was the result of cooperation between Polish scientists with experts in the field of new methods of fire hazard prediction and selection of new fire prevention and fire hazard monitoring methods. A significant part played here researchers from the Central Mining Institute. The original method of endogenous fire risk assessment based on calorimetric tests of coal and developed mathematical model of the process of coal self-heating allow to predict the risk of spontaneous fires and select proper fire prevention measures adequate to the involved risk. The frequency of exogenous fires is in the last few years is low, but their share in the total number of fires is relatively high and constitutes about 30%. This results from the prevention activities, carried out regularly in mines which are aimed at reducing the fire hazard connected with the use of fire-resistant conveyor belts and other non-metallic materials. Further directions to reduce the hazards connected with underground fires should focus on improving the methods for monitoring hazards together with automation of fire fighting operations.

Aug 1, 2013

By J. Ga?parík

The optimal selection of machine or machine group for building processes is very important role of building planner during the process of building planning. During this process building planner have to analyze several factors influencing the final effective decision concerning this problem. There are several factors and criteria for effective selection of building machines. In our contribution there are analyzed: ability of machines to realize designed building process (quality aspect), duration of mechanized process (time aspect) and minimizing of energy consumption (cost and environmental aspect). Selected scientific methods and theories of problem solution can be divided into these groups: theory of system (creation of building machine selection method), multi-criteria optimizing method (analysis of mechanized building process from the point of more optimal criteria), queuing theory (application during the mathematical modeling of mechanized soil processes), method of scientific analysis (analysis of factors influencing final decisions), method of scientific synthesis (creation of optimizing method implemented into building processes and possible application in construction sector). Multi-criteria optimizing method were during our research work implemented into soil processes and selected building group machines (excavators and trucks), which are very often used in construction and mining processes. This method can be considered as a multi-level decision making process based on multiple parameters. In our contribution is presented key mathematical models for model example solution and software built in Java, which has been created as a support for method described in this contribution. Application of this method and software will increase the effectiveness of building machine selection from the point of key criteria of optimizing: quality, time and energy consumption.

Aug 1, 2013

By Silvio E. Kruger

Real time measurement of wear and corrosion provides crucial information needed to determine an optimal schedule for corrective maintenance and is a powerful tool to maximise equipment availability and reliability. It also leads to savings from optimized spare parts handling and helps to avoid costs of accidents and their negative impact on safety and the environment. This paper presents the technology of ?painted-on? ultrasonic transducers that can be integrated to structures and accurately measure the remaining thickness and therefore determine wear or corrosion losses. These transducers have a small footprint, a performance comparable to other commercially available ultrasonic transducers and can sustain temperatures as high as 400ºC. The application of this technology to mining equipments and its potential benefits are discussed.

Aug 1, 2013

By S. Aram

Product Lifecycle Management (PLM) solutions have been serving as the basis for collaborative product definition, manufacturing, and service management in many industries. They capture and provide access to product and process information and preserve integrity of information throughout the lifecycle of a product. Efficient growth in the role of Building Information Modeling (BIM) can benefit vastly from unifying solutions to acquire, manage and make use of information and processes from various project and enterprise level systems, selectively adapting functionality from PLM systems. However, there are important differences between PLM?s target industries and the Architecture, Engineering, and Construction (AEC) industry characteristics that require modification and tailoring of some aspects of current PLM technology. In this study we examine the fundamental PLM functionalities that create synergy with the BIM-enabled AEC industry. We propose a conceptual model for the information flow and integration between BIM and PLM systems. Finally, we explore the differences between the AEC industry and traditional scope of service for PLM solutions.

Aug 1, 2013

A series of field and laboratory evaluations were conducted in order to characterize the effects of a Mann+Hummel SMF-AR® diesel particulate filter (DPF) system on the aerosols and criteria gases emitted by diesel engines. This system, with a durable sintered metal filter media and available active regeneration via an on-board electrical heater, has been considered for retrofitting diesel engines used in light- and medium-duty underground mining applications. Two DPF systems were installed on a forklift and locomotive from the underground mining fleet of the Vale?s Creighton Mine and evaluated over a 1,500-hour trial. This evaluation was complemented with field and laboratory emissions tests. The field tests were performed on the vehicles while at the Creighton Mine surface shop. During those tests, the emissions were assessed for the engines operated at hydraulic stall, high idle, and low idle conditions. The laboratory tests were executed at the diesel engine emissions laboratory at the National Institute for Occupational Safety and Health (NIOSH), here the DPF removed from the forklift was further evaluated at four steady-state engine operating conditions as well as at transient conditions using a custom-designed duty cycle. Very similar methodologies were used during field and laboratory tests to measure concentrations of aerosols and criteria gases in the diesel exhaust, both upstream and downstream of the DPF system. The concentrations and size distributions of aerosols were measured using a fast mobility particle sizer spectrometer, in exhaust diluted by a partial flow dilution system. The concentrations of CO2, CO, NO, and NO2 were measured in the raw exhaust using a Fourier transform infra-red spectrometer. Both field and laboratory emissions tests showed that the evaluated DPF systems were very effective in reducing aerosol emissions from all tested engines, and for all test conditions. The systems were found to have minor effects on gaseous emissions from those engines. The findings from this study should help the mining industry to better understand the benefits and challenges of using DPF systems to control the exposure of underground miners to diesel aerosols.

Aug 1, 2013

By D. B. Johnson

Acidic, metal-rich waters generated at working metal mines and abandoned mine sites are generally considered to be major pollutants of the environment. However, the metals they contain often have significant value of their own, or as sources of useful mineral products. We have developed novel bioreactor systems that facilitate the selective recovery of various transition metals (e.g. copper, zinc and iron) as defined minerals that can be recovered and recycled. The bioreactors use novel species of acidophilic bacteria. Ferrous iron is oxidised by Ferrovum myxofaciens, a specialist bacterium that forms large amounts of exopolymers and grows as filamentous streamers in flowing mine waters, and the ferric iron generated is precipitated as the mineral schwertmannite, a small proportion of which is used to remove any arsenic present in mine water. Copper and zinc are precipitated as sulphides using H2S generated by consortia of acidophilic and acid-tolerant sulphate-reducing bacteria in a continuous flow, on-line low pH bioreactor. Transition metal sulfides can be segregated by precipitating them, either on-line or off-line, at different pH values. The modular units that have been developed can be configured to treat mine waters of different chemistries. A hypothetical acidic (pH 2.5) mine water stream containing 500 mg/L iron, 100 mg/L of copper and zinc, 50 mg/L of aluminum and manganese, 2 mg/L of arsenate, and discharged at a rate of 10 L/s, is used as an example of the potential application of the mineral-generating bioreactors. The environmental benefits and economic implications of considering mine waters as resources rather than wastes are discussed.

Aug 1, 2013

By Jürgen Kretschmann

The Islamic Republic of Iran is a very important producer of raw materials in the world. The country holds 68 types of minerals, including salt, sand and gravel, chrome, lead, zinc, copper, coal, gold, and iron-ore. With more than 37 billion tons of measured and indicated reserves and 55 billion tons of total mineral resources, Iran is ranked among the 15 major mineral-rich countries. Sangan iron-ore mines (SIOM) is one of the biggest iron ore mining complexes in Iran, located in a remote, but strategically important area near the Afghanistan border. The Iranian government has planned several mining projects in this region for a stepwise development over the next 5 years to satisfy the growing demand of the Iranian steel industry. In cooperation with private companies, these projects shall be realized as sustainable as possible. This paper introduces SIOM and describes socially responsible activities undertaken during the initial development of this mining complex. The effects of these activities will be demonstrated. Unique attributes of the Sangan area have a significant impact on the acceptance of SIOM by regional stakeholders. The government has made several social investments that benefit workers´ families and the community. They are attempts to build social capital for the mining operations and demonstrate a commitment for socially responsible mining to the communities and the local population. They aim to create a balance between the local and regional expectations and requirements and the necessity to secure the corporate profitability at a reasonable and sustainable level. Investment in socially responsible activities is not a choice but a necessity to improve the relations between mining companies and stakeholders in the communities. It is recommended that social investments should be carefully planned and implemented from the early stages of mining activities, and should proceed throughout the life cycle of the mines.

Aug 1, 2013

By Min-Yuan Cheng

Landslides not only cause interruption of road traffic but also cause damage to passing by vehicles and injure people in Taiwan. Due to the budget limitation of government, the overall assessments and maintenance of all road slops cannot be fulfilled. Priority of road for maintenance is a crucial task for road maintenance department to identify. The purposes of this research are to develop an assessment method for the landslide risk and to make strategies to maintain or repair the slopes along mountain roads. To aim both needs to take into account the environmental conditions of the slopes, the engineering measures for stabilizing road slopes, the transportation issues, and the human concerns when dealing with the slopes maintenance along the mountain roads. This study firstly establishes the Landslides Damage Risk Evaluation Model (LDREM) to calculate the risk of slope failure, considering the probability of landslides, temporal probability, spatial impact probability, the value of human life, transportation time increased, and travel cost due to detour etc., and then the loss of life and transportation can be calculated. Secondly, based on the value of risk and the risk evaluation, considering the risk acceptance criteria for loss of life could provide assistance for road maintenance department to determine the priority of mountain roads for maintenance.

Aug 1, 2013

By Magdy Ibrahim

This paper presents experimental design and development of a low-cost remote sensing hardware designed to support automated site data acquisition for near real-time progress reporting of construction operations. The developed hardware utilizes open source microcontroller equipped with multiple sensors that include 3D accelerometer, GPS, Data logger and Bluetooth. The use of open source microcontroller makes the developed design cost effective; freeing it from the need for costly license fees. Its platform configuration is flexible; enabling the addition of temperature, weight and other sensors, Wi-Fi and Xbee capabilities to suit individual field applications. Pilot tests have been carried out in laboratory and outdoor environments. The results prove effectiveness and robustness of the developed configuration. The paper provides description of the individual components used in the development of this prototype hardware. It also describes the technical characteristics, capabilities and limitations of the developed hardware. The findings of comparison with alternative technologies used for outdoor tracking of construction operations are presented. The comparison is carried out with respect to range, cost and suitability for outdoor environment. The developed hardware is expected to support a wide range of applications including tracking of earthmoving operations, highway construction and onsite resources. As well, it is expected to enhance safety on construction jobsites.

Aug 1, 2013

By S. Kapusniak

Specialist Machine Developments (SMD) is a design and manufacturing company involved in the design of Remotely Operated Vehicles (ROV?s), ploughs, trenchers and mining machines for use in submerged environments. Established in 1971, the company has made over 500 vehicles for subsea use. These range in size from small remotely operated swimming vehicles with a weight of less than a tonne to heavy duty seabed crawling machines with a weight of up to 310 tonnes (in air). Primarily, these machines have been designed for offshore vessel-based applications, but the machines are equally suited to other submerged mining applications onshore. Many onshore deposits can technically and theoretically be mined using currently available submerged mining ROV technology. Similar equipment to that in use subsea could easily be fast-tracked into use to extend the life of opencast mines facing severe hydrological problems. It could also easily be used to mine vertical ore-bodies where the stripping ratio has become uneconomical due to increasing depth. In some cases mining ROVs could even be suitable for use as the primary extraction method for a new mine. Exploration and extraction techniques used in oil and gas gradually developed and moved from land to offshore in the middle of the last century. Are we about to witness a similar shift with other minerals? This paper describes the design concepts of submerged mining equipment, targetted subsea mineral deposits, the suitability of submerged mining ROVs for onshore deposits, limits to their application and parallel research and development activities which will help to accelerate the use of such equipment in the emerging submerged mining sector.

Aug 1, 2013

By D. Holz

In this work we present a novel level set-based model for the real-time simulation of soil deformations. A level set defined by a signed distance function and sampled in a regular 3D grid represents and tracks the soil volume under deformation. Moving away from classical 2.5D heightfield representations of soil to a full 3D volume representation allows for improved tracking of cutting tool operations and the simulation of near-vertical or vertical soil faces. The proposed level set representation furthermore provides a versatile mathematical platform for modeling additional effects such as soil slip, and does not suffer from the sampling limitations of commonly used heightfields. Cutting forces applied to the tool are simulated via a formulation based on the Fundamental Equation of Earthmoving, modified to support inclined soil surfaces and transient states of tool motion. Discretisation of this 2D cutting force model with respect to the tool surface allows capturing the effects of irregular 3D terrain shapes on blades and buckets. The surcharge created during cutting operations is tracked in the form of particles and included in the soil failure force computation. We make use of an adaptive, hybrid level set-based and particle-based soil deformation scheme, which allows the soil deformation to be simulated in real-time.

Aug 1, 2013