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Ten years ago, only 3% of Consol's underground coal production resulted from using the longwall mining method. Today, that figure has grown to 45% and has helped the Pittsburgh-based concern fuel an upswing in productivity. The company reported that productivity at its underground mines, excluding labor strike periods, increased 24% between 1978 and 1981. Last year, an additional 8% increase was achieved. Efforts such as improved safety, training, engineering, and maintenance programs as well as the closing of unproductive mines has contributed to these gains, according to Joseph M. Richards, Consol's executive vice president of operations. But, Richards adds, a great part of the credit goes to longwall mining. What is Longwall Mining? To fully appreciate the advantages of longwall, one needs an understanding of how mining is done by other methods. For instance, in both conventional and continuous mining, rooms or tunnels are dug in the coal seam. Pillars of coal are left standing to support the roof as mining moves forward in the seam. In conventional mining, a slot is cut in the base of the seam and holes for blasting are drilled. After blasting, the coal is loaded. A more efficient method - continuous mining - uses a machine that combines cutting and loading. Longwall mining, by contrast, works backwards from the end of a panel. Two parallel sets of tunnels (development panels) are cut into a seam with continuous mining machines, then connected with a set of crosscuts at the far end. Min¬ing then proceeds back toward the entrance. Longwall mining employs some very productive machines. Large drum shearers, for example, run on a track along the length of the coal face for some 150-180 m (500-600 ft). The shearers cut the coal which falls onto a conveyor system or pan that also runs the entire length of the face. The longwall crew works under a roof of heavy steel supports called shields. As the coal is removed, shearers, pans, and shields are moved forward by hydraulic rams. The roof is allowed to collapse behind the shields. In addition to increasing production, longwall mining is considered to be safer because the miners work under strong steel shields. New designs have made them more rugged and maintenance free, as well as more stable on soft mine floors. Early roof supports, called chocks, had gaps in the roof canopies. The new roof shields now cover the entire working area and are better able to prevent roof material from falling into the working area, thereby improving safety and productivity. Longwall mining also results in a cleaner product in many mines. If the first layer of rock over the coal seam is thin, it might have to be removed with the coal in a room-and-pillar operation so a

Jan 11, 1983

By E. Farrokh

Estimation of the cutter life and cost is a part of evaluating performance for a hard rock TBM in any project. Various approaches has been proposed for calculation of disc cutter life in various rock types based on machine specifications and rock strength and abrasivity. Cutter change time is a parameter that is used in some of the estimates and is defined as the average time required for changing a cutter on the cutter head and cutter life is the number of cubic meters of excavated rock per each disc cutter. Analysis of cutter life information of several tunnel projects from around the world has revealed that the published models for estimation of cutter consumption require some revisions to offer a more accurate prediction. The preliminary analysis of data shows that the average cutter change time is approximately 66 minutes for different cutter sizes and there is a minimal difference between corresponding cutter change times of the large (e.g. 19 or 20 in) versus smaller cutters (e.g. 15.5 to 17 in). This paper reviews the available and published cutter life data from various projects. It also introduces new models for estimation of cutter life and cutter change time as part of TBM down time and utilization analysis.

Feb 27, 2013

Basic parameters affecting the stability of foams have been studied. We used the thin film pressure balance (TFPB) technique of Scheludko and Exerowa (1959) to measure the surface forces in foam films stabilized with various frothers such as pentanol, octanol, MIBC, and PPG. The results were compared with the froth stabilities measured using the shake tests and the film elasticity calculated using the model developed by Wang and Yoon (2006). It was found that the froth stability is controlled by both film elasticity and surface forces (or disjoining pressure), the relative contributions from each changing with frother concentration and type.

Jan 1, 2006

By K. R. Griffin

Explosions in underground coal mines have been a serious safety concern since the advent of mining; despite significant technological advances, they are still occurring. Parameters such as barometric pressure, geological changes, and changes in ventilation can contribute to an explosion. These factors can be monitored with available and developing technologies to create algorithms that predict when explosions are more likely to occur. This paper reviews current underground atmospheric monitoring systems and related regulations around the world. In addition, suggestions for improvement and implications for explosion prevention are discussed.

Jan 1, 2011

By John F. Beesley

INTRODUCTION This paper discusses the design of the subsurface nuclear waste repository at Yucca Mountain, Nevada; and possible concepts for construction of the subsurface facility. Subsurface construction at Yucca Mountain is planned to last for 20 or more years, and may be accomplished using tunnel boring machines (TBM), drill and blast methods, raise bore machines, and roadheaders. The design of the subsurface facility includes approximately 107 km (66 miles) of tunnels and drifts. The vast majority of the repository will be excavated with TBMs. Design and construction concepts for the subsurface repository discussed in this paper are based on the License Application that was submitted to the U.S. Nuclear Regulatory Commission (NRC) by the U.S. Department of Energy (DOE) on June 3, 2008. The License Application was subsequently docketed by the NRC in September 2008. When a Construction Authorization is received from the NRC, notices to proceed with subsurface construction at Yucca Mountain will be issued by DOE. The Yucca Mountain site is located in the Mojave Desert approximately 150 km (90 miles) northwest of Las Vegas, Nevada. The site is on federal land in southern Nevada and is shown in Figure 1. Yucca Mountain is a ridge of volcanic rocks com-posed primarily of solidified volcanic ash. Previous underground construction work at Yucca Mountain included excavation of two tunnels using two different TBMs. The first tunnel, the Exploratory Studies Facility (ESF), is a 7.62 m (25 ft) diameter tunnel that is 7,877 m (25,843 ft) long and was described by Morris and Hansmire at the Rapid Excavation and Tunneling Conference (RETC) in 1995. The second tunnel, known as the Enhanced Characterization of the Repository Block (ECRB), was a TBM drive of 5.0 m (16 ft, 5 in.) in diameter and 2,681 m (8,796 ft) long. The second tunnel was excavated in 1998 and was described by Fulcher, Eastlund and Copeland at RETC 1999 and is named the East?West Cross Drift in that paper. (These previously excavated tunnels are shown in Figure 2.) In the volcanic rock formation where the vast majority of the planned repository will be con-structed, previous tunneling conditions were generally very good.

By S. Underwood

The tracer gas method of conducting ventilation surveys is a means of determining air quantity in underground mines with knowledge of the concentration of the tracer in the atmosphere and the flow rate at which the tracer is being released. The technique is useful in inaccessible areas of underground mines and areas where traditional point measurement of velocity is not practical. Sulfur hexafluoride (SF6) is the industry standard tracer(Kennedy 1987) used in underground mines because it is safe, stable, and not naturally occurring in the mine environment. The implementation of a second tracer will increase the versatility of the tracer gas technique allowing for simultaneous releases for the study of interrelated ventilation circuits, and for conducting multiple experiments in less time. This paper will detail the selection of perfluoromethylcyclohexane (PMCH) as a novel tracer with sensitivity, physical properties, and analysis characteristics similar to SF6. Methods for the release of liquid PMCH into underground mines will be recommended, and the vulnerabilities of sample loss due to condensation of vapor PMCH will be explored. Finally, the benefits and implications of using PMCH as a second tracer will be discussed.

Jan 1, 2012

By T. M. Barczak

Stoppings are required to resist lateral forces on the face of the structure to control pressure differentials created by ventilating air. The design criteria in other parts of the world, including Australia, exceed this requirement by specifying over pressurization control to as much as 14 kPa (2 psi) in the active sections and 35 kPa (5 psi) in the main ventilating control areas. This is done to provide protection to the mine workers from explosive or air blast events within the mine that can create this over pressurization. The National Institute for Occupational Safety and Health (NIOSH) has been conducting research to develop a new testing protocol for rating mine ventilation stoppings. The premise of this work is that arch-loading conditions more accurately reflects the transverse load capabilities of stoppings in underground coal mines than the freestanding flexural strength test specified in the current Code of Federal Regulations (CFR). This work clearly shows that the transverse load capabilities of dry-stacked, mine ventilation stoppings are dependent upon the material strength of the block and the height and thickness of the wall, none of which are part of the current CFR criteria based on ASTM E-72 specifications. This paper compares the transverse load capabilities of several block materials and wall dimensions commonly used in stopping constructions based upon simulated three-hinge, rigid-arch loading tests of half-wall constructions in the NIOSH Mine Roof Simulator. The results indicate a wide-range of transverse load capacities, ranging from as low as 21 kPa (0.3 psi) to as much as 117 kPa (17 psi) for the conditions evaluated in this study. The current CFR criteria do not distinguish between applications of these stopping designs despite their wide variance in transverse load capabilities, which is not conducive to employing ventilation control strategies that isolate certain sections of the mine to prevent injury to mine workers.

Jan 1, 2009

The propensity of coal spontaneous combustion can be evaluated using various laboratory testing methods such as R70 adiabatic tests, thermal gravimetric analyzer (TGA) and critical self-heating temperature (CSHT) methods. Each of the methods has its unique characteristics and index for classifying the propensity of self-ignition of coals. Accountable relationships among the propensity indices of different methods should be established. Using the newly established R and TGA testing setups in our ventilation laboratory, samples from US coal mines have been collected and tested. 70 The TGA is a relatively new quantitative method. A test can be conducted in a relatively short time. The temperature and weight of the sample can be measured with high precision and then used to determine the activation energy of the coal which is a good indicator for potential of self-heating. Under a specific experimental design, the TGA technique could perform the proximate analysis for determining coal quality parameters (e.g., moisture, volatile matter, fixed carbon and ash content). These parameters can be used in an empirical equation for assessing the potential of coal self-ignition. The trend of activation energies determined using TGA techniques and adiabatic tests are reasonably consistent with each other. As a case study, a comparative analysis of these two methods for determining activation energy was made on coal samples collected from Indiana. The kinetics of the spontaneous combustion mechanism has been explained. If the functional groups of a coal are easier to be activated with a small amount of activation energy at a relatively low temperature, the coal will has a higher potential of self-heating. With the kinetic and coal quality parameters determined by the TGA setup, it has been found that the coal with low potential of self-ignition has low self-heating rate, high activation energy and high minimum self-heating temperature.

Jan 1, 2012

By I. J. Duckworth

Due to improved, stringent safety regulations, many modern road tunnels are statistically safer, per kilometer, than above ground roadways. However, the public perception and reaction in the event of a serious tunnel fire is very different to that associated with a surface incident. Vehicle fires in road and rail tunnels are recognized to represent an immediate and extreme danger to the patrons of those systems. Unlike workers in the mining and civil construction industries, the general public are neither trained nor equipped to fight fires or evacuate under deteriorating smoke conditions. Accordingly, for the majority of modern transportation tunnels the ventilation infrastructure is sized on the requirement to control the combustion products from worst-case fire scenarios and to provide a tenable evacuation route for the tunnel users. It is common for these same emergency ventilation systems to be employed, often in a reduced capacity, for other operating modes such as the dilution of pollutants during congested traffic conditions. This is one of the fundamental differences to mine ventilation, where primary ventilation systems are not typically sized based on fire scenarios. This paper presents an overview of the subject of fires in vehicular tunnels. This includes a brief history of major transportation tunnel fires followed by a discussion on the resulting legislation and standards that govern the design and operation of tunnel emergency ventilation systems. A summary is provided on the common criteria, theory, and design techniques that are employed during tunnel emergency ventilation systems design. Information is provided on fire detection and suppression, with a discussion on the growing acceptance of wet suppression as a means to mitigate major fires in road tunnels worldwide.

Jan 1, 2009

By Harlan L. Kebel

Gypsum, the dihydrate form of calcium sulfate, has a history of usefulness to man dating back several thousand years, and a worldwide industry has been built on the mining and processing of this versatile industrial mineral. However, anhydrite, the other prin¬cipal calcium sulfate mineral, has very limited use, so much so that separate statistics for it are not always kept, but are usually included with those for gypsum. Although often found in close association, the two minerals have important chemical differences in that anhydrite is the anhy¬drous form of calcium sulfate (CaSO4) whereas gypsum is the dihydrate (CaSo4.2H20). These two molecules of combined water result in significant differences in hardness, density, and solubility of the two minerals. Of most importance, however, is the difference in thermal properties wherein gypsum, upon the application of a modest amount of heat, can be converted to the hemihydrate of calcium sulfate (CaSO4 '21H20) or plaster of paris, an intermediate product upon which is based over 90% of the value of all calcium sulfate end products. Anhydrite, on the other hand, is inert at these temperatures and its uses have been limited to only those few cases where calcium sulfate in the anhydrous form may have an advan¬tage. The earliest known use of gypsum plaster dates back some 5000 years to the time of the Pharaohs of Egypt who had discovered that gypsum rock, when exposed to fire, broke down into a powder which, when mixed with water, would form a putty that could be plastered on a rough mud brick or stone wall to make a smooth finish. It was used down through the centuries in a limited way for ornamental purposes, but did not achieve wide acceptance because of the quick (25 to 30 min) setting or hardening time which made it difficult to use. The first real understanding of gypsum chemistry was developed in France about 1755, and the gradual growth of its present utilization dates from that time. In the United States, the first utilization of gypsum was to grind it to a fine material for use as a soil conditioner at about the time of the Revolutionary War, and the term land plaster for ground gypsum was coined and has remained in use. Another cementitious material-lime or calcium oxide-had become the usual plastering material, but by about 1870 a method for retarding the set of gypsum plaster was discovered; today it has almost completely replaced lime as a plastering material. In recent years, gypsum products sold in the United States have reached a total valuation of approximately $2 Gpy as illustrated in [Table 1].

Jan 1, 1994

By William R. Yernberg

The Fifth International Heavy Minerals Conference (HMC) was held Oct. 16-19, 2005, at the Marriott Sawgrass Resort in Ponte Vedra, FL. With SME as sponsor, the 2005 conference marked the first time that the HMC was held in North America. The conference is held every two years and provides an important forum for professionals in the heavy minerals and related industries to meet and discuss issues related to heavy mineral exploration, mining, processing and marketing. Previous locations included Australia and South Africa. The conference consisted of technical presentations, field trips to heavy mineral operations, a trade show and social activities. It was appropriate that Ponte Vedra was selected as the location for the conference. Ponte Vedra, located on the Atlantic Coast 17 km (10 miles) southeast of Jacksonville, FL, is the birthplace of heavy minerals mining in North America. Ponte Vedra beaches were mined from 1916 to 1929 in what was then called Mineral City. Though Ponte Vedra is now a golf and beach resort, there are still four heavy mineral mines operating within an hour’s drive. Today the Ponte Vedra Country Club and Golf Course is situated in the center of the former mining site.

Jan 1, 2006

By Tuncel M. Yegulalp, Anuta Belova

This paper expands on the ZECA (Zero Emission Coal Alliance) technology, which is aimed at making coal a sustainable source of clean energy in the near future. The technology proposed immediate capture of carbon dioxide and other pollutants upon generation, thus alleviating their negative effects in the Earth’s atmosphere. ZECA proposes using chemical energy of coal to produce hydrogen; the latter is then used to produce electricity via fuel cells or Hyrogen-Oxygen turbines. In this study, a chemical engineering package, AspenPlus 12.1, is used to simulate the reactor (reformer) in which hydrogen is produced from methane water and lime as part of the zero emission power plant. Thermodynamic conditions, pressure and temperature, are optimized with respect to molar hydrogen production. Under the proposed conditions, molar conversion efficiency, carbon to hydrogen, of 95% is achieved. Further studies are required to model the complete power plant and to optimize it for efficiency.

Jan 1, 2005

By K. Hopperstead

Ventilation planning in trackless metal mining is often taken for granted. This paper highlights the trials of planning and executing the ventilation design for Bog Zone at the Lisheen Mine. Ventilation planning for Bog Zone started at the feasibility study stage in 2003; subsequent design changes continued until 2006. In August 2006, the development of the Bog Zone ore body was accelerated through the use of contractors; in addition, the Lisheen equipment fleet was revised based on a larger load and haul fleet. As a result, the circuit was reviewed in terms of changes in design conditions and best practices. This review resulted in a 40% increase of total airflow required to mine Bog Zone. Resources utilized to design the circuit include: external review, computer modeling, and in-house Lisheen planning and operational staff review. The final ventilation design configuration was adopted in 2007, after modeling and evaluating 30 different scenarios, resulting in a better distribution of airflow, optimized secondary escape way, reduced contaminants, and a total power reduction. The value of investment in computer modeling of primary ventilation circuit and planning for staged implementation should never be underestimated.

Jan 1, 2009

By Robert P. Kennedy, Andrew H. Merritt, Edward J. Cording, Thomas R. Kipp

INTRODUCTION Measurement of certain data associated with nuclear testing necessitates the reception of waves at the instrument location which are unaffected by reflection off internal structures or tunnel surfaces. Therefore, in order to provide necessary facilities for the fielding of experiments in support of the underground nuclear testing program, the Defense Nuclear Agency (DNA) commissioned a cost and feasibility evaluation pertaining to the design and construction of large underground cavities in Rainier Mesa. The effort included research into past experience pertaining to the excavation and support of large underground caverns, assessment of the geological conditions which exist in Rainier Mesa, preliminary design of the chambers and their rock support systems based upon the geological setting, development of mining plans for the excavation of the caverns, and estimation of the cost and manpower schedule to complete construction. This paper summarizes the results of the feasibility evaluation. The investigation was limited to modified hemispherical configurations ranging in size from 24.4 to 91.4 m (80 to 300 ft) in diameter. Two cavity support systems were considered. The first employs internally installed rockbolts as the means of primary rock support while the second involves the use of annular tendon galleries located above the chambers from which primary support members are introduced prior to general excavation. The internal support configuration was considered for cavities with spans of 24.4, 36.6, 48.8, and 54.9 m (80, 120, 160, and 180 ft) while the external support configuration was considered for cavities with spans of 54.9, 73.2, and 91.4 m (180, 240 and 300 ft).

Jan 1, 1979

By G. Aggistalis, N. Kazilis, C. Rawlings, N. Rachaniotis, S. Raptopoulos, M. Knights, R. Game

The Egnatia Odos (Odos meaning road) is one of Greece’s largest ever highway construction projects and one of Europe’s most important. The Highway will assist in the connection of the Greek Ionian/Adriatic Coast with Turkey and the Black Sea reviving an historic Roman alignment “Via Egnatia” connecting Rome to Constantinople (now Istanbul). There are 74 twin tunnels (60 bored and 14 cut-and-cover) with lengths ranging from 160 m (175 yd) to 4,600 m (5,031 yd) and 100 m (109 yd) to 270 m (295 yd),respectively. The complex geology and resulting physical geography have had a major influence on both the design and construction of these tunnels. This paper describes the management, design and construction challenges of these numerous tunnels.

Jan 1, 2005

By Gary J. Fletcher

Mining and processing activities which are proposed on private land, state leases, or unpatented mining claims are governed by numerous local, state, and federal laws which identify the procedures and conditions which must be met before resources can be developed. The respective government agencies responsible for the administration and enforcement of these laws have promulgated supporting regulations and guidelines, and have implemented certain permit and approval processes to ensure compliance. Each exploration project has a unique environ- mental setting and location which further dictates the types of air, water, hazardous waste, and wildlife laws and regulations which must be complied with before development commences. The environmental planning process should be the first step in the evaluation of existing company properties and the potential acquisition of other mineral properties. However. many company don't consider the environmental requirements for a project until the decision is made to develop the property for mining and processing. If a mining company wants to expedite the environmental planning process, it must first develop an in-house process for evaluating the project and determining the environmental approval procedures in the state where the project is located. The first stage of environmental planning involves general information which can set the overall company philosophy for development of projects.

Jan 1, 1987

By M. L. Mellish

The year 1988 unexpectedly turned out to be a good year for the US coal industry. In fact, it was a third consecutive year of record coal production. Accord¬ing to preliminary Energy Information Administration data for 1988, domestic coal consumption went up 5%, or 41 Mt (45 million st), from 1987. Coal exports were up by a surprising 13.6 Mt (15 million st). In 1988, 22.7 Mt (25 million st) of coal were drawn from stockpiles for consumption. Even so, US coal production increased to 862 Mt (950 million st). That was up 28 Mt (31 million st) from 1987. While coal consumption, exports, and production were up, delivered prices for steam coal continued to slide during the year. Metallurgical coal prices, however, firmed up and showed a moderate increase. This reflected tight metallurgical coal markets at home and abroad. Coal consumption US coal consumption reached 800 Mt (882 million st), compared with 759 Mt (837 million st) in 1987. Increased metallurgical coal consumption was one factor. Most of the rise in coal consumption, however, was due to unexpectedly high electricity demand. Unseasonably hot summer weather al lowed added coal-fired electric generation to supplement the drought-related reduction in hydro-electric power supply. Electric utilities consumed 687 Mt (757 million st) of coal in 1988, 35.4 Mt (39 million st) more than in 1987. Coal-fired power plants remained the primary source of US electricity generation, providing 57% of the total in 1988. Coal consumption at coke plants increased 13%, to 38 Mt (42 million st), from the level consumed in 1987. This increase reflects the recent recovery in the iron and steel industry. Metallurgical coal consumption in 1988 could have been greater. But US coke plants reportedly reached their maximum practical production capacity. As a result, net US coke imports amounted to 1.45 Mt (1.6 million st). Despite increased industrial activities, steam coal consumption by industrial plants was up only slightly from the 1987 level, amounting to 69 Mt (76 million st) in 1988. Residential and commercial coal consumption remained virtually unchanged at 6.4 Mt (7 million st). Coal exports and imports US coal exports rebounded in 1988, reaching 86 Mt (95 million st). It was the highest level of annual US coal exports since 1982, when they reached 96 Mt (106 million st). An unusual set of factors led to an opening for US coal exporters in 1988: • a high level of industrial production in Japan and the European Economic Community, • supply disruptions due to labor problems at coal mines in Poland and Australia, • a drought-related reduction in hydro-electric power generation in Canada, requiring increased coal-fired generation, • China's problems in meeting its export commitments, and • a fall in the value of the US dollar. US metallurgical coal exports in 1988 amounted to 56 Mt (62 million st), 9.1 Mt (10 million st) more than the 1987 level. Europe, Japan, and Canada were the principal importers of US metallurgical coal in 1988. European countries, in particu¬lar, increased their take by one-third of US metallurgical coal. The labor problems in Poland and Australia contributed to these higher levels of imports. So did increases in pig iron production of 8% in Japan and 9% in the European Economic Community. US steam coal exports - including bituminous, anthracite, and lignite-increase to 30 Mt (33 million st). This was up from 25.4 Mt (28 million st) in 1987 Contributing to this overall rise were 1.8-Mt (2-million st) increase in shipments to Canada and a 2.7-Mt (3-million st) increase to Europe. Unaffected by the somewhat tighter world coal market, US coal imports showed a slight increase to 1.8 Mt (million st) in 1988. Colombia continue to be the leading exporter to the United States, followed by Canada and Venezuela. Venezuela's entry into the US market is a relatively recent one, having made its first significant shipment in the fourth quarter of 1987.

Jan 1, 1989

By James A. Pendleton

In response to Public Law 95-87 (SMCRA), Colorado promulgated regulations governing the mining of Coal. These regulations require the prediction, monitoring and mitigation of "material damage" caused by subsidence. All permitted underground coal mines within Colorado have approved subsidence programs. Preliminary monitoring results indicate the subsidence mechanical predictions have been sufficiently accurate to preclude material subsidence damage. The State of Colorado has developed a practical approach to regulating subsidence, which stresses monitoring verification of predicted subsidence phenomena. However, shortcomings exist in our ability to precisely predict the secondary consequences of subsidence, including effects to structures, the hydrologic balance and the environment. Lack of accuracy in predicting these secondary consequences results in uncertainty, necessitating conservatism in permitting. To avoid increasingly stringent permit restrictions, future research should emphasize the secondary consequences of subsidence.

Jan 1, 1986

By D. Tao, R. Honakey, B. K. Parekh

The dewatering of stable phosphatic clay suspensions generated from phosphate beneficiation in the central Florida is an issue of practical and theoretical importance. Because of its tiny particle size and surface charge, the phosphatic clay takes up to 20-30 years to settle in water and causes environmental, aesthetic, economic, and handling problems. An efficient and cost-effective dewatering/consolidation process for phosphatic clay is of great interest to the phosphate industry in Florida. In this paper, the consolidation and dewatering behavior of phosphatic clay was studied by use of anionic flocculants with and without sand addition. The effects of pH, initial polymer concentration, polymer dosage, polymer addition steps, and metal cations (K+, Ca2+, and Al3+) on the flocculation of phosphatic clay have been studied. Experimental results indicated that clay suspensions were well flocculated at pH 10.5 by DPW-1-1355 and Magnafloc 5250 flocculants acquired from Ciba Specialty Chemicals. Sand particles from phosphate flotation added to the clay slurry promoted flocculation and increased clay consolidation. K+ showed good performance to improve the flocculation characteristics by neutralizing clay surface charge. The adsorption mechanisms of flocculants on clay particles were also discussed in this paper.

Jan 1, 2006

By K. G. Kebkal, R. Bannasch

"Because the operation of tethered underwater vehicles in the deep ocean or under drifting ice areas is very complicated or impossible, the application of autonomous underwater vehicles (AUV) is preferred or even the only possible solution. However, this implies the possibility of a direct and real-time control over all AUV functions, which is only achievable with the availability of accurate positioning/navigation and a high-speed communication link. This paper presents a flexible bottom- or surface-based solution enabling high positioning accuracy of underwater objects (harvester, AUVs, bottom nodes); specifically, a multifunctional system that combines Ultra Short Baseline (USBL) transceivers and Long BaseLine (LBL) stations deployed at a large depth. Moreover, each baseline transponder is equipped with a high-speed communication device to provide the means for real-time AUV control based on the information about its current position, e.g. navigate it with direct commands and operating its actuators and other mechanisms. Moreover a communication link with a high data rate can provide valuable visual information from the operation area.Depending on how many nodes the LBL grid comprise has, target transponder positions can be estimated with an accuracy of several to tens of centimetres. The purpose of the paper is to present the experiments with all key elements of the multifunctional Hydro-Acoustic USBL-aided LBL Positioning and Communication System."

Sep 1, 2014