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In this paper, we present design and implementation details of a fuzzy-behavior-based controller for an automated excavator. This robotic excavator must be equipped with sensors, actuators and an embedded control system. The excavator controller uses neural-networks to interpret forces and torques gathered from bucket mounted force sensors during the excavation process. Implementation details and experimental results using the fuzzy behavior based excavation controller are given for several excavation tasks. These excavation tasks demonstrate some of the complex skills that are essential for an autonomous mining excavator controller.

Jan 1, 1996

By James E. Lonergan

Linear goal programming is a multi-objective optimization technique where the constraints of a linear programming formulation of a problem are considered as additional objectives. The optimal solution is the one that comes closest to satisfying all the objectives. An interactive computer program was written to utilize this technique in solving the feed blending problem faced by power plants de- pendent on multiple sources of coal supply. This program determines the amount of coal from each supplier to utilize in the blend. Examples of the use of the program in both long and short term coal procurement planning scenarios are given.

Jan 1, 1984

By J. Dubbert, T. H. Jones

"This paper describes a rib-control methodology that uses standing support to provide most of the lateral resistance to the rib. The method is analyzed, and its boundary conditions for rib control are described. In this method, an animal-fencing mesh product covers 80 percent of the rib surface and is sparsely bolted to the rib. Can supports or other similar stiff supports are installed primarily as roof support for the entry. As the rib spalls and dilates, the mesh catches the material and expands, pressing against the standing support. Mining proceeds, and vertical roof loads increase the normal force on the Can supports, causing friction at the top and bottom of the support to go up, thereby improving lateral resistance to rib swelling.At one mine in the western United States, this method has proved excellent at preventing the buildup of rib spall. It substantially reduces the number of bolts used for screen installation, improves installation efficiency, reduces manual labor and provides more rib coverage than many screening methods. Because standing support is typically part of the roof-control plan in longwall tailgates, no additional standing-support costs are incurred. IntroductionRib safety in underground coal mines is an oft-studied topic because ribs are high-hazard areas. An overview of early rib safety research can be found in Jones and Mohammed (2014). There is a significant difference between rib support and rib control. Support improves safety through the installation of strengthening elements, such as bolts and dowels, designed to reduce rib spalling. Although spall reduction is preferred, controlling how the rib fails is enough to ensure safety in some situations. Rib control uses external elements to provide confinement, thereby holding sloughed material in place, or to prevent falling rib material from striking mine personnel. This paper presents a study of a control method used on the pillar side of a longwall coal mine tailgate in the western United States."

Jan 1, 2015

By Adabala Raja Venkata Sai Naresh, Radhakanta Koner

Particle size distribution (PSD) is an essential parameter in assessing the overall efficiency of blasting operations in mines and the subsequent mine-to-mill process in the mining industry. Despite some drawbacks of 2D image analysis techniques in accurately estimating particle sizes in PSD, the mining industry has relied on them for the last three decades. This study proposes the 3D rock fragmentation measurement (3DFM) technique for deducting the accurate dimensions of 3D rock particles for the PSD. 3DFM has utilized different processing algorithms. Images of different views of the non-touching rock particles of varying sizes have been acquired as a data acquisition step of structure from motion technology for generating sparse point cloud. Dense point cloud reconstruction is used to avail finer details of the point cloud using clustering views for the multi-view stereo algorithm. Random sample consensus (RANSAC) algorithm coupled with an unsupervised classification using the density-based spatial clustering of applications with noise (DBSCAN) classifier is employed to extract the rock clusters from the 3D point cloud. Finally, the accurate rock sizes are derived using the hybrid bounding box rotation identification (HYBBRID) algorithm with a root mean square error (RMSE) of 0.10 cm for length, 0.10 cm for breadth, and 0.32 cm for depth. The PSD of rock fragments obtained from the proposed 3DFM technique is found to be matching with the results of mechanical sieving and manual gauging with an R2 values of 0.98 and 0.99, respectively. The 3DFM method can be considered cheaper, more accurate, and computationally faster in determining the rock dimensions for the PSD determination method to enhance the productivity of the mining industry.

Dec 29, 2023

By Setareh Afrouz, Emily Sarver, Cigdem Keles

The resurgence of severe lung disease among US coal miners since the mid-1990s has led to efforts to better characterize and monitor respirable dust exposures, particularly focusing on mineral constituents from rock strata surrounding the coal. A rapid analysis method for silica (quartz) mass using direct-on-filter Fourier transform infrared (FTIR) spectroscopy has been developed, which can also estimate kaolinite, a primary silicate mineral in many coal mines.

Feb 24, 2022

By C. E. Jordan

The Tuscaloosa Metallurgy Research Center of the Bureau of Mines, U.S. Department of the Interior, is investigating the recovery of phosphate from beneficiation slime, as part of the Bureau's efforts to conserve mineral resources through increased use of wastes. Phosphate equivalent to about two-fifths of U.S. production is discarded annually in the wastes. Exploratory flotation tests on the plus 5-um fraction of a slime sample showed promise for a classification-flotation technique. Onsite classification tests at six phosphate washing plants were conducted with a two-stage hydro cyclone system designed to recover the plus 5-um material. The cyclone underflows contained 8.3 to 19.1 percent P2O5, and the recovery of the plus 5-um PZOS values ranged from 81 to 95 percent. The percent P2O5 recovery from the total slimes ranged from 38 to 47 percent. Batch-flotation studies are currently being conducted.

Jan 1, 1978

By P. R. Taylor

This investigation (Bowles, 1990) involves consideration of technology utilized by three separate fields of metallurgy and materials science: 1) The recovery of metals employing the use of solvent extraction, 2) The fabrication of materials using powder metallurgy, and 3) The use of composite materials in fabrication of engineering materials. The research considers each of the processes in order to realize the benefits of each. In light of the fact that materials have an intended use -it does seem plausible to simplify the process required between "mother earth" and final use. For instance, a primary copper producer that already employs a solvent extraction and electrowinning process could produce value added products directly. Part of the existing extractant flow could be diverted into a pressurized hydrogen stripping process in order to produce specialty composite powders. Innumerable methods have been employed for the recovery of metals; solvent extraction, the one considered in this study, was used due to the possibility of it providing a pure powdered metal. The use of solvent extraction in the recovery of metals has gained wide acceptance and its use proves beneficial in many applications (Ritchey and Ashbrook, 1984). Pressure hydrogen stripping of solvent extractants may provide the benefit of flowsheet simplification compared to conventional solvent extraction followed by electrowinning. It may also provide the benefit of direct production of high purity metal powder (Demopoulos and Distin, 1985).

Jan 1, 1992

By W. Missildine, J. K. Hrica, I. Benbourenane, T. J. Orr, J. L. Bellanca

Each year, haul truck accidents account for a large portion of mining injuries and fatalities. To better understand why these accidents continue to occur, researchers from the National Institute for Occupational Safety and Health (NIOSH) utilized a cognitive task analysis methodology to identify the user requirements of surface haul truck operators and assess differences in perceptions between operators, managers, health and safety professionals, trainers, and maintenance personnel. Additionally, researchers used the critical decision method to focus on better understanding the cognitive demands, decision-making, and problem solving during nonroutine incidents. The preliminary results of this study identify and explore themes within the broad categories of hazards, skills & expertise, and training and provide detailed accounts of nonroutine incidents such as near-misses, loss of control, and collisions. These accounts reveal insights into operator decision making and event progressions that can then be used to build more realistic training scenarios and address hidden hazards and root causes of these incidents. These results, along with potential solutions offered by study participants, can inform future research and help identify creative interventions that can be used by mine operators to address haul truck safety issues

Mar 2, 2022

By Vivek Priyadarshi, VIVEK KUMAR HIMANSHU, A. K. Vishwakarma, M. P. Roy, A. K. Mishra, RAVI SHANKAR

The nature and orientation of joints in rock strata affect the damage pattern under explosive loading. Most of the limestone deposits in India are found with severity of joints. Categorically, these joints may have variable orientations such as dipping out of the blast face, inside the face, horizontally or having strike parallel to the face. The damage pattern under the varying category of orientation will be different. Accordingly, a numerical model in Ansys-Explicit Dynamics was prepared to compare the damages of rock mass under different joint orientations. The physical nature of a joint reflects frictional and stiffness behaviour. Accordingly, the damages have been compared under bonded and frictional nature of joints. The output damage pattern from the model has been validated on the basis of blastability index proposed by Lilly. Different limestone mines in India show different nature of jointing in their rock strata. Accordingly, the blasting outputs from three different limestone mines, viz. Rawan limestone mine, Sagmania and Birhauli limestone mine and Injepalli limestone mine, have been compared along with their blast design parameters and the nature of joint. The comparative results show that the closely spaced horizontal joints support maximum in burden movement and rock fragmentation due to blast.

Nov 23, 2023

By J. Christophe Niyonzima, Ekata Emmanuel Edo, Sayaf Mustafa, Liqun Luo

Iron and manganese both are important ferrous metals, and they usually need to be extracted separately for better usage. Ferromanganese ore from the Yunnan Province of China was investigated by subjecting it to reduction roasting, leaching, magnetic separation, hydrometallurgical separation process, X-ray diffraction (XRD), electron probe micro-analysis (EPMA) and scanning electron microscopy/energy-dispersive spectroscopy (SEM-EDS). It is noted that the ferromanganese ore contains valuable components or elements of 21.41 wt%Fe2O3 and 19.88 wt%MnO, which are 14.99% and 15.40% of the total of Fe and Mn, respectively, with a large amount of impurities comprising 33.00 wt% SiO2, 9.81%wt%Al2O3, etc. After roasting, microscopic examination showed the presence of haematite, magnetite, pyrolusite, psilomelane, hollandite, marcasite, pyrite, limonite, braunite and manganite, while XRD analysis showed that the magnetite content increases with the increase in roasting temperature, reflecting the increase in conversion of haematite to magnetite. Based on EPMAand SEM-EDS analysis, it was shown that the haematite and magnetite interface were the main Fe-bearing minerals; however, the dissemination of the two minerals, that is, haematite andmagnetite with the coexistence of Fe- and Mn-bearing minerals, will result in difficulty in effective separation of Fe and Mn. The effective roasting temperature and roasting time were 800 °C and 60 min, respectively, to avoid the formation of a composite oxide of MnxFe3-xO4 beyond 800 °C. The Fe recovery via roasting and magnetic separation only was 66.56%, whereas a combination of magnetic separation which ensued after the leaching process showed a recovery of 80.08% and 59.95% of Fe and Mn, respectively.

Mar 26, 2021

By Muhammad Azeem Raza, Muhammad Zaka Emad, Muhammad Usman Tahir, Saqib Ahmad Saki, Muhammad Usman Khan

Shotcrete is a key initial rock support component used in underground mining and civil projects. The strength of shotcrete plays a vital role in providing and deciding the support adequacy. The strength of shotcrete is evaluated by its uniaxial compressive strength (UCS) test that is usually conducted on extracted core samples. Shotcrete cores are commonly extracted from the test panels along the direction of its application; thus, its strength perpendicular to the direction of application is often neglected. The true bearing strength of shotcrete is thereby ignored despite the fact that higher stresses act normal to the direction of its application. Although the anisotropic behavior of shotcrete is well reported, no study has reported extensive testing of this scale and nature. This study reports extensive testing of shotcrete cores extracted from tunnels of a mega hydroelectric project in Pakistan. The study reports 7- and 28-days strength tests of shotcrete cores. The research also investigates the anisotropic behavior of steel fiber reinforced shotcrete and suggests that shotcrete exhibits higher strength perpendicular to the direction of its application.

Dec 26, 2022

By William Gleason

"It is the largest mining exhibition in the world that attracts thousands of attendees from around the world to Las Vegas, NV once every four years. Despite the recent struggles in the mining industry, MINExpo International 2016 promises to be as big as ever. In the following pages, Mining Engineering takes a look what some of the more than 1,800 companies plan to showcase during the three-day exhibition.CaterpillarCaterpillar will support MINExpo 2016 with an exhibit showcasing machines, technology, expertise and practical knowledge that miners can apply to help address their cost, productivity and efficiency challenges in today’s mining environment.Caterpillar will once again occupy the largest space at the event and will showcase both surface and underground machines, but the talk at the booth will focus on how Cat technology and know-how combines to help mining operations address and solve the issues that are most important to them. The main stage in the exhibit will feature presentations describing how mining companies, Cat dealers and Caterpillar work together to improve operations.“The challenge for all in the mining industry now is to optimize operations — to drive costs down while creating sustainable businesses that can weather downturns,” said Caterpillar Resource Industries group president Denise Johnson. “We believe that through our expertise and the knowledge of our dealers —combined with innovative technologies and our growing data analysis capabilities — we can help them not only survive, but thrive in these challenging times.” Johnson was selected by the National Mining Association (NMA) to chair MINExpo 2016. “Chairing this show is a great honor, and it’s a testament to Caterpillar’s partnership with this critical industry,” she said. “We’re proud to be a long-time supporter of the NMA, and we are excited to participate in another MINExpo. It’s an opportunity for us all to learn from each other how to increase productivity, control costs and improve overall operations.”Surface mining displays. The surface mining section of the Caterpillar exhibit will showcase the new MD6420C rotary drill. This is autonomy ready and optionally equipped to leverage the safety and productivity benefits of Cat MineStar Terrain. This high-precision drill management system optimizes utilization and improves drilling and blasting operations by accurately guiding the operator and improving precision of hole placement and drilling depth — and the next step is fully autonomous operation, Command for drilling. The third-generation drill incorporates proven Cat components throughout for superior reliability and durability."

Sep 1, 2016

By T. J. Haddon

For the mining industry in general and gold mining in particular the past few years have been difficult. Economic conditions coupled with growing regulatory restrictions have led to increasingly important reasons for managing assets wisely. From a public company perspective this makes sense because it ultimately provides for an increase in shareholder wealth and that's what we're in business to do. Regardless of whether a company is public or not, assets must be managed effectively to remain a player in today's competitive environment. So, as the CEO of a gold mining company, how do we manage our assets to ensure that we are satisfying our obligations to our customer --the Amax: Gold shareholder? Let me tell you. As I said earlier, the gold industry has been under siege. We have just completed our third year of average prices below $400 per ounce. When you add finding and/ or acquisition costs and development costs to operating costs, there isn't much of a profit margin left. What this environment provides, however, is opportunities for growth. In the gold business, you either grow or you die. Today, most North American gold producers have at most a 10 year mine life. We are all scrambling to add reserves so we don't become extinct. As prices remain low, opportunities for increasing diminishing reserves abound. This is the time for the opportunistic company to take advantages of market conditions and that's precisely what we, at Amax: Gold, have done!

Jan 1, 1992

By Arif Emre Dursun

The aim of this study is to present hazard classifications of location, type, and causes of accidents in Turkish coal-extracting industries using Analytic Hierarchy Process (AHP). In this study, fatal mine accidents were analyzed by pairwise comparison and weighting, and the most important hazards were identified by determining the effective main and sub-criteria among location, type, and causes of accidents. For this purpose, 1st, 2nd, and 3rd level hazards consisting of location, type, and causes of accident were determined by using the data of fatal mine accidents in underground and open-pit coal mining in Turkey between the years of 2010 and 2020. And then the data were categorized, and each category was prioritized using the AHP technique. According to the weights calculated by AHP, the most dangerous main criteria at 1st level hazards in underground coal mining is ventilation operations (0.363), while the most dangerous sub-criterion at 2nd level hazards is firedamp explosions and other gas accidents (0.409). On the other hand, in open-pit coal mining, the most dangerous main criteria at 1st level hazards are slopes and benches (0.575), while the most dangerous sub-criterion at 2nd level hazards are landslides (0.429).

Dec 30, 2023

By Clarence A. Johnson

The discovery of the Prudhoe Bay field temporarily reduced interest in the development of coal conversion processes, but interest is being re¬newed by the current energy crisis. According to M.A. Wright, Chairman of the Board of Humble Oil and Refining Company(l), the reserve in the Prudhoe Bay bield has been confirmed to be about 10 billion barrels. At first glance this appears to be an extremely large reserve which will eliminate supply problems for the United States for some time. This feeling of security is lost when one realizes that by 1980 the world will consume the reserves of a Prudhoe Bay or a Libya, or Venezuela in less than a year, based on the recent predictions of U.S. and world reserves made by Eastman-Dillon, Union Securities Company(2). Recent forecasts of U.S. demand and source of supply made by Kenneth E. Hill of Eastman-Dillon are shown in Figure 1. This forecast shows a decline in domestic supplies (excluding Alaska) after 1973, with the total domestic supply leveling off in 1975 at about 13 million barrels per day. Since the predicted demand increases from about 14 million barrels per day in 1970 to about 20 million barrels per day in 1980, about 35% of domestic consumption must come from imports or non-conventional sources by 1980. More imminent is the shortage of low sulfur fuel oil which has been created by the new, tough air pollution regulations that are basically legis¬lating eastern coals out of the market. As an alternate to importing large quantities of low sulfur fuel oil or importing and desulfurizing regular fuel oil, one of two domestic solutions is possible: stack gas clean-up or solids fuel pretreatment. Stack gas clean-up may be the cheapest approach for old installations, but fuel pretreatment has real advantages for new installations. Coal pretreatment at the mine could eliminate all solids fuel handling

Jan 1, 1972

By D. L. McCain

In considering slurry transportation for Consolidation Coal Company's Loveridge Mine in Northern West Virginia, many things were taken into account. The advantages of slurry transportation in comparison to shuttle car, belt and rail transport have been given in previous publications." These include increased safety and the potential for increased productivity. In addition to these considerations, the slurry transport system installed in an existing mine provides an alternate or additional transportation mode to the one already existing. In the Loveridge Mine, this is rail haulage. Since the rail system is a single track system and the distances involved are several kilometers, it is not always possible to provide for haulage of loaded cars, return of empties, supplies and maintenance in an efficient manner. Slurry transport of the coal from the production faces to the preparation plant allows the rail system to fulfill the remaining transportation needs in an efficient manner. Consol initiated development work in slurry transportation in the early fifties leading to the construction and operation of the 174-km (108-mile) Cadiz-to-Cleveland pipeline which carried 1,200,000 metric t/y (1,300,000 t/y) from 1957 to 1963. Development work on coarse coal slurry transportation for underground mines started in 1970 with feasibility tests on coarse coal at Conoco's Ponca City, Oklahoma, slurry test facility. A series of tests were conducted in several locations as development work proceeded on the various subsystems, mechanical equipment and controls required to produce a working system to follow a continuous miner in a room-and-pillar type mine, then to combine the coal production from several mine faces for mainline transportation to the preparation plant. The face system, including the crusher-pump vehicle, hose hauler vehicle, slurry booster pump units, return water unit and 900 to 1,200 m (3,000 to 4,000 feet) of pipeline was brought together for the first time and tested as a system at Consol's Robinson Run Mine in northern West Virginia in 1975. A pipeline wear test at the Loveridge Mine where 300,000 tonnes (330,000 tons) of minus 127-mm (5-inch) run-of-mine coal were pumped from the raw coal bin into the preparation plant and a large scale test in Ponca City on a multiple feed sump where several slurry flows could be combined to provide surge capacity and a constant reclaim rate for mainline transportation completed the preliminary testing for a complete system. A decision was made to commit the system to a mine, and the south half of the Loveridge Mine was chosen. This site required the transporting of coal from one longwall and two continuous miner development faces. To prevent startup and unexpected problems in the slurry system from shutting down production of coal from the longwall face, the rail car loading point from the main section belt was chosen as the feed point for the slurry system and the design would allow for rapidly switching from one transport mode to the other. Scheduling of required development entry work and the developmental nature of the system led to a decision to install only one continuous miner face slurry transport system rather than two for this first system. The type of continuous miner in use at the mine for the foreseeable future was the Joy 2BT6 twin boring machine. This machine cuts a stable, arch-shaped entry and was therefore allowed to mine about 26 m (85 feet) of entry before roof bolting was re¬quired. Since peak production from this type of machine was not high, a smaller transport system could be used with it.

Jan 1, 1981

By Michael H. Inglis

The Technology Application Center, in conjunction with the U.S. Bureau of Mines Liaison Program, is studying the use of Landsat data for the monitoring of coal surface mine reclamation activities. Landsat may provide sufficient information to reduce the number of on-site inspections now required. The focus of the project has been the Navajo Coal Mine located in north- western New Mexico and operated by Utah International, Inc. On October 15, 1977, a field team recorded spectral measurements at the mine during the time of Landsat's overpass and a corresponding aerial photographic flight. Training sets were selected from the ground and aircraft data representing vegetated, graded, ungraded and natural environments. A supervised classification of the data was performed by the Stanford University Remote Sensing Laboratory then correlated to aerial photos and mine maps. The results, to date, have been very encouraging.

Jan 1, 1979

By H. Sevim

The utilization of high sulfur Illinois coal by utility plants has been decreasing since the enactment of 1990 Clean Coal Air Act Amendment. Illinois coal producers can make their coal saleable by offering the choice of taking the combustion by-products from the utility plants and placing them in the abandoned sections of their mines. To be competitive, however, coal producers need to select an environmentally acceptable transportation-handling-placement system through which the cost-per-ton of by-product disposed can be minimized. In this paper, a few such systems are presented. The favorable operating range of each system is determined in terms of distance and tonnage. A case study is given whereby cost analysis is conducted for an underground coal mine receiving by-products from two Illinois utility plants.

Jan 1, 1997

By Osvaldo A. Bascur, J. Pat Kennedy

Large metallurgical complexes have more data than a small city and much of it is "real time," changing rapidly as internal and external conditions evolve. As corporations buy and sell assets and reengineer their staff, the structures and tools that were used to understand these data are lost. The lack of an integrated approach makes the profitability of metallurgical plants lag behind that of other industries despite technical advances that have occurred in recent years. This results in significant deterioration in the ability to maintain a "smart” operation. The solution is to use the sophisticated new tools built for the Internet so as to leverage information in a familiar browser format that people can use and understand. Combining real-time infrastructure with portal technology is becoming an accepted methodology. This paper introduces real-time portals and team sites to support decision making by work- groups which require both real-time and documentary information from manufacturing assets, vendors, head office and the Internet. Workers get insight from the overall process effectiveness index based on key variables such as losses due to plant availability, performance efficiency and rate of quality. Real-time portals and smart clients are part of any real-time performance management (RtPM) solution. Three case studies in large metallurgical complexes are presented. PLANTS ARE YOUR STRATEGIC HANDICAP Information technology is arguably one of the fastest moving technologies used by the mining/metallurgical industry. However, the business model for managing that

Jan 1, 2004

By Thomas W. Turk

The water treatment industry has historically been involved with reducing or inhibiting the inherant scale forming or fouling tendencies of natural waters associated with large industrial cooling water systems. Fouling is an extremely complex phenomenon. From a fundamental point of view, it may be characterized as a combined momentum, heat, and mass transfer problem. Chemical reaction kinetics is involved, as well as the solubility characteristics of salts in water and corrosion technology. It is a routine practice to over size pumps, piping and heat exchangers to compensate for fouling.

Jan 1, 1983