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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 Y. A. Chang, L. M. Pike, C. R. Kao

"Knowledge of the site preference of ternary solute additions is essential to developing an understanding of how these solutes affect the properties of B2 intermetallic compounds. A quasichemical model will be presented which is able to predict the site preferences of dilute solute additions to tliple defect B2 compounds. The only parameters required are enthalpies of formation at the stoichiometric composition. General equations are developed which can be used to determine site occupations and defect concentrations for dilute as well as non-dilute solute additions. These equations use atom pair bond enthalpies as the parameters. It is found that the site preferences of dilute additions are not always in agreement with predictions based on the solubility lobes in ternary Gibbs isothelms. Predictions for dilute additions to NiAl and FeAl are compared to expel1mental results found in the literature. Satisfactory correlation is found between the model and the experimental results. In addition, the predictions from the model on vacancy concentrations in Fe doped NiAl are compared to recent experimental results by the authors.1.0 IntroductionIntennetallic compounds with the B2 crystal structure such as NiAl and FeAl have been investigated recently for possible use as structural materials in high temperature, oxidizing, and/or corrosive environments. The major limiting property of these materials has been a lack of sufficient room temperature ductility. Attempts to improve the ductility have often been made through ternary or higher order alloying. For B2 compounds, substitutional alloying additions can occupy either of the two sublattices and this site occupancy can be crucial in determining how the alloying addition affects the properties of the alloy. In this manuscript we will discuss the use of thelmodynamic modeling to predict the site occupancies of ternary alloying additions in B2 compounds with the triple defect structure."

Jan 1, 1996

By Felicia F. Peng

The plant data were collected from three streams around a dense medium drum for coarse coal cleaning operated at various volumetric ratio of medium-to-feed. The effect of the volumetric ratio of medium-to-feed (MF) and particle sizes on the performance criteria, g50 and Ep, of the dense medium drum. These measured data were adjusted and calculated for the yields and balanced relative density distributions by mass balanced method based on the statistic principle. These balanced data were then used to formulate the mathematical models of the separation distribution curves for the various feed size intervals. The correlation equations for the g50 and Ep as the function of inverse of the feed size, and MF and total throughput were established. A numerical algorithm utilizing the Secant method, based on the root searching principle, was developed for yield optimization and simulation of dense medium drum separation to improve the separation efficiency and hence the product yield. The relationships between the direct ash content and relative density of the particles in feed and the products were established and incorporated into the numerical algorithm for predicting the product quality.

Jan 1, 1996

By Hui Zhang

The leaching behavior of palladium powder in aqueous solutions containing NaCI or N'H4Cl was investigated. Cupric ion was used as an oxidant for the dissolution reaction. The effect of a number of leaching parameters such as temperature, concentration, stirring speed and surface area on the leaching rate was studied. The leaching system containing chloride and cupric ion was found to be very effective for the dissolution of metallic palladium. Based on the experimental results the overall leaching rate was believed to be controlled by a chemical reaction step. The dissolution rate of palladium was found to be first order with respect to the concentration of cupric ion and second order with respect to the concentration of chloride.

Jan 1, 1996

By R. J. Miller

Rock strata, natural and mining-induced stresses, and structural features can combine to create dangerous instabilities in or around longwall panels. Rock noises and properties variations associated with local stress systems can be used to characterize developing instabilities. Through a learning process at a particular mine, guidelines can be developed to allow the determination of relative risk and timing of a potentially disastrous instability. Once a dangerous instability has been identified, operational modifications can be employed to get through the instability, or active measures such as destressing can be used to mitigate the instability. This paper will discuss how an integrated monitoring system and associated data processing can be used to develop a hazard prediction capability for a longwall mine.

Jan 1, 1996

By Edmond Donovan, O&apos

With the increase in complexity of conveyor systems and the inexorable demand for more capacity and availability, the ability of designers to accurately predict performance is becoming increasingly important. Dynamic analysis techniques for modelling wave mechanics in conveyors are finding increased applications. Unfortunately, the reliability of these modelling techniques is dependent on a thorough understanding of the performance characteristics of the components that make up the system. These characteristics include such things as response rate, hysteresis and efficiency. Some parameters such as idler rolling resistance can be easily quantified by measurement. More complicated drive parameters are difficult or impossible to measure, particularly in large horse-power equipment. One method of quantifying or at least bracketing the performance envelope of complicated pieces of equipment is to construct a mathematical model. This can be done quickly and economically, and the influence of various parameters can be determined. This paper sets out to demonstrate by example the usefulness of this technique in gaining an understanding of complicated systems. The model is developed and the influence of a number of variables are examined.

Jan 1, 1996

By J. L. Francke

This paper describes the practices and methods used in a study of Time Domain Reflectometry (TDR) as an inexpensive deformation monitoring tool in underground excavations at the Waste Isolation Pilot Plant (WIPP). The WIPP is being developed near Carlsbad, New Mexico, for the disposal of transuranic nuclear wastes in bedded salt 655 m (2 150 ft) below the surface. Data collected from WIPP geomechanical monitoring are used to characterize conditions, confirm design assumptions, and understand and predict the performance of the deep salt excavation. The geomechanical monitoring program encompasses numerous geomechanical monitoring techniques ranging from inspection of observation boreholes to advanced radar surveys. In 1989 TDR was introduced as a monitoring tool with the installation of 12.7 mm (0.5 in) diameter TDR cables in the underground excavations. In 1993, a new TDR system was installed in a separate location. Based on experience with the previous installation, enhancements were implemented into the new TDR system that: 1.) extended the period of performance by increasing cable diameter to 22.2 mm (0.875 in), 2.) increased accuracy in locating areas of deformation by aligning cables with nearby observation boreholes, and 3.) improved data acquisition and analyses using a standard laptop computer, eliminating the chart recorder previously used. In summary, the results of a correlation between the TDR signatures to nearby observation boreholes and geomechanical instrumentation will be presented.

Jan 1, 1996

By Phillips J. T, Hutton W. A

This paper discusses why Argyle Diamonds adopted thickened tailings disposal in 1985 and how the system was developed over the next seven years. A wide ranging review of the thickened tailings disposal system and the tailings deposit it was producing was carried out during 1992 and 1993. The results of that review led to the abandonment of thickened tailings disposal at Argyle because of serious concerns about the stability of the resultant tailings deposit. The exposure to the risk of liquefaction and an assessment of the consequences if this happened to the thickened tailings deposit are shown. The criteria for selecting the new tailings disposal strategy are then described. The final section of the paper discusses the management strategies that have been put in place. These are designed to: ò reduce the risk posed by the thickened tailings deposit to an acceptable level; ò safely store tailings to the end of mine life; ò produce a land form that can be decommissioned to the satisfaction of Government regulatory bodies.

Jan 1, 1996

By L. Hales

Process control systems have evolved from single loop control to distributed control with computer based expert control strategies. The next step is to add adaptive control to the expert control strategies. An object-oriented adaptive optimization approach is defined and simulated results are presented for a plant.

Jan 1, 1996

By Steve Thoman

After the 1989 Loma Prieta Earthquake, the California Department of Transportation (Caltrans) initiated an overview of the Caltrans Bridge Design Specifications (BDS) and bridge seismic design practice in California. This overview is continuing under the direction of the Applied Technologies Council (ATC-32), to review and revise as necessary existing standards, performance criteria, specifications, and practices for design and construction of new bridge structures within California. The ATC-32 project began in August 1991 and is expected to be completed in 1995. Since 1990, Caltrans project-specific seismic criteria have been developed and implemented on the I-280 and I-480 projects in San Francisco. Caltrans and an independent seismic safety review panel continue to develop and implement these criteria on other projects. In 1991 and 1992, project-specific seismic criteria were used on the I-880 reconstruction project in Oakland. The seismic safety review panel considered the I-880 seismic design criteria a state-of-the-art methodology to ensure seismic safety against collapse of bridge structures subjected to a maximum credible seismic event. This paper highlights the 1992 "I-880 Reconstruction Project Seismic Design Criteria Review" report prepared by the Seismic Safety Review Panel and Caltrans Division of Structures and will compare pre-1989 BDS and AASHTO methodologies to the I-880 criteria.

Jan 1, 1996

By Ravi Vancheeswaran

The consolidation of ceramic fiber reinforced metal matrix composites is a key process step in the synthesis of high performance composite systems. A simulation tool has recently been developed for predicting the evolution of the composites internal state microstructural variables (eg. relative density, fiber microbendinglfracture, and chemical reaction layer thickness at the fiber-matrix interface) during the consolidation processing of spray deposited composite mono-tapes. A Generalized Predictive Control (GPC) scheme is used in conjunction with the simula-tion tool to design near optimal process paths that minimize fiber damage and reaction product thickness while simultaneously maximizing the composites relative density. The microstruc-tural evolution depends nonlinearly on the process conditions and therefore the scheme uses a constantly updated linearization of the model to optimize the input process variable vector. A control simulation is presented to illustrate the performance of the design scheme and to assess the feasibility of its use for the achievement of goal state microstructures at the completion of consolidation cycles.

Jan 1, 1996

By D. K. ] [Gupta

The Foundations of the Shear keys and alround cut off for Power House -IV of the Western Yamuna Canal Hydroelectric Project at Bhudkalan, Haryana were to be laid at a depth of 26M below the N.S.L and 24.4M below ground water table. The foundation of the drainage sump was to be laid at still higher depth, Viz 29.OM below N.S.L. The Sub soil at the site consisted of Gravel with some amount of sand. The laying of the foundation at such a great depth, at a large depth below the ground water table and that too under such difficult sub-soil conditions encountered a large no of Geotechnical problems-viz excessive seepage, side slope sloughing and sand boiling during excavation. Under the circumstances at the site, the modified foundation construction procedure i.e a battery of M. S. Troughs was placed in flowing water conditions and concreted thereafter, resulting in a sizable cut in dewatering and reducing a significant amount of time and cost of construction affecting a saving of crores of rupees at the state exchequer. Sheet Piling was used to prevent side sloughing in the foundation pit.

Jan 1, 1996

By H. R. Stoger

"In 1994 world trade grew by 9%, the fastest annual increase since 1976. Dry cargo shipping rates are at an all time high.Panamax size bulk carriers are receiving19 000 US dollars per day for trans Atlantic round trip voyages. This is good news for the ship owners but not such good news for the industrial users of ocean shipping.The main emphasis of this paper will be on bulk carriers, the charter market and what industrial companies can do to reduce their costs of ocean transportation which is critical to Canadian exporters. Let us look at the charter market in general.Bulk carriers come in four main sizes:1.The Capesize bulk carriers of 110 000 to160 000 tons that are primarily used to transport iron ore and coal;2.the Panamax bulk carriers of about 70 000tons dwt. This is the largest size (with a beam of 105 ft) that can transit the Panama Canal.3.the Handymax bulk carriers of 40/45 000tons dwt; and4.the Handysize bulk carriers of 20/35 000tons dwt.The handysize vessels are usually craned or geared and carry a variety of bulk cargoes including steel. Ship sizes have increased over the years and the mining industry now uses primarily capesize or Panamax bulk carriers.International chartering is conducted through an international network of shipbrokers. There is usually one broker representing the ship owner and another broker who represents the charterer. The major chartering centers are London and New York but a great deal of chartering activity is conducted in regional markets such as Hongkong, Oslo, Montreal and Hamburg.The Biffex Index or Baltic Freight Index is a good measure of dry bulk freight rates. The Biffex is composed of ten major routes. In May1995, the Biffex was at 2310 points. A year earlier it was at 1354, an increase of about 56%."

Jan 1, 1996

By D. F. Scott

Seismic tomography, as used in mining, is based on the principle that highly stressed rock will demonstrate relatively higher P-wave velocities than rock under less stress. A decrease or increase in stress over time can be verified by comparing successive tomograms. Personnel at the Spokane Research Center have been investigating the use of seismic tomography to identify stress in remnant ore pillars in deep (greater than 1220 m) underground mines. In this process, three-dimensional seismic surveys are conducted in a pillar between mine levels. A sledgehammer is used to generate P-waves, which are recorded by geophones connected to a stacking signal seismograph capable of collecting and storing the P-wave data. Travel times are input into a spreadsheet, and apparent velocities are then generated and merged into imaging software. Mine workings are superimposed over apparent P-wave velocity contours to generate a final tomographic image. Results of a seismic tomographic survey at the Sunshine Mine, Kellogg, ID, indicate that low- velocity areas (low stress) are associated with mine workings and high-velocity areas (higher stress) are associated with areas where no mining has taken place. A high stress gradient was identified in an area where ground failed. From this tomographic survey, as well as four earlier surveys at other deep underground mines, a method was developed to identify relative stress in remnant ore pillars. This information is useful in making decisions about miner safety when mining such ore pillars.

Jan 1, 1996

By Yi Luo

In a shearer longwall mining operation, the longwall bits are responsible for breaking into and chip-ping the broken coal blocks away from the coal face. However, underground observations have found that a large number of longwall bits are always working under various degrees of wear. Reduction of the bit wear could be realized by using better designed longwall bits and properly selected shearer operating parameters. A computer program has been developed to simulate the performance of the longwall bits. The shape of the bit head, the installation of the bits on the drum and the operation parameters are the information required by the program. Through the simulations, the main factors affecting the bit wearing process are identified. Suggestions are also made for improving the design of the longwall bits.

Jan 1, 1996

By L. Thompsen

High pressure grinding has been introduced into many grinding applications. The high pressure grinding roll offers capacity increases of existing plants and savings in operating costs. Also metallurgical advantages could be achieved. The first high pressure grinding roll in a copper mine was commissioned in Arizona in July 1995. This paper provides information about the operating experience gathered during the first months of operation. The current flowsheet will be described as well as further options for plant arrangements.

Jan 1, 1996

By Jennifer Riefenberg

Ground control hazards, coal quality, ore reserve estimation, and pollution modeling seem unrelated topics from most mining perspectives. However, geostatistical methods can be used to characterize each of these, and more topics. Exploratory drill core data, and continued drilling and field measurements, can provide a wealth of information related to each of the above areas and are often severely underutilized. Recent studies have led to the development of the Multiple Parameter Mapping (MPM) technology, which utilizes geostatistics and other numerical modeling methods, to generate a "hazard index" map, often from exploratory drill core data. This mapping has been presented for ground control hazards relating roof quality, floor quality, numerically modelled stresses due to mining geometry, and geologic features. A review of the MPM method, future directions with the MPM, and a discussion of using these and other geostatistical methods to quantify coal quality, ore reserve estimation, and pollutant modeling are presented in this paper.

Jan 1, 1996

By Caelli T, Robey M

Most research into planning of open pit mines has been based on evaluation of volume-element block models in terms of their net present value. The major issues revolve around two interdependent problems the optimum ultimate pit and time-based scheduling. Despite feedback between the two problems, they are usually treated as separate tasks.The ultimate open pit is defined by the removal of whole blocks so that their net present value is maximised. This gives planners an estimate of the total worth of the venture in present terms, and is crucial to obtaining funding. All cost and profit values are assumed to be static throughout the mine life, and the only physical constraint usually taken into account is that of safe, average, wall slopes, which must be approximated by the removal of whole blocks. Modelling of any further constraints (for example, access roads and true wall slopes) is usually achieved by adding them to the optimal pit by hand. Typically this degrades the model by between five and 20 per cent of its value - which then brings into question whether it is still the true optimum.This paper reviews the dominant methods in use for this first task the ultimate open-pit planning problem. Some new optimisations are given, and the algorithms are examined in terms of their efficiency and accuracy. Finally, suggestions are made for improvement of model accuracy and eventual expansion into solutions of the more complete dual problem - that of simultaneously finding the optimum ultimate pits and dynamic schedules for the venture.

Jan 1, 1996

By D. R. Gehring

Effective project management is an excellent technique for meeting a goal through set, well-defined objectives. Even though project management is successfully used throughout the world in various construction projects, underground mining has unique characteristics that require approaches that vary from classical project management theory. Typically, a project includes four main stages: definition, planning, implementation and control. Definition and planning are often the most overlooked stages, but are arguably the most important. This paper addresses practical techniques for the definition and planning of projects for underground construction.

Jan 1, 1996

By John M. Bolger, Keith E. McMaster

Excessive salt fines are undesirable in underground salt mining as they are considered a costly waste by-product. This paper describes an extensive explosive application program conducted at The Canadian Salt Company Ltd, located in Pugwash, Nova Scotia, Canada. The prime objective of the program was to reduce the quantity of fines generated from this company's underground production blasts. The program was known as the "The Fines Reduction Program".

Jan 1, 1996