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Authors have been conducting research on autonomous loading operation by wheel loader. Autonomous loading cycles has been demonstrated with real size experimental model. In V shape loading operation, travelling between scooping point and dumping point is dominant factor for cycle time of the operation. The positions of scooping point and dumping point changes with advancing the operation. In the developed system, path planning is performed at the beginning of every cycle. The path is formed by combination of curve and straight path elements. During travelling on the planned path, path following control is applied on the loader to keep position error in narrow range. Positioning of the loader is based on dead reckoning with correction by global positioning system (GPS) data. In a process of path following control, control value for steering angle is determined based on position error in lateral direction. Proposed method of path planning and position control is installed and tested in the real size experimental model. The detail and results will be described in the paper.

Dec 6, 2010

By D Craw, J Becker

Post-metamorphic structural evolution of Otago Schist resulted in a pattern of northwest and northeast striking faults and fractures cutting the basement rocks. These faults have been reactivated several times since Mesozoic metamorphism. Gold-bearing quartz veins which have been exploited sporadically over the past 130 years are almost invariably hosted by northwest striking structures, and most exploration has been focussed on these structures. There is evidence for hydrothermal activity and mineralisation along some of the northeast striking structures, although there has been very little work done on these structures. Our study is attempting to characterise the hydrothermal processes in the northeast structures, in comparison to the northwest structures, in order to see if further detailed exploration is warranted. There is evidence for both normal and reverse senses of movement on northeast striking faults, and some of the faults have evidence for early ductile deformation overprinted by later brittle structures. Northeast striking structures host stibnite mineralisation in places, and faults are locally silicified or extensively impregnated with ankeritic carbonate. Sulphides are rare in veins, but do occur in some hydrothermally altered host rocks. Hydrothermal haematite accompanies extensive silicification along the Manuherikia fault zone near Alexandra. Anomalous gold concentrations occur in some hydrothennal zones, and in downslope sediments in some localities.

Jan 1, 1998

By Gabriel S. Esterhuizen

This paper addresses the need for a method to compare the effectiveness of different support systems when designing ground support in coal mines. At present, support design methods include empirical methods based on observations of past performance of installed support systems, analytical methods where the roof is typically simulated by elastic beams and numerical model analysis. The approach presented in this paper estimates the relative stability of a support design through geotechnical evaluation of the rock mass and numerical model analysis of the interaction between the rock mass and the support system. Models are used first to simulate the design performance at the expected rock conditions. The rock strength is then reduced until collapse is indicated in the model. The stability factor is then calculated as the ratio of the expected rock mass strength to the rock mass strength at the onset of collapse, and is similar to the well-known factor of safety used in engineering practice. The stability factor can be used to assist in developing a final support design by comparing the effectiveness of various support systems and the stability of excavations under various geological and loading conditions. Examples of the method?s application in three different geological settings are presented.

Jan 1, 2012

By K. C. Mills, R. Thackray

A test has been devised that can predict accurately the % crystallinity developed in a slag film formed between the steel strand and the mould. The % crystallinity in the test samples was determined and compared with that for slag films formed in the mould when casting with that flux. There was good agreement between the % crystallinity in the test samples and the slag films. It was found that additions of TiO2and ZrO2had little effect on the amount of crystalline phase formed, but additions of CaO caused a dramatic increase in the amount of crystalline phase formed. Various parameters (which can be calculated from chemical composition of the flux) have been plotted against % crystallinty in the test samples. It was found that the modified (NBO/T) ratio provided the best relation with % crystallinity for the various parameters tested. There commended relation is % crystallinity=141.1(NBO/T)-284.0. Keywords: continuous casting, mould flux, slag film, crystallinity, chemical composition

Jan 1, 2004

By Zdzislaw Specht

THIS paper discusses elementary laws pertaining to seismic reflection methods and presents a general and simple criterion for determining the direction of dipping of a reflection horizon from observational data of distance and time. The important development of practical geophysics and the successful results obtained in America, Germany, and other countries, caused introduction of geophysical methods of prospecting in Poland. Of all methods, seismic prospecting has proved most successful in the area of the Carpathian foreland, where new oil reserves are to be expected. Because of the great depth of the sedimentary column in that area, rang-ing sometimes over 2000 meters, it was obvious that only the seismic reflection method could give reliable information regarding the structural features of these strata at such a depth. During the experimental surveys it appeared that the complicated geological conditions of that area do not always allow prediction of the depth and the angle of dipping of reflecting horizons, and for that reason information about the inclination of a given horizon has great importance in the determination of subsurface structure. Therefore the problem arises of obtaining from seismic reflection data reliable information as to the direction of dipping of reflecting strata, without any previous knowledge of the average velocity and depth of geologic horizons under consideration.

Jan 1, 1940

By Tapiwa Chenje, Victor Olivas, Peter Radziszewski

"Ore breakage and grinding media wear have always been considered and determined separately in laboratory tests. However the two processes are linked with the ore broken down in any comminution device being responsible for the majority of the steel wear experienced. The Comminution Dynamics Laboratory (CDLab) successfully developed a test methodology that can more accurately predict grinding media wear in tumbling mills than the Bond Abrasion test. This paper looks at the possible application of the abrasive wear methodology to determine breakage parameters of the same ore used in the abrasion test. Results indicate that breakage parameters comparable to t10 can be determined using the Steel Wheel Abrasion Test (SWAT), while using significantly less ore than standard breakage tests.BACKGROUNDThe Rubber Wheel Abrasion Test (RWAT) is an internationally accepted and widely used method for determining the abrasion wear behavior of materials. The abrasion wheel test was developed to primarily utilize a steel wheel (Brinell, 1921). Haworth (1949) criticized using of the steel wheel by arguing that increasing the contact area size in the steel wheel test causes a change in the wear rate with time. He suggested that the use of a rubber wheel instead eliminates this problem, leading to the adoption of the RWAT which was standardized in ASTM G65 (2004).Radziszewski (2002), however, found that the use of the Steel Wheel Abrasion Test (SWAT) was more applicable for wear testing in the mining industry for two critical reasons. Firstly, the major cause of wear in a ball mill, the most frequently used comminution device, is ball-ore-ball contact and also ball-ore-liner which both are metal-ore-metal contact. Therefore, using the steel wheel has the advantage of providing a similar abrasive environment to the one that takes place in a real ball mill. Secondly, the SWAT creates the potential of running experiments at much higher force regimes that are closer to what happens in actual mills, unlike the RWAT which is a low stress test."

Jan 1, 2011

By H. Q. Peng

The study of synergistic reagents combination of mineral floatation is more and more important with the decreasing of bonanzas now. In order to determine the chemical reaction mechanism, here we present the synergistic reagents combination: amyl-xanthate, butyl-dithiophosphate and N,N-diethyldithiocarbamate ester, which dissolved by different organic solvents. The reagents were applied by an Anhui mine to float low-grade covellite as a substitute for ethyl-xanthate. One reaction products Na2HPSO3?5H2O (disodium hydrogen-thiophosphate pentahydrate) which was re-crystalized and measured by X-ray diffraction analysis. In its crystal structure, the two crystallo-graphically different Na ions are six-coordinated and are bridged by two covalent bonds with the O atoms of water molecules to give a basket unit. However, we can?t get Na2HPSO3?5 H2O by combining butyl-dithiophosphate and N,N-diethyldithiocarbamate ester under the same condition. This discovery may provides a intuitionistic evidence that in the process of reaction, the three com-pounds would cooperate with each other, but the decisive reaction may be the hydrolyzation of amyl-xanthate.

Jan 1, 2014

By K. Fleck

Energy West Mining Company (EWMC) has implemented a geologic program for improving stability and support requirements along deep two-entry longwall gateroads at its Deer Creek Mine operations located near Huntington, Utah. Together with geotechnical monitoring and concurrent review of mine seismicity in cooperation with MTI staff, it has become possible to improve longwall layout designs for two seam extraction of the Hiawatha and Blind Canyon seams. The geologic program consists of surface and in-mine exploration drilling, surface and in-mine geologic mapping, rock mechanics testing and detailed measurements of changes in depositional and structural conditions during development of every longwall gateroad. The geotechnical program consists of underground measurements at seven locations in two neighboring mining districts located in the Hiawatha and Blind Canyon coal seams under moderate to deep cover. Within the last five years, additional measurements, including data on seismicity and face conditions, have been incorporated into the data collection program for verifying the insitu coal strength and load transfer mechanisms for improving two-seam designs and support systems. Geologic mapping results are also used to predict local stability of headgate and tailgate entries, combining mine roof mapping, stratigraphic profiles of the coal and roof, and depth-of-cover information and dual-seam mine overlays, for use by operations personnel in planning roof and rib support for the retreating longwall sections.

Jan 1, 2012

By A. Wedepohl

Selective leaching of phases in charge chrome is used in a variety of industrial processes for the production of chromium chemicals. A mineralogical study was made of a range of local charge chrome samples, at various stages of leaching in sulphuric acid (20g/l at 90°C), using mainly a scanning electron microscope (SEM) together with an energy-dispersive spectroscopy analyzer (EDS), and X-ray diffraction techniques. It was found that the leaching behaviour of the different types of charge chrome depends largely on the nature of the secondary phases, which in turn depends upon whether the silicon content is above or below 4 per cent by mass. The leaching behaviour of high-chromium ferrite is anomalous, and it is postulated that the process is analogous to the corrosion of brass by dezincification. Keywords: charge chrome leaching, scanning electron microscope

Jan 1, 2000

By Frederick C. Rhyner

This paper describes the design and construction of two high-capacity rock anchors to restrain a supplementary backstay for the Bear Mountain Bridge, which is a suspension bridge spanning the Hudson River about 40 miles north of New York City. The supplementary backstay was installed to relieve a portion of the tension in the southern main cable, which had been creeping in recent years. The two new rock anchors were 1,200 kip capacity each, installed at a batter to depths of 59 feet. This paper describes the subsurface investigation, group capacity analysis, installation and load testing. The rock anchors included strain gages connected to the monitoring system for the bridge. The paper describes the long term strain gage data which shows no change in stress distribution in either anchor.

Jan 1, 2010

By Larry: McAnuff Schneider, Edward Walter, Gordon Shaw, Daniel Grieco, Dennis Clark

During the 1998 Annual Conference of the International Society of Explosives Engineers (ISEE), the Seismograph Section established a subcommittee for the purpose of compiling a list of all regulations pertaining to limits imposed on ground vibration generated by blasting. The goal of this project was to determine the vibration regulatory levels being enforced, with the further intention of examining their scope, and uniformity. A secondary purpose was to evaluate the consistency of the existing regulations with the current scientific findings on structural response and damage potential.

Jan 1, 2001

By H. K. Lin

The effect of metallic iron fines on froth flotation of a sulfide ore was examined by comparing the flotation results with and without iron fines present in the flotation feed. Mild steel and ceramic laboratory ball mills were used to grind 600 g sulfide ore charges. The mild steel ball mill generated approximately 4.6 g of iron fines (0.8% of the ore charge mass) when grinding to a product size of 80% passing 200 mesh (75 mm). When a low dosage of a weak xanthate collector was used in flotation, the impact of the iron fines on sulfide flotation was marked. Higher dosages of stronger xanthate collectors rendered the impact of the iron fines much less significant. Consumption of the collectors by the powdery iron fines is believed to cause the differences observed in the flotation results. A galvanic effect on flotation was not evident in this study. The impact of the iron fines on silicates depression was also examined.

Jan 1, 2008

By J. K. Afidenyo, J. Osei-Owusu

"The Obuasi Mine of AngloGold Ashanti Limited has been operating the world’s largest Biooxidation Plant at its Sulfide Treatment Plant (STP) in Ghana, using the Gencor Biox® technology since February 1994. The Biox® technology was preferred to other alternative methods of treating refractory sulfide ores such as roasting, pressure oxidation and nitric acid leaching due to among other reasons, its lower capital and operating costs, reduced technical risk, relatively benign environmental impact and its ease of operation and maintenance in a remote location.STP has since commissioning succeeded in operating this technology successfully but not without some operational problems. The Plant has seen a number of upgrades and modifications in its circuits which were motivated by cost, operational and throughput constraints.The objective of this paper is therefore to highlight the mine’s experience in the treatment of its complex carbonaceous refractory sulfide gold ores with emphasis on plant operations and improvements such as the Biox® reactors expansion, flotation concentrate upgrade project and neutralization circuit modifications. The Biox® Plant operating cost is also discussed.INTRODUCTIONThe Obuasi mine forms part of the AngloGold Ashanti Group of Gold Mines. It is located in the Adansi West District of the Republic of Ghana. The mine is primarily an underground operation, although some surface mining still takes place. Ore is processed by two main treatment plants: the Sulfide Treatment Plant (for underground ore) and the Tailings plant (for tailings reclamation operations). A third plant, the Oxide Plant, is used to batch-treat remnant opencast ore and stockpiles, of which there are adequate tonnages to keep the plant operational until 2008.Though reference is made in this paper to the Tailings and Oxide Treatment Plants, the main focus will be on the Sulfide Treatment Plant."

Jan 1, 2008

The mining industry worldwide is currently facing a significant restructuring process. In most underground mines, widespread mechanization of the mining processes increases production while reducing staff numbers. At the same time, mining depths as well as the lateral spread of the mine workings are increasing. This ever-changing mining environment requires sophisticated solutions for the design and operation of underground mines. In fact, a reduced number of mining engineers is taking responsibility for everincreasing mine operations. This applies not only to the excavation of the minerals, but also to all other aspects of the mining operation, including health and safety, disaster management, and mine rescue organization. Most mining engineering graduates entering the industry lack experience in mine emergency management. Young engineer trainees must learn mine emergency management and rescue work in addition to their normal training experience on the job. Often, and unfortunately, emergency and rescue training at different mining companies is not carried out to the highest level and standard and with the best possible training outcomes. The tasks and challenges a young engineer faces while being trained in a new position do not leave much room for additional training in mine rescue and emergency management. At the same time, experienced, ?old hands? are retiring and cannot easily be replaced due to limited graduation numbers. Strategies are being developed at mining universities worldwide to train mining engineering students in handling mine emergency situations and to provide hands-on experience for managing potential accident and disaster scenarios underground. Two of these strategies, from the USA and from Central Europe, are presented in this paper. These specific strategies have to be seen under special consideration of the local and regional boundary conditions, but might serve as case studies for mining schools and universities in other countries.

Jan 1, 2014

By N. Henderson, J. Weyer, J. F. Brune

"The mining industry worldwide is currently facing a significant restructuring process. In most underground mines, widespread mechanization of the mining processes increases production while reducing staff numbers. At the same time, mining depths as well as the lateral spread of the mine workings are increasing. This ever-changing mining environment requires sophisticated solutions for the design and operation of underground mines. In fact, a reduced number of mining engineers is taking responsibility for everincreasing mine operations. This applies not only to the excavation of the minerals, but also to all other aspects of the mining operation, including health and safety, disaster management, and mine rescue organization.Most mining engineering graduates entering the industry lack experience in mine emergency management. Young engineer trainees must learn mine emergency management and rescue work in addition to their normal training experience on the job. Often, and unfortunately, emergency and rescue training at different mining companies is not carried out to the highest level and standard and with the best possible training outcomes. The tasks and challenges a young engineer faces while being trained in a new position do not leave much room for additional training in mine rescue and emergency management. At the same time, experienced, ’old hands’ are retiring and cannot easily be replaced due to limited graduation numbers.Strategies are being developed at mining universities worldwide to train mining engineering students in handling mine emergency situations and to provide hands-on experience for managing potential accident and disaster scenarios underground. Two of these strategies, from the USA and from Central Europe, are presented in this paper. These specific strategies have to be seen under special consideration of the local and regional boundary conditions, but might serve as case studies for mining schools and universities in other countries."

Jan 1, 2014

By S. McAlister

"Falcon Concentrators Inc. has developed a high capacity centrifuge for the recovery of fine, free gold as well as other metals and minerals which were previously thought to be unrecoverable by gravity means. Development started in the early 1980's and the first commercial operation was commissioned in 1986. Gold applications include scavenging conventional gravity and cyanidation circuit tailings, cleaning gravity concentrates, cleaning flotation concentrates to melting grade, scavenging flotation tailings, and placer mining. Recent development work by Falcon has expanded the applications scope of the centrifugal concentrator to include many minerals amenable to gravity concentration including iron, tin, industrial minerals, and hazardous wastes. This paper discusses this technology including its history, present applications, and future potential. OVERVIEW OF CENTRIFIJGAL CONCENTRATIONUsing centrifugal force to enhance the separation of materials by differential specific gravity has been researched for over a century. Many attempts have been made to concentrate minerals in high gravity fields. Patents were granted on this subject as early as 1891 (see Figure 1). Patenting activity continued into the 1920's and has been relatively quiet since. It is significant that no centrifugal system of gravity concentration has been broadly accepted by the mineral processing community until recently. Much of the world's reserve of mineral deposits which are amenable to conventional gravity concentration technology (coarse-grained) have been mined and therefore there is an increasing demand for technology which can economically recover the fine-grained gravity recoverable minerals in the remaining deposits. In addition, centrifugal concentration can play an increasing role in solving environmental problems by offering an inexpensive method of concentrating hazardous materials such as uranium, plutonium, mercury, lead, and other heavy metals. The overall cost of disposing of these substances safely can be drastically reduced if they are recovered into a concentrated form prior to disposal."

Jan 1, 1992

By Charles B. Carpenter

For many years, studies of ground movement and subsidence accompanying subsurface mining operations have been part of the research program of the Bureau of Mines. Periodic observations by engineers of the Mining Division of the Bureau of man-built structures beneath which mining operations are conducted offer indisputable evidence of subsidence in the form of creeks in masonry structures and fractures and depressions in the surface of the earth. As the removal of subsurface rock and earth material by mining, especially by the room-and-pillar method, is equivalent to withdrawing some of the foundation of a building, subsidence of the formations above, the mining levels in certain areas is easily understood as a gravitational adjustment of the overlying earth formations.

Jan 1, 1940

By Charles B. Carpenter

For many years, studies of ground movement and subsidence accompanying subsurface mining operations have been part of the research program of the Bureau of Mines. Periodic observations by engineers of the Mining Division of the Bureau of man-built structures beneath which mining operations are conducted offer indisputable evidence of subsidence in the form of creeks in masonry structures and fractures and depressions in tie surface of the earth. As the removal of subsurface rock and earth material by mining, especially by the room-and-pillar method, is equivalent to withdrawing some of the foundation of a building, subsidence of the formations above, the mining levels in certain air-as is easily understood as a gravitational adjustment of the overlying earth formations.

Jan 1, 1940

By J. W. Germundson

La Cerro de Pasco Corporation fue una de las primeras compañías mineras que utilizó el explosivo a base del nitrato de amonio en las operaciones de explotación de subsuelo. En este sentido, el objetivo del texto radica en el fomento de su uso para futuras subterráneas a través del conocimiento de la historia de los explosivos, los procesos y composición del nitrato de amonio, el empleo del explosivo AN-FO Mina Cerro de Pasco en el subsuelo, usos actuales de la AN-FO, análisis de costos y las reglas de seguridad.

Aug 20, 1963

By James A. Finch, Stéphanie Gélinas

"A colorimetric technique, originally developed for methyl iso butyl carbinol (MIBC) based on the Komarowsky reaction, has been extended to a wide range of common mineral flotation frothers. The procedure, which is briefly described, is shown suited to on-site determination in a series of industrial campaigns. Some frother observations are described, including: concentration evolution down a bank, distribution between pulp and froth phases, and a mass balance around a circuit. Minute amounts of frother in recycle water were also measured.The contribution of frother and alcohol by-products in the analysis was generally additive for plants using aliphatic alcohol type frothers and decoupled for systems using glycols. Typically, U250C (polyglycol) was used at higher concentration (>10 ppm) than MIBC (aliphatic alcohol) (<10 ppm) or F-150 (polyglycol) (<3ppm).The ability to monitor frother easily will help interpret gas dispersion behaviour and should permit further optimization of flotation cell hydrodynamics and chemistry. The capability to directly measure should help optimize the type, amount and location of frother addition, and to assess frother recycled with reclaim process water.INTRODUCTIONOwing to the lack of analytical methods, the task of determining frother concentration in plant flotation circuits is not routinely performed. Industrial sites seldom outsource analyses that are both costly and inconvenient, due to the necessity of shipping freeze-dried samples to remote testing facilities. A more direct colorimetric method has recently been demonstrated for the laboratory characterization of common industrial frothers (Gélinas and Finch, 2004). The approach, based on the Komarowsky reaction (Penniman et al., 1936; Coles et al., 1942; Duke, 1947), was previously described by Parkhomovski et al. (1976) for methyl iso butyl carbinol (MIBC). The reaction involves the interaction of the OH group of a higher alcohol, concentrated sulphuric acid, and salicylaldehyde, to yield coloured solutions with intensities that can be analyzed by UV-visible spectrophotometry."

Jan 1, 2007