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By M. Salimov, J. Sattarvand

The conventional visualisation method of remote equipment is through the installation of one or more cameras on the machine, and sending a live feed to the operator’s flat display. However, the performance of the teleoperation can be enhanced using better visualisation through virtual reality (VR). This paper presents the process of the design and manufacturing of a robotic platform that will be used in the next phase of the project for a VR-assisted teleoperated excavator. The robot consists of a loading boom and arm arrangement installed on the undercarriage of a CAT300-9D. All hydraulic cylinders are replaced with electric actuators, and crawling motors are substituted by electric motors. The pieces of the boom and the arm, as well as the bucket were designed in Autodesk Inventor, and manufactured from aluminium sheets using a desktop and CNC machine. Parts are joined by pins and welding as needed. An Arduino-based control system is developed for the robot, and motor controllers are used to convert the power commands from the microcontroller to the high-amperage actuators. The control system is capable of communicating with a wireless Play Station controller to operate remotely. The manufactured robotic excavator is planned to be utilised in multiple autonomy research projects.

Sep 1, 2021

By J. L. Jambor, J. E. Dutrizac, J. B. O'Reilly

The present-day metallurgical community is quite familiar with the use of jarosites [MFe3(S04)2(0H)6 where M = K, Na, NH4, Ag, 1/2Pb, etc.] as a means of controlling iron, alkalis and sulphate in hydrometallurgical circuits. This modern precipitation technology has found an increasingly widespread application in the zinc industry111 and is gradually also being extended into the hydrometallurgical processing of copper and cobalt121 . The chief advantage of jarosite precipitation is that the iron precipitate settles and filters well, and gives low losses of divalent metals in the washed residue. Although this jarosite precipitation technology was developed only within the past twenty years, man's involvement with jarosites extends back to antiquity, and jarosites have played an important role as a source of silver in several ancient metallurgical centres. In the early days of this century, argentojarosite was an important local source of silver at the Tintic Standard mine, Dividend, Utah, where over 200 000 oz of silver were recovered from highgrade natural jarosite over a three-month period 131 . At the Matagente mine in Peru, pockets of argentiferous plumbojarosite up to 40 m thick were mined and processed by the Indians prior to the arrival of the Spaniards14-51 . In Cyprus there are vast jarosite deposits associated with the ancient mining sitesl51 , but exploitation of these jarosites has been insignificant because of their low silver values. The most extensive mining of silver-bearing jarosite, and certainly the oldest documented instance of such jarosite exploitation, was in the vast pre-Roman workings at Rio Tinto, Spain. This mine, the greatest single miningmetallurgical site currently known from the ancient world and also the oldest site of more or less continuous metal production, has witnessed many metallurgical firsts. Aside from the initial processing of jarositic ores for their silver values, the development of large-scale hydrometallurgy also seems to have occurred at Rio Tinto. As early as 1737, copper was recovered by cementation on scrap iron from the mine waters at Rio Tintol51 . Large-scale heap leaching of calcined ore commenced with the British operations in 1876 and, by 1900, raw pyrite was heap leached to recover associated copper values161 .

Jan 1, 1999

By S. Sridhar, R. E. Aune, M. Hayashi

Thermophysical properties of silicate melts are strongly structure dependent. It is well known that the viscosities of slags increase with increasing the degree of polymerization of silicate anions. Even the thermodynamic properties of slags are dependent on the types of species and the population of the same in the melt. Thus, a link between the thermophysical and thermochemical properties of silicate melts is logically expected. The present paper elucidates the salient features of Darken?s excess stability approach to the Gibbs energies of solutions as applied to the viscosities of silicate melts. It is demonstrated, that the second derivatives of the viscosities of binary silicate melts with respect to composition indicate a maxima corresponding to the existence of stable compounds in these systems. The concept was successfully applied to the following systems: Al2O3-SiO2, CaO-SiO2, FeO-SiO2, MgO-SiO2and MnO-SiO2. In all the cases, the second derivative plots of viscosities with respect to composition showed peaks corresponding to the metasilicates. The second derivatives of the activation energies of viscous flow with respect to temperature has earlier been shown to reflect the formation of associates/embryos in the homogeneous silicate melts, indicating the readiness of the melt to separate a solid phase. Thermodynamic coupling of thermal diffusivities in the case of the system CaO-Al2O3-SiO2from the laser-flash measurements of these slags as a function of temperature are examined as part of the present study. Densities are estimated from integral molar enthalpies in the case of silicate systems and the results are presented. Keywords: silicate melts, viscosity; activation energy, thermal diffusivity; density

Jan 1, 2004

By S. P. Kinney, P. H. Royster, T. L. Joseph

"The study described in this paper, on the reactions in an iron blast furnace, is part of the investigation being conducted by the Bureau of Mines on combustion of coke and the reduction of iron oxides in the blast furnace. Previous study of the combustion zone of the iron blast furnace, by means of a series of as samples taken through the tuyeres across the hearths of 13 blast furnaces, showed that the combustion of the coke in the blast-furnace hearth is complete at a distance of 32 to 40 inches from the nose of the tuyere, measured horizontally toward the center of the furnace. The results of this previous work are sum¬marized in the curves shown in figure 1, where it will be noted that practically all of the oxygen disappears at a distance of approximately 30 inches from the nose of the tuyere.In order to determine the height at which oxygen is found in a vertical direction above the tuyeres - it had been suggested that the combustion zone turned upward near the tuyere and to obtain comparisons with the samples taken at the Bureau of Mines experimental6 (5-ton) blast-furnace at Minneapolis, the Bureau extended the gas sampling on a commercial furnace to a number of planes between the tuyere level and the stock line. The sampling was conducted on a 300-ton furnace, making foundry iron, operated by the Central Iron and Coal Co., at Holt, Ala. The furnace was smelting Southern red and brown ores and nodules from pyrite sinter. Figure 3 is a vertical section of the furnace showing the six planes sampled."

Apr 1, 1926

By Harry L. Siebert

Pre-splitting was substituted for line drilling to achieve stable rock slopes and reduce excavation beyond the pay line on a Connecticut highway project in 1962-63. Changes have occurred in developing rock slopes that were not foreseen by Alan Bauer and Jim Scott who in the early days understood the relationship of explosive energy to stable slopes. Cushion blasting as currently used produces slopes designed to blend or complement the natural landscape with slope holes detonated after the main body of holes. Pre-splitting is the opposite. The best results have been achieved by detonating the pre-split line of the holes first to allow readjustment of the slope plane fracture and a separate blast for the main body of loaded holes.

Jan 1, 1998

By Raymond Derzay

This publication is intended to be of value to the mineral industry in establishing and maintaining effective programs for preventing noise-induced hearing loss. Factors involved in this loss and the need for and the requirements of an effective hearing conservation program are discussed. The legal and legislative history of compensation for hearing loss is briefly reviewed. A review of statutes is not attempted since several States have recently modified) or are in the process of modifying their laws regarding permissible noise exposures) required hearing protection) and/or compensation for hearing loss. A review of other aspects of the problem of industrial noise in terms of medical, physiological) and psychological frames of reference is included. A hearing conservation program is described in detail. Appendixes detailing the names and addresses of a few equipment suppliers are included. References are provided for those who may wish to delve more deeply into the medical, technical, and scientific considerations of noise and its effect on man.

Jan 1, 1972

Jan 1, 1968

By E. L. Garton

[AnalY3e s of Qany crude t) i 1 s prod.uced in Loui sia.na are incl udeo" in re!Jor~ ~ th'l t have b en u~li shed by the BurOllU 0: i?{ine s. The first rc-port,j} givin..; analyseG of 6 Louisiana crude oils, '-vas pUblluhed in 1921'l.s,nd this was 1'0110\ cd a year later by P.ep rt of InvBstign.tions 21a6t~ givi~ 7 addi tional analyses. The G7even :,ost il'!lportant of these analyses were incol"]lorated in Bulle~in 91,.2, is~ued in 1928. In 1934, analyses of 26 cl ... ude oils j)roduced in southern Louisiana ",ere published ? .§! The present report I)renonts analysos of 72 ad(~itional samples of crude oil frorl 4-, fields in 23 "l)ari shefl in Loui f",io.r]

Jan 1, 1939

By R. D. Wunder

The Chino Mines Company, a Kennecott-Mitsubishi partnership, located in Hurley, New Mexico, recently completed a $405 million modernization of its mine, concentrator, and smelter facilities. The mine/ concentrator modernization commenced in 1980 and the smelter modernization began during 1982. Modernization of the mine and concentrator facilities involved increasing the mining rate from 98 kt/d (108,000 stpd) to 152.2 kt/d (167,800 stpd). Ore mining was designed to increase production from 20.2 kt/d (22,300 stpd) to 34.0 kt/d (37,500 stpd). A new concentrator was constructed near the mine using semi-autogenous grinding. The new smelter uses the INCO flash smelting process, increasing capacity by 40.8 kt/a (45,000 stpy) to 99.8 kt/a (110,000 stpy) of salable copper.

Jan 1, 1985

By D. F. Hewett

ALTHOUGH most persons will agree that an individual or a nation can profit from the experience of other individuals or nations, there is always room for debate over the degree of similarity of their past and present conditions and of their future problems. Noting the increasing interest that Americans are showing in our mineral problems, I have felt that we could profit from reviews of the experiences in mineral exploitation acquired by the industrial nations of Europe. Whether we can learn much from Europe's experience in exploiting such minerals as petroleum may be debatable, but certainly, with a record of metal production extending back nearly 3000 years, Europe should hold much of value for America. A trip to Europe in 1926 permitted me to visit 28 mining districts, of which about half are now or have been in times past outstanding sources of several metals. The districts range from England to Greece and from Spain to Poland. To summarize briefly my impressions of these mining districts, as well as such reactions to the thought and life of Europe as so short a visit permits, I shall only venture the opinion that Americans can review with great profit the ideas and actions of Europeans, with regard not only to the production of metals but to many expressions of life. I believe that America has made and is making new contributions to the art of living, as well as to the arts of mining and metallurgy, but in so far as Europe is and has been a laboratory of economic, social and political experiments, the results she has attained deserve the thoughtful attention of America. I have come to believe that many of the problems that harass Europe lie in our path not far ahead. I have therefore hoped that a review of metal production in Europe in the light of its geologic, economic and political background may -serve to clear our vision with regard to our own metal production.

Jan 1, 1929

By W. I. Enderlin, P. O. Jackson, J. A. Glissmeyer, K. B. Olsen

A reliable estimate of radon emissions to the environment from underground uranium mines was obtained through measurements of radon in ventilation air at 24 mines and from estimates of radon release from other mine sources. The total production of U308 from the mines sampled represents about 63% of the total U.S. production from underground mines (1978 statistics). Wide variation in the radon emission rate per unit of production was found from mine to mine. Using the total radon emitted and U308 produced by all mines sampled, an average of 26.7 Ci of radon was emitted per ton of U309 produced. The investigation includes a brief study of the sources of variation of the emission rates. A statistically significant relationship was found between the measured radon release rate and the cumulative ore production at several mines.

Jan 1, 1981

By Clifford S. Gibson

A year ago a paper (1) was presented at the Annual Western Meeting of the Institute regarding silicosis in Ontario mines. It described the whole problem as we see it and discussed the means of prevention. The work and aims of the Technical Silicosis Research Committee of the Ontario Mining Association, and of the Committee's field engineer, were fully described also and it is suggested that reference be made to this paper in order to have a better understanding of the observations which are presented now. These observations enlarge upon parts of the dust control measures already discussed and tell of general progress in the past year. They concern fifty properties, the majority of the operating mines, which vary in size from the hopeful prospect to established producers yielding 11,000 tons of ore daily. Most of these are gold mines; a few copper-nickel. The ores range from heavy sulphides to siliceous materials and they are mined by many methods from varying types of deposits. The majority of the latter are steeply dipping and all are found in Precambrian host-rocks. Up to the present, die greatest depth to which mining has penetrated is 6,400 feet.

Jan 1, 1939

By Michael K. Watkeys, Charlesworth. E. GUY, Jacobus E. Potgieter, Anhaeusser. Carl R., Roger L. Gibson, Alexander F. M. Kisters

Abstract - Intrusive features of cupriferous noritoids from the deeply eroded Proterozoic granite-gneiss terrane of the Okiep Copper District in South Africa illustrate the emplacement of basic magmas into a mid- to lower-crustal environment. The small, easterly trending intermediate to basic intrusions of the so-called Koperberg Suite display a wide variety of geometries, occurrence and emplacement modes, including dike-, sill- and plug-like bodies. Coeval granulite-facies metamorphism, partial melting and ductile deformation of country rock gneisses during intrusion of the basic magmas led to emplacement and dilation processes of the intrusions which differ significantly from those described for dikes and sills at shallow crustal levels. Regional tectonic stresses are largely negligible due to very low differential stress (?1 - ?3) during deformation and intrusion, which permits emplacement at high angles to the principal compressive stress and which follows favorably inclined structural anisotropies. Dilation of the basic intrusions is largely determined by compositional differences of host rocks and occurs by thermal erosion, i.e., assimilation of wall rock gneisses. Low length-to-width ratios of basic to ultrabasic dikes and predominantly diaper -like outlines of mesocratic bodies are indicative of low viscosity contrasts between the mafic magmas and high-grade metamorphic host-rock gneisses. Buoyancy-controlled ascent of the basic to intermediate intrusions is expressed by a broad compositional zoning of basic bodies with respect to the granite-gneiss stratigraphy. Various intrusion modes within the stratigraphic column of the granite-gneiss sequence reflect a lithological and structural stratification of the seemingly homogeneous granite-gneiss terrane.

Jan 1, 1994

By Mike Muchard

STATNAMIC load testing augmented with embedded instrumentation has been successfully used to obtain structural and geotechnical design information on large diameter spun cast concrete cylinder piles on many large marine construction projects. The paper focuses on one particularly interesting large marine project involving a new bridge to St. George Island, Florida where instrumentation and STATNAMIC load testing was used in conjunction with static load testing on high capacity piles. The information presented includes embedded instrumentation measurements taken during pile fabrication (post-tensioning), during pile driving, during static load testing, and STATNAMIC load testing. As much of this data is the first of its kind on concrete cylinder piles, it is exciting to present the foundation industry with this additional insight as to the behavior of this pile type and the accuracy of the methods used to test them.

Jan 1, 2013

Large mining operations need equipment that consistently performs as expected. The most effective way of ensuring this is to have a defined life cycle with an optimised maintenance strategy. The determination of this life cycle is an economic decision, influenced by the construction and utilisation of the equipment. An effective life cycle costing (LCC) tool must be able to process the many variable factors involved.Many factors influence the costs that are associated with a machine over its life. The most variable of these are the costs of maintaining the equipment. Maintenance costs are dependant not only on the utilisation of the machine, but also on the strategy that has been developed to support the machine through its life. A combination of supplier support, component changes, regular servicing and unscheduled maintenance needs to be modelled, based on a variety of drivers. Traditionally spreadsheets have been used to model these factors, but the increasing complexity of the situation can make spreadsheets unwieldy and difficult to manage. A database solution that breaks each activity into its constituent components, links them to an associated mine plan driver and then aggregates the result is the ideal tool to provide a time based cost profile. The evaluation of a number of scenarios, representing different maintenance strategies/life cycles can be rapidly undertaken. Auditability through inbuilt tools is required to provide easy tracing of data. Use of the host company's account structure allows for reporting against the standard chart of accounts.

Dec 6, 2010

By A. K. Mahto, B. Samanta

"A heuristic model was developed to simultaneously generate the ultimate pit and production scheduling at a mining project. The method consists of a preprocessing step to select a starter pit, the implementation of a genetic algorithm to optimize the pit and schedule of the starter pit, and a network-flow algorithm–based postprocessing operation to finalize the ultimate pit and production scheduling. Applied to an iron ore mine, the model pit and schedule produced a net present value 21% higher than the reference pit and schedule prepared by experienced field engineers.RÉSUMÉ Un modele heuristique a ete developpe pour generer simultanement l’ordonnancement de la fosse finale et de la production dans le cadre d’un projet minier. Cette methode comprend une etape de pretraitement visant a selectionner une premiere fosse, la mise en oeuvre d’un algorithme genetique pour optimiser la fosse et le calendrier d’execution de cette premiere fosse, ainsi qu’une operation de posttraitement basee sur des algorithmes de flux reseaux pour finaliser l’ordonnancement de la fosse finale et de la production. En l’appliquant a une exploitation de minerai de fer, ce modele de fosse et d’ordonnancement a genere une valeur actualisee nette (VAN) superieure de 21 % a l’approche de reference pour la fosse et l’ordonnancement developpee par des ingenieurs de chantier chevronnes. INTRODUCTIONLong-term planning for an open-pit mine involves two important activities: developing the ultimate pit and determining the optimum production schedule. To accomplish this, an ore deposit is discretized into a number of smallsized elements called blocks, which are presented in a 3D block model structure. Because of economic and slope criteria, only a certain set of mining blocks can be extracted from the deposit constituting a pit. During mining, these blocks must be extracted in a specific sequence known as the production schedule."

Jan 1, 2017

By X. B. Zhao, J. G. Cai

When stress wave propagates through fractured rock masses, the wave will be slowed and attenuated due to the presence of these fractures. If the amplitude of stress wave is large enough to mobilize nonlinear deformation of these fractures, they will present different effects on one-dimensional P-wave propagation compared with those of linear deformational fractures. The static BB model is adopted to describe the nonlinear deformational behavior. Method of characteristics combined with displacement discontinuity theory is used to build analytical solutions of wave particle velocities and wave stresses. These equations are numerically solved with sufficient accuracy.

Jan 1, 2003

By R. B. Crookston

This paper presents the status and mining method chosen by each of the active underground oil shale projects in the united States today. Potential improvements in equipment and methods on the near-term horizon are discussed. The problems and potentials that lie in the long-term future of oil shale mining are examined in light of the demands which must be met by this developing technology.

Jan 1, 1981

By R. Hurman Eric

Within the Ag-Pb-S ternary system, the boundaries of the immiscibility region together with the tie-line distributions were re-established at 925°C by the equilibrium-quenching technique where samples were kept in evacuated and sealed silica capsules. Activities of Pb were measured by the dew-point method along the Ag-Pb binary at 925°C, 1100° and 1200°C. positive deviations were observed and the results were modeled by the Krupkowski formalism. Activities of Ag, Pb, and S, along the ternary miscibility gap were calculated at 925°C by utilizing the boundaries binary thermodynamics, phase equilibria and tie-lines. Activities of PbS within the pseudobinary Ag2S-PbS mattes were also measured by the dew-point technique and the results were again modeled by the Krupkowski formation Where negative deviations were observed.

Jan 1, 2003

By NEFE AEWFW

Changes in the 1980 quantity and value of the sales of various natural abrasives, compared with the data for 1979, were of a mixed nature. Output of garnet and special silica stone products increased in both tonnage and value during the year, while emery and tripoli-type materials production decreased in both tonnage and value. The reported quantity and value of sales of manufactured abrasive material-fused alumina and alumina-zirconia, silicon car-bidet and metallic iron and steel shot and grit-also decreased for 1980. [ ]

Jan 1, 1981