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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 H. H. Einstein

This paper reviews how uncertainty has been dealt with over the past 40 years using the decision making cycle as a frame of reference. The review of the phases of this cycle, as applied to rockmechanics and rock engineering, namely characterization, performance analysis, updating and decision making shows that in each, progress has been made over the past 40 years, although most of the basic concepts existed already in the 1960’s. Characterization is the area in which the greatest scientific steps were taken, this phase and performance analysis also gained from the tremendously expanded computational capabilities which allow one to use both more complex and more practically oriented models. The greatest practical advance is without using any doubt in risk based decision making although its acceptance shows interesting differences between different professions. Dans l’article suivant on utilise le cycle de décision pour illustrer le développement du traitement des incertitudes en mécanique des roches et en construction en roche dans les quarante années passées. La revue des phases du cycle de décision montre qu’on a fait du progrès dans chaque phase du cycle de décision, c’est à dire dans la caractérisation, dans l’analyse et la prédiction du comportement, dans l’actualisation et dans l’acte de décision, même si les concepts fondamentaux existaient déjà dans les années 1960. Les plus grands avancements scientifiques se trouvent dans le domaine de la caractérisation tandis que l’analyse prédictive profitait du développement de l’informatique qui a mené à des modèles plus complexes mais aussi plus pratiques. Le plus grand progrès est sans doute dans le domaine de l’acte de décision sur la base des risques. Ce procédé est devenu assez commun même s’il y a encore des différences d’acceptation entre différentes professions. Im vorliegenden Artikel wird der Entscheidungszyklus gebraucht, um darzustellen wie sich derUmgang mit Unsicherheiten im Felsbau während der letzen 40 Jahre entwickelt hat. DerÜberblick über die Phasen des Entscheidungsprozesses zeigt, dass bei der Anwendung in derFelsmechanik und im Felsbau, in allen Phasen d.h. bei der Charakterisierung, bei der analytischenVorhersage, beim Aktualisieren und bei der Entscheidungsfindung Fortschritte gemacht wurden,obwohl die grundlegenden Konzepte bereits in den 1960er Jahren existierten. Im Gebiet derCharakterisierung gab es wohl die grössten wissenschaftlichen Entwicklungen, während dieanalytische Vorhersage vor allem von den Fortschritten der Informatik profitierte, welchekomplexere wie auch praktischere Modelle möglich machte. Der grösste Fortschritt ist ganz sicherin der Entscheidungsfindung zu beobachten, wo Risikobetrachtungen gang und gäbe sind, obwohlhier noch einige Unterschiede zwischen verschiedenen Berufsgattungen zu finden sind.

Jan 1, 2003

By Stefan Larsson, Sebastian Adevik, Sadek Baker, Razvan Ignat

"Abstract Uncertain strength, deformation and flow properties in dry deep mixing columns often lead to conservative choices concerning design values where the design is regularly complemented with a surcharge fill. The surcharge not only leads to increased cost but also to logistical problems where the surcharge is a physical obstacle. The deformation properties of a ground improvement were studied by means of two small embankment load tests. The settlement measurements were also used in FEM analyses, where the effect of surcharge on creep settlements was investigated. Based on the results, the effects of the surcharge were considered negligible and could safely be ignored. The project is an example how the contractor can use a field test as an effective design approach.IntroductionGround improvement of soft soils with dry deep mixing columns, or lime-cement columns, is often combined with a surcharge fill. The main reason for using a surcharge is to force the primary settlement and some of the secondary settlement that would have occurred under the final embankment height alone, to take place under the surcharge loading. Another reason is to level out uneven settlements. Strength and deformation properties in improved soil cannot be sufficiently assessed in advance, before columns have been tested on-site, and this uncertainty often lead to conservative choices concerning design values. In order to compensate for a slow forecasted consolidation process, the design is regularly complemented with a surcharge. The surcharge not only leads to increased cost but also to logistical problems where the surcharge is a physical obstacle.Extensive research undertaken by Åhnberg (2006, 2007) shows, by means of triaxial and oedometer tests, that cementation processes and a load acting on the columns during hardening, makes the improved soil to behave as a heavily over-consolidated soil due to an increase in quasi pre-consolidation pressure. The effects of using a surcharge on the time for consolidation and creep properties are thus probably small, since the stress level does not normally exceed this quasi pre-consolidation pressure. A study presented by Venda Oliveira et al. (2013) shows that the stress level within small ranges has limited effect on the creep properties.This paper presents a case study where the deformation properties of a ground improvement using dry deep mixing columns was investigated by load tests on two small test embankments. The tests were performed at the Interchange Värtan project site, which is part of the Norra länken infrastructure project in Stockholm. The tests were not performed as a research project but simple load tests performed by the contractor with the purpose of rationalizing the design delivered by the client. One purpose of the load tests was to assess the deformations when the columns are loaded temporarily by overlaying concrete works. Another purpose was to provide some input data to a study of the effects of using surcharge on creep settlements. The analysis was conducted as finite element modeling using the commercial code PLAXIS, where creep settlements can be simulated using the built-in Soft Soil Creep model."

Jan 1, 2014

By Brendan Reilly, Jon Isaacson, Paul McDermott

Kenny/Shea JV is constructing the water intake tunnel for the new Elm Road Generating Station, a supercritical coal-fired power plant in Oak Creek, Wisconsin, being built by Bechtel Power Corporation. The intake tunnel system consists of a temporary mining shaft, pump house and intake channel riser shafts, and four lakebed intake shafts. An 8.33 m diameter, 2,800 m long TBM mined rock tunnel is being constructed to connect the shafts. The intakes are located 2.4 kilometers offshore in Lake Michigan. The shafts and tunnel are being constructed in glacial tills and Silurian Dolomite. The estimated tunnel completion is December 2007.

Jan 1, 2007

By Frederick C. Tompkins

A complete service system was established for the monitoring of personnel exposure to N02 based upon the use of passive dosimetry. This system is structured such that minimum effort is required of the user: manufacturing, analysis, reporting, and record keeping functions are provided by the service organization. A field evaluation program was carried out in a dieselized mine to assess the performance of two passive dosimeters, the Walden GASBADGE TM dosimeter, and a tubular dosimeter developed at New York University. Side-by-side comparisons were carried out to evaluate dosimeter suitability for monitoring in the field, and to assess relative accuracy characteristics.

Jan 1, 1976

By Valentín Choquenaira Bombilla

El presente trabajo describe el proceso de automatización de la planta concentradora BHPBilliton deTintaya desde el punto de vista del usuario final y así proporcionar una visión global sobre los aspectos relacionados con la automatización de nuestro proceso a través de sistemas de control distribuido (Distributed Control Systems, DCS) e inteligencia artificial (Sistema Experto).También se describe la arquitectura del control, las formas de conexión (Hardware) y la función que desempeña dentro del sistema cada uno de los componentes del sistema de control distribuido instalados en la planta concentradora de sulfuros de BHPBilliton Tintaya S.A. así como algunos conocimientos básicos de manejo del sistema composer y conductor NT (Software) para realizar las funciones de configuración, monitoreo y control del proceso desde unidades remotas y estaciones de trabajo.

Sep 12, 2005

By Harold L. Rhodes

The Bureau of Mines has developed a method for determining the H2S content in natural gas samples. A gas chromatograph with a flame photometric detector was used to analyze samples with H2S concentrations ranging from 5,000 ppm to a minimum detectable limit of 0.01 ppm. A mass spectrometer was used to analyze samples containing H2S in amounts greater than 5,000 ppm. Methods are presented for preparing containers for H2S samples and for preparing standards using partial pressure and weighed standard methods, Sample collection techniques are discussed, as are analytical results which illustrate the loss of H2S while in the sample container and provide a basis for evaluating containers used for sampling and standard preparation.

Jan 1, 1979

By James Gibbs

In order to provide an initial approach to the deposits of oil shale, nahcolite, and dawsonite in the central area of the Piceance Creek Basin in northwestern Colorado, the U.S.B.M. and associated contractor personnel drilled and cased a 96-inch ID shaft to a depth of 2,371 feet. The shaft was constructed using "big hole" drilling techniques and succeeded in giving access to previously inaccessible deposits of the above minerals. This report documents the construction from its beginning in January 1977 to its completion in January 1978. Procedures used and problems encountered are discussed in derail.

Jan 1, 1978

By Alejandra Díaz Valdiviezo

El presente texto revisa el panorama actual de las rocas y minerales industriales en el Perú a través de los estudios de INGEMMET. Dentro de este estudio, las rocas minerales e industriales son recursos que representan un interesante potencial geológico en la geología peruana, constituyéndose en la principal fuente de materias primas e insumos para el abastecimiento de los principales subsectores económicos. Las rocas y minerales con mayor espectativa de inversión son: las rocas carbonatadas, sílice y arenas silíceas, fosfatos, yeso, rocas ornamentales como travertino, piedra laja, granitos, ente otros. Asímismo, en la actualidad hay varias regiones que no son óptimamente utilizados como las arenas silíceas y calizas en Cajamarca y Amazonas los granitos en Arequipa, travertinos en Puno, entre otros.

Feb 1, 2014

By N. T. Lowe

The National Institute for Occupational Safety and Health (NIOSH), Spokane Research Laboratory (SRL), investigated a means to evaluate the potential impact of surface conditions above underground mines on emergency response activities. Recent events have highlighted the need to conduct critical emergency operations on the surface above underground work areas. Accessibility and usability of the surface, such as the ability to drill holes or deploy seismic monitoring or through the earth communications systems, are an important consideration for emergency response planning. This paper identifies critical surface conditions such as: surface waters, valley fill, highways, railroads and significant structures that must be considered in emergency response planning and in the conduct of emergency operations as they relate specifically to the seismic detection of trapped underground miners. Results of case studies indicate a need to consider the impact surface conditions may have on emergency response capabilities.

Jan 1, 2009

By J. Douglas Causey

In 1987, at the request of the Bureau of Land Management, the U.S. Bureau of Mines studied a part of the 21,296-acre Million Hills Wilderness Study Area (NV-050-233) in order to evaluate its identified mineral resources. The study area is located in Clark County, NV, about 46 miles south of Mesquite, NV. The area is on the east edge of the Gold Butte mining district and has had minor production of copper and zinc from the Azure Ridge mine in the early 1900's. Assessment work was being done on the Esperanta claims, which covers the mine workings, in March 1987.

Jan 1, 1988

By V. N. Cox, C. H. Grant

Both the underwater method and the rock cratering method contribute useful information in evaluating and comparing new explosive compositions. Results indicate that metallized explosive systems which contain no high explosives can be formulated to offer more energy and to do potentially more work than other slurry explosive systems. Commercial field trials are presently being conducted with a metallized explosive that does not contain any high explosive. Although there have been only a few commercial blasts to date, the results are encouraging. The Dow Chemical Co. has been engaged in explosives research since 1953. The incentive for this research was based on the desire to find additional markets and uses for magnesium metal of which DOW is a heavy producer. The thermodynamic calculations for explosives incorporating light metals indicate energies approximately twice that of nonmetallized explosives currently being used. Early in 1960, additional patent rights were acquired from independent inventors and a development station at Virginia, Minn., was set up to conduct a commercial testing and market evaluation program with this new product. The actual manufacturing of the explosive was to take place in the boreholes. Due to the complexities involved in controlling the manufacture of the explosive in the borehole, performance was sometimes in doubt. Furthermore, experience indicated that the metallized explosive systems could not be evaluated by the standard laboratory methods then being used, and it was necessary for us to look for more suitable research methods. Tests were conducted on several known methods for explosive evaluation. The most promising were the Navy underwater method for energy evaluation and a modified Livingston crater method intended to compare explosive performance in rock. After shooting over 2000 charges of 8 to 60 lb under water and in taconites and granites with many types of explosives, a metallized explosive was developed which is now being manufactured at a pilot plant in Virginia, Minn. and is being evaluated commercially. UNDERWATER METHOD An underwater method of evaluating explosives has a number of advantages. A permanent site can be established and operated indefinitely. A large number of charges may be fired in a short length of time. The medium in which the explosive is shot is exactly the same for successive shots. Data are recorded electronically minimizing human judgment. A disadvantage of the underwater method is the lack of confinement provided by the water medium. Many explosive compositions require a greater degree of confinement to develop good energy release. Although the relative significance of the two components of energy release that are usually measured, the shock energy and the bubble energy, and their relationship to breaking rock are not clearly understood, the underwater method is a valuable research tool for screening explosive compositions and gaining an insight into the manner in which explosives release their energy. Fig. 1 shows schematically the underwater apparatus. The piezoelectric gages are calibrated tourmaline crystals which convert the shock wave to an electrical impulse which is transmitted to an oscilloscope and recorded on Polaroid film. The shock traces are picked up by scopes 1 and 2. Scope 1 is timed to pick up the full trace whereas scope 2 is timed to cover the first increment of the shock trace expanded, and therefore allows full inspection of the propagation and peak pressures. Scope 3 records the bubble trace. When the explosion occurs, a bubble of gaseous detonation products is formed. The outward momentum of the water keeps expanding the bubble even after

Jan 1, 1963

The variation of carbon monoxide and hydrogen utilization with the amount of the reductant in the blast furnace bosh gas was investigated for the No. 4 blast furnace at The Broken Hill Proprietary Co. Ltd.iron and steel works. Newcastle. The degree of CO utilization decreased with increasing CO in the bosh gas; the H., utilization increased with the H., content of the gas. Empirical relationships for CO and H., utilization are proposed.H2, is 3-6 times as effective a reductant as CO at present levels of CO (34-39 per cent) and H2 (6-10 per cent) in blast furnace bosh gas. H2, gas injection into the blast furnace is proposed as a means of lowering the coke consumption, and the economics of H2 injection are evaluated.

Jan 1, 1975

By J. E. Hipp

Three electrostatic field sensing proximity warning devices were tested using full-scale cranes and power line systems, a scaled model facility, environmental testing facilities, and theoretical/numerical analysis. The design objective of each device is to assist in safe crane operation near overhead power lines. Several design deficiencies (varying from device to device) were observed, including inadequate overlap in sensitivity ranges, utilization of vacuum tubes and electro-mechanical parts, temperature sensitivity and inaudible alarms. In addition, the testing showed major device limitations including sensitivity to boom orientations and length, polarization dependent responses, and unreliable operation in the presence of multiple power line circuits. The multiple power line circuit problem is intrinsic to electrostatic sensing devices. The remaining deficiencies and limitations are correctable within a state-of-the-art design. This investigation is not intended to evaluate the safety aspects or policy of utilizing proximity warning devices. Rather, the purpose is to determine the performance characteristics of such devices in relation to the criteria specified in proposed MSHA regulation 77.805-4 (i. e., the devices must alarm at a distance of 10 feet from the power line).

Jan 1, 1980

By R. R. Faddick

Properties of coal-water slurries were studied in two separate phases: a rheological phase and a pipeline phase. The purpose of the study was to investigate the rheology of fine coal slurries to determine the effect of fine particles in a coal-water mixture on the economic and operational aspects of a slurry pipeline. The slurries consisted of 6x10, 100x200, and 200x0 mesh coal in water. A fourth slurry consisted of a mixture of the 6x10 and 200x0 mesh coal. Brookfield and Stormer rotational viscometers were used to obtain or simulate rheograms for a range of fine coal concentrations, temperatures, and particle sizes. All the slurries were pumped through a 1-inch diameter acrylic pipe. The fine coal slurries were found to encompass four distinct rheological models. The narrow size distribution of the coal slurries was apparently responsible for the high pipewall friction losses, more so than the particle size. A scale-up method applicable to Bingham plastics was found satisfactory for predicting pipeline headlosses of fine coal slurries from rheology data.

Jan 1, 1974

Mr K.R. Beard was born on 19th December, 1958. He attended Marist Brothers College, Observatory, and Marist Brothers College, Linmeyer. He was awarded a bursary by SEIFSA (Steel and Engineering Industries Federation of South Africa) and gained the degree of B.Sc. Eng. metallurgy at the University of the Witwatersrand in 1982. He is a member of the Engineers' Society of South Africa. Mr G.A. Brown was born on 27th June, 1934, and matriculated at St John's College. He obtained the degrees of RSc. Eng. (Met.) at the University of the Witwatersrand in 1957, and M. Met. at Sheffield University in 1959. He is a member of the Institution of Mining and Metallurgy (UK) and the Society of Mining Engineers (USA). Or LA. Cramer was born in the USA and, having received a B.Sc. degree in metallurgical engineering from the Colorado School of Mines, he emigrated to South Africa in 1971. He enrolled as a graduate student at the University of Natal and successfully completed both an M.Sc. and a Ph.D. degree in chemical engineering.

Jan 1, 1989

By Derek Ettie

"In the Hydrometallurgical processes, the presence of the so-called "crud" is a constant challenge in solvent extraction. Crud is a stable emulsion which forms along the interface between the aqueous and organic phase. The spread is influenced by the following parameters: first, wind blows the dust and impurities into the open sedimentation tanks. Second, the undissolved solids such as sand transported in the PLS causing problems in conjunction with incorrect agitator design.The crud fraction can decisively impact the efficiency of the hydrometallurgical extraction because the phase interface can constitute a large fraction and the sedimentation tanks cannot react flexibly to it. In the downstream process of the series-connected sedimentation tanks, they are thus all contaminated with crud. At the same time, the necessary mass transport is significantly impeded at the phase boundary between organic phase and aqueous phase due to the crud formation.The transfer of the organic phase into the electrolysis cell can result in a "burnout" of the cathode. The carryover of this electrolyte into the extraction can cause problems with the pH regulation. The carry-over of the organic components into the raffinate also leads to contamination of the leaching circuit. The continuous treatment of the crud with a 3-phase decanter centrifuge is extremely effective in combating this problem. This technology splits all three phases from each other and they are consequently continuously separated. All subsequent process steps exhibit a stable, uniform effectiveness. The main advantage for the customer is that fluctuations in the process are eliminated and the organic phase can be recirculated back to the extraction. The recycling of the solvent alone justifies the investment in less than 6 months as examples from South Africa and Chile show.To operate solvent recovery in daily operation fully automated online at the optimum limit, the decanter centrifuge is equipped with a concentration-dependent pond adjustment called DControl® by this means, we can guarantee our customers the maximum possible solvent recovery and minimize the solvent costs in this process step. This system is presented in detail in this paper."

Jan 1, 2014

By James L. Hendrix

The applicability of a rotating drum with an attached trommel as a flocculation dewatering device of Florida phosphatic claywastes was studied. Several experiments were conducted in order to determine the important fabrication and operating parameters. Results from the experiments indicated flint the dosage of polyethylene oxide required to form a satisfactory product cake could be reduced by using the rotary drum, which introduces less shear stress into the fluid than a constant stirred tank mixer. It was found that the length of the mixer was the most important parameter. Increased length increased the retention time the flocs stayed in the mixer without dewatering. Such increased time decreased the stability of the flocs. Through analysis of residence time distribution data it was found that the longer mixers approached plug flow characteristics. Other important parameters were trommel length and rotational speed. Mixers from 10 cm diameter to 35.6 cm diameter were tested with good results.

Jan 1, 1982

By A. D. McMahon

This survey is one of a series of Bureau of Mines publications designed to serve the needs of Government and industry for comprehensive information on mineral commodities and activities. Copper, a versatile metal, has been vital to all civilizations from prehistoric times to the present. Its essential value in antiquity and until the nineteenth century arose from its malleability and ease of working, its corrosion resistance and durability', its attractive colors in alloyed and unalloyed forms, and, of course, its availability. The principal uses were for tools, utensils, vessels, weapons, pipe, statuary and other objects of art, and for building and architectural pur£~ses where formability, permanence, and beaut)" were necessary qualities. Utilization of copper based on these physical and mechanical properties has grown tremendously for commercial, structural, mechanical, architectural, and art items; and its capacity for forming numerous alloys has led to a myriad of applications from miniature copper and brass eyelets to huge bronze battleship propellers. The early nineteenth century marks the epoch of the greatest use of copper, transmitting electrical energy. This particular property of copper is fundamental to the spectacular growth of the electrical industry and all associated industries relying on electricity for power, light, and heat. More than half of all copper produced is used for transmission of electricity. The copper industry has been able to expand along with the mounting demand because of the ever increasing discovery of resources in the world and advances in mining, metallurgical, and fabricating technologies. World production and consumption rose progressively from about 18,000 tons in 1800 to more than 4.5 million tons in 1960. The estimated world reserve of primary- copper has more than doubled since 1935, being 212 million tons in 1960. Ninety percent of this reserve is credited to eight countries-the United States, Canada, Chile, Peru, the Soviet Union, Poland, Northern Rhodesia, and the Republic of the Congo. The United States share is 32.5 million tons of copper in ore, averaging approximately 0.9 percent. Another reserve being accumulated in the industrial countries of the world is copper products now in use that will eventually be discarded as scrap and become available for recovering secondary copper. In the United States this resource of more than 30 million tons, provides about one-fourth of the annual supply.

Jan 1, 1965

By Porfirio Pinto Linares

El presente texto señala la paragénesis y zoneamiento en el yacimiento de Morococha. Dicho distrito está ubicado al este de Lima, cuyos principales productos minerales son el zinc, cobre, plata y plomo. Para dicho estudio geológico se empleó los valores de ensayos para el cobre, plata y zinc principalmente; en algunos casos, los valores para el plomo; de las vetas estudiadas. En el estudio de la paragénesis no se ha hecho un estudio completo al microscopio de la secuencia de los minerales de la veta. Se han aprovechado únicamente, las mejores exposiciones en el subsuelo que ofrecen evidencias excelentes para deducir las características principales de la paragénesis.

Mar 1, 1965