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By Jean-François Lapointe

Many advances have been made concerning the automation of heavy equipment teleoperators such as those found in mining. Complete automation, however, is not achieved yet and the operation of these vehicles still relies on the presence of a human operator. Fortunately, a lot of research has been done in order to improve the performance of these human-machine systems. This paper presents the characteristics of different control modes and input devices used for the control interface of those telemanipulators. We describe the benefits and drawbacks of each particular control interface on the overall system performance, based on a review of research in the field. We conclude with some recommendations and a discussion of future research needs, given the new potential advances offered by virtual environment technology and embedded computing.

May 1, 2001

By Levent Ozdemir, Bjorn Nilsen

For several recent TBM tunnel projects, unexpected ground conditions have been encountered, causing extra cost, considerable delay, and in some cases major claims. Undoubtedly, insufficient and/or irrelevant site investigation and testing are among the main causes of such incidents. The purpose of this paper is to review the main investigations and tests relevant for hard rock TBM projects, with particular emphasis on the considerable development that has taken place over the last few years. Also, guidelines for defining optimum scope and extent of site investigations and testing are discussed, as well as the importance of adjusting the investigations and tests according to complexity of the ground conditions and project type.

Jan 1, 1999

By Paul W. Zimmer, Carl E. Dutton

Iron ore in the Menominee district is mined from two iron-formations of middle Precambrian age. The older formation is present in the northeastern part; is composed mainly of hematite, magnetite, quartz, and minor silicates; and contains about 34 per cent iron. The rock has been so coarsened by meta- morphism that concentration of magnetite and hematite is feasib!e, and pellets containing more than 60 per cent iron are being produced. The older formation is also present in the southeastern part where it has 1:een only slightly metamorphosed. Ore containing more than 50 per cent iron was formerly mined from local residual concentrations of iron oxides from which silica had been sufficiently leached, or replaced by iron oxide, or affected by combinations of these processes. The younger iron-formation occurs in the western part of the district and, if unaltered, is interlayered siderite and chert. The ore in this area also contains more than 50 per cent iron and formed as local residual concentrations but in two stages. The siderite was converted to iron oxides (hematite and "limonite"), and silica was contemporaneously or subsequently removed by leaching, or replacement, or combinations of these processes.

Jan 1, 1968

By Kallioinen Jouko

"Advanced Flotation Technology is the application driven design of Don-Oliver flotation cells to achieve the optimum performance for each type and grind of flotation. Optimum performance is the combination of both recovery and selectivity.Optimized performance is the combined product of optimized mixing and effective froth removal. Optimized mixing is applied to roughers, scavengers, cleaners and specialty cells such as those to float hydrocyclone underflows in both primary and regrind circuits in order to reduce overgrinding. Effective mixing for fine material is easy, but overmixing reduces selectivity in frothbed.Selectivity in flotation is an important target, especially when treating complex ores, and parameters in frothbed have been examined to improve the separation of minerals and eliminate circumstances that reduce separation rate.Advances in process control have been achieved with expert controls and instructive operator information data. This has gained a higher degree of understanding of cell operation and ore type being processed to be used in future process development work. Excellent results of this Advanced Flotation Technology have been achieved and designs through 7000 cu ft (200 m3) are currently available for high capacity concentrators. This paper will detail how flotation cells are more responsive to the exact requirements of the duty specified."

Jan 1, 2000

By Rodrigo Jerez

Advances in inexpensive computer automation led to the development and use of a computerized ore control system at the Cyprus Copperstone Gold Mine near Parker, AZ. These new ore control practices improved accuracy, performance and productivity of the ore control effort. An automated system for data collection, including bar coding of blasthole samples, laboratory analysis, data management, grade estimation, cut delineation and ore zone stake out, plays a major role in ore control practices. This is of particular interest because of the large amount of blasthole information being processed, analyzed and reported daily. Copperstone Gold management has been progressive toward new, efficient methods regarding ore reserve estimation, long-term mine planning, short-term mine planning, ore control and surveying. Technological advances, including powerful personal computers, applicable mine planning software and surveying instrumentation, have become readily available and affordable. The computerized ore control procedures used at Copperstone include sample data collection, laboratory automation and computerized data management. These have reduced the time to complete ore control on a blast pattern by 50% to 75%. The final product - ore control - is generated in a more timely and accurate manner.

Jan 1, 1991

By G. L. Mowrey

One critical element of the U.S. Bureau of Mines (Bureau) autonomous mining research program is the development of a reliable coal interface detection (CID) system. Several candidate CID concepts currently being investigated by the Bureau include vibration, passive infrared, radar, and natural gamma radiation (NGR). To establish which CID sensor technologies need to be developed for a given seam, coal and adjacent rock samples (i.e., immediate roof and floor) are being collected from selected major coal seams in the U.S. and are being analyzed in terms of NGR and other geophysical measurements. Results of the NGR measurements indicate that, in general, all shale and shale-like materials (e.g., drawslate, slate, and fireclay) have higher NGR readings than the coal seam. Consequently the NGR method appears to be a potentially useful CID tool, provided that the immediate roof and floor are both composed of a high percentage of shale-type material.

Jan 1, 1990

By Lloyd R. Michels, Burke Cartwright, S. F. Ravitz

"INTRODUCTION Frequent attempts have be,made in the electrolysis of molten magnesium chloride to regenerate the electrolyte by allowing the chlorice generated at the anwdo to read with magnesium oxide and carbon within the melt according to the following reactions: (1) MgO + C + CL2 = MgCl2 + CO,(2) 2MgO + C + 2C12 = 2MgC12. + CO2.The principal advantages of such a procedure are that (1) the direct source of magnesium is magnesium oxide rather than the more expensive dehydrated magnesium chloride and (2) it is not necessary to handle or dispose of large quantities of chlorine or hydogen chloride.Grätzll 5/ proposed the use of an MgO carbon feed in a more or,less compact form in the anode compartment, of the cell. In a patent issued to Magall Aktiengecellschaft, 6/ a compact mixture of MgO and carbon is used as the anode itself. Kato 7/ and Backer 8/ add the feed in finely divided form to the surface of the anode compartment. The Bureau of Mines 2/ recently made a pilot-plant investigation of the electrolysis of suspension of MgO and carbon from chloride melts, in which it was found that although,current efficiencies of 60 to 70 percent were obtainable, the formation of sludges containing MgO, carbon, and magnesium seriously interfered with the operation of the cell,"

Apr 1, 1945

By Yichi Lu, Haydn N. G. Wadley, Douglas T. Queheillalt

"Using a 3-D ray tracing methodology combined with laser ultrasonically measured elastic constant data near the melting point, ultrasonic propagation in cylindrical single crystal bodies containing either a convex or a concave solid-liquid interface have been simulated and used to design new sensing concepts. Ray paths, wavefronts and time-of-flight (TOF) of rays that travel from a source to an arbitrarily positioned receiver have been calculated. Experimentally measured TOF data have been collected using laser generated/detected ultrasound on model systems with independently known interface shapes. Both numerically simulated data and experimental results have shown that the solidification (interfacial) region can be identified from ultrasonic transmission TOF data. Since convex and concave solid-liquid interfaces result in distinctively different TOF data. When TOF data collected in the diametral plane are used in a nonlinear least squares algorithm, the interface curvature has been successfully reconstructed and ultrasonic velocities of both the solid and liquid obtained. The reconstruction errors were found to be less than 5%.IntroductionMany of today's single crystal semiconductors are grown by variants of a vertical Bridgman technique in which a cylindrical ampoule of a molten semiconductor is translated through a thermal gradient, resulting in directional solidification and the growth of a single crystal, Fig. 1.1 It has long been recognized that during crystal growth the velocity and the shape of the solid-liquid interface, together with the local temperature gradient, control the mechanism of solidification (i.e. planar, cellular or dendritic), the likelihood of secondary grain nucleation/ twin formation (i.e. the loss of single crystallinity), solute (dopant) segregation, dislocation generation, etc. They thus determine the crystals' resulting quality.2-4 The solidification rate and the solid-liquid interface shape are also sensitive functions of the internal temperature gradient (both axial and radial) during solidification.5•6 This in turn is governed by the heat flux distribution incident upon the ampoule, the latent heat release at the interface, and heat transport (by a combination of conduction, buoyancy and surface tension driven convection, and radiation) within the ampoule. The solid-liquid interface's instantaneous position, velocity and shape during crystal growth are therefore difficult to predict and uncontrolled during growth, especially for those semiconductor materials with low thermal conductivity (e.g. CdTe).4-6 The development of technologies to non-invasively sense the interface position and shape throughout the vertical Bridgman crystal growth process has therefore become a key step toward developing a better understanding of the growth process, for enabling sensor-based process control, and thus ultimately for improving the yield and quality of difficult to grow semiconductor materials like CdTe."

Jan 1, 1997

By Hisataka Sakakibara

Although the pathophysiology of vibration-induced white finger (VWF) is still under discussion, evidence has been accumulated to understand the underlying mechanism. VWF is pathophysiologically characterized by an enhanced vasospastic response to cold, which can result from an imbalance between vasoconstriction and vasodilation in the digital arteries in response to cold (i.e., vasoconstriction-dominant). The imbalance is supposed to be due to faults in vascular vessels and sympathetically mediated vascular tone. Enhanced vasospastic response to cold Narrowing of arterial lumen with medial smooth muscle hypertrophy. Possible functional factors for enhanced vasoconstriction • Increased sympathetic nervous activity to cold (e.g., norepinephrine) • Increased release of endothelin-1 (ET-1; an endothelial-dependent vasoconstrictor) from the endothelium • Increased reactivity of alpha2-adrenoreceptors to cold Possible functional factors for decreased vasodilation • Decreased release of nitric oxide (NO; an endothelial-dependent vasodilator) from the endothelium • Decreased release of calcitonin gene-related peptide (CGRP; a vasodilatory neuropeptide) from sensory afferents The question is how their interrelations or imbalances among them are Vibration and arterial damage The next question is, how does hand-arm vibration exposure induce such pathophysiological changes in VWF patients? Recent morphological evidence from animal experiments shows that vibration acceleration stress (including shear stress) and smooth muscle contraction contribute to arterial damage of smooth muscle and endothelial cells. The vibration-induced arterial damage is frequency-amplitude-dependent.

Jan 6, 2006

All of the coal resource in North Dakota is lignite. The lignite fields of North Dakota cover approximately 40 percent of the total area of the state, with reserves estimated to be 9.8 billion tons, two percent of the U.S. base. The first commercial coal mine in North Dakota opened in Morton County in 1873. As the railroads crossed the plains, the demand for coal increased. Coal for fuel was supplied by the state's underground mines. By 1884, North Dakota's lignite production had reached 35,000 tons. North Dakota was among the fist states to shift from underground to large-scale commercial surface coal mining. By 1927,40 percent of the total production was by surface mining, compared to 2 percent for the nation as a whole. By 1959,86 percent of the total production was by surface mining, while the national average was 22 percent. Since 1966, surface mining has been the exclusive coal production method in North Dakota. North Dakota's regulatory program received conditional approval December 15, 1980. Following approval of amendments to the program, it received full approval February 18, 1986. The Abandoned Mine Lands Program was approved December 23,1981.

Jan 1, 1992

By Richard R. Klimpel

During the last 28 years, I have had the very challenging and rewarding experience of working as an engineering professional in a large multinational company, both as a manager of engineers and engineering projects as well as an inventor and generator of new engineering processes and products. Due to the diversified geographic and tech¬nical nature of my employer's business, my responsibilities have taken me all over the world. This has included interactions with people in different industries including minerals, coal, chemicals, petroleum, pulp and paper, agriculture and pharmaceuticals. As diverse as my experience may seem, it has always amazed me how common the basic underlying technology and economic trends are that shape the working environment that any given engineer in any given geographic loca¬tion will experience. I would like to discuss the industrial evolution from micro to macro engineering. One of the basic truths behind how industry must and will operate is "change," including: • the creation of conditions for change, • the anticipation of change, • the resistance to change, • the rewards that being part of a change can bring and • the destruction that change can bring to the unprepared. This fact was well stated by Heractitus around 500 BC.: "There is nothing permanent except change." This simple truth has been valid since the dawn of time and, if anything, is accelerating in nature every decade.

Jan 1, 1993

By D. Grgic, A. Giraud, F. Homand

RESUME : Le comportement mécanique partiellement saturé du minerai de fer a été étudié à partir d’essais de compression simple sur des éprouvettes à pression capillaire imposée par les solutions salines. Les échantillons restent peu saturés (32 %) même pour une humidité relative de 94 %, du fait de la présence de mésopores. Jusqu’à 90 % d’humidité relative la résistance diminue régulièrement. De 90 % à 94 % une forte chute est observée et pourrait être liée à la fois aux effets capillaires et à l’hydratation de certains minéraux. Le cycle hydrique subit par la roche dans la mine a été modélisé en 1D à l’aide d’un code de calcul entièrement couplé pour les milieux poreux partiellement saturés. Les calculs ont montré notamment une diminution importante en paroi des contraintes totales au cours de la phase de désaturation et une augmentation importante au cours de la phase de resaturation. Ces variations pourraient induire un endommagement du massif et être à l’origine d’instabilités, et soulignent l’intérêt d’une modélisation avec une géométrie plus adaptée. MOTS-CLEFS : mines de fer, partiellement saturé, pression capillaire, résistance, modélisation. ABSTRACT : The partially saturated mechanical behavior of iron ore has been studied from uniaxial compression tests on samples in which the suction is imposed with aqueous solutions. Samples are little saturated (32 %) even for a 94 % relative humidity because pores are too large. Up to 90 % relative humidity the strength decreases regularly. From 90 % to 94 % a great decrease is observed ; it could be explained by the capillary effects and the moisturizing of some minerals. The hydrous cycle imposed to the rocks in the mine has been modeled with an 1D fully coupled code for partially saturated porous media. The computations have shown an important decrease in the total stresses at the wall during the desaturation stage and an important increase during the re-saturation stage. These variations could induce a rock mass damage and instabilities, and highlight the necessity of a modeling with a well-adapted geometry. KEY-WORDS : iron mines, partially saturated, suction, strength, modeling. ZUSAMMENFASSUNG : Das mechanische Verhalten von teilweise gesättigten Eisenerz wird durch einachsige Druckversuche untergesucht. Die Prüfkörper haben einen durch Salzlösungen gestimmten kapillarischen Druck. Sie bleiben kaum gesättigt (32 %), sogar bei einer relativen Feuchtigkeit von 94 %, aufgrund der Anwesenheit von Mesoporen. Bis eine relative Feuchtigkeit von 90 % verringert sich gleichmässig die Druckfestigkeit und zwischen 90 % und 94 % merkt man eine starke Abnahme in Verbindung, möglicherweise, mit kapillarischen Effekten und Hydratation von bestimmten Mineralen. Die nümerische 1D Modellisierung des gezwungenen Wasserzyklus im Stein der Mine ist mit einem für porösen Medien ganz vernetzten Rechnungcode geführt. Sie zeigt besonders ein bedeutendes Sinken der Gesamtspannung während der Entwässerung und eine bedeutende Steigerung während der Sättigung. Diese Veränderungen könnten die Beschädigung des Gesteines herbeiführen und die Grundlage von Unstabilität sein. Sie unterstreichen die Wichtigkeit eine Modellisierung mit einer gut geeigneten Geometrie. STICHWÖRTER : Eisenminen, teilweise gesättigt, kapillarischer Druck, Druckfestigkeit, Modellisierung.

Jan 1, 2003

By Helen Francis

Over the last decade, lower ore grades and deeper mine environments have demanded that mining companies develop new technologies (tools and processes) to ensure a mine?s economic sustainability. At Inco Ltd., this demand has lead to the focus of technological development within the area of automation. Delineation (Drilling and Interpretation) is a key step in the determination of ore grade and location and therefore was chosen as a priority area for enhancement through automation. Focusing on the tools (the diamond drill) automation, significant benefits have been consistently achieved in terms of productivity, process efficiency, operational safety, cost reduction, component life cycles and machine reliability. It is suggested that optimum benefits have yet to be achieved, and will not be achieved until the human aspects of automation have been properly addressed. Since project inception, the human aspects of automation were recognized as critical to the success of the diamond drill automation project. However, it was only upon the installation of the Automated Diamond Drill in the field and its continued use on a daily basis that this issue received due attention. The human aspects of automation can be broadly addressed as economic, physical and psychological. This paper, with examples from the field, will discuss the human aspects of automation in each of these areas. The paper will draw from observations and experiences acquired throughout this project and recommend implementation strategies that should be utilized in future automation projects to enhance both the acceptance of automation and the success of the automated process itself.

May 1, 2002

By M. M. Rajkovich

Just prior to the close of the century, the Federal Mine Safety and Health Review Commission issued its long-awaited decision in Berwind Natural Resources, et al v. Secretary of Labor, to usher in the new millennium. The case arose as a result of a mine explosion in Eastern Kentucky resulting in MSHA’s issuance of 225 citations, not only to the contractor, but to four affiliated entities of Berwind Corporation. While an Administrative Law Judge dismissed those citations as to three of the Berwind entities, both MSHA and the remaining Berwind entity appealed the case to the Commission. Although the Commission effectively left intact the Administrative Law Judge’s decision, it announced a new theory of liability that would apparently be applied in the future, namely the Unitary Operator Theory. This presentation will provide an in-depth look into the Berwind decision and explore the means under which MSHA might impose liability for contractor violations upon other entities in the future.

Jan 1, 2001

By V. Wetzig

In the past, various investigations have been carried out at the Hagerbach Experimental Gallery under accurately reproducible conditions, in order to determine the emissions emanating from blasting operations. Comparative investigations proved that the composition of the blast fumes is influenced by the choice of different explosives. It also emerged that the use of emulsion explosives leads to significantly lower concentrations of harmful substances in the blast fumes. Further investigations concerned the residues and reaction products from the explosive process which are left in the debris. Eluate tests on representative samples of debris were used to determine the concentrations of nitrate, nitrite and ammonium in the debris.

Jan 1, 2001

By B. F. Zwick

The entire production of oil in Ecuador so far has come from the Santa Elens Peninsula, Province of Guayas. Both the shallow fields of the northern and the deeper fields of the southern part of the peninsula have been in constant exploitation, though the former are of doubtful economic value. In Table I herewith, which commences with the total amounts produced by the various companies up to 1940, annual company totals are given for the succeeding years. The figures for 1944 have been partly estimated. Table 2 gives figures on casinghead gasoline. Shell Company of Ecuador (formerly known as Anglo-Saxon) has continued active exploration in the Oriente region east of the Andes, and during 1944 the Company's first wildcat well was spudded in. International Ecuadorean Petroleum Co. (formerly International Petroleum Co., Limited) has pursued an active exploration campaign since the latter part of 1939, and a drilling string was placed in operation about a year later. A second string of tools was added during 1943 and a third a few months ago. Ten wildcats, all dry, have been completed in this period, two wells are drilling at the present time and other locations are on the program. Seven of the wells thus far drilled are in the area between Guayaquil and the Santa Elena Peninsula, one up the Daule River beyond Balzar, one on Puna Island in the Guayas Estuary and one in the northern province of Esmeraldas. Both the present drilling wells are in the Guayaquil-Santa Elena zone. The situation in regard to concessions has changed during the past four years because I.E.P.C. has made its selections from the extensive Daule-Guayas Study Concession, as a result of which large tracts were returned to the Government; because of the expropriation of the holdings of the "Ecuapetrol," a German concern whose acreage has passed into other hands; the Peruvian-Ecuadorean boundary settlement, which has reduced Shell's holdings somewhat; and the transfer of most of the holdings of the Cia. Minero-Petrolera del Pacifico to I.E.P,C. The greater part

Jan 1, 1945

By Ronald L. Bruening

IBC has developed a cost effective MRT process for the selective extraction and recovery of gold, copper, and a mixture of other base metals from mine leach cyanide solutions. This is a two-stage system in which the gold is first recovered selectively as a high purity salt. The copper is then recovered separately as a sulfate salt. The other base metals are then collected as a cyano anion concentrate. Three different SuperLig® materials are used. The first stage can be used alone on gold leach solutions where copper and other base metals are not a problem. The two or three stage system is used when the base metals build up in the leach solution, resulting in increased costs. The cyanide or cyanide/cyano anion concentrate can be recycled back to the leach solution until the build-up of other salts, etc. becomes too high, or this too can be controlled with a percentage bleed stream.

Oct 1, 2003

By J. D. Bliss

The discovery that triggered the current gold rush in southeastern Peru was made in about 1975 along the Rio Madre de Dios in Madre de Dios Department (Fig. 1). About 5000 to 10,000 miners (called chichiqueros) were working in the area as of 1990. Placer mining is the principal source of revenue for people living along the Rio Inambari and west of Puerto Maldonado. As in past gold rushes, working and living condition are harsh. Supplies are expensive, and the area has poor access compared with other areas in Peru. Food, fuel and all mining supplies are trucked over dirt roads from Cuzco, a three-to-five-day trip (Fig. 1). Some material also comes from Brazil. Many placers have a similar life cycle, beginning with small-volume mining (surface or underground). At the end of this small-scale mining, the placer is exhausted or it has a sufficient volume of gravel high enough in gold grade to be worked by large-volume methods, which lead to exhaustion of the resource. The level of maturity of a placer can be determined from its gold grade. The amount of gold production from large-volume mining can be predicted, given detailed, cumulative gold-production data on placer deposits during small-scale mining (Bliss et al., 1987). Using this general model, the authors analyzed the placers in the Rio Madre de Dios area. Small-volume mining Most placer mining in the Rio Madre de Dios area is in alluvial deposits either in or bordering the major rivers. Locally, some placer mining is in terrace deposits above the rivers. All minerals (including the subsoil) in Peru belong to the state. However, a mining claim (denuncia) is easily obtained for mineral exploitation. It is separate from property ownership.

Jan 1, 1992

By L. Jurca, C. Gligor

After 1990, a great process of re-organisation and economic reform has occurred in the Romanian mining sector and especially in the pitcoal mining in the Jiu Valley. This process has included both legislation and the main aspects for getting an economic efficiency in the environment issues and for dealing the problems with social impact. Accordingly, starting with the year 1993 a new mining method has been introduced to turn efficient the pitcoal mining, and we speak about mining with caved in bed. This method has two variants: - with transverse strips and caved in bed; - with long face and caved in bed. Each of the above-mentioned variants has in turn several subdivisions, depending on how the longwall is prepared and on other characteristics. By using this method, the output has increased compared to other mining methods. The main safety aspects concerning caved in mining refer to: - great emissions of methane; - technical aspects (a mining method system, supports, discharging process); - pressure driving (analysed for the case of mining with long face, with transverse strips as well for the case of transverse strips when mining a subsequent sublevel).

Jan 1, 2003