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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 Frances H. Clark

DEVELOPMENTS in powder metallurgy have been disappointing in 1943. If any new part has gone into large-scale production, knowledge of it has been restricted by considerations of national security. Nor have any outstanding papers appeared to advance the theory of the subject during this period.

Jan 1, 1944

By T. Mudder, R. Cellan, R. Waterland, J. Whitlock, B. N. Nelson

The effectiveness of anaerobic in-situ biological treatment for the immobilization of selenium, molybdenum, and uranium in an alluvial aquifer was examined using long-term column tests. A series of organic substrate and nutrient combinations were tested to determine removal effectiveness, optimum supplement concentrations and ratios. Final column testing was conducted to determine the chemical stability of the treatment by-products/treatment compounds by dosing the columns continuously with elevated redox untreated alluvial groundwater.

Jan 1, 2002

By Joan Weinberg

Real gross national product (GNP) grew at a seasonally adjusted annual rate of 2.2% in the third quarter, down from a revised 3.0% in the second quarter, according to preliminary data from the U.S. Department of Commerce (table 1). The slowdown in the rate of growth was attributed to the summer drought, a larger trade deficit, and a decline in Federal spending for defense. Exports slowed from the second quarter, as the dollar, compared with other industrial country currencies, edged up. Imports of both consumer goods and capital goods rose sharply, with consumers buying more foreign cars, computers, and electrical machinery. Although net exports of goods and services deteriorated slightly from the second quarter, the U.S. trade position continues to be much improved from 1987 and first quarter, 1988. Business spending for new plant and equipment rose at a 4.6% pace, well below that recorded earlier in the year. The 3.5% increase in consumer expenditure was accounted for mainly by nondurable goods and services; expenditure for durable goods--those products lasting more than 3 years--rose only 0.4%. Inflation, as measured by the fixed-weighted GNP price index, rose at an annual rate of 4.9% in the third quarter. Prices rose slightly less than they had in the second quarter, when inflation reached a 6-year high. In September, 1988, the President signed a U.S.-Canada free trade agreement (FTA) which will eliminate all tariffs and most nontariff barriers between the two countries by 1999, thereby creating the world's largest open market. In 1987, U.S.-Canadian bilateral trade totaled $161 billion. The expansion of trade is expected to generate 5% higher growth for Canada and up to 1 % higher growth for the United States by the end of the century. The higher growth for the United States translates into an estimated 750,000 jobs, and $2.4 billion in exports. Canadian parliamentary approval of the agreement is still required before the treaty can take effect. The debate in Parliament is continuing, and the issue is not expected to be resolved until after the November 21 election.

Jan 1, 1988

By Unknown

Threats to Industry Theft Potential

Jan 1, 2006

By T. G. Joseph

A strain-softening constitutive relationship is introduced that describes the post-failure stress-strain curve for rock regardless of whether the rock is intact or broken. The core of this relationship is an ?apparent friction? concept that relates the post-failure apparent cohesive and frictional characteristics of the rock to the strain. The relationship can be determined for a given rock via a series of tri-axial strength tests establishing the peak strength and corresponding strain for a range of confining pressures, together with the determination of the base angle of friction via a simple tilt test. The postulates and assumptions used in deriving this relationship are verified from results of tri-axial tests on both intact and broken rock.

May 1, 2002

By S Henderson, J V. Lawless

The worldwide association of low-sulfidation epithermal gold mineralisation, bimodal rhyolitic-basaltic volcanism and rifting is confirmed in New Zealand. In the currently productive Coromandel epithermal-gold province reported Ar-Ar dating of adularia from low sulfidation deposits falls into two groups at 6 and 7 Ma. Bimodal rhyolitic-basaltic volcanism has been reported to be K-Ar dated at 9 to 7 Ma and 6 to 5.5 Ma. Epithermal gold mineralisation in Northland is spatially associated with bimodal basaltic-rhyolitic volcanism, with rifting cogenetic with that in the CVZ. The Taupo Volcanic zone (TVZ) is sufficiently young that the presence of a segmented rift with recent bimodal rhyolitic-basaltic volcanism can be genetically associated with epithermal gold mineralisation, which occurs as both fossil occurrences and in active geothermal fields. This reinforces the known potential prospectiveness of the Coromandel area and increases that of Northland and the Taupo Volcanic Zone.

Jan 1, 2005

By L. Nahai

Overall mineral industry productive activity in Europe increased in 1965, following general upward trends in gross national product and total industrial production4 recorded. The gross national product of non-Communist Europe in market prices in 1965 was estimated at $572 billion and that of Communist Europe at $409 billion. However, the extractive sectors of the mineral industries generally did not fare as well as the processing sectors. In fact, a number of countries recorded lower production levels in this sector in 1965 than in 1964 and most countries had a lower growth rate in extractive industry output than in overall industrial output. Among the non-Communist nations of Europe, a general decline in coal production and lower levels of iron ore output in France, West Germany, and Luxembourg contributed significantly to the smaller growth rates or declines in extractive indexes. Where higher indexes were registered, this generally resulted from the performance of the petroleum and natural gas industry; exceptions were Greece, Norway, and Sweden. The decline recorded for Czechoslovakia was attributable entirely to poorer performance by that nation's coal industry.

Jan 1, 1967

By I. G. Gonçalves

For most industrial minerals, the color is directly associated with economic value. In terms of physics, the principal property that defines the term ?color? is the intensity of light reflected (or transmitted) by an object over the visible band, comprehended between 400 and 700 nm. This reflectance spectrum serves as the starting point for a variety of color-describing factors, the most common in the mineral industry being the brightness (TAPPI, 1977 and 1986) and the L*a*b* system (HunterLab, 2008). Quality specifications for mineral products are usually based on these colorimetric parameters. This market is becoming increasingly more selective and demanding over the quality of raw materials and alongside the traditionally controlled characteristics, such as particle size distribution and chemical composition, a trend exists towards the establishment of increasingly more strict specifications for the optical properties of these materials. This is due to the fact that most plants consuming these industrial minerals incorporate them into products in which the visual appearance is controlled. For these plants, most of them being the manufacturers of plastics, paper, paints, and ceramics, variations in the color of mineral materials result in difficulties to achieve the right color in the final product. Therefore, these plants set strict specifications for colorimetric parameters such as whiteness and yellowness, as well as colorimetric coordinates like L*, a*, and b*. For the manufacturer of industrial minerals, this translates into difficulties simply because many of these parameters are usually alien to the tradition of the mining industry. The main quality parameter in the kaolin industry is brightness, which is a weighted average of reflectance values over the range of 400-510 nm (TAPPI, 1977). Due to the lack of a better property, producers tend to use brightness to also assess the quality of the in situ ore and along the processing operations. However, the unprocessed kaolin is often accompanied by ?contaminant? minerals. For Brazilian kaolins, which are the object of this study, the most important contaminants are hematite (Fe2O3), goethite (FeOOH), and anatase (TiO2). Each of these contaminant minerals has a distinct color and behaves differently during the processing of the kaolin ore. Hematite and goethite in particular are particularly strong pigmenting agents and at concentrations as low as 100 ppm they can make the difference between a high-quality white pigment product for paper coating and waste material. As each Fe-bearing contaminant has a different color and responds differently to processing operations (for example, magnetic separation, chemical bleaching, selective flocculation, and/or flotation in the case of kaolin), the in situ brightness tends to show a poor correlation with the brightness of the final product. Brightness measurements are sometimes complemented with X-Ray Fluorescence (XRF) analysis of Fe and Ti, but the total oxide content provided by XRF is also poorly correlated with product quality because Fe may be in the form of goethite, hematite, or inside the crystalline structure of kaolinite. Thus, a more robust technique capable of distinguishing each mineral phase is desirable. Diffuse reflectance spectroscopy has been used to analyze iron oxide/hydroxide content both qualitatively (Torrent and Barrón, 2003; Liu et al., 2011) and quantitatively (Jiet al., 2002 and 2006). These authors correlate slopes and inflection points at characteristic absorption bands with oxide/hydroxide content in natural soils. The approach presented here involves the extensive use of the Kubelka-Munk (K-M) theory, which has been used for color matching (Schabbachet al., 2009 and 2011) and particle size determination (Otsuka, 2004) in a simplified version. Unfortunately, the scattering constant S is very difficult to measure for dry powders, because the equations require a thin layer of material. Attempts have been made (Gonçalves and Petter, 2007, and Gonçalves, 2009) but the experimental errors tend to be high. Thus, this paper aims to develop a tool for the quantification of contaminant minerals in kaolin based on the K-M theory without resorting to measurements over thin layers. This tool is based on a new two-constant approach, which takes into account differences in scattering between materials over the whole measured spectrum. The experimental dataset consists of the reflectance spectra of mixtures between a bleached kaolin and synthetic Fe pigments.

Feb 27, 2013

By A Bouazza, J Kodikara

In this study, 23 samples of leached ash (LA) were collected from an ash pond at Loy Yang Power Station and geotechnically characterised. The samples were collected at various depths and locations within the ash pond on two separate occasions in order to account for the full variability. The LA within the ash pond at Loy Yang Power Station (LYPS) was found to vary in texture from silt to sand, depending on the location from where the sample was collected. Samples collected near the ash pond inlet discharge point, for instance, contained more than 50 per cent sand sized particles and were subsequently classified under the Unified Soil Classification System (USCS) as silty sand (SM). Further downstream of the inlet discharge, the LA became progressively finer and was classified accordingly as elastic silt (MH) when the sand content became less than 50 per cent. Basic geotechnical testing revealed that the LA from Loy Yang Power Station was generally acceptable as a landfill cover material. The permeability of LA, however, was generally too high for prescriptive covers, (ie resistive covers that generally rely on the impervious nature of the material to control percolation). Alternative covers, generally rely on the store/release function of a capillary or monolithic barrier to prevent percolation into the landfill. Subsequently, a material that can maintain a high water storage capacity while at the same time, readily allow infiltration and evapotranspiration is required for an alternative cover. Sandy silt and silty sand are optimal soils for alternative covers, as they do not yield water to gravity forces, but do give up most of the water in their pores when subjected to high-matric suction (Kavazanjian, 2001). The effectiveness of alternative covers is ultimately assessed using computer models, such as UNSAT-H and HYDRUS-2D, to rigorously perform water balance calculations. Prior to using a computer model to determine the highest possible percolation in the worst climatic conditions, it is necessary to select the most appropriate materials. This paper suggests a method to screen available materials for use as an alternative cover material on the basis of the soil water characteristic curve (SWCC).

Jan 1, 2003

By Rob Morrison, Peter Cameron

"Many products and technologies have been developed from outcomes of research projects carried out by the Julius Kruttschnitt Mineral Research Centre (JKMRC). When these products and technologies are applied to the design and optimisation of blasting, comminution and separation, improvements in profitability can be realised.In 1970 Alban Lynch promoted two practical ideas to improve plant operations:• Ore and equipment properties can be separated allowing experience with one type of ore or equipment to be transferred to other types of ore and equipment. If this experience was encapsulated in a mathematical model, then these properties could be combined and used to simulate (ie. to design and to optimise) complete mineral processing circuits.• Many problems associated with scale-up from laboratory to industrial equipment could be eliminated by experimental work on full-scale equipment in the plant.Many JKMRC research projects have focussed on the development of models of unit operations in mineral processing and their application to process simulation.Models of comminution and classification developed at the JKMRC have been used since the early 1980's. Ore characterisation techniques developed to support these models are licensed world wide through JKTech. The application of comminution modelling techniques to blasting, which optimises the process feed size distribution is used in Mine-to-Mill® projects. The advances in the understanding and modelling of froth flotation over recent years have provided the opportunity for integrated ore characterisation and process optimisation from resource to product.JKMRC project outcomes often provide proven opportunities for the mineral industry to improve performance and productivity. JKTech was established in 1986 to commercialise and market the most promising outcomes and thus ensure their continuing availability to the mineral industry.They include:• Commercial software (JKSimMet, JKSimBlast and JKMetAccount).• Monographs (Comminution and Blasting).• Technologies (Mine-to-Mill® and flotation optimisation).• Hardware products (JKFrothCam, JKJetLift® and the Mineral Liberation Analyser).This paper summarises these technologies and their benefits."

Jan 1, 2003

By J. R. Stone, J. T. Roy

ASARC09s continuous tapper for lead blast furnace is described. Its use throughout the company's plants has resulted in higher production rates, lower labor costs, and better working conditions. It has also permitted wide latitude in blast pressures, as well as in charge and slag compositions. The practice of tapping a lead blast furnace has remained essentially unchanged for many years. In principle, it is a batch operation discharging the products from the continuous smelting of lead-bearing materials. As such, it imposes certain restrictions on the proper functioning of the smelting operation. First, it calls for a highly developed sense of timing, and a considerable amount of physical effort on the part of the operator. Dirty and hot working conditions, as well as the hazards of flying metal and slag, usually prevail. These conditions have resulted in higher labor costs, both in rate and in amount. Labor turnover has also been high. Secondly, rigid control of mechanical and metallurgical factors must be maintained. Frequent oxygen lancing of the tap hole is needed to permit tapping, thereby increasing operating costs. Rapid increases in smelting rate, plugged tap holes, or forgetfulness on the part of the operator may permit the molten material to rise above the tuyeies and freeze the furnace. Also, the operator will often blow out the tap hole after draining, filling the area with fume. Composition of charge also vitally affects the tapping. The type of lead-bearing material being smelted will naturally affect the smelting rate, and thus the frequency of tapping. The amounts and types of fluxing materials, which determine the ultimate fluidity of the slag, must be regidly controlled. Finally, the batch tapping of a continuous smelting operation of this type appears to be wrong in principle. The molten material drains into the crucible at the bottom of the furnace where it starts cooling immediately and continues to cool until tapped out. While keeping the lead molten is no particular problem, maintaining a fluid slag at all times is often difficult, and sometimes impossible. These factors all point to the desirability of a method for the continuous tapping of a lead blast furnace. The expected advantages would be more desirable working conditions, lower labor costs, increased production, and a much wider latitude in both blast pressure and charge composition. CONTINUOUS TAPPING Historical. A number of devices, e.g., mechanical tappers, siphons, and lead wells, have been tried in the past in attempting to effect continuous tapping. None proved to be entirely satisfactory for tapping lead and slag simultaneously. It was not until 1955, however, that ASARCO designed and put into operation a successful tapping unit at its East Helena, Mont. lead smelter. This unit is described in detail in U.S. Patent NO. 2,890,951. Continuous Tapping Unit—See Figs. 1 and 2. Fig. 1 is a schematic drawing of the unit in place, showing front and side views. The component parts are identified in the caption. Fig. 2 is an actual photograph, front view, of the tapping unit attached to the base of the blast furnace. Operation. The operation of the tapping unit is quite simple. Essentially it consists of a narrow tapping bay surrounding the furnace tap hole, with a deep notch in the front wall. When the blast furnace is started this notch is open down to the level of the tap hole. Starting the furnace may be accomplished in several ways but the most satisfactory method is to plug the tap hole with clay, permitting metal and slag to build up inside the furnace. Before the liquid reaches the tuyeres, the plug is removed and the furnace is drained to the settler. The blast is then stopped momentarily while the notch in the front wall of the tapping bay is dammed with chrome brick and plastic chrome ore. The blast is again started, and the height of the dam is adjusted so that the liquid in the bay will counterbalance the internal pressure of the furnace. When the desired level is reached the slag and metal will overflow to the settler. It should be noted that the molten material ,is not siphoned from the furnace and that the metal 'acts as a liquid valve controlling the flow of slag through the tap hole. During normal operations the tapping bay is filled primarily with lead, covered with a thin layer of slag. Thus, the heavier lead plays the major role in compensating for variations in furnace pressures. Due to the high specific gravity of lead, changes in the liquid level in the tapping bay will never exceed a few inches. For this reason it is seldom necessary to change the height of the dam due to minor variations in operating conditions. Some turbulence of the liquid in the bay is essential at all times. This indicates that the level of the

Jan 1, 1963

By Miyuki Morioka, Michael J. Griffin

Discomfort, annoyance, or interference with activities due to exposure to vibration is only expected if the vibration exceeds the threshold for the perception of vibration. When there is more than one vibration input to the body (e.g. at the hands, seat and feet), the sensation is first experienced at the location with greatest sensitivity. Knowledge of differences in the thresholds of perception for vibration at the hand, seat, and feet should assist the identification of sources of discomfort caused by vibration. Perception thresholds for vibration have been determined in several studies, but only a few studies have investigated perception thresholds in the horizontal direction for hand-transmitted vibration 1, 6 or whole-body vibration 4-5, and there has been little consideration of perception thresholds for the foot resting on a vibrating surface. This study determines absolute thresholds for the perception of sinusoidal lateral vibration, examining the effect of vibration frequency (8 to 315 Hz for the hand and foot; 2 to 315 Hz for the seat) and the effect of input location (the hand, the seat and the foot). Methods Three groups of twelve males aged between 20 and 29 years participated in the experiment. Subjects in each group attended an experiment to determine perception thresholds for lateral vibration via either a rigid handlebar (30 mm diameter) at the left hand (left hand), or a rigid contoured seat (250 mm x 150 mm), or a footrest at the left foot (30.5 mm x 10.5 mm with 10-degree inclination). For the non-exposed hand (right hand) or foot (right foot), a stationary handle and footrest with the same dimensions as the vibrating handle and footrest were provided so that the same body posture was adopted among the three groups of subjects. An up-down (staircase) algorithm was employed to determine thresholds in conjunction with a three-down one-up rule. A single test stimulus (2.0 seconds) was presented with a cue light illuminated during this period. The task of the subjects was to indicate whether they perceived the vibration stimulus or not. The threshold was calculated from the mean of the last two peaks and the last two troughs, omitting the first two reversals. Results The median absolute thresholds of the 12 subjects determined at each frequency for the hand, seat and foot are shown in Figure 1. A frequency dependence of the threshold contours within the investigated frequency range is evident, with similar shape to the threshold contours

Jan 6, 2006

By Phil Thwaites

"The mining industry uses many types of mineral and metallurgical plants to produce saleable product from ore mined. Plant design history has left current operations with a mixture of manual operation and various forms of automated process controls. Consequently, we typically see high variability in the continuous operations together with a shortfall in the attainment of full capacity, or higher utilization of consumables.At a level of best practice, “Operational Performance Excellence” focuses on process control, using automation and control systems to deliver process optimization. This more sophisticated delivery is a great deal more difficult than the first stage of equipment selection / installation. It includes the appropriate selection of the right instrumentation, control system, key process knowledge, individuals with a solid control engineering background/experience, and the essential backing/ support of the operations management team together leading to higher value delivery. Robust solutions can be realized, considerably minimizing process variation, thus leading to process optimization. This approach results in an easier, efficient and safer process while providing considerable returns for the plant owners.How variable are your processes, and do you maintain optimized process performance with dedicated resources, modern instrumentation, ‘best practice’ control systems and performance monitoring tools? In this lecture, these questions and their possible answers are discussed.357"

Jan 1, 2013

By Scott Hopkins

Simulation tools are preferred for evaluating complex systems due to its ability to mimic reality and quickly evaluate many different what-if scenarios and find global solutions. A simulation model is capable of representing variable and dynamic disturbances that are typically encountered in day-to-day operations; this is where spreadsheet models or linear programs fall short because they cannot account for the dynamic behavior and relationships. The simulation model used for this work was developed by Xstrata-Nickel (previously Falconbridge). The simulation tool is very flexible and can be used to simulate different mining and development methods. The scope of the modeling included production mining, geology, equipment fleets, equipment maintenance and random failures, manpower, shift schedules, and cycle activity times. A case overview of the 170 Orebody will be presented along with the challenges associated with data collection for the model inputs. Results and lessons learned will also be discussed.

May 1, 2008

By E. D. Gardner

This paper on the square-set system of mining embodies the results of a special study of the subject made as a part of the Bureau of Mines general investigation of mining methods and costs. Data for the paper were gathered by the authors during visits to mines using square-set mining, from Information Circulars prepared by consulting engineers to the Bureau on mining methods at individual mines, and from articles in the technical press and the Transactions of the American Institute of Mining and Metallurgical Engineers. The square-set system of mining is very widely applied and is one of the oldest methods in use in the United States. It is mainly employed for extracting relatively high-grade ore in heavy ground. It is also useful in taking out pillars left in mining by other methods. It is used to some extent as an auxiliary method with many underground systems and as an alternate with cut-and-fill, shrinkage, and open-stope methods when heavy ground is encountered. In some cases as much as 50 per cent of the ore may be extracted by square-setting at mines listed as using some other method of mining. A large tonnage is mined yearly by square-setting, principally in the Western States.

Jan 1, 1933

By William Porter

Hand scaling is a physically demanding job and is responsible for numerous overexertion injuries in mining. This experiment studied rib scaling from an elevated bucket to examine force generation capabilities and electromyographic responses to a prying subtask. Subjects exerted force using two bars (steel and fiberglass) at five target heights. Work height significantly affected peak prying force during scaling activities with highest force capacity at the lowest level (p = 0.0188). Bar type did not affect force generation (p = 0.7843): However, use of the fiberglass bar required significantly more muscle activity to achieve the same force (p < 0.05). It was concluded that miners should scale points on the rock face that are below their knees, and reposition the bucket as often as necessary to do so. Additional research is needed to fully understand the impact of bar type on the physical demands of an entire scaling task.

Jan 1, 2006

By Ludwig M. Strah

"Wear is a universal problem and is present in all cases wherein one weighted surface moves with or relative to another surface. A practical description of wear as applied to mineral processing plants is outlined.With the advent of higher material and maintenance costs, more attention is being focused on the field of wear resistant linings. The aforementioned is magnified today as the production facilities continue to be designed to handle larger daily capacities. These changes, higher costs and larger plant handling facilities have necessitated the introduction of different materials and designs to combat the never ending battle against wear.In order that wear be understood, it can be relegated to two specific types:1 - Mechanical Wear - due to movement of one loaded surface relative to another.2 - Chemical Wear - more easily defined as corrosionMechanical wearMechanical wear can be subdivided into two basic forms:A.,Material movementB.,Material impactMaterial movement Abrasion is the result of, as earlier stated, the straight move¬ment of one loaded material relative to another.Material impact Is the striking effect when a mass strikes another from various angles and at various speeds. Impact can be severe enough to permanently damage and distort the basic component installed to overcome impact."

Jan 1, 1983

By Mats Keisu, Bengt Niklasson

The Sofia project has increased the level of knowledge and technique within tunnelling, drifting and contour blasting.

Jan 1, 1992

Jan 1, 1967