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By A. K. Raji, E. F. Orumwense, M. O. Ojumu

The Fourth Industrial Revolution has driven significant advancements in autonomous robotic systems, particularly in subsea exploration and offshore mineral dredging. This review examines the latest developments in electrically powered quadrotor-track subsea robotic crawlers, highlighting their potential to enhance efficiency, mobility, and adaptability in challenging underwater environments. The integration of advanced automation, artificial intelligence, and real-time control systems has paved the way for more effective robotic solutions in offshore mining. This study explores the dynamic performance of hydraulic crawlers to quadrotortrack robotic dredgers, focusing on their propulsion, navigation, and stability under high hydrodynamic conditions. By leveraging state-of-the-art technologies such as lithium-ion battery power systems, intelligent microprocessors, and sensor-based control mechanisms, these robotic crawlers offer a promising alternative to conventional subsea excavation methods. Furthermore, the review analyses recent experimental and simulation-based studies that assess the feasibility and performance of these systems in real-world applications. The findings of this review provide valuable insights into the role of 4IR in transforming subsea robotics for offshore mineral dredging. By addressing existing limitations and identifying key technological advancements, this study contributes to the ongoing development of nextgeneration robotic systems capable of operating efficiently in extreme underwater conditions

Jan 30, 2026

By Henry G. Granger

A RESIDENCE of 14 years in the Republic of Colombia, spent in almost continuous traveling and prospecting-trips, has given me an intimate knowledge of the resources of that wonderful country. The man who best knows Colombia is unquestionably General Rafael Reyes, President of the Republic for the past three years, and with seven years more to serve in his present term. Such is the strength of his personality and the wisdom of his policies that his term of office will no doubt endure as long as he is willing to serve. The vastly improved economic situation and the brilliant outlook for Colombia are so directly due to the influence of President Reyes that a few lines concerning him. will not be amiss, if they serve towards a better understanding of his personality. Born of a distinguished ancestry in the mountains of Boyaca, he is now 57 years old, just the age of his friend Porfirio Diaz when be began the work which has placed Mexico in the rank of great modern nations. It was Reyes who came to Washington to protest against the action of the government of the United States of America in reference to the establishment of the Republic of Panama, and, without entering into a discussion of this affair, it can be fairly said that there was not an American in Colombia whose feelings of justice were. not outraged at the government action and subsequent refusal to submit the matter to the impartial judgment of the' Hague. President Reyes is an accomplished linguist, speaking English, French, German, Portuguese, Spanish, and Italian. He has a remarkably. powerful voice, which can readily be heard by a large assemblage. His height is about 6 ft., and his weight exceeds 200 lb. He has clear gray eyes. Reyes was the leader of those who favored the approval of

Sep 1, 1908

By B M. Wilson, B J. Turner, S Sinclair, R J. Buerger

The Trident Gold Deposit is centred on the historical Higginsville Mining Centre, between the world class gold centres of St Ives (+15 Moz) and Norseman (+6.5 Moz) in Western AustraliaÆs productive eastern goldfields. It lies towards the southern end of the Norseman-Wiluna Greenstone belt in the Archaean Yilgarn Craton. The current in situ resource for Trident is estimated at 840 000 ounces, with production to date in excess of 500 000 ounces.Trident is hosted primarily within a thick, weakly differentiated gabbro with subordinate mafic and ultramafic lithologies and comprises a series of north-northeast trending, shallowly north plunging ore zones. The deposit comprises two main mineralisation styles; thin, lode-style, nuggety laminated quartz veins (Athena and Artemis) that formed along major shear zones primarily at the contacts between the various mafic and ultramafic lithologies; and large wallrock-hosted ore-zones comprising sigmoidal quartz tensional vein arrays and associated metasomatic wall rock alteration (eastern zone, western zone and Apollo) hosted exclusively within the gabbro.The thin laminated quartz vein lodes are important to the Trident Gold Deposits production profile as they constitute 33 per cent of the metal from only 14 per cent of the tonnes. The delineation, grade estimation and extraction of these lodes require a disproportionate amount of geological and engineering input due to the small scale variability in width, grade and direction. Over time, a robust and thorough process has been developed at the Trident Gold Deposit to understand and then successfully mine these complex mineralised systems.CITATION:Sinclair, S, Wilson, B M, Buerger, R J and Turner, B J, 2012. The mining industry needs to be shaken and stirred, in Proceedings Narrow Vein Mining 2012 , pp 155-166 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Mar 26, 2012

By Terry R. Neumann

The Olallie RARE II study area has volcanic cinder deposits with a sow potential for development. No mining claims or prospects are known within the study area, and except for common construction materials such as volcanic cinders and stone, no mineral deposits were identified. An evaluation of the geology indicates that metallic mineral deposits are unlikely to exist. No significant metallic concentrations were reported in samples from the area. The only resources in the study area are about 30 million cu yds (23 million cu m) of cinders in three cones. The cinder deposits in the study area cannot compete economically with enormous deposits of similar material in more accesible areas closer to markets. At the present rate of consumption, resources outside the area are adequate far into the future. The geothermal potential of the study area is being evaluated by the U.S. Geological Survey.

Jan 1, 1983

By J. J. K. Daemen

Mining Engineering education is in trouble, if not in crisis. The most visible signs are the decrease in the number of programs that offer the degree, and the continued difficulties in attracting students to the discipline. Unless these trends are reversed, the future of the profession is uncertain, at best. Remedies have been proposed, and some are drastic. They range from consolidating mining engineering education into one or two national schools, to cooperative regional programs, to distance education programs, and to proposals to limit mining engineering to a graduate degree or specialization only. These alternatives deserve serious attention and merit discussion. I hope that one alternative that will remain on the table is the classical and traditional “School of Mines”. A reasonable number of such schools are needed to provide the educational diversity and the critical mass to maintain accreditation and professional registration for their graduates. Most importantly, such an approach is most likely to assure the continued existence of mining engineering as a profession. It also provides the best educational framework to teach mining engineers. However, such Schools are vulnerable, highly susceptible to university budget pressures, and probably can survive only with strong external support.

Jan 1, 2004

By M. C. Bétournay

Strainbursts are common in overstressed brittle rock around deep mine openings. Such failures are characterized by a biaxial state of stress in the plane of the opening boundary. A zone of compressive stresses imposes initial failures near or at the surface of the opening that results in spalling of thin slabs of rock roughly parallel to the free face. While the failure of rock under biaxial loading conditions is increasingly common in deep underground mines, only a few representative laboratory studies have been reported in the literature, without emphasis on rockbursting aspects, and none in the last decade. This paper presents the results of a testing program on a granite rock type. Biaxial testing, conducted on 100 mm cubic samples, was carried out to examine the influence of lateral confinement and loading rate on the rock’s ultimate strength. The paper reports the test results in terms of normalized biaxial failure envelope s1/sc-s2/sc. A discussion of the failure mechanisms observed is presented. Les coups de toits de déformations sont choses communes dans le rock cassant surcontraint en place autour des ouvertures minières profondes. De telles ruptures sont caractérisées par un état de contraintes biaxiales dans le plan de la périphérie de l’ouverture. Une zone de contraintes compressives impose des ruptures initiales à ou près de la surface de l’ouverture, qui produit des relâchements de minces plaques de roc plus ou moins parallel à la surface. Bien que les ruptures de roc sous des conditions biaxiales sont de plus en plus communes dans les mines à grandes profondeurs, il n’y a eu que quelques études représentatives en laboratoire de publiées, sans emphase sur des aspects de coups de terrains, et aucunes publiées depuis la dernière décennie. L’article présente les résultats d’une campagne d’essais appliquée à un type de granit. La campagne d’essais biaxiaux, sur des échantillons cubiques de 100 mm, avait pour objectif d’examiner l’influence du confinement latéral et le taux de chargement sur la résistance ultime du roc. Cet article fait part des résultats en terme de l’enveloppe de rupture biaxiale normalisée s1/sc-s2/sc. Une discussion sur les mécanismes de ruptures observés est présentée. Dehnungsbrüche findet man häufig in übergespannten spröden Felsen um die Öffnung von tiefen Minen. Solche Brüche sind von einer zweiachsigen Spannung in der Ebene der Grenze der Öffnung charakterisiert. Eine Zone von Druckspannungen verursacht initiale Brüche, entweder an der Öberflache der Öffnung oder in der Nähe. Davon scheiden sich dünne Felsplatten mehr oder weniger parallele mit der freien Wand. Obwohl Felsbrüche unter zweiachsiger Beanspruchung immer mehr häufig in tiefen Minen beobachtet sind, hat man über nur einige repräsentative Laborversuche in der Literatur berichtet. Diese Studien diskutieren das Thema ohne Betonung auf Felsbrüchen, und keine sind in den letzten zehn Jahren erschienen. Die vorliegene Arbeit gibt die Ergebnisse eines Testprogramms auf einem Typ von Granitfels. Durch zweiachsige Prüfungen von kubischen Proben mit Seitenlangen von 100 mm sollte man den Einfluss von seitlicher Ermittlung und der Beanspruchungsrate auf die Bruchfestigkeit des Felsen studieren. Man findet auch die Prüfergebnisse in bezug auf das normalisierte, zweiachsige Bruchkriterium s1/sc-s2/sc. Die beobachteten Bruchmechanismen sind auch diskutiert.

Jan 1, 2003

By C. M. St. John

A series of analyses of possible mining excavations associated with the development of copper nickel deposits of the MINNAMAX site in Northeastern Minnesota is presented. Specific areas such as roof and pillar stability and excavution orientations are addressed. The majority of these analyses were conducted using a boundary element method but some cases were also analyzed using the finite element method. Comparable results were obtained using the two methods but the boundary element method required less data preparation time and computer run time. Results of the analyses, as well as indicating the capabilities of geotechnical numerical models, provide some insights into behavior around multiple excavations in jointed rock.

Jan 1, 1979

By M. N. Brodie, John Chapman

INTRODUCTION - DEFINITION & HISTORICAL PERSPECTIVE While this symposium is concerned with comminution which, by definition, relates to all stages of size reduction of an ore body to a form suitable for mineral separation, the electrical drive aspect of the grinding section will receive most attention in contrast to the crushing, screening and materials handling elements of the process. The reason for this is that today's large mills, thirty feet diameter and upwards, present mechanical and electrical problems which require a degree of sophistication in their solution not previously required. The ability to satisfy these demands, so far as electrical technology is concerned, largely results from the development of semi-conductor devices. These can now handle typical electrical distribution power levels within remarkably s m all volumes and with high efficiency when compared with the motor-generator sets, mercury arc rectifiers, rotating amplifiers, magnetic amplifiers and vacuum tubes which were commonly used to provide speed and torque controls as recently as the early nineteen-sixties. The hardware available to the electrical engineer has changed dramatically whereby even the simplest control system formerly using hard-wired relays is now superseded by the program m able logic controller with its computer-like memory containing the sequence of operation, in other words, the software. Reverting now to the mineral process itself, it is assumed that the ore body has been mined using explosives and is delivered to the concentrating plant in its 'run of mine' form. The problem becomes one of reducing the material to a size which will permit an acceptable recovery of the mineral with the most economical use of energy. The size of 'run of mine' material will range from about minus five feet for high tonnage open pit operations to minus two feet for the smaller underground mine. The final reduction in size may range from minus ten mesh to minus two hundred mesh (exceptionally as fine as minus six hundred mesh) depending upon the concentration method and dissemination of the mineral values within the ore. There is no single circuit that satisfies all applications, but the pattern of metallurgical equipment use shown in Table 1 appears discernable from current practice, in general terms.

Jan 1, 1982

By Pharis E. Williams

The ability to predict the performance of an explosive relies upon having a Reaction Rate Law and knowing its functional dependence upon various parameters of the explosive. In particular, emulsion explosives have a matrix cell size and may be sensitized with glass or plastic microballoons. The cell size dependence should. be very nearly the spherical grain burning dependence upon web that appears in the reaction rate laws for ball gun powder. The dependence of the reaction rate law upon the parameters of the sensitizing microballoons has been explored using hydrocode analysis of the pressure field produced by the collapse of a microballoon. This pressure field provides an increase in pressure in the vicinity of the microballoon which, in turn, increases the rate of reaction within this field and provides the energy release that must be achieved in order to have a steady state detonation for use as a blasting agent. Hydrocode analysis allows the determination of an approximate functional form for the reaction rate law which shows the dependence upon the size, type, and quantity of microballoons. This presentation includes the theoretical background and the determined functional form of the reaction rate law.

Jan 1, 1995

By S. A. Shuey, P. Taylor

The recycling of electronic waste (e-waste) tends to be a rather complex undertaking when considering the intimate bonding of materials in the average printed circuit board. The development of a recycling process is further complicated when considering the wide variety of products being generated under the heading of “electronics” as well as the constant change in materials of construction coupled with the speed at which electronics are changing. CSM researchers have undertaken a survey of the current state of pyrometallurgical processing of e-waste. This base-line will set the stage for the development of new recycling technology at CSM.

Jan 1, 2004

CYRIL STANLEY SMITH, Chairman CARL E. SWARTZ, Past-Chairman ARTHUR PHILLIPS, Vice-Chairman E. E. SCHUMACHER, Vice-Chairman H. A. MALONEY, Treasurer FRANK. T. SISCO, Secretary 9 West 39th Street, New York, N. 1. Executive Committee 1944 1945 WILLIAM C. ELLIS C. S. BARRETT ALAN MORRIS T. A. WRIGHT KENT R. VAN HORN L. L. WYMAN

Jan 1, 1943

By T D. Sullivan

Risk lies at the heart of all mining and nowhere more so than in pit slope design. Mining is principally about two areas of risk; safety and economics. This paper addresses the main elements of pit slope design and presents a view of the state of the art in terms of safety, design, prediction of performance, success and pit slope management. There has been a recent trend for serious injury and fatalities due to stability in open pit mines. The causes and contributing factors are analysed in relation to geotechnical knowledge, pit slope design and management. Currently there is no standard classification system for mine slope designs and it is considered doubtful if a universal system is possible. Designs are usually formulated in accordance with many different methodologies, various engineering principals and a number of different philosophical approaches, with results often presented in terms of Factors of Safety or Probabilities of Failure. However wide experience has demonstrated that even with apparently detailed engineering investigation and analysis at Feasibility Level, at the Operating Stage mine slope angles are regularly subject to large changes. The general experience is that these changes are ± 5° and 16° overall, which is considerably outside the accepted order of accuracy. For large deep mines these are huge changes and represent significant risks to the operations. The current state of practice in pit slope design is examined for two stages, feasibility and operating.

Jan 1, 2006

By J. H. Hedges

During the World War Leadville was an important producer of manganese and maganiferous ores for then steel industry. Normally, the market for these ores is limited to the requirements of the local steel mill at Pueblo for low-grade ores used in making, basic pig iron containing 1 to 2 percent Mr and spiegoloison containing 20 percent Mn, but during the war and a brief period of postwar readjustment, a good deal of 25- to 40-percent manganese ore qua shipped to in-stern steel-manufacturing centers. Throughout the active life of the camp, manganiferous iron ore carrying a little silver and lead and sometimes as such as 35 percent Mn was chipped to load smelters for flux. The total reordered production is 936,024 tons of metallurgical ore shinned to steel mills and 2,576,514 tons of fluxing ore, much of it of metallurgical grade.

Jan 1, 1940

By S. P. Sandoval

The U.S. Bureau of Mines investigated the separation of aluminum from copper dump leaching liquors using a supported liquid membrane. Aluminum was selectively transported through porous polypropylene impregnated with di (2-ethylhexyl) phosphoric acid in an aliphatic diluent. The effects of variables, such as solution composition, temperature, and extractant concentration, were measured with a three-level fractional factorial experimental design. Experimental results were used to derive equations for predicting transport rates for aluminum, iron, and copper. The major variables influencing aluminum transport were solution temperature, feed solution pH, aluminum concentration in the feed solution, and extractant concentration. Copper and iron transport rates were almost zero when aluminum transport rates were high. Measured aluminum transport rates under the best conditions of 55° C, pH 3.0, 16 g/L A13+, and 65 pct extractant solution confIrmed the predicted value of 210 f.'g/(cm2.h). Transport rates for iron and copper were less than 5 ug/(cm2.h) under these conditions. Aluminum was recovered from the stripping solutions by sparging with gaseous hydrogen chloride to crystallize aluminum chloride hexahydrate, which was calcined to alumina. Sparging crystallization regenerated the stripping acid for recycle.

Jan 1, 1989

By O. Rielo, P. Katsabanis

Traditionally fine aluminum is not used in dry commercial explosives due to the hazard associated with aluminum dust explosions during mixing. An industrial process has been developed which enables the safe use of paint grade Aluminum with ANFO. The addition of fine aluminum particles resulted in increased velocity of detonation of ANFO compositions. Velocities of detonation, in 52mm (2 1/16 in.) diameter confined charges were 20% higher than velocities of detonation of straight ANFO. The detonation performance of fine grained ANFO was not benefited by Al at the diameter tested. Furthermore use of larger Al flakes resulted in decreased velocities of detonation. The results are compatible with the experience of Al addition to high explosives. Tests were also conducted using bio-diesel, finding no substantial difference in the performance of AN fuel explosive compositions which used bio-diesel.

Jan 1, 2009

By Dennis A. Swyt

In current post-industrial America, U.S. manufacturing is undergoing major changes both in the technology of its production and in the size and composition of its workforce. At the same time that computers and robotics move the shop floor toward becoming the unmanned "factory of the future" [1], they increase the need within the overall production enterprise for new types of technicians and engineering professionals [2]. Based on previous works which examined, first, the evolution of the technology of manufacturing toward the flexibly-automated factory of the future and, second, the technical- professionalization of U.S. manufacturing sectors [1,3], this paper looks briefly at the workforce of the U.S. metals industry.

Jan 1, 1989

By A. L. Mular, R. P. Edwards

"The operation of flotation circuits is often regarded as a combination of art and science. Expert systems offer a method by which the art may be captured and supervisory control of flotation circuits fully realized. Operating knowledge, the art, can be consistently employed to enhance regulatory control through the judicious application of an expert system. Using an expert system, a supervisory control routine was developed, and successfully implemented, in the copper flotation circuit at Brenda Mines Ltd.The expert system ran in conjunction with regulatory PI controllers on a personal computer. The expert system received assays via an on-stream analyzer and adjusted regulatory loop setpoints as required in real-time. From its commissioning in November 1989, to the end of the mine's operation in June, 1990, the ES was enthusiastically embraced by the operators and attained operating levels superior to those achievable manually.INTRODUCTIONExpert system (ES) software springs from research into artificial intelligence and is currently making significant inroads into business and industry. Proponents of ES's make many attractive claims; they are a means of capturing the knowledge of experts and they can be programmed by non-programmers. To date, most uses of this software in the process industry are in off-line applications, meaning that the applications are not tied directly to operating (on-line) environments. Moreover, in on-line environments, they are typically employed as advisors and only suggest changes. Human operators are required to close-the-loop to the process. Yet, ES's should be applicable to operating environments and, if the claims of the proponents are valid, should also be better than existing tools. As an intelligent controller an ES must use the knowledge of experienced operators, apply it directly to a process and do this without the intervention of human operators. On-line applications have been successfully employed in the closed loop control of SAG circuits (Herbst et al., 1989) and flotation circuits (Hales, 1989). Harris and Kosick (1988) detail an implementation for flotation control at the Polaris Mine."

Jan 1, 1991

By D N. B Skinner, R L. Brathwaite, M S. Rattenbury

The Institute of Geological and Nuclear Sciences is undertaking a mineral resource assessment study of the Coromandel region, due for completion in July 2000. A key part of the study is the assembly of a geographic information system (GIS), a computerised tool for layering, analysing and presenting spatial information. The GIS is being assembled with ArcInfo/ArcView software and to date includes layers for a digital terrain model, an aeromagnetic map (open file mining company data), a geological map (from the QMAP project), areas of hydrothermal alteration, locations of mineral deposits (GERM database), stream sediment geochemical analyses (REGCHEM database), and a lineament map derived from satellite remote sensing data.

Jan 1, 1999

By Larry R. Powell

As part of the Bureau of Mines effort to establish a comprehensive subsidence data base for subsidence technology development, subsidence and related data are being compiled for various mining, geological, and environmental situations. This publication presents data for a longwall mining operation in the Northern Appalachian Coal Region. Vertical displacements and relative faze positions are tabulated for 160 subsidence monuments. Measurements were taken 32 times during the 2 years it took to mine the two panels. Brief physiographic and geological descriptions of the mining site are presented along with a general account of the mining and subsidence monitoring methods.

Jan 1, 1981

Jan 1, 1994