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By Louis A. Sandbak

Drift excavation by boom-type roadheaders in the San Manuel and Kalamazoo sulfide copper ore bodies has been successfully demonstrated. Geomechanical rock classification in conjunction with detailed geologic mapping has been necessary to assess roadheader performance, and to predict advance rates in the varied rock classes in the San Manuel block caving mine. Rapid excavation and less fractured ground are obvious advantages of roadheader drift excavation over conventional drill and blast techniques. The geomechanical system of Engineers International (1984) can be an effective roadheader performance and ground support tool.

Jan 1, 1985

By D. Kwietnewski

The 4th bore of the Caldecott Tunnel is a 50-ft horseshoe shaped highway tunnel located in the hills east of Oakland, California. Tunnel excavation was mostly completed using one of the world?s largest commercially available roadheaders, a Wirth T3.20. The geologic profile included seven different geologic units, which displayed a range of different behavior with regard to excavation and initial support. Following a brief introduction to the excavation and support methods, this paper will discuss roadheader performance in the various geologic units encountered during excavation. Comments will also be made concerning the relationship between the roadheader method of excavation and observed ground convergence during excavation.

Feb 27, 2013

By Glen Church, Don W. Deere, Christoph M. Goss

The Standley Lake Dam Rehabilitation Project in Colorado included the complete replacement of the outlet works. This required two 1.8m (6 ft) diameter microtunneled wet lake taps, 380m and 186m (1246 ft and 636 ft) long, a permanent valve shaft 12.2m(40 ft) wide and 32m (105 ft) deep, and a 3.5m (11.5 ft) diameter (962 foot long) outlet tunnel driven with a roadheader. The tunnels were driven in low-strength, expansive, and slickensided claystone. The paper addresses the site investigation, shaft construction, roadheader performance, shotcrete placement, tunnel convergence, long distance microtunneling, and wet lake taps.

Jan 1, 2005

By J. S. McAlpine, J. Matousek, W. Muir, P. Downey, K. Major

The Golden Bear refractory gold ore roasting operation is located at Huddy Lake, in northwestern British Columbia, about BO km northwest of Telegraph Creek (see Figure 1). The mine access road, used for supplies delivery, was developed by Golden Bear and consists of a radio controlled 155 km gravel road originating at Highway 114. Hine operations are based on a two week in, two week out rotating shift schedule with personnel transport by chartered aircraft from Vancouver, Whitehorse or the 3 Talthan conmunities. The site runway Is located adjacent to the tailings impoundment.

Jan 1, 1992

By R. G. Reddy

Chemical and structural changes occurring during the roasting of refractory gold ores were investigated. Effect of temperature on oxidation behavior of ores was analyzed using TGA, DTA and X-ray diffraction methods. The experimental results showed that the carbon in the ore has to be oxidized to a minimum value before any appreciable oxidation of sulfur occurs. Oxidation rates as a function of temperature were calculated. Optimum conditions under which a successful roasting of the refractory gold ores can be obtained are discussed.

Jan 1, 1990

The roasting process of copper concentrates containing variable quantities of arsenic in a fluidized bed regime was analyzed, considering the technical literature published on the topic in the last quarter century. Although emphasis has been given to the analysis in the fluidized bed regime, other processes have also been considered, under a reducing, neutral or oxidizing atmosphere. The kinetic mechanisms of roasting, as well as the models that have been applied or those likely to be used to explain the kinetics of arsenic removal, are analyzed. Regarding the kinetic mechanisms, those that have been applied to copper concentrates with both high and low arsenic content are included. The roasting kinetic model includes the kinetic data analysis techniques, general models, equations and an estimation of the conversion degree through dynamic, differential and integral methods, as well as particular models for mineralogical components, such as smelter dust and copper concentrates with low and high arsenic content.

May 1, 2012

By Mahmut Altiner

In the present study, the use of horse residue as an alternative reducing agent in the roasting of a low-grade goethite ore containing 17.60% Fe was investigated. Additional roasting experiments were carried out with corn starch and without reducing agent for comparison. Each roasted product was characterized using X-ray diffraction (XRD) and magnetic hysteresis (MH) loops analyses. The optimum roasting conditions (roasting temperature [400, 500, and 600 °C], reducing agent/ore ratio [0.04, 0.08, and 0.12], and roasting time [10, 20, and 30 min]) were investigated based on the Taguchi approach. The magnetic susceptibilities of the roasted sample with the addition of reducing agents were higher compared to that of the roasted sample in the absence of reducing agent. Experimental findings indicate that the horse residue can be used as the reducing agent. Finally, an iron ore concentrate assaying a Fe grade of 62.12% with a recovery of 56.93% was prepared using wet magnetic separation at a magnetic intensity of 0.5 T from the ore roasted under the following roasting conditions: roasting temperature of 500 °C, reducing agent/ sample ratio of 0.08, and roasting time of 30 min.

Jun 3, 2020

By Mark G. Aylmore, Eric J. Grimsey

Anenopyrite, both pure and in some cases associated with pyrite, was laboratory roasted either isothermally or at a constant heating rate, at temperatures mainly between 723 and 923 K and under environments of air, sulfur dioxide, oxygen and argon, as well as S02/02/H20/N2 mixtures. The mineralogy, arsenic contents and in some cases surface areas of the calcines were evaluated so as to provide an enhanced understanding particularly of the conditions under which the important transformations to pyrrhotite and magnetite occur. A thermodynamic analysis is also undertaken to rationalize the observations and provide some guidance for the operation of commercial roasters.

Jan 1, 1990

By Erich U. Petersen, Robert B. Coleman, William J. Tafuri, Donald M. Hausen, P. R. Taylor, Douglas N. Halbe, D. W. Rodolff

The definition of refractory gold ores and concentrates, including mineralogical characteristics, is reviewed. The chemistry of roasting and process conditions such as feed size, temperature, and time are discussed. A typical metallurgical program for developing a roasting process scheme is presented. The application of various types of furnaces for roasting is described. Requirements for scrubbing off-gases to meet environmental air emission regulations, and general information regarding engineering design parameters for roasting are presented. Roasting is sound technology for processing refractory ores and concentrates, but it is essential that the metallurgy of each ore or concentrate is well defined before commercialization. A fluid-bed roaster is the preferred type of furnace for roasting. Environmental regulations for air emissions must be carefully addressed.

Jan 1, 1990

By William Brundan

INTRODUCTION The Srisailam Left Bank Canal (SLBC) Tunnel Scheme is part of the Alimineti Madhava Reddy Project in Andhra Pradesh, South India. This scheme has been planned since 1983 and will provide irrigation facilities to drought-ridden areas in Andhra Pradesh. Water will be transferred from the Srisailam Reservoir during the monsoon months to 0.3 million acres of farmland and will also provide drinking water to villages en-route. The paper will address the design and onsite assembly of the Robbins Double Shield TBMs for Tunnel-1 of the SLBC tunnel scheme from planning to start-up of the machines. Also, it will provide a current status of the project and describe the advantages of a site assembly. Problems encountered to date and the solutions adopted will also be described. The project comprises over 50 km of tunnels and involves construction of the world?s longest tunnel without intermediate access. The TBM tunnels at 43.9 km in length and 10.0 m diameter will cross the Amrabad plateau, containing a wild life sanctuary and India?s largest tiger reserve, the Rajiv Gandhi. Jaiprakash elected to excavate the tunnel using two tunnel boring machines, rather than by drill and blast, in order to alleviate surface disturbances to environment and the tiger reserve, wild life sanctuary, and protected forestry areas. The Project was awarded to the Main Contractor Jaiprakash Associates Ltd with The Robbins Company as the Tunnel Boring Machine (TBM) supplier in August 2005. The Robbins Company supplied the TBMs along with two continuous conveyor systems and all spares and consumables to complete the tunnel excavation.

In early March 2011, a 6.2 m (20.3 ft) diameter Rob-bins Double Shield tunnel boring machine (TBM) crossed the finish line in Sochi, Russia. The machine completed a 4.5-km- (2.8-mile-) long section of tunnel that will ultimately become part of the transportation infrastructure for the 2014 Winter Olympic Games. The TBM advanced through difficult ground at aver-age rates of 100 to 120 m/week (330 to 390 ftpw) for contractor OJSC Bamtonnelstroy, a division of the SK Most Company. The section of tunnel will ultimately become a service tunnel for Complex #3 - a section of Sochi?s transportation infrastructure under construction, which includes road and rail tunnels. A second, 10 m (32.8 ft) diameter Robbins Double Shield TBM is currently excavating the parallel 4.6-km- (2.9-mile-) long main railway tunnel using a continuous conveyor system for efficient muck removal. A 13.2 m (43.3 ft) diameter highway tunnel is also under construction. The 6.2 m (20.3 ft) Robbins TBM achieved high rates despite difficult conditions. The tunnels run through mixed ground including massive to completely fractured limestone with clay seams. Some sedimentary rock including sandstone and siltstone is present, along with fault zones consisting of breccias and conglomerates. In May 2010, the machine was stopped after encountering a significant fault zone consisting of broken rock and running soft ground. Field service personnel and crew successfully freed the machine by excavating a bypass tunnel around the TBM, freeing the cutterhead. Following the restart, a combination of continuous probe drilling and ground treatment with cement silicate and foam kept the machine moving forward.

Jan 1, 2011

In late November 2010, a Laotian landmark was achieved for the country?s first tunnel boring machine - (TBM) driven tunnel. Italian contractor CMC di Ravenna celebrated the breakthrough of a 7.6-m- (25.1-ft-) diameter Robbins single shield TBM for a hydroelectric tunnel on the Nam Theun River. The Theun Hinboun expansion project and 5.5 km (3.4 miles) headrace tunnel will bring much needed power in-creases to Laos and Thailand. . ?Since this is the country?s first machine, it has awakened people?s curiosity and interest. We had experienced Italian and Chinese crew members, but we also trained many Lao workers during the course of the project, as this was something they had not seen before,? said Luca Barbàra, Far East Manager for CMC di Ravenna. The machine broke through on Nov. 21 into an exit shaft close to the intake structure on the river. The machine is now being disassembled and removed - CMC hopes to use it on upcoming projects in the region. Due to the current rainy season and relative low level of the tunnel, the last 100 m (330 ft) up to the intake structure will be completed using drill-and-blast after the waters recede below the tunnel invert.

Jan 1, 2011

From some of the largest tunnel projects in the some of the most vibrant cities, to smaller projects in remote corners of the globe, the Robbins Co. announced two tunneling projects in which its tunnel boring machines will be used. Robbins earth pressure balance (EPB) machines undercut Downtown Zhengzhou. Zhengzhou, a city of 7 million people, is set to become a crossroads for rail commerce in China. The country?s future main routes, traveling between Beijing and Guangzhou (North-South), and between Xuzhou and Lanzhou (East-West), will intersect in the city. The plan includes up to four rail lines in Zhengzhou itself, which will eventually link up to the national lines. Excavation of Zhengzhou Metro?s new Line 1 tunnels began on Sept. 28, 2010, when the first of two 6.3-m (20.7-ft) diameter Robbins earth pressure balance (EPB) machines was launched from a 16-m- (52-ft-) deep shaft.

Jan 1, 2010

By M. R. Grundy

The Robinson project is based on the porphyry copper and gold deposits in the Robinson Mining District, near Ely in Eastern Nevada. The district was mined from the late nineteenth century to 1978 by Kennecott Copper Corporation and its predecessors. Operations ceased when falling copper prices in the late 1970's made their outdated mill and smelter complex at McGill uneconomical. In October 1991, Magma Copper Company (Magma) acquired the many claims that cover the known porphyry copper deposits in the district These occupy a disturbed area about nine miles long and three miles wide between the towns of Ely and Ruth. Magma proposes to build a copper / gold mine and concentrator and expand the existing gold leaching facilities. Several pits, previously mined by Kennecott Copper Corporation, will be enlarged; the use of larger, more modem equipment will result in higher productivity and lower operating costs in general. ICF Kaiser Engineers, of Oakland, California, were awarded the con-tract for detailed design of the process facilities, which was essentially complete by the end of 1993. The project at present is awaiting completion of the environmental permitting process; state air and water permits are in hand, and the Bureau of Land Management's (BLM) current schedule indicates that the final obstacles to construction will be cleared by early fall of this year.

Jan 1, 1994

By Rashi Tiwari, George Danko, Jeremy Knowles

A control technique is described for enhancing the efficiency of materials handling and other mining operations. The concept involves human-operator and robotics control interactions to assist in mining operations. Many mining tasks require a human operator to coordinate the motion of several machine links by simultaneously manipulating multiple joysticks or other control devices. The new control architecture allows for automatic coordination of multiple machine joints. The machine movement may follow a computer-optimized, learned coordination pattern, while the operator still retains the master control of the overall trajectory and velocity parameters. Examples are described for a surface mining front shovel.

Jan 1, 2005

By G. Danko, R. Tiwari, J. Knowles

Many excavation and loading tasks require equipment operators to simultaneously coordinate the motion of multiple machine links, in order to achieve complex tool trajectories. Efficiency, ore selectivity, and machine wear, are all affected by the skill level and attentiveness of the operator. A software-based kinematics reconfiguration system designed to assist operators with various tasks has been implemented on a small experimental excavator using our new differential control architecture. Kinematics transformation and feedback control algorithms are being developed and tested using computer simulation, and the results implemented on the experimental excavator. Several task-specific kinematics transformations, including a virtual revolute-to-Cartesian machine reconfiguration and computer-assisted bucket steering and stabilization have been successfully tested. Progress, challenges, results, expected benefits, and planned work are described.

Jan 1, 2006

By Eleanor Kentish, Edward Batty, Alan Skarda

"The design of the tunnels at Bond Street Station includes a final sprayed concrete fireproofing layer. The performance of this layer was verified by a program of testing to Crossrail’s KT24 specification, which proved that a dosage of 1kg/m³ polypropylene fibers and a layer thickness of 50mm would be sufficient to limit spalling in the event of a fire. Application of this thin layer was achieved using a state of the art spraying robot, with the ability to scan the profile and automatically apply a uniform layer of concrete. To provide assurance and calibrate this spraying robot, BFK developed a bespoke survey system for checking SCL thicknesses in the field. This provided an instant independent check of the spraying robot and allowed areas of inadequate thickness to be rectified without risk of cold joints. This paper describes the practical application of the fireproofing layer and how design compliance was ensured. INTRODUCTION Fire is one of the most serious risks to a tunnel. The nature of tunnels — being long enclosed spaces — can increase the intensity of a fire, and make fire-fighting and rescue operations difficult. The damage that can be caused has been demonstrated by a number of historic tunnel fires, such as the Channel Tunnel fires of 1996 and 2008, and the Mont Blanc Tunnel fire in 1999. Without any intervention, the high temperatures in a fire create thermal stresses and a build-up of vapor pressure within the pores of concrete, which eventually exceed the tensile strength and trigger explosive spalling. Spalling exposes the core of the section to severe temperatures, leading to a loss of concrete and steel reinforcement strength or further spalling of successive layers. The concrete used in tunnel linings is particularly susceptible to explosive spalling, due to its low permeability achieved by the addition of microsilica (Bailey 2011). The sprayed concrete lined (SCL) tunnels on Crossrail have been designed to resist the worst anticipated fire in operation, in order to prevent collapse and minimize damage to the structure. The design called for a system of passive fire protection, the efficacy of which was validated by the contractor through a testing regime. It was critical that the application on site reflected the test conditions, which demanded special control of the profile and thickness of the lining. In order to meet these constraints on tolerances and quality, BAM Ferrovial Kier joint venture (BFK) developed a reliable method of working with the Meyco Logica spraying robot, and a bespoke survey system for accurately checking thicknesses in the field. These innovations are the focus of this paper."

Jan 1, 2016

By Mark C. Russell, Charles T. Russell, Brooke Colburn, Parker Bailey, Desiree Bernhard, Kaito Durkee, Tristen Cutshall, Rob P. H. Urselmann

Hypersonic tunnel boring (HTB) uses directed, high velocity projectile impacts to remove rock. HTB is highly independent of rock strength and targets hard, abrasive rock and variable rock environments. This paper discusses history, theory and presents test (2×2 m and .75×.5 m tunnels) field trial results and technical and economic evaluation. The HTB tests are compared against the historic ‘project REAM’ and the concept against tunnel boring machines and drill & blast in design studies for full-scale 12 m and 4.5×5.5 m tunnels. The positive results indicate that under these conditions HTB can replace Drill & Blast and Tunnel Boring Machines.

Jun 13, 2021

By J. P. H. Steele, T. Vincent, C. Debrunner, M. Whitehorn

For a variety of reasons, the need for automation of underground mining equipment is growing dramatically, e.g., improved safety and health, availability of labor, deeper mines, and desire for more focused excavation. While there has been tremendous progress made in this direction, much needs to be done to reach the holy grail of an autonomous mining machine. This paper reviews a number of technological developments and presents research and development needs for future development. A report on our current project for the Western Mining Resource Center at CSM is included.

Jan 1, 2000

By M. A. Trevits, G. W. Luxbacher, L. D. Patts

"It is almost a given that post-disaster mine conditions will have compromised the mine ventilation system, resulting in a hazardous atmosphere in portions of the mine, and often complicated travel through debris fields and roof falls. Robotic technologies provide the opportunity to gather valuable information to assist decision making or lessen exposure to dangerous conditions. MSHA's Mine Emergency Operations Division (MEO) has utilized a fully permissible mine robot, the V2, for a number of years, constantly updating the unit as new technologies became available. The National Institute for Occupational Safety and Health, as part of the MINER Act Extramural Contract Program, examined the need for additional robotic units and ultimately funded three different types of prototype technologies: two robots, the Snake Robot and the Gemini-Scout, and a mine rescue robotic assist vehicle known as the ""Mule"". The Snake Robot is designed to be lowered through a borehole and to conduct surveillance (gas monitoring, video and audio) in the immediate vicinity, while the Gemini-Scout, designed to be deployed in the mine opening, serves as a more mobile and agile exploratory tool as compared to the MSHA V2 robot. The Mule was developed in response to needs expressed by mine rescue teams for a versatile remotely operated support vehicle and it will move from prototype to MEO utilization in the near future. This paper describes the development of the robot prototypes and discusses their limitations in the prototype stage, possible enhancements and potential applications, as well as the utilization of the Mule. INTRODUCTION The conditions in a coal mine may be dramatically altered after a mine fire or explosion. For example, the ventilation system may not be functioning correctly as control devices may be compromised or damaged beyond repair. The visibility in the mine opening may be limited due to accumulated smoke and dust. Roof support systems may be damaged or no longer functional. Equipment and materials may be strewn about the mine opening. Debris fields, blocked openings, roof falls, flooded areas, gas accumulations and active burning make it very difficult or impossible for those managing the post-event emergency to permit mine rescue teams to enter the mine to conduct search and rescue operations. With the evolution of robots and robotic assist technology there has been a proliferation of purpose-built units for the military, police and law enforcement agencies, urban search and rescue and those contending with hazardous environmental conditions. In each case, the technology used is designed to limit human exposure to the unsafe conditions or to provide access to areas under difficult conditions. For example, a specially-designed marine robot has been deployed into the damaged core of the Japan’s Fukushima Daiichi Nuclear Power Plant to assess the conditions of the containment vessels, where melted fuel is believed to have accumulated. Human access to the area is prohibited due to dangerously elevated levels of radioactivity [1]. Multiple robots were deployed in Amatrice, Italy, to assist in the response after the 6.2-magnitude earthquake devastated the town. The robots were used to explore two medieval churches that were severely damaged and deemed too dangerous for human entry [2]. Tactical robots are regularly used by police and law enforcement agencies when the conditions of the emergency place intervening officers directly in harm's way [3]."

Jan 1, 2018