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A discussion on simulation tools to aid the development of robotics platforms is presented. The focus of the work is towards mining robotics platforms where operations are typically in unstructured, unpredictable environments and a high degree of dependability in their operations is required. It is argued that a test-based development approach leads to more robust solutions and faster development cycles than traditional single-track field-only development and that the key enabling technology for this development paradigm is the judicious use of simulation tools. The future direction of simulation for use in online applications such as active planning and as a means to assist tele-operation in high latency communication applications is also brief y considered together with the requirements for a useful simulation environment in terms of the simulator architecture. Finally, a case study is presented on the application of the discussed methodologies to an unmanned ground vehicle (UGV) for earth-moving tasks, which is being developed in an accelerated time frame with a transient development team.

Dec 6, 2010

By Gibson G, Jaques L

The Broken Hill Exploration Initiative (BHEI) is a collaborative venture between the Australian Geological Survey Organisation (AGSO), Mines and Energy South Australia (MESA) and the New South Wales Department of Mineral Resources (NSWDMR) to provide a new generation of geoscientific information to promote and enhance the exploration for, and discovery of, new deposits in the Broken Hill region. The area under investigation (Figure 1) exceeds 150 000 square kilometres on either side of the NSW-SA border and is centred on the city of Broken Hill. N.T. I I OL n. WA 8A I Maw. AC,7 !ii oFCU vlc~ ~T. Fia I - Nlap showing the 150 000 square kilometre regwa,. i.i lcr investigation by the Broken HiII Exploration Initiauvr highlighted on the map of Australia. A major impediment to the exploration for, and to the understanding of, the genesis of the world-class Broken Hill Pb-Ag-Zn deposit is the structural and metamorphic complexit\ of the region. Important objectives of the BHEI are therefore: I. the definition of the three-dimensional structure of the province, 2. the deformation history, and 3. the stratigraphic and age relationships of the rock units. Early discussions between the BHEI partners and industry scientists revealed that new geophysical surveys would be a key requirement to help advance the understanding of the province, especially a contiguous high resolution airborne geophysical dataset covering both outcrop and areas of shallow surficial cover. The purpose of this paper is to draw attention to the new high resolution airborne geophysical data and to discuss their interpretation and potential for enhancing the knowledge of the Willyama Supergroup geology.

Jan 1, 1997

Reserves of high-grade quartz gravel, lignite, and timber suitable for the production of silicon metal and ferrosilicon on large scale occur within 40 miles of Bluff Harbour. Undeveloped hydroelectric power resources on the Clutha River are located within 50 miles of the most promising quartz gravel deposits while opencastable lignite, potentially suitable for electric power production, occurs in the same locality as the quartz gravels. A preliminary study of production economics indicates that the commercial feasibility of silicon/ferrosilicon production would depend mainly on the cost of electric power, total capital cost of plant, and the market value of the products. The proximity of Bluff Harbour is advantageous for the export of products.

Jan 1, 1971

By F K. Buckley

Currently, Kanieri Gold Dredging Limited operates the only large scale gold dredging operation in New Zealand. It dredges a claim in the Taramakau River using the bucket dredge 'Kanieri'. This dredge, a 'Yuba' type, was designed and built in the 1930s. On the current claim it works about 12 hectares of ground a year. Because of its design, the tailings from the 'Kanieri' make land restoration difficult. This was unimportant until it commenced its new claim ML-32-310 in 1978. The conditions, attached to this licence required it to restore the land for afforestation, the designated use fur the Crown land being mined. With the company planning to work future claims on the Grey River, it decided to undertake restoration work on the Taramakau to demonstrate its capability of establishing pasture land on tailings, a more difficult task than restoring the land for afforestation. After two years and the restoration of two blocks totalling 22 hectares, reasonable pasture establishment has been achieved. Much has been learned to date and further refinement of the techniques used will take place over the next two years. The quality of the tailings produced has improved as a result of the limited modifications possible on the existing dredge. This has been significant in achieving better results. The knowledge gained will be taken into account in future dredge design. Both the Company and its Consultant are confident of achieving satisfactory restoration of dredge tailings for pasture land.

Jan 1, 1981

By M Pizey, C Ross

Rehabilitation approaches, methods and outcomes have changed markedly over the last 100 years, and especially over the last 20 years. Alluvial gold dredges have moved from creating a legacy of boulder fields and ponds to radiata pine plantations and highly productive dairy pastures. The rehabilitated farmland has reduced flood risk, improved drainage and efficient paddock design. The next challenge is to include areas of environmental diversity in these projects, for example, shelter belts, patches of native trees, and wetlands that were part of the original landscape.   West Coast coal mines have also come from a legacy of leaving it to nature to rehabilitate damage by mining to establishing native ecosystems or plantation forests. Developments in techniques at Stockton Mine are used to illustrate the changes in approach to rehabilitation of native forest and tussock heathland ecosystems. The proposed Cypress Mine will adopt a full range of avoidance, remediation through rehabilitation, and off-site mitigation techniques in a æthree-prongedÆ approach.   We propose a coordinated extractive industry approach to mitigate for the impacts of mining on native ecosystems and achieve nationally important conservation benefits that individual projects cannot afford. This approach is particularly beneficial in New Zealand, as our native ecosystems must be actively managed to conserve native plants and animals. Currently, some important species and ecosystems are not being actively managed for conservation.

Jan 1, 2004

Traditionally, capital costs of major resource development projects have been estimated as a single amount to which a percentage accuracy has been assigned based on the method of preparation of the estimate, that is, on the amount of information available to develop the estimate.However, there is a growing recognition of the importance of a probabilistic approach to capital cost estimates, and of a more rigorous calculation of estimate accuracies and of the presentation thereof. Accuracies can be expressed with more certainty as a percentage of the estimate amount where the percentage represents one standard distribution on the probability curve for the capital cost of that specific project. Thus confidence levels can be stated for various estimated amounts - for example, it can be stated that there is an 85% chance that a stated amount will not be exceeded, or a 90% certainty that a (higher) amount will not be exceeded. Moreover, the right skewness of the probability distribution curve for most projects can be readily recognised and reflected in the evaluations. This enables senior executives and board members to have a clearer understanding of investment uncertainties, and the possible magnitude of commitments.

Jan 1, 1990

The Yabulu refinery of Queensland Nickel Pty Ltd located near Townsville now imports more than three million wet tonnes per year of nickel laterite ore from New Caledonia and Indonesia, making it the largest importer of any commodity in Australia. The project has illustrated that importing untreated bulk ore and re-exporting high value products makes good economic sense for the company and the nation. The economics of this exercise have been considerably enhanced in the past year by changing the project's principal product from nickel oxide sinter to refined high purity nickel metal. It is one of the few operations in the world where nickel ore is transformed to nickel metal at a single site. Several novel technological processes were developed at Yabulu and incorporated into the refinery to allow this product transition to occur. By utilising internally developed technology the new processes were installed at a capital cost of less than $10 million. It is unique for a large nickel producer to completely change the quality of its entire product range many years after the plant was constructed and considerable attention to marketing the new products has been required.

Jan 1, 1995

A metallurgical balance drawn around a mineral processing plant or smelter must involve all process streams crossing the plant boundary. Modern sampling theory, as formulated by Gy, and sound statistical method can be used to determine the uncertainties in the observed assays for the set of balance analytes and in the mass flow rates of the process streams for the balance period. These uncertainties can then be used together with the material balance equations to arrive at adjusted component mass flows that satisfy the material balances exactly. To determine whether or not the data is consistent with the level of uncertainty in the data and with the material balance equations, a goodness of fit test is applied. This goodness of fit criterion is the principal tool to quantify the quality of the material balances. The mathematical structure of the statistical material balance problem poses a number of challenges. For example, while the variances of the adjusted component mass flows do not vanish, the variances of the sums of the adjusted component mass flows about each balance node do vanish, simply because the balancing computation demands that the balances close exactly. Even though it can be shown that the variances of the adjusted component mass flows are always lower than the estimates for the corresponding unadjusted component flows, it is still not possible to construct a confidence interval on the component mass flow into (and out of) a balance node using the adjusted component flows. On the face of it, such a confidence interval is exactly what is most desired from the balance calculations. The problem arises because the balance problem is a data adjustment rather than a parameter estimation problem. It is possible, however, to calculate the recovery of a component to a product stream and determine a confidence interval for the recovery value. It is also possible to calculate an uncertainty in the mass flow of any balance species in any process stream, before and after balancing.

Jan 1, 2005

By Morrison R. D, Davis J. J, Fraser B, Kojovic T

1991 saw the completion of a three-year $1.1 million research and development program in mineral sands beneficiation, funded in two associated projects by the Australian mineral sands industry through AMIRA, and carried out by the Julius Kruttschnitt Mineral Research Centre. It is believed to be the largest R&D project in mineral sands ever conducted by a university research group. It covered dry plant operation, and delivered several products to the industrial sponsors, including: ò A detailed characterisation of the radiation properties, mineralogy and size distribution of inhaleable dust arising in dry plants. ò New process models of magnetic and electrostatic separators. ò New on-line instruments for elemental assay (in association with AMDEL) and bulk conductivity measurements of dry process streams. ò Demonstration and evaluation of the Magstream magnetohydrostatic separation technology.

Jan 1, 1992

South Crofty's ventilation network is large and complex. Of the total exhaust air quantity 40% enters the mine by leakage routes through old workings, this air carries high concentrations of radon gas and results in the mine becoming a classified work place under the Ionising Radiation Regulations 1985. Improvements in the control of the ventilating air and dilution by increased air quantity have reduced the average contamination to aelow-0.2 WL. The major part of the radon originates from ground water inflows and from concentrations of radium within the mine with direct emanation from rock surfaces being negligible. Of 600 kBgs-1 total radon leaving the mine 93% cannot be accounted for from known and accessible sources.

Jan 1, 1988

Python Underground Processing Plant Critical Design The use of continuous gravity recovery in combination with a controlled breakage fine crushing and screening system followed by flash flotation has been incorporated into the Python processing plant. This provides miners with a flexible, robust, low cost, low energy pre-concentration process for the recovery of gold and/or heavy minerals. The Python plant incorporates fine crushing utilizing either High Pressure Grinding Rolls or Vertical Shaft Impactors in combination with the InLine Pressure Jig and Flash Flotation to continuously liberate and recover the valuable minerals. The use of these technologies has enabled a narrow, transportable pre-concentration plant to be produced which can easily be installed and operated in underground drifts and tunnels.

Sep 13, 2010

By F Radke, P A. Tilyard

Determination of the mineralogical location (deportment) of minor and trace elements (including credit and penalty elements) in base metal concentrates can indicate whether further processing is likely to (a) reduce the levels of the penalty elements, and/or (b) direct selected elements into other plant products, thereby increasing current concentrate grade or increasing payment for credit elements. To determine the deportment of elements requires knowledge of the proportions of the minerals present and their individual element contents. In addition, knowledge of the liberation and locking is important, as this can affect any possible further processing. Mineral proportions can be determined by a variety of methods including chemical analysis, point-counting, area-counting, QEM*SEM, image analysis and mineral separation. In the case of a Broken Hill zinc concentrate, several of these methods were used and gave consistent results.

Jan 1, 1998

By D K, S Freij, A Rossiter, X Han, B Feng

In mining operations, the removal of overburden to expose the ores is achieved by rock blasting using ammonium nitrate based explosives, eg ammonium nitrate-fuel oil mixtures, commonly known as ANFO. However, ammonium nitrate can react with pyritic shales that are often found in many mines, leading to premature detonation or spontaneous explosion. In order to minimise the occurrence of spontaneous explosion, the reactivity of the shale in a mine must be assessed. This will provide a better understanding of blasting risks and thus will improve the safety and the cost efficiency of blasting through the selection of appropriate explosives. In this study, shale samples were collected from different locations in Western AustraliaÆs Mt Whaleback iron ore mine and geochemically characterised. The reactivity of the shale samples towards ammonium nitrate and ANFO was investigated using a combination of large-scale firing range tests and laboratory isothermal reactor tests. Results of the firing range tests show that the reactive ingredients of the shale are the limiting factor for the reactions between shale and ANFO. Based on the firing range test results, further isothermal reactor tests were conducted to investigate the reactivity of shale samples towards ammonium nitrate under controlled conditions. Analysis of the results from the firing range tests and the isothermal reactor tests shows that there are correlations between the reactivity of shale samples and several geochemical characteristics such as sulfate, sulfur, ferrous and zinc content.

Jan 1, 2005

The Australian mining industry is at an interesting stage in its development. Of the large number of mining companies in Australia, some are still solely domestic in their focus, others have made their first tentative forays offshore, and others are global players of significance in tile world industry.   It is not long ago that the entire industry was almost exclusively domestic in its focus. Very few companies before the early 1980s had ventured offshore, and those that did so were considered quite risque. The initial moves were made mainly by large companies who could afford to lose the funds expended in getting started in a range of offshore locations.   Almost all offshore jurisdictions were considered to be high risk compared to the safety of home - I recall the extreme difficulty I encountered in the mid 1980s in endeavouring to persuade a Board to joint venture into an attractive gold opportunity in South East Asia.   One of the problems inhibiting the offshore development of the Australian mining industry was that some mining companies had had unfortunate experiences offshore. Others had heard of those who had had unfortunate experiences offshore and, as such, 'offshore' gained a bad name and the more risk averse boards and. management of the time simply put the whole idea into the 'too hard' basket.

Jan 1, 1995

Some attempt to minimise the importance of the greenhouse phenomenon. They do so by observing that global temperatures are still within the range of recent variations and that it is still not possible to predict with any certainty what the precise consequences of greenhouse will be. Both observations are true though the conclusion is dangerous. Ice core samples from the Antarctic and Greenland have established the composition of the atmosphere and global temperature over almost the last 200,000 years. The profile of these twin variables shows that they have moved together; when the concentration of CO2 has been up, the temperature has been up and when the former has been down the temperature has also been down. Over almost 200,000 years the CO2 content has ranged between lows of 190 ppm and highs of 270ppm. In just 200 years of industrialisation the CO2 content of the atmosphere has increased to 350 ppm, 50% higher that the mean of the last 200,000 years and 30% higher than at the start of the industrial age. Carbon dioxide is now increasing at 0.5% p.a. Methane, about twenty times more effective than CO2 as a greenhouse gas has doubled in concentration in the last two centuries and is now increasing at about 1.1% p.a. Methane, nitrous oxide, chlorofluorocarbons together with a number of lesser gases will double the greenhouse effect due to in creased CO2 over the next 40-50 years.

Jan 1, 1989

How Particles Stick to Bubbles - The Influence of pH and Hydrophobicity in Flotation

Sep 13, 2010

By Miskelly N

In Australia and New Zealand, the 'Australasian Code for Reporting of Identified Mineral Resources and Ore Reserves', which was released by industry in 1989, is operating successfully in a co-operative approach between industry and regulatory authorities. Similar codes or guidelines exist or are under development in the United States of America, Canada, the United Kingdom and South Africa, although the regulatory backing given to the Australasian Code is unique. International standard definitions for Mineral Resources and Reserves, and for categories of Resources and Reserves, have been under development by the Council of Mining and Metallurgical Institutions since 1994 and have already stimulated considerable convergence of definitions and reporting standards in participating countries. It is hoped that agreement on this international standard for public reporting by mining companies will be reached within the next two years, and it is expected that adoption of the standard will result in a higher and more uniform quality of reporting worldwide, with a consequently greater interest on the part of the general public and financiers in investing in the mining industry.

Jan 1, 1997

By Baker G

The exposures resulting from development work, following on the discovery of a new shoot of hIgh grade ore at the north end of the Sardine tin mine, during 1952, have provided an unusual opportunity to study the oxidation of a stannite-rich ore. Through the kindness of C. C. Morton, Chief Government Geologist of Queensland, an exactly located suite of specimens representative of the exposures was supplied by J. and W. Reddie. This was later supplemented by a number of specimens culled from a parcel ofrepresentative ore submitted to the Melbourne Ore Dressing Laboratory for testing.The Sardine tin mine, near Ewan, Queensland, has been the outstanding producer of the Kangaroo Hills Mineral Field. Since its discovery in 1918, up to 1952 it has yielded about 1,500 tons of cassiterite concentrates, and about 85 tons of stannite concentrates. The outcrop ore averaged 35% tin oxide, but the grade declined with increasing depth, and by 1930 had fallen to 7% tin oxide. In the northern section of the mine the ore shoots show a downward passage to complex primary s.ulphide ore, containing cassiterite and abundant stannite.The orebodies occur in a series of fissures in a crushed zone about 50 ft. wide in slates and quartzites that have been intruded by granite (Connah, 1952). A quartz porphyry dyke forms the footwall of the original main lode in its southern part, being traced' from the surface to' the No. 4 level (173 ft. vertical depth), and two narrow dolerite dykes were encountered in the workings north of the main...

Jan 1, 1954

The Sons of Gwalia Mine in Western Australia is situated about 140 miles north from Kalgoorlie in arid country, where supplies of fresh water are difficult to obtain.Mine salt water is used throughout the treatment plant, whilst fresh water for domestic, boiler, and power purposes is pumped from a number of shallow outlying wells. The waters from all wells are constant in character, although they vary in the quantities of salts contained.An average sample of mixed waters gave the following analysis (Gr. per gal.):Sodium chloride 70.82Magnesium chloride 33.03Calcium chloride 26.98Calcium carbonate .. 11.57Calcium sulphate 22.71Iron oxide and alumina 2.10Silica and insoluble 4.58When this water is used in the boilers in its natural state it is scale-forming and intensely corrosive.

Jan 1, 1927

By Payne AR

The high cost of gateroad repairs and maintenance in U.K. longwall coalmining is a clear indication of the failure of permanent support systems to fulfill their prime function, i.e. control of strata movement. The main component of gateroad support is the pack, the design and materials of which have experienced an important development process during the last 10-15 years. More recently, research investigators have attempted to give a design basis to pack quality and dimension, and reference is made to two theoretical approaches. In the course of a current research programme based upon in situ monitoring, interim design recommendations have been proposed as a means of effecting improvement in support efficiency. Identification of characteristic deformation behaviour forms the basis of the recommendations made and the subsequent improvement in gateroad performance reported.

Jan 1, 1986