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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 S Wotherspoon

At Kalgoorlie Consolidated Gold MineÆs (KCGMÆs) Fimiston Operations, located on the periphery of Kalgoorlie Boulder in Western Australia, roughly 7.5 million tonnes of rock are broken each month for the extraction of gold. With the close proximity of neighbours to the mining operations in the Chaffers Cut Back, special blasting techniques and tools were employed by KCGM to manage the blast induced vibrations and noise in this area. The i-konTM initiation system coupled with OricaÆs complementary modelling and analysis tools offered the complete blast management package. With these tools KCGM management and Orica Mining Services commenced an investigation into the benefits of electronic initiation. Prior to the commencement of electronic blasting, initial modelling was conducted to examine the vibration time waveforms and their frequency content, as these were expected to have an impact on vibration interaction with structures such as large buildings and urban dwellings. This work looked at results measured for a previous conventionally (pyrotechnic) initiated blast in the area and compared it to the results obtained when the blast was modelled with electronic initiation and faster timings. The predicted peak particle velocity (PPV) and structural vibration factor (SVF) were calculated. From the results it was concluded that the investigation into using i-konTM electronic initiation system and SHOTPlus«-i blast design software had some real potential to improve blast vibration management on the cut back. The use of the electronic initiation system and complementary software allows intricate timing designs to be accurately placed into blasts. The system has a number of working modes that allow either the precise design timings to be logged automatically into each detonator or to be manually logged where a variation from the design exists. Where such variations from the design occur, the electronic system permits the actual timings used to be uploaded back into the design file. This allows both design and real actual timings to be stored for future analysis or reference.

Jan 1, 2004

By J D. Tolley

The shift towards clean energy technologies is having a significant impact on the mining industry, with the demand for minerals such as copper, nickel, cobalt, lithium, manganese, and graphite increasing exponentially. To meet the goals of the Paris Agreement, mineral requirements for clean energy technologies would need to quadruple by 2040, and to achieve net-zero globally by 2050, mineral inputs in 2040 would need to be six times more than today. The most significant driver of mineral demand is electric vehicles (EVs) and battery storage, with lithium seeing the fastest growth, and copper demand doubling over the same period due to the expansion of electricity networks globally. The demand for these minerals is expected to rise significantly as investments in clean energy technologies continue to grow in the future. As the world moves towards a decarbonised economy, the minerals industry is under increasing pressure to reduce its environmental and social impacts and meet the increased demand for minerals. Mining companies are facing additional challenges due to the depletion of near-surface mineral deposits globally, with more mines transitioning from open pits to underground. The transition to underground mining requires the right strategy to economically access deeper mineable inventories and to keep up with future clean energy technology demands to achieve net-zero globally by 2050. One key way to achieve this is through decarbonisation using ‘green’ mining technologies such as replacing current primary diesel mining fleets with battery electric vehicles (BEVs). However, these measures through electrification overlook the bigger opportunity to maximise the socio-economic returns from the mine while also reducing the overall carbon footprint. Corporate cut-off grade policy is one of the most significant influencers on the total environmental and social impacts of the mining industry. The purpose of a corporate cut-off grade policy is to implement strategies aligned with achieving all the mining companies’ corporate goals, with decarbonisation targets becoming a primary driver for mining companies. Table 1 shows the evolution of cut-off theory with the increasing number of dimensions and driving inputs per iteration.

Aug 2, 2023

By W Newns

This paper describes laboratory and in situ tests and determines a set of parameters for stiffness and strength properties for a weak sedimentary rock mass, the East Coast Bays Formation of Auckland. The parameters derived are discussed in relation to peak strength and in respect of deformation limits associated with sequential excavate and support (SEM) or conventional tunnelling.

Mar 8, 2011

Currently, mining in Australia underpins the economic vitality of the nation, generating massive revenue from commodity exports and providing substantial infrastructure and employment. In addition, it is predicted that mining related services will in the future develop a global market of their own that could eventually grow to rival, in value, the export trade in mineral commodities. There is however little room for complacency. In the short- to medium-term, escalating, vigorous competition can be expected from many previously underdeveloped countries that are reforming their own mining and mineral export industries. In addition, most mining companies are facing a modem-day renaissance in terms of new expectations, changing social norms, evolving employee relations and statutory obligations. Thus, along with whatever promise the future might hold, the mining industry is currently being subjected to a growing number of largely unprecedented problems and pressures, both economic and social, that are both highly complex and demanding. In particular, it remains a matter of on-going concern that relations between mining companies and their employees still, in spite of recent reforms, continue to constrain productivity, perpetuate inefficiencies, affect quality of work life and retard progress towards mutually beneficial goals and achievements. If mining in Australia is to attain and hold on to a commanding position on the global scene, then further changes will clearly need to be made. Realisation of this appears to be growing, with most mining companies having attempted in recent years to improve workplace culture. Based on a wide ranging study, this paper presents an overview of what has been learned to-date with regard to the `people factor' when it comes to implementing and progressing positive change and reform in mining. From this, a number of practical suggestions, arising from hard won lessons and experiences in the field, are offered. Attention to the nine `key principles' given should help to ensure that many of the common problems encountered to-date with change and reform in the mining industry are in future avoided or at least minimised.

Jan 1, 1997

Samples weighing O·25 g are fused with 1 g potassium hydrogen sulphate, leached with 5 ml. of hydrochloric acid, and then diluted with another 5 ml. of acid. After settling, an aliquot of the clear solution is reduced with stannous chloride, and then a zinc dithiol solution is added to form a coloured tungsten complex which is extracted with petroleum spirit for comparison with standards.Concentrations down to 4 p.p.m. may be analysed at a rate of 100 determinations per man-day of 8 hr.

Jan 1, 1970

By M Franklin, C Puglisi, S Fitch

Implementation of a well planned and executed Management Operating System (MOS) can result in widespread improvements to operational performance but its success relies heavily on the investment by and engagement of the larger workforce with the project. Over the seven month period of the Telfer MOS project, significant improvements were achieved; a 20% increase in monthly hoisted tonnes from the open stope and sublevel cave operations and a 45% increase in square metres of ore extracted from the narrow vein operation. The Telfer MOS was undertaken with the intention that the project wasn’t solely about producing new tools, it hinged on the investment and behaviours of the personnel affected by these tools and alterations. To ensure that the project ran smoothly, the Byrnecut senior leadership team and their operators were heavily involved in the project’s development. In the initial stage, Telfer’s MOS project determined that the quality and accuracy of the information received in the form of radio calls to mine control and completed operator plods was questionable. This required an overhaul of the data collection and verification process in the form of altered operator plods, which was then cross referenced with the operator’s radio calls to mine control. Once the data collection and verification process was implemented, the Telfer team was then able to produce several tools with the aim of providing visibility to the data being captured and its implications. These tools allowed the mine foremen to determine whether equipment was being under-utilised and where they should focus their production efforts to meet monthly targets. Whilst the initial underground project is now complete, the implementation of MOS across the entire site is ongoing with significant operating improvements occurring.

Mar 15, 2021

By M Scoble, W S. Dunbar

This paper reviews methods for grade estimation in short-term mine planning for block caving. Two particular tools are used: Ordinary Kriging and Simple Kriging with moving averages. It is also considered the influence of draw characteristics on the grade estimation process. Reference is made to mine case study data and analysis. These demonstrate that operational grade estimation is not a trivial process. It must take into consideration: the grade variability (in terms of ore and dilution), sampling interval, geological and geotechnical characteristics, geometrical layout and draw characteristics. Significant improvements appear possible in short-term planning if variogram analysis, as well as kriging methodologies, are introduced into the operational grade estimation process.

Jan 1, 2000

By Blott S. F

The smelting plant and equipment at Mount Isa, as originally designed and built, was described by J. M. Callow (1) *.F. A. Forward (2) described alterations and additions to the plant and discussed the metallurgy of mixed carbonate-sulphide concentrates at Mount Isa, prior to 1933, in the Proceedings of this Institute.In 1933, A. F. McAskill (3) gave full mechanical details of the plant in a paper presented to the Institution of Engineers, Aust.FLOW SHEETSFig. No. 1 represents the present general flow sheet. Forward's (2) flow sheet is reproduced here as Fig. lA, and will serve for comparison in depicting subsequent deletions from, and alterations and additions to, the plant.Fig. No. 2 presents the daily tonnage flow sheet of 1939 practice.ALTERATIONS SINCE 1933General. Many changes in metallurgy and operation have taken place, particularly subsequent to March, 1935, when the treatment of a mixture of carbonate and sulphide ores was discontinued and the mill commenced operating on all-sulphide ore. This alteration brought about the elimination of gravity concentration-Jigs and Tables and resulted in the production of all-floatation concentrates of a very fine sizing. Refer Table No. 2, page?) Radical changes in the analyses and physical nature of concentrates also followed (see Table Nos. 1 & 2, page ?) and, similarly, radical changes in the smelting plant have been slowly brought about.

Jan 1, 1939

By M Danišík

Two drill core samples of haematite/goethite from the Robe River (Western Australia) channel iron ore deposits (CID) were dated using (U-Th)/He methods in order to constrain the timing of iron oxide formation and thereby provide a temporal context for CID genesis. (U-Th)/He ages (He ages) from these samples range from the late Oligocene to Late Miocene and despite a high degree of scatter, they corroborate relationships expected from the internal ooidal stratigraphy: For individual ooids, the ages from haematitic core are older than or indistinguishable from the ages of the surrounding goethitic cortex. The goethitic cortices are, in turn, older than the ferruginised wood fragments recovered from the cementing goethitic matrix.The data suggest the following succession of ore formation phases:• Haematitic cores in ooids of both samples formed in the Early to Middle Miocene.• Goethitic cortices of both samples formed in the late Middle to early Late Miocene. This appears to be the age of goethite cortex formation regardless of depth in the core, which does not support the top-down infill model, genetic model proposed by Heim et al (2006).• Wood fragments form a prominent component of the matrix and were ferruginised during the Late Miocene. Thus the data suggest that the unique environmental conditions for the CID formation existed during the Miocene.A methodological implication of this study is that the temperature utilised for He-extraction from iron oxides has a critical impact on the mobility of parent nuclides. The typical ~1100°C laser heating used for crystalline minerals like apatite or zircon induces loss of U and Th and results in erroneously old ages.

Jul 11, 2011

By A Goldstone, T Maton

The Golden Cross Mine is located on the North Island of New Zealand, at the base of the Coromandel Peninsula, approximately 8 km northwest of Waihi. The project is operated as a Joint Venture with Coeur Gold New Zealand holding 800/0 and Viking Mining Limited with a 20% interest. The past open-pit and underground gold and silver producer has been in the reclamation phase of the operation for approximately 2.5 years and is now nearing completion. Although rehabilitation of the site is a regulatory requirement, the Closure Plan has been enhanced by the ongoing commitment of the Joint Venture to establish a sustainable land use for the site by commissioning engineered facilities designed to last for perpetuity. The Joint Venture identified six significant design features that were key to successful rehabilitation. These were the controlled placement of acid generating waste rock into engineered disposal sites; the design and placement of sealing layers over the waste rock disposal sites; the design and construction of diversion drains; the establishment and management of vegetation to protect the oxygen diffusion layer; a partial capping of the tailings to accelerate consolidation adjacent to the tailings dam embankment, and the implementation of a cyanide recovery circuit to recycle cyanide from the tailings prior to disposal. Another key to success for the project involved genuine consultation with all parties participating in the planning, evaluation, and consenting of the closure process at Golden Cross. The local and regulatory community has been widely represented in the Joint Venture's operating and closure plans throughout the history of the mine. Participants include: Regional and District Councillors and staff members, professional peer reviewers, environmental groups, local residents of the valley, and Iwi. This overall commitment to the project has resulted in a world-class rehabilitation program for the first modern metal-mine closure in New Zealand and we believe that collectively, the work done at Golden Cross is helping to set a standard for the success of future programs within the extractive industry.

Jan 1, 2000

By Ryan A, Dennis R, Dekker D, Ellis W, Sowerby B

An automated facility for non-destructive elemental analysis of mine samples has been developed and tested at Mount Isa in association with the CSIRO. The analysis is based on the prompt and delayed measurement of gamma radiation emitted by the sample during and after separate fast and thermal neutron irradiation. No sub-sampling or sample preparation is required and the analyser is operated by one person that would otherwise be splitting drill core in preparation for conventional analysis. The analyser has been calibrated to measure the following (precision in parenthesis): Ag (14 ppm), Pb (0.5 wt%), Zn (0.5 wt%), Cu (0.04 wt%), Fe (0.7 wt%), S (1.1 wt%), SiO2 (0.8 wt%), A1203 (0.07 wt%), Mn (0.05 wt%), specific gravity (0.02 g cmt). Crushed or whole drill core samples that range in size between 0.5 m and 1.8 m of equivalent BQ size drill core can be analysed at a rate of six samples per hour. If required, drill core samples can be re-packed in their original configuration for storage following analysis. Standard samples are measured every day to ensure operational stability. The analyser is controlled by a personal computer which prints the results and stores them along with the raw data on the computer hard disk. This paper reports the performance of the analyser during 1992 for routine analysis of drill core from the lead ore bodies of both Mount Isa and Hilton mines.

Jan 1, 1993

By V Ser, I Smit, C Robertson

Anglo American has been researching the potential benefits of inter-particle comminution techniques for several years. Inter-particle comminution has additional benefits in terms of milling circuit performance such as energy consumption and stability. This paper focuses on the flotation benefits. Inter-particle comminution leads to selective breakage, mineralogical analysis has shown that this leads to improved liberation of the valuable minerals. In addition to selective breakage, the relatively short residence time experienced in typical inter-particle comminution machines allows more efficient classification which contributes to a æsharperÆ product size distribution. The effect of particle size in flotation has been well documented in literature. In general, it is has been shown that there is an optimal particle size range for flotation, and that both above and below this range, flotation recovery is adversely affected. Results show that the narrow size distribution which results from inter-particle comminution improves flotation recovery. Furthermore, the absence of excessive fine gangue material which typically results from conventional fine (-75 ¦m) milling of talcaceous ores, can lead to 100 per cent savings in depressant consumption when such ores are subjected to inter-particle comminution. To-date, this technology has been evaluated on more than ten ores. This paper will focus on one set of results which demonstrates a number of common differences that exist between material that has been milled conventionally and using inter-particle comminution technologies, with emphasis on what the impact of these differences is on flotation performance. A pilot scale (200 kg/h) vertical roller mill (VRM) was used to produce the material, and the results shown will describe conventional laboratory batch, locked cycle and pilot plant flotation testwork.

Jan 1, 2005

By S McKinley

"The White Mountain sediment-hosted gold deposit is located in north-eastern China. Mineralisation is associated with silica–hematite–altered polymict breccias that occur within dolomite at or near the contact with overlying sandstone. Economic gold grades are controlled by the distribution of the polymict breccias and can transition rapidly to low or zero grade over short distances. This results in sharp and highly irregular ore contacts on whose accuracy proper stope design and ore control is reliant at this blasthole underground mine.Short-term planning and ore control utilise a grade control model created from infill drilling and grade control sampling (ie face and wall sampling). Typically, the grade control model was maintained by time-consuming manual editing of earlier made contacts to incorporate any new data. This approach also was quite error-prone due to: the complexity of the breccia and ore grade contacts irregularly oriented and/or insufficiently dense drill holes inconsistent incorporation of grade control sampling. These errors resulted in unplanned dilution and ore loss due to inaccurate interpretation of the ore contacts.The primary advantage to implicit geological models over conventional, manually-built wireframe models is that they can be updated very quickly and frequently. In a mine setting, the power and efficiency of using an implicit model is greatest where the use of manual inputs or editing can be minimised. Recently a workflow was set-up for the mine geology team to create an implicitly-modelled ore shape for short-term planning needs by using all data, especially all grade control samples. The resultant 3D shapes provided metre-scale accuracy and consistently reconciled complex ore geometries much faster and to a higher degree of quality relative to the wireframe model. The mine stakeholders can now obtain an accurate ore model that will always be in sync with available data.CITATION:McKinley, S, 2017. Application of implicit geological modelling to improve the grade control process at White Mountain gold mine, Jilin Province, China, in Proceedings Tenth International Mining Geology Conference 2017, pp 385–392 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Sep 20, 2017

LKAB operates two underground mines in Kiruna and Malmberget, Sweden. Blast furnace pellet is the main product and makes up 70 per cent of total production. The orebodies are hosted by 1910 - 1860 Ma old volcanic rocks. The host rocks and the ores were affected by the Svecokarelian orogeny for 1890 - 1860 Ma ago. The deposit belongs to the Kiruna type apatite-rich iron ore. Magnetite is the main ore mineral but haematite is the dominant ore mineral in some orebodies in the western part of the deposit. Large-scale sublevel caving is the dominant mining method. Three main haulage levels are in operation at present. The ore boundaries and quality can be detected by geophysical logging resulting in reduced waste dilution and subsequent grade reduction. The susceptibility measurements have been used in the magnetite ore since 1991 and gamma-gamma measurements in the haematite ore since 1998. The mining scale has increased during the last 20 years but diamond drilling has remained at approximately 18 000 drilling metres per year. Uncertainties in the ore constructions can lead to unexpected cost increases, ore loss and dilution. The ore boundaries are evaluated with percussion drill holes using in-hole geophysics to achieve satisfactory geological knowledge. The probes are calibrated in all currently mined orebodies. The correlation between core sample assays and measured susceptibility and gamma-gamma values is strong. The cost to determine the ore boundary by percussion drilling with in-hole geophysics is two-thirds lower, and productivity is six times higher compared to diamond drilling. The measurements are made by geotechnicians and the interpretations by a geologist. The results are transferred to a database and presented three dimensionally as holes with iron grade intervals on mine maps. The interpreted holes are used by the geologist in various ways in the geological modelling. Layout planning uses the measurements as a tool to place the drifts at the correct distance from the ore contact especially in the longitudinal sublevel caving and the production hole planning to optimise the final length of the cross-cuts and drifts for best ore recovery.

Jan 1, 2006

By D Henderson, M Germain

The beneficiation of iron ore deposits to yield haematite and magnetite concentrates for steel making processes typically require the use of one or a combination of wet processing techniques based on gravity, magnetic or froth flotation processes. With the need for more cost-effective technologies with a lower water demand, a re-examination of dry processing techniques has been initiated. For example, a dry processing capability may offer an advantage where suitable quality and quantity of process water hinders the development of a particular resource. This paper describes recent laboratory test work for the production of high grade concentrates using dry electrostatic techniques for -300 ¦m haematite and magnetite ores and compares them with magnetic separation techniques.

Jan 1, 2009

By X Zhang, Z Guang, R Lin

To improve the existing process of a large-scale scheelite concentrator in Jiangxi Province, this paper presents an advanced process æselective flotation of copper and flotation desulfurisation û rougher flotation of scheelite û heating-stirring and cleaning of rougher concentrate at normal temperature without reagent removalÆ. The test work was conducted on an ore sample containing 0.75 per cent tungsten (WO3), and the following technical indices were obtained: 1.03 per cent of the scheelite concentrate yield, 65.37 per cent of the concentrate grade and 86.31 per cent of WO3 recovery, indicating that the study achieved the objective of improving the tungsten recovery. The technical key of this process is to employ combined regulators and direct flotation of the slurry after being heated, which not only assured the technical indicators of beneficiation but also simplified the process.

Jan 1, 2008

Upgrading of a Flow Sheet Selection PC Algorithm for Refractory Concentrates Treatment

Sep 13, 2010

By K Le Bron

Fatalities that occurred because of rock falls in off-reef excavations (excluding shafts) over the last three years range between ten per cent and 20 per cent of the total number of fatalities that have occurred due to rock falls in the South African mining industry. These rock falls, mostly exacerbated by blasting practices, occur because of failure on discontinuities within the rock mass. Among other reasons of their occurrence is insufficient support installation or the incorrect assessment of rock mass conditions. This report presents qualitative analysis intended to outline rock stability conditions in tunnels subjected to dynamic loading. Seismic waves including those created by firing an explosive charge in tunnel rocks are considered. The rock behaviour is monitored using geophones and extensometers variably installed to record the near and far effects of roof bolt support units on a dynamically loaded rock. The paper discusses the results of field investigations.

Jan 1, 1999

A brief review is given of the history of the Colliery to date together with the reasons for the development of an additional seam.Investigations into the quality of the coal ami its suitability for the production of metallurgical coke and determination of the economic mining limits and coal reserves are discussed. The commencement of mining operations and the inter-seamarrangements necessary for the disposal of coal won are described with the stages in the opening out of the seam itself and the reasons for the installation of a 48-in. trunk conveyor belt. Choke and manning of face equipment are considered and also the work of secondary development and pillar extraction.It is concluded that with modern face equipment and conveyor belt lines, concentrated mining followed by immediate extraction of pillars is practicable and is giving excellent results at Burwood Colliery.INTRODUCTIONBurwood Colliery, the total holding of which now comprises some 3,140 acres of land and 1,450 acres of sea leases, has mined the Borehole Seam since 1883. The early work took place from Nos. 1 and 2 shafts at Glenrock Lagoon and later on at Nos. 3 and 4 shafts at Whitebridge to which the centre of operations shifted in 1893, shaft sinking at this latter area having commenced in 1888.As all the early operations were confined to the Borehole Seam, reserves of coal on this horizon had been considerably reduced by the mid 1930's, so a cross measure drift was driven to the Victoria Tunnel Seam which is about 300 ft. above the Borehole Seam, and fully mechanized coal winning commenced from the second seam in 1938. Subsequently this cross measure drift was extended to the Borehole Seam and complete mechanization of the south-west sections of this seam achieved by 1945.Four track mounted mechanical units were put into operation in the latter area and these worked in a southerly and...

Jan 1, 1958