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By S. F. Böde, K. Böde

This paper focuses on developing a comprehensive and pragmatic information technology (IT) strategy for low-margin construction activities. This forms part of the realignment of the general business strategy, and refocusing the operational model. The main elements of the IT strategy formation are analysis of the current IT environment in terms of software and hardware, carrying out a gap analysis, and developing individual functional digitalisation strategies in construction execution based on Building Information Modelling (BIM), business administration processes, communication, business intelligence (BI) and reporting, and data security. Further, substantial emphasis is given to the sustainable strategy implementation in terms of hardware and software readjustments, their integration, user training, and defining the way forward.

Sep 1, 2021

Ferrochrome is the major chromium source for stainless steel production, and submerged-arc furnaces (SAF) are most commonly utilised to smelt chromite ores into ferrochrome by using suitable carbonaceous reductants such as coke. Because of the complexity of feed structure and electrical-thermal-chemical interactions, there exist large gradients and wide distributions of temperature, mineralogy and other process variables in the furnace. This leads to various zones in the furnace, and different reduction mechanisms. Control of the furnace is thus often difficult due to the complicated physical and chemical situations in the furnace. The temperature profile in the submerged arc furnace has a great influence on the reduction rate and the production efficiency. Therefore, the energy generation through electrical arcs submerged in the solid feed and its distribution within the packed bed play an important role. In the present paper, an overall process model is illustrated to simulate inter-linked transport processes of fluid flow, heat transfer and reduction kinetics within the submerged arc furnace. The application of reaction kinetic data to simulate the chromite pellet/lumpy ore reduction with CO gas is presented and further adjusted to provide a submodel for a flow and heat transfer simulation for the packed bed by using computational fluid dynamics (CFD) technique. The comprehensive process model is aimed to simulate materials and gas flow, temperature and energy distribution throughout the furnace system. A preliminary model for gas flow and temperature distribution for the upper part of a 20 MW furnace (the packed bed) for high carbon ferrochrome production has been developed under simplified conditions. The integration of the reaction kinetic model into process simulation, and the future vision for a more comprehensive process modelling are discussed. It is expected that better understanding of the furnace insights through process modelling will help process optimisation and furnace control.

Jan 1, 2004

By P. Lenegan, R. Masethe, R. I. L. Ferreira

Underground mining in high rock-stress environments can induce unanticipated dynamic rockmass deformation, posing a serious risk to the workforce. Data collected by seismic networks are imperative for the design-as-you-mine process. Often an inappropriate assessment of the seismic hazard is done when unnecessary data are included in analytical techniques, particularly short-term time frames. Depending on the methodology or application of data analysis and interpretation, some of the information may not be relevant and even detract from the objective. By using the spatial event clusters associated with active workplaces to define the shape and size of the polygons for data selection for subsequent analysis, a problematic subjective component can be eliminated. The mining of tabular reefs in South Africa, be they gold- or platinum group metals, is very extensive, and underground workplaces are often widespread. Production stoppages are very costly, especially for marginal mines, so there is just cause not to evacuate an entire operation’s workforce following the occurrence of a large mining-induced seismic event. A rationale based on the damaging peak particle velocities (PPV) of the past seismicity can exclude the unaffected underground personnel and allow a quick orderly withdrawal where required. Micro-deformation may precede rockbursting, which can occur on-shift close to the workface. A mine-wide array of geophones suitable for the accurate location and analysis of seismicity may not be able to detect these higher-frequency emissions. Inexpensive but fit-for-purpose accelerometers, providing real-time, continuous measurement of acoustic rockmass deformation near the workplace, integrated through underground and surface communications networks, are shown to record ‘rock-talk’, clearly distinguishable from the instrument background noise, which can be in the order of hours leading up to an imminent damaging seismic event.

Jan 12, 2025

By C. Bergmann, V. Ross

The concept of underground ore processing, in which valuable ore and waste are separated at a coarse particle size to improve the economics of operations and minimise the environmental impact, seems attractive from a sustainability perspective. Perceived benefits of such an operation include energy and cost savings due to a reduced hoisting load, a reduced footprint of surface operations, and using material for backfill that has not been contaminated by process chemicals. Progress in the South African mining industry in this area has however been below expectation, and opportunities for underground processing in deep, narrow reef operations were therefore explored by an Excel-based simulation with sensor-based sorting (SBS) as concentration technology. Various PGM mining scenarios incorporating factors such as the mining rate, depth of operation, and effects of dilution and particle size on the metallurgical efficiency, were compared. Whilst these initial results can be regarded as indicative only, they have shown that the economics of such an operation are driven by selective mining at significantly higher rates than achievable with conventional methods. Also, the cost of preparing, conveying and placing rock backfill will need to be lower than that of hoisting waste and depositing it on a surface dump. Another aspect to be addressed is whether ore sorting machines would be able to operate under harsh conditions underground and what provision would need to be made to ensure their efficient operation. Further investigations should focus on refining costs, incorporating environmental considerations in the modelling of economics and sustainability, and compare greenfields with brownfield scenarios. Keywords: Ore sorting, hoisting, backfill, mining rate, economics simulation

Jan 1, 2020

By C. Marais

The use of machine vision in the monitoring and control of metallurgical plants has become a very attractive option in the last decade, especially since computing power has increased drastically in the last few years. The use of cameras as a non-intrusive measurement mechanism not only holds the promise of uncomplicated sampling but could provide more consistent monitoring, as well as assistance in decision making and operator and metallurgist training. Although the very first applications of machine vision were in the platinum industry, no automated process control has been developed for platinum group metals (PGMs) as yet. One of the reasons is that to date froth features could not be related to key performance indicators, such as froth grade and recovery. A series of laboratory experiments was conducted on a laboratory-scale platinum froth flotation cell in an effort to determine the relationship between the platinum grade and a combined set of image features and process conditions. A fractional factorial design of experiments was conducted, investigating 6 process conditions, namely air flow rate (x1), pulp level (x2), collector dosage (x3), activator dosage (x4), frother dosage (x5) and depressant dosage(x6), each at levels. Videos were recorded and analysed to extract 20 texture features from each image. By using artificial neural networks (ANN), the nonlinear relationship between the image variables and process conditions and the froth flotation grades could be established. Positive results indicate that the addition of image features to process conditions could be used as sufficient input into advanced model based control systems for flotation plants. Keywords Flotation, machine vision, image analysis, neural networks.

Jan 1, 2011

By R. W. Ottermann, N. D. L. Burger, A. J. von Wielligh, P. R. de Wet, J. L. Steyn

A low noise blast hole drilling system was developed to limit the risk of noise induced hearing impairment in mining operations. Noise induced hearing loss has been identified as a major occupational health risk in SA mines. The noise generated by pneumatic percussion drills is a major contributor to such noise induced hearing. This motivated the South African Safety in Mines Research Advisory Committee (SIMRAC) to commission the development of a low noise rock drill system. The system had to be designed, manufactured, tested and demonstrated in a simulated underground mining environment. The specification required noise levels below 90 dBA. Other important design considerations were ease of manual transport, setting up and operation. The primary design concept was to encapsulate a standard Seco S215 pneumatic rock drill in a composite material tube. The tube is pushed onto the rock face by a pneumatic cylinder and is sealed at the rock face by an elastic seal. The drill is pulled towards the rock face by a rope and pulley mechanism fitted inside the tube. This mechanism is powered by a second pneumatic cylinder. The actions of moving and setting the drill require two persons. However, the team can carry out the drilling function itself on several drills simultaneously because of the self-thrusting design. The drill is supported by two camlocks. The exhaust (air containing dust, water, rock shavings, oil and grease) is removed from the encapsulating tubes via exhaust tube to the end of the stope. In this way exhaust noise and air pollutants are disposed of away from personnel. Tests were conducted in a test stope. Noise levels of under 90 dBA were achieved, thereby attaining the primary design specification. This was achieved without materially compromising ease of handling. Penetration rate was somewhat improved compared to that of the standard drill, so that productivity could be maintained. Keywords: Drill, rock drill, quiet, noise, mine, underground.

Jan 1, 2003

By G. Kelly

A new minerals engineering education programme is being developed in Australia which aims to provide tertiary institutions with a package of educationally sound, high quality courses for undergraduates, postgraduates and professionals. The programme is jointly funded by the Minerals Council of Australia (MCA) and the Department of Education Training and Youth Affairs (DETYA) and brings together academics from a number of leading Australian universities, each developing modules in their particular area of expertise. The University of Queensland (UQ) and the Julius Kruttschnitt Minerals Research Centre(JKMRC) are jointly responsible for modules in several areas including comminution, physical separation and circuit design and optimization. Other modules are being developed by the University of South Australia (with the Sir Ian Wark Centre), Curtin University and Murdoch University. The major challenge of the programme is to provide a high standard of education that is accessible to students who may be located at several different institutions and some of whom maybe a long distance from the primary course leader. Rather than taking existing course material and putting it ‘on the web’, the programme aims to improve on past teaching practice through creative pedagogy and the development of interactive multimedia learning resources. Communications technology is used in an unobtrusive way, and the World Wide Web is used to create a flexible, user-friendly learning environment rather than to facilitate delivery of content. This paper describes the instructional design template currently being used and results of early implementation trials with groups of local and remote students.

Jan 1, 2003

By O. F. Oxtoby, J. E. Olsen, M. W. Erwee, Q. G. Reynolds

"The extraction of molten products and wastes through smelting furnace tap-holes during the tapping process is a complex procedure involving many coupled thermophysical effects. Insight into the fluid flow behaviour in such systems can be gained by using computational mechanics tools to build highfidelity models of the fluid flow and other relevant physics. Previous work using such models indicates that the nature of the flow in the tap-hole, as well as operational parameters such as the tapping flow rate, depends strongly on the properties of the material being tapped and the geometry of the tap-hole channel. Additional complications arise when multiple fluid phases (for example, slag and metal) are present simultaneously, when porous coke beds hinder flow to the tap-hole entrance, and when the geometry of the tap-hole changes over time due to cycles of wear and repair. In the present work, challenges with the coupling of phenomena such as multiphase flow and porosity into computational fluid dynamics methods for tap-hole modelling are discussed in the context of electric furnaces used for ferromanganese production. Qualitative and quantitative results of computational models of flow through tap-holes are presented and compared as a function of material parameters to determine sensitivity effects, and in response to operational parameters to determine typical process behaviour over the duration of a tap. IntroductionPyrometallurgical production using electric furnaces accounts for substantial portion of the world supply of ferroalloys and other strategic materials (Degel et al., 2015). A range of different furnace designs may be used depending on the metallurgical process, with circular three-electrode submerged arc furnaces (SAFs) powered by alternating current being the most common for commodities such as ferromanganese and silicomanganese (Olsen, Tangstad, and Lindstad, 2007).As shown in Figure 1, manganese furnaces typically operate with a deep charge consisting of an upper layer of loose burden (onto the upper surface of which is fed solid raw material), a molten slag layer partially or completely filled with unreacted carbonaceous reductant (generally metallurgical coke), and a molten metal layer which settles to the bottom of the furnace due to its high density. The solid particles present in the slag and burden layers form porous beds which hinder the fluid flow of molten process material and gases inside the furnace (Olsen, Tangstad, and Lindstad, 2007).In order to remove material from the furnace during normal operations, a single tap-hole is built into the sidewall of the vessel near to the level of the hearth. Tapping involves removing both slag and metal phases through the same tap-hole channel, which makes tap-hole design, operation, and maintenance particularly complex. In the case of processes such as ferromanganese, which operate with no external gas injection or open arcs present at the furnace electrodes, flow of material out of the tap-hole is driven primarily by the hydrostatic pressure generated by the weight of the solid and liquid phases above the tap-hole."

Jun 1, 2019

By Siyabonga Malevu

Chemical Initiatives? Umbogintwini plant is the production facility of Chemical Initiatives? business. Umbogintwini?s J Plant manufactures sulphuric acid. The plant was designed and built by Simon Carves, and was commissioned in 1974. The plant was designed to produce 500 tons/day of Sulphuric acid (H2SO4) at maximum rates. The Sulphuric acid manufacturing is through the famous contact process whereby liquid Sulphur is injected through dried air in a burner operating at 1000 °C to form sulphur dioxide (10.5% SO2). The SO2 gas is then cooled in waste heat boiler no. 1 before being fed to a four pass converter which provides 99.5% SO2 conversion to sulphur trioxide (SO3). The SO3 gas is the absorbed by 98.5% H2SO4 through the inter-pass & final tower to make more concentrated acid and dilute it with water back to 98.5% H2SO4 in acid pump tanks and dispatched to storage tanks. The manufactured Sulphuric acid is supplied to a variety of industrial manufacturing customers includes Pulp & Paper industry, Mining industry, Chemical manufacturing industry etc.

Jan 1, 2009

By T. Bui, T. Wallmach, S. B. Blancher, A. Back, M. Pierre, V. Delarue, A. Kanzari

This study investigates nickel laterite porosity and its impact on geometallurgical modelling. We performed a detailed mineralogical study on a set of Ni-laterite samples originating from New Caledonia. Samples were analysed after heavy liquid separation by automated SEM (QEMSCAN®). Laboratory and QEMSCAN® modelling results do not correlate well. Ideal physical mineral properties such as mineral densities used in QEMSCAN® modelling do not match the actual physical densities of minerals. The presence of empty or water-filled pores can represent important amounts in minerals and change the overall density of a particle. An adequate modelling of real density separation of minerals and particles should consider the water-filled pores. The first step towards a better simulation was to integrate pores larger than 10 μm in diameter filled with water (density of 1 g/cm3) in the QEMSCAN® database. The results approached, but did not match the physical laboratory results. The second step was to identify nanometer to micrometer sized pores, which could not be identified by QEMSCAN®. It was possible to identify nanometric pores in enstatite, Fe-oxides, serpentine, talc and quartz, and radial aggregates of fibrous Fe-oxyhydroxides with high resolution SEM (HR-SEM). The quantification of those micro-sized pores was performed on 2D HR-SEM images using image-processing techniques developed in Python to calculate the nanometer to micrometer scale pores in each mineral. Despite the limitation of converting 2D imaging into 3D objects, in our case pore sizes and porosities, we were able to calculate a mean value of porosity for each mineral. The integration of this porosity in the calculation of particle densities yielded a good match between the QEMSCAN® model and the laboratory experiment results. Despite the complexity of a strongly weathered material, such as Ni-laterites, a good knowledge of the ore makes it possible to build reliable processing models. Keywords: Mineralogy, geometallurgy, nickel laterites, SEM, QEMSCAN®, porosity, density

Jan 1, 2020

By J. Bullón, A. Pérez

Some years ago, Ferroatlantica developed a new type of electrode known as the ELSA electrode. In this electrode there is a central graphite core that provides support, surrounded by an annulus of Søderberg paste that gets baked during operation. This technology has been implemented on several silicon furnaces around the world, and was reported on during the previous Infacon conference. In all electrodes, but particularly in the ELSA electrode, the quality and consistency of the paste are important for correct operation. As the type of paste varies between customers and between countries, Ferroatlantica has developed a quality control procedure for their customers of this technology. This procedure is geared to the point of view of the customer rather than the paste producer. The analysis is based on the desired flow pattern of the raw paste and on the desired mechanical and electrical properties of the baked paste, as experience has shown that these are the most important parameters to monitor in order to avoid having problems with the resulting electrodes. This paper discusses these methods of paste analysis in the light of complementary studies that have been done when there has been an electrode breakage in the different plants.

Jan 1, 2007

By D. S. Richards

Computers have revolutionized the collection of data on modern mines. Never before has it been possible to collect data from all aspects of the mining value chain at rates now common. With this has come a new challenge. Deriving information from these copious amounts of data and disseminating it. This problem is being exacerbated by technical software systems, which use proprietary and binary data formats that severely inhibit the flow of data and information both across departments and the larger organization. Generally this had led to data duplication and data redundancy. The Gemcom Enterprise Mining System (GEMS) makes use of industry standard, secure and open databases for all its data objects. It manages multiple users accessing the same bits and bytes in the database, preventing data duplication and redundancy. Developed in the Microsoft BackOffice ® environment, GEMS is also able to leverage the enormous amount of tools available in this environment, whether it’s for e-mail notification, reporting or data capture. Microsoft’s® Active Server Pages are one of these tools. These are standards used to create dynamic and interactive web pages with links into databases and many other objects. The real example outlined in the text, demonstrates how a user anywhere in the world is able to login to a web page and run a query that returns a report with vector plots of performance for the user-selected time frame. As integration is tightened between the various components of the mining value chain, the importance and reliance on ASP pages will grow as the need for management information tools develops. Keywords: mines, computers, ASP, GEMS, integration, Microsoft, Management Information.

Jan 1, 2003

By I. James, R. J. Durrheim, M. S. D. Manzi, O. Valeshin, J. Lepine, L. V. Socco, C. Colombero, A. Malehmir, M. K. Rapetsoa, M. Sihoyiya

The FUTURE project aims to enhance seismic surveying in South African mining by integrating advanced acquisition technologies. In this paper, we detail surface and underground seismic surveys at the South Deep gold mine as part of the project. Surface seismic acquisition used co-located broadband micro-electromechanical sensors, one and three component recorders connected to geophones, distributed acoustic sensing using a straight fibre optic cable, along with a 6 ton broadband seismic vibrator operating with 4–180 Hz linear sweeps. In addition, underground surveys employed a combination of straight, and helically wound fibre optic cables, cabled-based and nodal sensors, along with a 500 kg drophammer mounted on a skid steer bobcat. The surface and underground seismic arrays were time synchronised using a GPS-time transmitter to allow for accurate seismic data recording in a GPS-denied environment. Results show the efficacy of these techniques in acquiring high-resolution seismic data, revealing detailed subsurface geological structures and mineralisation down to 3500 m below ground surface. Surface data revealed clear seismic reflections corresponding to the Black Reef and Ventersdorp Contact Reef. An underground P-wave velocity model exhibits low velocity anomalies that are associated with fracturing, while a P-wave reflection stack section shows significant reflections and a degree of faulting below the tunnel floor that was not observed on the surface reflection seismic data. We highlight the potential of these technologies to enhance safety, efficiency, and sustainability in mining. This study sets a benchmark for future reflection seismic surveys, paving the way for safer, more efficient, deep mineral exploration and extraction practices.

Jan 12, 2025

By D. H. Diering

The paper takes the reader into the depths of a modern ultra-deep South African gold mine and gives a perspective on the vertical and horizontal extent of the tunnel networks in such a mine. Depending on the mine design layout employed, tunnels once excavated are subjected to various levels of stress change over their life time, and the support requirements are explained. It is suggested that shotcreting is the only viable ultra-deep level support medium, and after looking at the latest developments, the logistical problems are put forward. In an effort to overcome most of these problems, the South African ultra-deep mining industry embarked on a collaborative research programme in 1998. The importance of tunnelling and in particular tunnel support as a critical technology for future successful ultra-deep level mining is stressed. While not yet fully ?on top of? these problems and challenges, our industry is now fully addressing them and we expect to make significant progress during the next 4 to 5 years.

Jan 1, 2000

By T. Proietti, L. Mongiovì, L. Simeoni

Reliable estimates of the kinematic characteristics of movements are obtained by using a statistical model SSM. This model represents a useful tool for the management of alert and alarm systems. L'élaboration des données du déplacement médian d'un modèle statistique SSM opportun fournit des estimations fiables des caractéristiques cinématiques du mouvement. Le modèle peut être ainsi utilisé pour la gestion des systèmes d'alarme. Die Bearbeitung von Bewegungsdaten anhand eines geeigneten statistischen Modell SSM ergibt vertrauliche Abschätzungen der kinematischen Eigenschaften der Bewegung. Das Modell kann also für das Management von Alarmsystemen verwendet werden.

Jan 1, 2003

By C. B. Carelse, M. Manuel, D. Chetty

Automated mineralogical analysis of platinum group minerals (PGM), using the mineral liberation analyser, provides information used to understand flotation efficiency, primarily from a PGM liberation and association standpoint. To date, however, there is no consistent understanding regarding PGM speciation and its impact on floatability. Previous studies of PGM from UG2 ores concluded that a larger dataset is needed from which the various parameters can be modelled. Parameters on telluride, arsenide, sulfurarsenide and alloy species need to be integrated to fully understand the impact of PGM speciation on flotation, and for this, ores other than PGE-sulfide-rich UG2 must be assessed. Flotation rougher rate tests were performed on feed samples from two Platreef ores to determine the flotation response of individual liberated PGM species. This was achieved through automated mineralogical analysis of feed, rougher concentrates and tails. Based on 1529 liberated PGM grains assessed over the circuit for two Platreef ores, preliminary results show that PGM speciation, species grain size and competition from gangue appear to influence floatability in an ‘optimised’ laboratory environment. Keywords: PGM, PGM species, flotation, liberation

Jan 1, 2020

By A. E. Lewis

The emphasis of this paper is on the characterization and testing of the slag produced by a secondary lead refinery. This work forms part of a broader investigation aimed at reducing loss of valuable product from the process as well as minimizing the environmental impact of the process wastes. It was this work that led to a critical examination of the standard waste classification tests. Characterization of the slag was carried out using a number of complementary techniques. In the broader context, the slag characterization aided in identifying process deficiencies and thus was a critical tool in suggesting potential for process optimization. For this study, the slag characterization provided a relatively comprehensive picture of the composition and properties of the slag, which facilitated understanding the behaviour of the slag under batch test conditions. On the basis of quantity of hazardous components alone, the slag is hazardous according to South African Acceptable Risk Limits (ARL). However, when both the quantity and the leach potential of the hazardous components is taken into account, standard waste tests carried out by three independent agencies indicate that the slag should not be classified as hazardous according to local regulations. Also, according to United States Environmental Protection Agency (US EPA) limits, which are independent of the quantity of the waste, the slag would not be classified as hazardous. The standard waste tests used by the independent agencies was the Toxicity Characteristic Leach Procedure (TCLP), a test which was developed by the US EPA to classify hazardous wastes. One of the requirements of this batch test is that it should be quick, simple to carry out and that the results should be reproducible. Previously, the applicability of the TCLP test to mineral processing and metallurgical wastes has been challenged on a number of points. Additional testing of the slag was carried out using both the TCLP and the Synthetic Precipitation Leach Procedure (SPLP) recommended by the American National Mining Association as being more appropriate for mineral processing wastes. The particular physical and chemical characteristics of the secondary lead slag highlighted additional limitations of both the TCLP and SPLP tests as standard laboratory batch procedures. Keywords: environmental protection, secondary lead processing, slag, leach testing, TCLP, SPLP, ARL, hazardous waste, batch tests

Jan 1, 2000

By B. P. Watson

Several large falls of ground occur annually in the narrow, tabular stopes mined in the Bushveld Complex. These falls comprise safety risks and cause substantial production losses and compromise efforts to increase productivity. Underground observations in conjunction with instrumentation sites were used to establish the strategic parameters required to describe the rock mass behaviour of shallow-dipping stopes on the Bushveld platinum mines. Existing rock mass rating systems were evaluated using the observations and instrumentation results. None of the current systems adequately described all the relevant geotechnical conditions. Thus a hybrid of several current systems was developed, and the proposed system is discussed in the paper. The new rock mass rating system is termed the ?New Modified Stability Graph? system and follows the method originally described by Mathews et al.1and revised by Hutchinson and Diederichs2.Changes have been made to some of the tables provided by Barton3and to the stress analysis suggested by Hutchinson and Diederichs2. In addition, the logistical regression analysis has been applied to databases, formed using the suggested analyses, for three support resistances and risk levels established.

Jan 1, 2004

By M. B. C. Brandt

Richter magnitudes for seismic events were calibrated for use as a Local magnitude scale in the West Rand (WR), Far West Rand (FWR), and Klerksdorp–Orkney–Stilfontein–Hartebeesfontein (KOSH) gold mining areas. Richter magnitudes are currently calculated from seismograms recorded by local surface cluster networks using tabulated calibration values for Southern California, published in 1958. The Richter (1958) model is incorrect for distances of less than 30 km and should be applied only to crustal earthquakes in regions with similar attenuation properties to those of Southern California. When compared to the South African National Seismograph Network (SANSN), the cluster networks, on average, overestimate seismic event magnitudes by approximately 0.1 of a magnitude unit. A calibrated Local magnitude scale was derived by means of a multiple regression analysis between the Local magnitudes reported by the SANSN and the largest zero-to-peak trace amplitudes measured on the cluster network horizontal seismograms, after modelling the attenuation of the seismic waves as these progress from the epicentre to the station position. Magnitudes reported by individual stations for the same event show a significant scatter around the average magnitude owing to the near-surface amplifications of the seismic waves at the recordings sites. Average magnitude should be estimated using as many magnitudes of individual stations as possible to ensure an accurate estimate. Larger event magnitudes should be compared with those recorded by the SANSN.

Nov 1, 2021

By M. Kumral, S. Li, M. Balci, Z. Shao

Main haulage roads play an important role in the performance of underground mines because of the cost of transportation of the extracted ore, equipment, and workers. During mine development, these roads are designed through manual tools or CAD-based software. However, the optimisation of these roads is still a complex problem due to some constraints such as minimum turning radius and maximum gradient. By utilising Dubins path theory, three elevation cases; namely low, medium and high are defined, considering gradient constraint as well as the minimum turning radius in a three-dimensional space. The shortest path between two points can then be found by the three-dimensional Dubins path algorithm with elevation constraint. As a further step, a three-dimensional Dubins path algorithm with elevation constraint for multiple points is also developed for multi-point cases. The effectiveness of these algorithms is tested through case studies in order to determine the optimal path between different points.

Sep 1, 2021