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By Rodolfo V. de la Cruz

The stresses in the materials surrounding an underground opening are dependent upon the virgin stress field, the geometry of the opening and changes in boundary conditions as mining progresses. For most underground openings especially in coal mines, roof bolts are installed to help stabilize the opening. While most parameters in roof bolt design and installation have been thoroughly investigated, the effects of the initial stress field on the effectiveness of roof bolts have not been recognized. This paper summarizes the results of investigation of the effect of the initial stress field on the performance of mine roof bolts. Roof bolt installations are duplicated in the laboratory utilizing conventional roof bolt frame, commercial roof bolts and shells, mine torque wrench and encapsulated rock specimens for anchorage. A special and primary feature of the laboratory set-up is the addition of a loading system for generating stresses at the anchorage specimens. For this preliminary study, different levels of hydrostatic stress fields were induced at the anchorage specimen, instrumented roof bolts were installed in the usual manner, and the bolt load loss-with-time observed. Statistical analysis of data showed that the stress field at the anchorage horizon has a considerable influence on the performance of mine roof bolts, i.e. the higher the stress field, the higher the anchorage efficiency. From this observation, methods of improving the performance of mine roof bolts utilizing new shell designs and methods of installing them are suggested.

Jan 1, 1978

By R. Srikanth

Dust control in high production longwalls is a major problem requiring, among other things, careful attention to the design of operating practices, and ventilation schemes. Several studies have shown that the shearer is the major source of dust on a longwall face. Support movement has not been regarded as a major source of dust in U.S. longwalls; yet under certain conditions, 31 percent of the shearer operator's dust exposure can be due to support movement. Several methods have been developed for the control of shield-generated dust. Yet the need for better methods is apparent. In this paper, the amount of airborne respirable dust generated per shield move is estimated from specially designed experiments on longwall faces. A total of ten experiments were conducted in five longwall faces in four different mines. Each experiment involved one face visit and lasted three to six hours. The contribution of shield movement to the airborne respirable dust concentration immediately downwind of the shield moved, varied between 0.12 and 1. 75 mg/m3 in the five longwall faces. The mass of airborne respirable dust generated by shield movement was found to vary between 39 and 386 milligrams per shield move. The results from this study reveal that control of dust from longwall shields requires a combination of approaches involving alternative operating practices, reducing shield dust generation rate, increasing face air flow, and decreasing personnel exposure.

Jan 1, 1994

By L. G. Austin

A program has been written to combine the Klimpel-Austin approximate model for liberation in a binary system with a mill model applicable to ball milling. The model applies for a system where the volume fraction of valuable B in host matrix A is small. The mill model is treated as an equivalent series of fully-mixed reactors. Twenty-three classes of material are considered: pure A; pure B; unchanged AB; 0-10.2 B in AB either as surfac- exposed B or as wholly-contained grains of B; 10-20% B in AB, surface-exposed or wholly- contained;etc.. to 90-100% /b ub /ABm syrface-exposed or wholly-contained. Illustrative cases are given making reasonable assumptions concerning relative rates of breakage and primary breakage distribution functions for each class of material.

Jan 1, 1986

By R. A. Bauer

Investigations of bedrock within subsided areas over abandoned coal mines in Illinois reveal very little disturbance of the bedrock. In areas that have surface subsidence of 0.3 to 1 m (1 to 3.25 ft), examination of cores from exploration drilling and investigations of the boreholes by means of closed circuit television have shown that fractures are spaced at least 0.9 to 3.6 m (3 to 12 ft) apart. They are located within a zone 6 to 15 m (20 to 50 ft) above the collapsed area in coal mines 42.6 to 112.7 m (140 to 370 ft) deep. The dip of the fractures ranges from 25° to 60°, cutting across nearly horizontal sedimentary bedding planes. The amount of fracturing found in the collapsed area decreased as the amount of soft, weak materials increased in the immediate overburden of the mine.

Jan 1, 1987

By J. M. Dean, R. L. Grayson

Introduction With the continued downward pressure on coal selling prices, mine management must make its operations as efficient as possible. The problem is the same one throughout the mineral industries, streamlining operations to maintain competitive min¬ing costs (Born, 1991). There has been a great deal of research into better using production manpower. But the story is different for operations support personnel. Traditionally, planning man¬power requirements are done annually, with modifications to the operating plan occurring generally quarterly. On the other hand, the demands on manpower are often dynamic, being responsive to changing productivity levels, mine conditions (including water influx, bad roof, poor floor) and unanticipated project requirements (responses to machine breakdowns or a new section setup requirement because of a drop in coal quality in another area). Such changes may impact the manpower structure significantly. At times they may cause serious labor relations problems concurrently. Realignments and the generation of instability in the workforce because of active job switching (bidding) are a result. Most responses by coal operators are reactive rather than proactive, a situation that could be mollified by more accu¬rate and detailed planning of predictable manpower require¬ments. A manpower planning tool is needed that takes into consideration such things as changing productivity levels and conditions as manhour requirements for different work areas are planned, rather than blindly allocated through traditional staffing modes. Mine Management Support System The Mine Management Support System (MMSS) is an integrated decision support system that was developed using Sun Microsystems hardware according to the contract be¬tween the US Bureau of Mines and West Virginia University. The software used in the development of MMSS included X¬ windows (Scheitler and Gettys, 1986) for the user interfaces, LASER (Raman, 1985; Hayhurst, 1990) for the expert sys¬tem and graphics components, and the C language for general programming requirements. Sun DOS was used to allow the use of IBM-compatible applications software on the Sun networks. Sun OS is the operating system. It can be viewed as an enhanced version of UNIX. One of the components of MMSS that was developed to address the many specific objectives outlined in Grayson et al. (1990) is the work scheduling system. MMSS accom¬plishes work scheduling by using a mathematical (goal) programming approach to minimize the amount of switching of workers from their regular jobs to perform other jobs (Grayson and Nutter, 1991). Manpower support program The main objective of MANSUPP is to plan a detailed manpower structure for a mine by incorporating a production schedule, condition-modified work standards and manage¬ment preferences to predict required manhours for various support activities, for example, belt moves. This is accom¬plished by gathering and processing planning information the same way a mine planner would. The program is menu¬driven with the selection of a particular menu item locating the user in the appropriate area within the spreadsheet to review/add information. All of the interactions between productivity, section conditions and management prefer¬ences and their effect on the amount of support work required must be considered. Information regarding the productivity of a particular section, the geometry of the section, work standards for individual activities and section conditions must all be gath¬ered for input into the program. In the initial stages of development, it was decided that the program be developed in an environment that mine planners were familiar with in order to accommodate the use of the program. Lotus 1-2-3 or a compatible (Quattro Pro) met this environmental need. Other reasons included ease of calculation due to built-in functions, powerful command language and macro capabili¬ties. Each of the major components of the program defined are summarized. Production schedule This area allows the user to input a production schedule for the entire mine over 12 periods. Space has been provided for five sections, advance or retreat, and two longwall sections. There are several calculations occurring in this area that do not apply to the determination of manpower, but serve as an aid in production planning. Section description The section description area of the spreadsheet is shown in Table 1. The first three items are calculated in the production schedule area of the worksheet and then transferred to this location. The remaining information is input by the user to be used in later calculations.

Jan 1, 1996

By Gregory E. Tieman

Hydrologic impacts of longwall mining were studied in 1986 after mining had occurred at mine "Z" in northern West Virginia. This mine is 700 to 1,300 ft deep, with a surface topographic relief of 300 to 500 ft. Five springs and one dug well were reportedly dewatered by mining. All such supplies are above nearby streams in elevation, and at least 800 ft above the subsided mine. Three of these six supplies showed partial recovery within one year. Only supplies within 50 ft in elevation of a nearby stream showed apparent partial recovery. Measured perennial streams showed notable depletion in streamflow over mined longwall panels that were less than two years old. Normal stream discharge was measured over panels more than two years old. Most apparent hydrologic dewatering impacts appear to be temporary, and the most vulnerable areas for these impacts are hill sides.

Jan 1, 1986

By L. Xiao, P. Somasundaran

Using potassium oleate as a collector and alizarin red S as a modifying agent, selective depression of dolomite from francolite was achieved in an alkaline medium (pH > 9.0). Adsorption of alizarin reds alone on dolomite was found to be higher than that on francolite. Complimentary adsorption experiments of alizarin red S and oleate showed that oleate adsorprion was increased in the presence of alizaring red S. The results are explained in terms of comparative adsorption for the active sites on francolite and dolomite by oleate and alizarin red S and their interactions with dissolved mineral species in solution.

Jan 1, 1990

By Thomas O’Neil

Part 2 of this article continues with a discussion of features that distinguish contemporary investment analysis in mining from earlier methods. Part 1 traced the evolution of evaluation methodology from the traditional and discounted cash flow methods to the present. Quantitative investment models of the past 20 years played an important role in mine evaluation, but a new integrated approach to mine investment decision-making is now developing because of growing economic, technical, and political uncertainties. One of those uncertainties -inflation-was discussed in Part 1. Increased Risk At a time when mineral production technology and analytical evaluation tools have never been more sophisticated, it may seem anomalous to claim that mining ventures are riskier. Whereas technical risk has, indeed, been notably reduced, business risk the chance of a major loss due to market factors-has increased. This has been caused by two factors: the rapidly rising capital requirements of new projects and increasingly unpredictable future economic conditions. These difficulties are compounded by the long lead times of large, new mining projects. Rising Capital Requirements A $100 million investment is no longer considered to be a large mining project in most cases. For a large metal mining project, the total cost of the concentrator alone can exceed $100 million. Amoco Minerals' Thompson Creek molybdenum mine being developed in Idaho will cost over $350 million, for a relatively modest sized (23-kt/d or 25,000-stpd) ore operation with no extraordinary features. For a major grass roots copper operation producing blis¬ter or refined copper, the capital requirements are billions of dollars, not millions. Project costs are higher for two reasons. One, the projects themselves are larger; and two, the capital cost per unit of production is rising rapidly. Projects are larger because lower grade ores, yielding smaller margins, must be mined in greater volume-particularly in view of the high fixed costs of modern technology. When analysts contemplate any capital project, an important consideration is the minimum economic size of the facility. This is the smallest size that can be built and still be competitive on a total unit production cost basis. In the conventional copper smelting business, for example, a production rate of at least 91 kt/a (100,000 stpy) of blister copper is about the absolute minimum for reducing unit fixed costs to competitive levels. Clearly, many variables affect the minimum economic size of a mining facility, but with few exceptions that size continues to grow. Unit capital costs of new mining projects also are continuing to rise. The accompanying table shows that the capital costs in primary copper production have risen faster than the cost of living. Of particular note is the capital charge of over $1.70/kg (77411b) required for a new, fully integrated facility in 1981. Thus, the mid-1982 copper price would not even cover the cost of capital for a new copper producing complex without considering the direct operating costs for such a facility. The breath-taking costs of new mining projects are caused by factors such as increasingly complex technology, the rising social costs of creating attractive living and working conditions for employ¬ees, and the expenditures re¬quired for environmental protec¬tion. For whatever reasons, how¬ever, unit capital costs in mining continue to exhibit staggering growth rates. Future Economic Conditions Risk is not only a function of the size of the potential loss-an im¬portant measure of which is the capital intensity of mining dis¬cussed above-but also of the like¬lihood of incurring the loss. It is here that the ever increasing lead times of mining projects and the glaring limitations of economic forecasting are so important. In comparison to nearly all other in¬vestments, mining has more capi¬tal at stake for a longer period of time before commercial uncer¬tainty is resolved by distant eco¬nomic conditions that are subject to high forecasting errors. A sobering example of the pre¬ceding points occurred with the Lakeshore copper mine in south¬ern Arizona that Hecla Mining Co. undertook to finance and manage in 1969. The project was a joint venture of Hecla and the El Paso Natural Gas Co. and included two mines-one producing oxide ore and a second in the sulfide zone¬and a complex processing facility producing both electrowon cop¬per cathodes and copper precipi¬tates. The project originally was

Jan 12, 1982

By M. G. Ayat, B. C. Scott

H. P. Ferri I refer to the article "Degradation Process in Coal Slurry Pipelines" by M.G. Ayat and B.C. Scott in the September 1988 issue of Mining Engineering. I would like to congratulate Dr. Ayat and his colleague on a very interesting and valuable piece of work. This article is an excellent one, describing a real phenomenon that has been ignored for so long. I do, however, have an objection. The article fails to address the degradation process when coal is processed or transported in other ways than slurry form, particularly those employed in this work. Could, for example, screening (wet or dry) have contributed to the extent of degradation? Perhaps scanning electron micrographs of the samples examined and after screening would have helped to clarify this. I would like to point out that degradation is also observed in pneumatic conveying systems, mechanical conveying, and other means of transportations employed by the mineral industry. Reply by M. G. Ayat We gratefully acknowledge Dr. Fern's comments on the subject paper. As he so rightly points out, the degradation process is a real problem, not only in coal slurry pipelines, but also in many handling and processing equipment employed by the coal and mineral industry. Scanning Electron Microscopic examination of samples may offer very little information about the extent of degradation for several reasons. One is that preparing a representative sample that has undergone degradation will be extremely difficult if not impossible. This problem is exacerbated by the fact that SEM requires only very small amounts of material for testing. Secondly, there is a sample preparation step involved in the SEM examination and, as such, it would be very difficult to associate the extent of degradation to either sample preparation or handling and processing operations. Finally, it is probably worth mentioning that degradation is a multi-faceted phenomenon involving many natural and man-made factors. The logical approach to this problem would, therefore, seem to be a "one-step-at-a-time" approach.

Jan 2, 1989

By A. Galicia, A. Charest

The Marlin deposit is a low sulphidation Au-Ag, epithermal system, with reserves of more than five million ounces gold equivalent. Marlin was discovered in December 1998, after a nine months grassroots exploration program in western Guatemala, focused on volcanic terrains of the Sierra Madre. Before the Marlin discovery, several gold prospects were found along an east-west corridor of approximately 70 kilometers long, associated to regional faulting systems. The deposit is hosted in faults, within Tertiary andesitic rocks and bedded volcano-sediments. Host-rocks are argillized closer to the surface and propyllitized at depth. Mineralization occurs in multi-stage quartz stockworks and breccia veins.

Jan 1, 2004

By James A. Madonna

Several universities and colleges in Australia, Canada and the United States, recognized the need to establish or reorganize geoscience programs at the vocational and two-year technical levels. To accomplish this, a cooperative study with industry in one state or province from each country was initiated. These include Tasmania in Australia, British Columbia in Canada and Alaska in the United States. The objective of this work was to develop a diversified geoscience educational model at the two-year technical, vocational and continuing education level that provides the source from which any nation can draw the proper educational tools to create a new geoscience program, modernize an existing program or strengthen a weak program. More than 100 mineral industry organizations provided information regarding their specific training needs for support personnel. The data gathered have been used to identify training areas for semi-skilled, skilled and technical personnel in geochemical mineral exploration. These included geological, geochemical, environmental and computer skills. With the areas of major educational need defined for geochemical exploration, an educational field skills model was developed for the three levels of training. The international need for a study of this type was recognized as early as 1980, following numerous contacts from domestic and foreign geoscience educators regarding the structure and success of training within the University of Alaska Fairbanks Mining Extension program, located in Fairbanks. Contacts, correspondence and visits included educators from Australia, Brazil, Canada, Mozambique and the conterminous United States. The need was magnified between 1985 and 1989 at the University of Alaska Fairbanks, when an attempt failed at initiating and developing a two-year geoscience vocational-technology program leading to an Associate of Science degree.

Jan 1, 1994

By J. J. Fallon

The subject is "Mergers, Acquisitions and Divestitures in Industrial Minerals, but my remarks could also be applied to new product development, resource development and other new business development activities. At the kernel of the subject is due diligence in major decision-making, that is, where major money amounts and a large corporate commitment are at stake. The "due diligence" means how carefully we do our homework before making the decision. The homework or feasibility study addresses different parts of the decision. In the industrial minerals business the study seeks to uncover the pros and cons in: o The mineral reserves, quantity, quality, mineability, access, etc. o The environmental impact of mining, processing and transporting. o The economics of operations. o Financial aspects o Legal aspects o Many other aspects o And -oh yes! the marketing aspects.

Jan 1, 1990

By Yongjun Xian

The release of fluid inclusions has a strong potential for the unintentional activation of pyrite during flotation. The present study aims to characterize fluid inclusions in a natural pure pyrite. The results indicate that a certain amount of fluid inclusions exist in the pyrite. The fluid inclusions assume a variety of shapes, including long strips, oval shapes and irregular shapes, with sizes that range from a few microns to dozens of microns. From the EDS results of hollow positions that resulted from the fracture of the fluid inclusions on the pyrite surface, certain amounts of Al, Cr, C, O, Ag and Cu were clearly detected; these elements were not detected in FeS2 pyrite itself. The contents of the inclusions were released into solution when the sample was subjected to a grinding process. Under experimental conditions of 2 g of pyrite cleaned in 40 mL of pure deionized water under an inert atmosphere, the concentrations of Cu, Fe, Cl- and SO4 2- released from the inclusions reached concentrations of 3.29 × 10-6, 32.52 × 10-6, 51.57 × 10-6 and 75.90 × 10-6 mol/L, respectively. These values are significantly greater than those from the experimental nonoxidative and oxidative dissolution of the pyrite. The fluid inclusions of pyrite were, therefore, concluded to represent the dominant sources of Cu, Fe, Cl- and SO4 2- in the aqueous solution. The present investigation provides a new understanding of the source of the unavoidable metal ions in the pulp and may benefit understanding of the flotation theory and environmental geochemistry.

By Daniel Tempelis, Tom Freeman, Eric Fordham, John Shamma, Steven Duke

The Arrowhead Tunnels in southern California are being completed by MWD under stringent groundwater in?ow limits established by the U.S. Forest Service. Pre-excavation grouting, new TBMs and a bolted, gasketed, pre-cast concrete segment initial lining are employed to control water in?ows. The effectiveness of prescribed water control measures was analyzed using conservative assumptions with the analytical techniques described by Goodman (1964), Heuer (1995), and numerical modeling. Analyses results suggest groundwater in?ows to the tunnels can be maintained well below the limits with aggressive pre-excavation grouting balanced against a reasonable rate of advance and quality erection of the initial lining system.

Jan 1, 2003

By P. C. O. Chukabarah

Many aerodynamic and thermodynamic properties (such as temperature, pressure, velocity and density) vary widely, and in random spatial and temporal manner for a given underground mine environment. Such variabilities are seldom evaluated statistically, even though the relevant theories and principles are both available and feasible. The main purpose of this paper is to introduce the methodology for applying aerostatistics to the analysis of multiple fan systems in mine aerology/ventilation. Pertinent data were obtained from a small multi-level European coal mine. Results confirmed that aerostatistical methodologies are computationally more efficient. Being grounded in solid engineering statistical theories, they can be used to analyze networked parameters in mine environmental engineering.

Jan 1, 1995

By P. J. Ryan

December 1988, Phelps Dodge Corp. brought an underground gold mine into production in the republic of Botswana. The mineralization is associated with steeply dipping shear zones in Archean greenstones of the Tati schist belt. The gold is intimately associated with sulfides and is refractory in nature. The deposit is being exploited by underhand open stoping methods. Vertical and inclined shafts are used to hoist the ore to the surface where it is treated by conventional crushing, milling, and flotation, followed by fluid bed roasting with cip elution and carbon regeneration. Adjacent deposits are being explored with a view to increasing production. Legal and taxation aspects of operating in Botswana are discussed.

Jan 1, 1991

By V. R. Manukonda, I. Iwasaki

Selective flocculation of iron ores is extremely sensitive to the type and amount of soluble salts in pulp solutions. Chemical precipitation of alkaline earth ions combined with ultrasonic treatment deactivates their adverse effects without using any environmentally ill-defined reagents. The manner in which ultrasonic treatment affects starch adsorption on hematite, dissolution of quartz, and the selective flocculation process was investigated. Selective flocculation tests were conducted in the presence of up to 400 ppm calcium ion on a quartz-hematite mixture by precipitation as calcium carbonate, and the role that silicate ion generated by ultrasonic treatment plays in achieving the selectivity of separation is discussed.

Jan 1, 1988

By Wai Wu, C. Haycocks

The majority of Appalachian coal deposits lie in a multi-seam environment. Historically, the decision to extract a particular seam has been based on ease of access, ownership and economics rather than ground control considerations. As mining progresses and seams are being mined out, it is increasingly common to find working and abandoned mines in close vertical proximity to each other. Such contiguous operations can produce both positive and negative ground control situations in neighboring seams. These ground control problems, defined as interaction problems, are frequently reported, and their severity can range from minor roof problems that may require no additional support to complete loss of a large section of coal reserves (Stemple, 1955; Peng & Chandra, 1980; Haycocks & Karmis, 1983; Su et al, 1984). As a consequence, interaction problems are of growing concern to the Appalachian underground coal industry. Although interaction problems in multi-seam mining have been recognized for many years and many investigations have been conducted to study the problems, the ground control principles involved in their development are only partially understood. Previous research has identified four interaction mechanisms: pillar load transfer, innerburden shearing, arching effects and upper seam subsidence (Haycocks et al, 1982; Haycocks & Karmis, 1983). Pillar load transfer mechanisms and innerburden shearing have been successfuly used to explain interaction phenomena associated with undermining operations, while arching and subsidence have been used to assess problems during overmining. In addition, interaction-controlling factors such as cover, innerburden and seam thicknesses, extraction percentages on both seams, time delay between operations on two seams, and characteristics of innerburden rock have been identified and utilized in evaluation of interaction effects (Haycocks & Karmis, 1983; Webster et a1.,1984). As an example, Figure 1 shows the relation of innerburden layering and thickness to interaction on the lower seam. The combination of such theoretical work and the analysis of case study information has made it possible to determine, with a certain degree of confidence, the interaction damage in undermining conditions. The results of such an approach have been sufficiently successful and complete to be incorporated into a software package to assist field engineers in estimating potential interaction effects when undermining a previously mined upper seam (Grenoble et al, 1984; Grenoble & Haycocks, 1985; Grenoble et al, 1985). Although the conventional finite element and photoelastic modeling techniques have been

Jan 1, 1986

By G. A. Weisenfluh

The successful application of factors limiting the? availability of coal in eastern Kentucky depends on ac-curate assessment of the original resources. Examination of several previous coal-resource estimates for the region reveals significant differences among the outcomes. These differences relate to methods of analysis, biases in data and their utilization, and the problem of defining the lateral continuity of mineable beds. Improvements in the methods of estimating the original resources would greatly enhance the reliability of the results of the Coal Availability Program.

Jan 1, 1995

By J. Sottile, V. Androulakis

Operators of underground coal mine shuttle cars are exposed to numerous hazards including noise, dust and musculoskeletal trauma. The repetitive nature of shuttle car operation leads to fatigue-related incidents and soft tissue injuries. The poor visibility conditions, and dust and noise increase the occupational hazards to the operator, as well to other miners. To reduce the risks for all miners, towards providing a safer working environment for all workers, the introduction of autonomous shuttle cars is essential. This paper introduces a project to demonstrate the feasibility of incorporating autonomous shuttle cars in the underground coal mining cycle. The autonomous shuttle car will be able to localize itself, to map its surroundings and to navigate in an underground GPS-denied environment. It will also navigate efficiently by fusing different on-board sensor modalities, autonomously planning the optimum path and traversing around the mine while avoiding collisions with humans and other static and dynamic obstacles. This will be achieved by exploring and testing different state-of-the-art techniques and off-the-shelf components, and integrating them into existing equipment, i.e., retrofitting an actual shuttle car. Moreover, a modified mining system will be demonstrated which will incorporate the autonomous shuttle car, capable of making real-time decisions, into the mining cycle. The system will regulate the interactions between the autonomous machinery and the human dynamic, with emphasis given to the safety of the workers, and enable the real-time, remote supervision of the mining process. The focus will be on coal mines, where the room and pillar mining method is used. INTRODUCTION The growing demand for mineral supplies combined with the steady decline in the available surface reserves has driven the mining industry to mine deeper underground deposits. These deposits are difficult to access, and the environment may be hazardous to mine personnel (e.g., increased heat, difficult ventilation conditions, etc.). Moreover, current mining methods expose the miners to numerous occupational hazards such as working in the proximity of heavy mining equipment, possible roof falls, as well as noise and dust. In recent decades, the utilization of autonomous machines has evolved in the mining industry to provide increased health and safety to mine personnel and reduce their exposure to adverse conditions. Automation aims to remove the workers from the hazardous conditions which may be present in an active mining area and place them to a more comfortable and safer environment at a distance from the active mining face. Examples of incorporation of autonomous machinery in the mining industry include the fleet of more than 100 autonomous mine trucks that are employed at the Rio Tinto’s iron ore mines in Western Australia for material haulage. There are also semi-autonomous, teleoperated LHD machines employed at several mines around the world (e.g., Sweden, USA, China). However, the operation of the autonomous machinery in these cases is either partial (semi-autonomous, teleoperated vehicles) and of small-scale or occurs at surface mines where GPS significantly facilitates the autonomous navigation of them.

Jan 1, 2019