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By Mengmeng Gai

This paper introduces a model-based automatic object recognition and registration framework to assist heavy equipment operators in rapidly perceiving 3D working environment at dynamic construction sites. A video camera and a laser scanner were utilized in this study to rapidly recognize and register dynamic target objects in a 3D space by dynamically separating target object?s point cloud data from a background scene for a quick computing process. A smart scan data updating method has been developed which only updates the dynamic target object?s point cloud data while keeping the previously scanned static work environments. Extracted target areas containing 3D point clouds were orthographically projected into a series of 2D planes with a rotation center located in the target?s vertical-middle line. Prepared 2D templates were compared to these 2D planes by extracting SURF features. Point cloud bundles of the target were recognized, and followed by the prepared CAD model?s registration to the templates. The field experimental results show that the proposed rapid workspace modeling method can significantly improve heavy construction equipment operations and automated equipment control by rapidly modeling dynamic target objects in a 3D view.

Aug 1, 2013

By M Wagner, H Assimi, F Neumann, C Garcia, B Koch

Run-of-Mine (ROM) stockpiles are the inventory of valuable materials extracted from the mine. Depending on the customer requests, a selective addition of ore from stockyards should be selected at the required tonnage. In the stockyard, stackers and reclaimers are the machines which load and unload ore, respectively. Currently, humans determine the reclaiming/stacking planning sequence in the stockyard by rules of thumb. However, this is a complex task subject to multiple operational constraints, such as where undesirable mineral properties should not exceed certain limits in a request. Human planning can lead to limited decision support and lower ability to consider the upcoming blends and requests. This kind of decision making can cause perturbations in the assumed profit and unexpected loss in practice. Therefore, an intelligent decision-maker and sequence planner would be highly valuable to automate stacking and reclaiming operations in practice. The benefits are reducing variability in decision-making and operation costs. This paper considers a stockyard with available mineral information in the stockpiles using load and dump locations from GPS data feeds. We present an optimisation problem to find a solution which results in reclaiming more ore in a shorter time. To solve the problem, we develop an automatic search strategy based on the greedy search algorithm independent of the type of machine used in reclaiming. The proposed method plans a sequence for stockyard recovery blend optimisation to meet multiple customer demands in a timeframe. Blend optimisation is subject to various constraints such as the elemental composition of the valuable materials and penalty elements. We present three case studies using EKA’s simulator, to fulfil two to four requests from four stockpiles. We compare the obtained results with a pilgrim step reclaiming heuristic and we show how our proposed search strategy outperforms the current strategy used in practice.

Nov 10, 2020

By H. Kroog

"This contribution reports recent mineral sorting experience and lists the possibilities of the newest generation of automatic mineral sorters with a special focus on electromagnetic detection, optoelectronic technology and the latest innovative X- Ray transmission units. In industry, mineral and ore are still hand-picked and current automation potential is only utilised in a handful of specific applications. Recently a number of technological developments took place that may increase sorting potential, save mill costs and lead to lower overall tonnage costs. The mentioned technologies provide automatic dry separation of minerals and rock as an alternative for conventional processing. The MikroSort technology is environmentally friendly:•,The remaining waste is free of contaminations•,The dump volume is reduced•,The concentration of the high grade material•,at an early stage saves resources"

Jan 1, 2005

By M D. Griffith

Oct 12, 2022

By S Mundell, J Armstrong, M Evans

"Automation is a common goal within the coal industry for reasons such as efficiency, reliability and sustainability. However, it requires standards and frameworks so business systems can communicate effectively. Automation of sample analysis processes has been difficult to establish due to a lack of direct business system communication between commercial laboratories and mining companies. This has resulted in manual procedures that have contributed to problems relating to analysis instructions, sample identification, results formats and visibility of status.These problems result in loss of data and confidence in data validity, loss of process efficiency and inability to react to issues. An Australian Coal Association Research Program project (Evans, Armstrong and Arboleda, 2014) has addressed these issues through the Coal Quality Data Exchange methodology for direct business system communication between coalminers and commercial laboratories to optimise the transfer of coal quality data.The benefits to the coalminer of the framework are:increased clarity and auditability of what is being sent to the laboratory and what was requestedreduced potential for error introduced through manual transcription tasksincreased speed of loading of analytical results to the customer Geoscientific Information Management Systemimproved turnaround time for analytical resultsincreased knowledge about what took place in the laboratory with respect to the determination of the analytical resultsincreased visibility of the status of a ‘work order’. The benefits to the technology companies and commercial laboratories is a common framework on which to build a sustainable solution that gets away from the multitude of formats catered for today and time consuming manual processes. The common framework significantly advances the future possibilities for the automation of sampling and analysis processes in a production environment.CITATION:Armstrong, J, Mundell, S and Evans, M, 2014. Automating communications between laboratories and mines – a case from the coal industry, in Proceedings Ninth International Mining Geology Conference 2014 , pp 351–360 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Aug 18, 2014

By W. H. Schiffbauer

The U. S. Bureau of Mines has been investigating methods and technology that, when applied to existing continuous coal mining machines, may improve production and safety. Toward those goals, a microcomputer network has been designed that provides automated control and monitoring of all mining machine systems using a single twisted pair cable (two conductor stranded wire twisted together to provide a level of noise rejection). The network also provides -connections for intelligent sensors and systems for navigation and diagnostics. The flexibility of the network is demonstrated in that features can be added and removed without redesigning the whole system. A general description of the network's integration to a Joy' 16CM, Joy 14CM, Jeffrey 102, and a custom built auger machine is provided. The microcomputer networks for the Joy 16CM and the Jeffrey 102 have been installed onboard the mining machines and have been extensively tested at the Bureau of Mines test facility. The Jeffrey 102 system has also been tested in an actual highwall coal seam. Both systems have performed satisfactorily. The microcomputer networks for the Joy 14CM and the Auger Miner have been tested and await installation on the respective machines.

Jan 1, 1990

By W. B. Weston

To mining people who have experienced the tremendous expansion of existing operations and the development of new properties over the last several years we do not have to point out the difficulties in hiring skilled equipment operators. To those of you who have opened operations in some of the more remote places in the world this is not just a difficulty. It is an impossibility. Your only recourse has been to try and train whatever manpower has been available. Depending upon your success in training, the next problem has been to keep them. On todays modern equipment, the skill of the operator remains as the greatest single variable affecting the performance of the machine. On a blast hole drill, for example, a skilled operator will get good production footage, acceptable bit life and minimal machine downtime The unskilled operator will not only fail to get the acceptable production footage but all too frequently this failure is coupled with low bit life, high repair costs and excessive machine downtime. Even between experienced operators, on identical machines, in the same kind of material we find significant variations in performance. It is, therefore, the skill of the operator, not just his experience, which makes the difference. The problem, as presented to us by our customers, has been to find a way for the unskilled man, with minimal training, to match the performance of the most skilled and experienced operator. The obvious answer is automation.

Jan 1, 1970

By Ewan Selers, Gary Cavanough

Drilling automation technology is well advanced and automated drill rigs are in use at a number of operating mines. This is not the case for the other drill and blast processes due to significant technical challenges to overcome. These challenges, with regard to the current “on bench” practices, include placing the initiators, loading the explosive and connecting up the initiation system. Although difficult, these challenges will be solved with engineering advances.

Jan 1, 2016

By Aloizio Cesar Gonzaga, Leandro de Paula, Ismael de Souza Dias, Gladston Santos

Looking for greater competitiveness, Gerdau started in 2013 the operation of its hot strip mill in Ouro Branco, being a milestone in Gerdau's history, where it definitely entered the flat products business. This mill consists of the reheating furnace, primary scaler, a Duo-reversible Quadrupole Steckel mill, accelerated cooling and final coiling. The Steckel mill works with two backup rolls and two working rolls, the backup rolls being responsible for supporting the rolling forces and the working rolls for shaping and surface quality to the strips, having as main requirement quality of surface finish. These rolls suffer high wear due to the lamination process and are exchanged with high frequency to ensure the quality of the laminated strips, after the exchange are sent to the Work Roll Shop for grinding and are positioned Grinded work rolls for the next planned change. This movement is accomplished through the crane and an exchange device that attaches to the cylinders to be transported from the Rolling Mill to the Work Roll Shop. The target in this article is focused on an improvement in this Device to increase operational safety and reduce stoppage losses downtime at the mill, improving the cost / benefit ratio and increase production.

Oct 1, 2019

By M. Andersson, R. Elsrud

The quality and the production rate for the mining operations in the Garpenberg mine has been much improved due to a new system, that presents the latest exploratory and planning data for the driller at the moment he deploys the drill rig at the face. Other components in this improvement work are better planning procedure, large-scale production system with longer rounds and introduction of new drill rigs in the mine. The new Rig Control System (RCS) for the new series Atlas Copco Boomers L2C has made it possible to develop this system for production drilling in the Garpenberg mine. The ABC Regular has been extended with map navigation and drill plan generator. The driller will have the best estimate of the orebody in front of him and the best drill plan for that orebody. The customer’s specific system will also become a standard Atlas Copco product for the Boomer ABC drill rig family.

Sep 1, 2001

By A. B. Cecala

Two recent Bureau studies evaluated workers' dust exposures in automated pallet loading processes. The first study involved a Bureau designed dust control system using a push-pull ventilation technique. The unit was shown to reduce workers' dust exposures by 76% during pallet loading at a ground silica operation. A hydraulic lift table was used to automate the bag stacking process; this kept the loading height constant throughout the entire pallet loading cycle. The second study evaluated different commercial automated pallet loading systems. These systems automatically stack the bags onto pallets, shrink wrap the pallets, and deliver the pallets to a fork lift pickup location. Results from a ground silica evaluation site indicated respirable dust samples taken were below the Threshold Limit Value (TLV) as established by the Mine Safety and Health Administration (MSHA).

Jan 1, 1990

By Milca Ventura dos Santos, Ricardo Rodrigues Grizotti, Luciano Henrique Andrade de Resende, Francisco Ricardo Casa Neto, Paulo Roberto de Oliveira Junior, Bruno Rodrigues Ferreira

O trabalho tem por objetivo demonstrar o processo de desenvolvimento e implantação da automatização nas operações, atividades de almoxarifados (recebimento, armazenagem, movimentação, inventário, picking e entrega de materiais), com o uso da tecnologia SAP FIORI com interface nos sistemas operacionais Android e IOS para utilização do Mobile (smartphones e tablet’s), já alinhado ao momento da indústria 4.0, visando inovações tecnológicas nos campos de automação, controle e tecnologia da informação. O desenvolvimento nesta nova plataforma visa tornar as operações de almoxarifados mais ágeis e eficientes, buscando otimizar o processamento das informações com mais rapidez, redução do tempo de permanência das mercadorias nas áreas de transferência e gerar maior rastreabilidade dos processamentos com interface direta e on-line com o ERP-SAP da organização. A metodologia do trabalho foi identificar as oportunidades de explorar as melhores potencialidades das soluções do SAP Fiori, alinhadas aos sistemas operacionais Android e IOS para uso de celulares, tablet’s, com comunicação através da rede interna e/ou 3G/4G sempre visando otimizar todas as atividades operacionais (fluxo de materiais) e administrativas (fluxo de informações) dentro dos processos dos almoxarifados e suas áreas de interface. O projeto iniciou-se e sendo implementado nas unidades de Planos (ArcelorMittal Tubarão e Vega), e com plano de expansão para as unidades de Longos da ArcelorMital Brasil durante o ano de 2019. Nesta primeira etapa o resultado alcançado foi de plena adequação, tendo sido encontrado benefícios em redução de erros; aumento de segurança; redução de custos; otimização de processos; transparência em dados; customização de produtos, o qual espera-se que a curva de aprendizado naturalmente nos levará a adoção de novas soluções incrementais resultando nos melhores níveis de gestão do processo de armazenagem e movimentação de materiais.

Oct 1, 2019

By William Gleason

"Komatsu has been on the cutting edge of autonomous mining for the past 30 years and the company remains at the forefront of the technology that is changing from concept to a full-fledged reality.In 1996, Komatsu America Corp. (KAC) purchased a controlling interest in Modular Mining Systems; a move that enabled both companies to expand their product lines. It was through this effort that Modular helped to deploy the first autonomous haulage system (AHS) — the Komatsu FrontRunner system. In January 2008, the first commercial implementation of the FrontRunner system occurred at Codelco’s copper mine in Chile. Since then, Komatsu has put more than 130 haul trucks into seven sites on three continents to haul copper, iron ore and oil sands and its equipment has moved 1.8 Gt (2 billion st) of material with zero lost time incidents attributed to Komatsu’s autonomous trucks. The 1.8 Gt (2 billion st) is the most of any commercial mining autonomous haulage system and there is more to come. In November, Komatsu announced that an additional 150 autonomous haul trucks will be deployed to the Canadian oil sands over the next seven years.Komatsu has continued to pioneer autonomous haulage development, creating a range of autonomous options that includes semiautonomous and teleremote options all the way up to a haulage vehicle that stole the show at the world’s largest mining equipment trade show.In 2016, Komatsu advanced the concept of driverless haul truck to a new level when it displayed its Innovative Autonomous Haulage Vehicle (IAHV) at MINExpo in Las Vegas, NV. The concept vehicle is the first mega class haul truck designed to be fully autonomous, without an operators’ cab included on the vehicle.Unlike other haul trucks, the vehicle was developed exclusively as an unmanned vehicle designed to maximize the advantages of unmanned operation. Among other advancements, it was designed to distribute equal load to the four wheels, both when the vehicle is loaded and unloaded, and adopt four-wheel drive, retarder and steering. Komatsu said it is aiming for high-performance shuttling of this vehicle in both forward and reverse travel directions, thereby eliminating the need for K-turns at loading and unloading sites."

Dec 1, 2018

By R Price

"Technology has the potential to revolutionise industries, work functions or businesses. One such technology in the mining industry is the deployment of automation in a modern autonomous haulage system (AHS). This paper examines a theoretical application of an AHS in a medium scale mine site. The cost-benefit commercial argument is particularly compelling, and the paper outlines metrics and future issues for consideration.Citation:Price, R, 2016. Autonomous Haulage Systems - the Business Case, in Proceedings Ninth AusIMM Open Pit Operators' Conference 2016, pp 11–17 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Nov 15, 2016

By Juliana Parreira

The past decade shows record increases in global demand for minerals and metals with an accompanying significant decline in skilled personnel. Mining companies today are examining new technologies to maximize production, reduce costs, and create safer work conditions to deal with this shortfall. Automation of an open-pit mine haulage system is receiving attention as a beneficial option since it provides more consistent and efficient operation of mining equipment, it removes workers from potential danger, it reduces fuel consumption significantly reducing greenhouse gas (GHG) emissions, and it can help optimize vehicle repairs and equipment replacement because of more-predictable and better-controlled maintenance. This paper describes a simulation model under development using the EXTENDSIM software package to examine scale-up issues and constraints of autonomous vehicles in comparison to a manual system. The software can predict and manage Key Performance Indicators (KPIs), such as productivity, safety, cost, equipment failures, fuel consumption, and tire wear under different road and load conditions. By breaking-down the various systems of an autonomous haulage truck and simulating the overall haulage system using a Monte Carlo approach, the model becomes a flexible and powerful tool to use within a mining organization. Direct comparison to a manuallyrun system can be done to show the cost and operational benefits of automation. Project managers can use this tool to guide decision-making about possible application of autonomous haulage trucks at a specific mine site.

May 1, 2010

By C. C. Nolan

As the size of the mills get larger and the liners get heavier, a better means had to be found to handle liner replacement. McLellan Industries is famous for their innovative ideas and was called upon by an engineering company to develop a mill liner crane. The first crane was developed for Similkameen about 1969 to serve a 32' 0 x 14' Long SAG Mill. The next was Island Copper in Port Hardy, B.c., the same size as Similkameen in 1970. At that time, we took existing hydraulic cranes and modified them to meet the mill configuration. In 1973, we developed a completely new approach for the Southern Peru copper mine at Tacna, Peru for a Ball Mill, size 16'-6" 0 X 19' Long. Each installation required a design study to meet the change in mill size, trunnion size, elevation of floor to feed trunnion, area at the feed or discharge end of the mill. We have supplied self-propelled units as well as lift in. When there is no room at the feed end and if the mill has a trunnion overflow discharge, we have the mill supplier provide a structural frame to span the sump and move the mill liner handier into position with the use of the overhead crane or a mobile crane.

Jan 1, 1999

By Christopher J. Vise

Although production operations at mines, representing the extraction and removal of the mined material, often appear to receive the greatest amount of attention, the emphasis given to auxiliary operations is continually increasing. This is due to the changing economic, social, and environmental climate in which modern mines must operate. Auxiliary operations can best be described as those activities that are not directly related to the extraction and removal of the mined material, but must receive proper attention if recovery is to take place in a safe, efficient, and socially responsible manner. In fact, certain mining auxiliary operations, such as strata control and ventilation, are considered to be of such importance that they warrant separate sections in this Handbook. Judging from a mine-personnel standpoint, it is not uncommon for a mine to hire the same number or more individuals responsible for auxiliary operations as the number assigned to production.

Jan 1, 2008

By C. Treworgy

Geologic and technical factors such as coal seam thickness, stripping ratios, roof conditions, partings, faults, and size and geometry of the reserve block greatly impact the availability of Illinois coal for mining. Residential and commercial developments also restrict access to coal reserves in some areas. Despite the collective effects of these factors, large blocks of bituminous coal reserves suitable for efficient, low-cost underground mining remain available in Illinois.

Jan 1, 1997

By Márcia M. S. M. Pereira, Hervé Tavernier, Gérson T. Ferreira, Caio Nogueira Araujo Diniz, Fabio Luiz Lourenço, Wagner C. Moreira, Vinicius Cunha Aranda

Pós fluxantes desempenham um papel significativo na qualidade do aço durante o processo de lingotamento contínuo. Os pós fluxantes são escórias sintéticas usadas para lubrificar o molde durante o lingotamento contínuo do aço. Para que isso ocorra, o fluxante deve apresentar as seguintes funções: isolamento químico e térmico do aço, absorção de inclusões não metálicas do aço, lubrificação do molde e controle da transferência de calor entre o aço e o molde. O desempenho de cada função está relacionado às propriedades químicas e físicas do pó fluxante, que são dependentes de sua composição química e sua composição mineral, devido a sua relação com a taxa de fusão do material. A fim de garantir uma produção eficiente e de alta qualidade durante o lingotamento de um aço ultra baixo carbono, os pós fluxantes A e B foram investigados de acordo com diferentes propriedades físico-químicas. Diversos experimentos laboratoriais foram realizados para comparar o desempenho dos materiais A e B, visando à diminuição de captura da escória pelo aço no molde: avaliação do comportamento de fusão e fluidez, composição química e viscosidade. As temperaturas de processo foram avaliadas através de testes estatísticos, visando caracterizar o fluxo de calor e o trabalho de fricção durante lingotamento. Os testes industriais preliminares, realizados na Ternium Brasil, foram conduzidos com o objetivo de analisar o comportamento do pó fluxante durante a operação de lingotamento contínuo em relação a alguns aspectos operacionais e fornecer informações sobre sua influência na qualidade superficial do aço. Os resultados mostraram que, aumentando a viscosidade do fluxante, o consumo de pó tornou-se menor, levando a um maior trabalho de fricção e menor fluxo de calor no molde. No entanto, o comportamento da camada de escória mostrou que, apesar do aumento da força de atrito no molde, a espessura da escória foi adequada e não houve relatos de defeitos superficiais durante o uso do material fluxante de maior viscosidade.

Oct 1, 2019

By T. A. Laser

"INTRODUCTION A positive workplace environmental, health, and safety (EHS) culture affords organizations and corporations many benefits, including increased trust and employee morale, sustainable EHS performance improvements, and reliable productivity and profit margin growth. Unfortunately, many leaders and EHS professionals struggle daily to achieve and maintain positive workplace cultures and consistent business results. While lack of management support, corporate or employee buy-in, resources, and time are common factors that conflict with an EHS culture and safe work behaviors and processes, there are many other actions that threaten the positive attributes of an organization’s culture. Often these culture killers are not recognized, or worse yet, ignored because they are considered taboo. For example, voicing observations or questioning long-held management practices or process that were initially designed to promote EHS values, but no longer do so. Unfortunately, this could be viewed as challenging authority, not being a team player or even not valuing EHS. And for those that speak up, the potential for negative consequences can be real impediments to positive change. Having an open mind, constantly striving to identify culture killers, and putting forth the effort to eliminate them are the first steps to begin reaping the benefits of having a sound workplace culture. This paper helps readers to: • Recognize culture killers that negatively impact fostering and maintaining sustainable EHS cultures in the workplace. • Understand how to prevent, avoid, and respond to culture killers, before they wreak havoc in your organization. • Assess EHS culture strength, and implement plans to continuously improve it. The desire to draw boundaries around concepts, put things into boxes, and nail down requirements for something that is virtually impossible to solidify for any length of time is quite fascinating! These desires can pose challenges when trying to define what the perfect EHS culture should look like. The very act of trying to define our culture tends to create silos, and these silos, in turn, can become “culture killers”. The following is one of the most common culture killers. UNBALANCED ORGANIZATIONS TRIGGER CULTURE KILLERS Unbalanced organizations occur when an organization’s constantly shifting focus forces other important needs to take a back seat--until the focus changes again. This balancing act can be detrimental and lead to catastrophic results including low morale, lack of trust, employee dissatisfaction, high turnover, increased incidents, poor profit margins, loss of market share, and ultimately into organization-wide failure."

Jan 1, 2018