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By J. Nsasi Bakambu

This paper describes an autonomous platform for exploration and navigation within networks of tunnels, as those typically found in underground mines and caves. In the exploration mode, a remotely located supervisor instructs the platform to move through successive sections of the network, gathering range data that is, then, concatenated into 2D/3D survey maps of the environment. In the navigation mode, the supervisor specifies high-level missions on the previously acquired survey maps. A motion planner, then, translates each mission into a set of consecutive navigation actions, separated by natural landmarks. Mission execution consists of detecting landmarks, self-localizing and performing the planned navigation actions.

May 1, 2003

By V. Polotski

This paper describes a platform for autonomous operations in open pit mining environments. A typical operation consists of: (1) Initial locomotion toward a remote worksite; (2) Pattern navigation within the worksite; (3) Worksite manipulations and (4) Return locomotion to the start location. The platform includes precise localization module based upon the fusion of odometry, inertial and GPS measurements. The guidance module starts from a set of way points specified on a GPSreferenced map and plans and executes the mission. A typical mission includes specified manipulative tasks along the navigation path. During motion execution the on-board system continuously verifies that the path is free of obstacles and that the hardware is not overloaded. Momentary losses of external positioning measurements does not adversely affect the performance, owing to the redundancy in position and heading estimation. A rehearsal phase follows planning and allows the supervisor to examine the kinematic behavior of the platform during motion, thus reducing the need for continuous monitoring during execution and providing protection against potential losses of communication.

May 1, 2003

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 W. G. Davenport

Chapter 6 examined autotherrnal smelting of pure chalcopyrite concentrate with 50 mass% O2-50 mass% N2 blast. It showed that production of 1500 K products with this blast requires: 181 kg of pure oxygen 337 kg of air per tonne, of concentrate. It also showed that the grade of matte produced with this blast is 58% Cu. This chapter re-examines autotherrnal smelting by asking: (A) WHAT COMPOSITION BLAST (MASS% 02 -MASS% N2), 298 K, WILL AUTOTHERMALL Y PRODUCE 65% Cu MATTE 1500 K FROM PURE CHALCOPYRITE CONCENTRATE? (B) HOW MUCH PURE OXYGEN AND AIR WILL BE NEEDED? These are important questions for flash? smelting because furnace operators usually want to send specific composition matte to converting. This chapter shows how a specified matte can be produced autotherrnally with 298 K oxygen-air blast. Later chapters show how it can be done with hot blast, hydrocarbon combustion, different concentrates etc.

Jan 1, 2001

By Peter Kowalczyk

Magnetic surveying and map production is well established in land based mineral exploration. Magnetic data are routinely used to map geology in covered terrains, to estimate the depth to basement in overburden covered areas, and to identify altered zones, mineralization, bedding attitudes, and fault networks both regionally in map view, and through interpretation to depth in 3D. Best practices for magnetic survey methods and magnetic interpretation exist in all areas of land based geophysical survey methodology - mineral exploration, hydrocarbon exploration, geological mapping, archeological mapping, and in military applications. At sea, and particularly under the sea, sophisticated magnetic surveys are being done, but it can be argued that these are primarily in niche applications, for example in naval mine-hunting and UXO applications. Magnetic data is not normally collected on AUVs and ROVs conducting mapping and hydrographic survey operations. OFG has developed physical and mathematical calibration routines so that magnetometers can be mounted directly onto AUV and ROV bodies where significant heading errors and magnetic gradients exist. This simplifies the routine deployment of magnetometers on AUVs and ROVs for mineral exploration and other magnetic survey applications without the need for towed bodies, ungainly mounting frames, or degaussing of the survey equipment. Our experience shows that magnetometers can be operated routinely on AUVs and ROVs and that with careful processing useful maps can be produced routinely at low cost.

Sep 1, 2014

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 Charles A. Lindberg

Mobile cranes on tires are perhaps the most important accessory in truck-haulage pits. They usually are of 20-ton capacity at short radius and with outriggers but have considerable overload capacity. Standard booms are 30 ft but have 10-ft extensions with which they are usually operated. Cranes have two engines, both originally gasoline, but 150-hp Diesel engines have been found more reliable for the propulsion motor, the 100-hp gasoline motors being retained for hoisting. Pro- visions are made for dropping the ballast counter- weight to reduce axle weights to legal limits for highway travel. The weights are carried on a regular truck or are transported on an extra trailer axle behind the crane. Tractors-Probably equalling the cranes in usefulness are the track-laying tractors which are used to prepare roads and other surfaces, to clean up at the shovel, and for dozing on stripping dumps. A new type of tractor mounted on rubber tires has been tried out on the Mesabi Range for the past year and a half. The advantage of this design is its mobility which makes it capable of taking care of the spill at the shovel and then running to the dump to clean up. Alternating between these two jobs, it relieves heavy tractors that can be used to better advantage on heavier work that does not require so much traveling. This tractor can travel at speeds of 12 to 13 mph and is designed to facilitate repair of the expendable parts. Weaknesses have developed in the internal construction which have seriously marred the performance record of this unit, but when used within its capacity it is quite successful.

Jan 1, 1949

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 L. K. Marshall

Last month's engineering fundamentals article discussed some general considerations of underground mine ventilation. This month's article takes a look at auxiliary ventilation-brattice, fans, and ducting-in underground mines. The need for good, efficient auxiliary ventilation increases as mines get deeper and move farther from ventilation shafts. New mining methods and equipment resulted in faster work area advances, liberating more dust, gas, and heat. As a result, worker health and safety requirements in the face area have become more stringent. For all these reasons the safety and efficiency of any underground mine depends heavily on its auxiliary ventilation. The purpose of such ventilation is to supply sufficient quantities of clean air to the face of the drift and to maintain air quality within desired limits until expelled from the mine.

Jan 2, 1982

By Kurt Tischler

This paper presents the field experience of Siemens with regard to Gearless Drives in the mining industry ? We consider the elapsed production hours of Siemens Gearless Drives to be extensive enough to provide a reliable estimation of availability calculated on the basis of data representing repair time, downtime, and operating time. The users of Siemens Gearless Drives confirm an availability of more than 98% after exclusion of some major issues. The paper addresses all of these major issues of Siemens Gearless Drives, describes successfully applied corrective measures, explains the influences on the design of the drives, and lists the downtimes associated with each of these issues.

Jan 1, 2012

By Todd Kennedy, Kurt Tischler

"This paper presents the field experience of Siemens with regard to Gearless Drives in the mining industry … We consider the elapsed production hours of Siemens Gearless Drives to be extensive enough to provide a reliable estimation of availability calculated on the basis of data representing repair time, downtime, and operating time. The users of Siemens Gearless Drives confirm an availability of more than 98% after exclusion of some major issues. The paper addresses all of these major issues of Siemens Gearless Drives, describes successfully applied corrective measures, explains the influences on the design of the drives, and lists the downtimes associated with each of these issues. INTRODUCTIONThe first Siemens Gearless Drive in mining began operation in 1980 and was installed on an iron ore grinding mill. As of September 2011, 40 Siemens Gearless Drives will have accumulated 136,000 machine days of operating time. According to pure rules of statistical analysis, this accumulated operating time may be too low to be used for a sample of field data to provide precise statistical values of availability, however we consider it large enough to provide indicative values of worthwhile consideration. This paper deduces the availability statistics of Siemens Gearless Drives in the mining industry from information received from end users and factors in all major issues that Siemens has experienced with our Gearless Mill drives. This paper does not consider Gearless Drives in other industries such as the cement industry. The cement plants, especially in the northern hemisphere, interrupt production for several months in the winter. This lengthy downtime is used to maintain the complete plant including the mills, their motors and their drives. The mining industry has more stringent and higher production requirements. In the mining industry, production must run 24 hours per day, 365 days a year."

Jan 1, 2012

By Robert Greenwood

The advent of the space age and its promise of interplanetary flight has prompted new ideas for propulsion systems that will allow maximum energy with minimum fuel weight. The use of cesium as the source of energy for such rocket flights has been found desirable. Theoretical efficiency of a rocket fuel is measured in terms of specific impulse, defined as the number of pounds of thrust per pound of propellant consumed per second. Specific impulse is usually expressed in seconds (the number of seconds for which one pound of fuel would produce one pound of thrust) although it is really a measure of total energy, not of power. The most sophisticated chemical fuels have a specific impulse of 300 to 400 sec; liquid hydrogen heated by nuclear reactor has a specific impulse of 1000 to 1200 sec. Specific impulses as high as 20,000 sec, however, are theoretically attainable with the ion rocket, in which free cesium ions are accelerated across a voltage drop and ejected at high velocity.' Characteristics of the system have been sketched by Boden. The desirable properties of an ion propellant are: 1) low ionization potential, 2) low boiling point, and 3) high atomic weight. Alkali metals best fulfill these requirements, and Table I indicates the superiority of cesium. The use of heavy complex ions such as UCl; is ruled out by their instability and other disadvantages.

Jan 5, 1960

By Charles L. Kimbell

The concept of data availability must be addressed, because there are perceptible changes from year to year, and the availability of accurately reported, precisely defined statistics and nonstatistical information provides the only sound basis for analytical studies required for government policy planning or industry market analysis. As the countries of Eastern Europe and the former U.S.S.R. undergo the transition from centrally planned economies to market economies, there has been a perceptible increase in information availability for rather obvious reasons. Any industrial operation seeking economic assistance from Government and/or private sources outside the country in which the facility is sited must provide some appraisal of its operations at the time it seeks assistance, as well as some information on previous performance to serve as tools in evaluating its potential under the proposed development scheme for which it seeks financial assistance. Additionally, there was growing governmental recognition that concealment of much of the national mineral production, trade, and consumption data for purposes of national military and/or economic security probably never was very successful, never was really necessary for most commodities, and certainly proved unnecessary with the end of the so-called cold war. Indeed, the long-term unwillingness to publish uniform statistical series of reliable,

Jan 1, 1993

By Paul C. Hyndman

The U.S. Bureau of Mines inventoried Federal mineral lands in Idaho and classified them in detail, section by section, according to their availability for mineral exploration and development as affected by legal restrictions and agencies' management practices. The Bureau also identified known mineral deposit areas (KMDAs) and areas conducive to oil, gas, and geothermal resources. This information is shown on maps (developed in part by geographic information system technology) that spatially compare the availability for mineral entry of Federal land with these KMDAs to demonstrate the extent and severity of restrictions on mineral entry. Idaho contains 53.1 million acres, 35.7 million (67%) of which is Federal mineral land. About 7 million acres of this land is within KMDAs that host medium-to high-value locatable mineral deposits; 36% of this land is available, 27% is slightly to moderately restricted, and 37% is severely restricted or unavailable. For the leasable minerals, about 1.8 million acres are within KMDAs that host medium-to high-value phosphate deposits, about 5.4 million acres are favorable for oil and gas resources, and 3.9 million acres for geothermal resources. The percentages of land availability are 30%, 45%, and 25% for the phosphate acreage, 38%, 34%, and 28% for the oil and gas acreage, and 43%, 30%, and 27% for the geothermal acreage.

Jan 1, 2012

By Robert A. McColly

This Bureau of Mines report compares the availability of federally owned minerals in Arizona with lands considered favorable for discovery of mineral resources, to deter-mine the extent to which Federal mineral lands in such areas have been withdrawn by legal action or restricted by management practice. Of particular concern are restraints on Federal lands in areas identified as highly favorable for occurrences of valuable mineral deposits. Excluding Indian lands held in trust by the Federal Government, about 32 million acres, 44%, of Arizona's mineral estate is federally owned. This total includes lands with partial Federal mineral ownership. Approximately 16.5 million acres, or 52% of these lands, are available for location or lease. This includes 496,000 acres, 62%, of the lands highly favorable, and 2.6 million acres, 57%, of the lands moderately favorable for locatable minerals in Arizona. All other Federal mineral lands are either withdrawn or restricted, reflecting a wide range of purpose, authority, and impacts on mineral exploration and development.

Jan 1, 1987

By Kenneth M. Maas

The Bureau of Mines inventoried the land availability for mineral exploration and development in northern Alaska and compared this land with known mineral terranes and mineral deposits, to quantify the potential for favorable location of mining claims for metalliferous mineral deposits. This report includes thirty-three 1:500,000-scale maps that depict land availability, and the accompanying text and tables relate availability acreage to areas of favorable mineral terranes. Three categories of land availability and ownership are identified, along with 12 subcategories of land status. Available land comprises approximately 14.5 million acres or 16% of the 90.3-million-acre study area; land available with restrictions accounts for 7.5 million acres or 8%; and unavailable land encompasses 68.3 million acres or 76%. Mineral terranes underlie 37.8 million acres or 42% of the study area; 5.3 million acres or 14% are available for mineral location, 2.8 million acres or 7% are available with restrictions, and 29.7 million acres or 79% are unavailable. There are 500 known mineral deposits or occurrences within the study area. This includes 271 lode deposits, of which 171 lie within a recognized mineral terrane and 55 are on available land. The remaining 229 are placer deposits.

Jan 1, 1987

By Robert G. Bottge

The Bureau of Mines investigated the availability of the land in south-central Alaska for exploration and mineral development of locatable minerals under State or Federal laws. The land ownership for an area of nearly 72.5 million acres in south-central Alaska was divided into 3 availability categories and 15 subcategories. In July 1985, 31.0 million acres of the study area were available for mineral exploration and development, 6.2 million acres were available with restrictions, and 35.3 million acres were unavailable. About 23.6 million acres in the study area are underlain by mineral terranes. About 9.9 million of the 23.6 million acres are available for mineral entry, 2.4 million acres are available with restrictions, and 11.3 million acres are unavailable. While much of the land currently classified as unavailable will be reclassified once it is conveyed to the State or to Native corporations, about 22% of the unavailable lands underlain by mineral terranes are now Federal parks, preserves, wildlife refuges, wild and scenic rivers, and military lands, all of which are considered permanently unavailable for mineral exploration and development.

Jan 1, 1986

By William S. Roberts

The Bureau of Mines has initiated a program to determine the availability of land for mineral exploration and development in Alaska. Researchers involved in this pro-gram are comparing land availability, based on ownership and government policies and regulations, to the distribution of known mineral deposits and terranes. This report on southeastern Alaska presents the findings of the first of six regional studies that will cover the State. The study consisted largely of data compilation and analysis using various mapping techniques. Summary land availability data are presented on copies of U.S. Geological Survey (USGS) quadrangles at a scale of 1:500,000. Five categories of land availability were identified: open to mineral exploration and development (approximately 9.4 million acres, or 38% of the 24.8-million-acre study area), open but with possible use restrictions (4.2 million acres, or 17%), selected (0.5 million acres, or 2%), patented (0.74 million acres, or 3%), and formally closed to mineral exploration and development (10 million acres, or 40%). Of the 1,187 known mineral deposits in the study area, approximately 38% are on land in the open category. Mineral terranes comprise approximately 6.7 million acres, or 27% of southeastern Alaska. Approximately 34% of these terranes are on open land.

Jan 1, 1985

By Kenneth M. Maas

The Bureau of Mines inventoried the land in southwestern Alaska to classify ownership and availability and compared this land with known mineral terranes and mineral deposits. This report discusses and quantifies the potential for favorable location of mining claims for metalliferous (locatable) mineral deposits. Of the nearly 24 million acres that constitute the study area, approximately 3.6 million acres or 17% are available for mineral location, 3.4 million acres or 14% are available with restrictions, and 17 million acres or 71% are unavailable. Mineral terranes are known to underlie about 7.8 million acres or 33% of the study area; 3 million acres or 38% occur on land available for mineral location, 1.3 million acres or 17% occur on land available with restrictions, and 3.5 million acres or 45% occur on unavailable land. The State of Alaska has opened over 91 % of its land in the study area to mineral location; in comparison, the Federal Government allows mineral location on 0.07% of the land under its jurisdiction. There are 117 known mineral deposits or occurrences within the study area, including 77 lode deposits and 40 placer deposits. Of the 41 lode deposits occurring within a mineral terrane, 2 occur on available land.

Jan 1, 1988

By Robert G. Bottge

The Bureau of Mines has engaged m a program to determine the availability of land for mineral exploration and development in Alaska. Land availability, based on ownership and Federal and State laws and policies, is compared with mineral terranes and mineral deposits. This is the fifth of six regional studies, which cover the State with a comprehensive set of maps and data compilations. This study covers an area of 112.3 million acres in western Alaska. In July 1986, 41.0 million acres, 37% of the study area, were available for mineral exploration and development; 14.6 million acres, 13%, were available with restrictions; and 56.7 million acres, 50%, were unavailable. Nearly 65% of the unavailable land is classified as national parks, preserves, wildlife refuges, and wild and scenic rivers. Of the 34.0 million acres of mineral terranes that underlie the study area, 12.9 million acres, 38%, are available for exploration and development; 3.6 million acres, 11%, are available with restrictions; and 17.5 million acres, 51%, are unavailable.

Jan 1, 1988