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A discussion on simulation tools to aid the development of robotics platforms is presented. The focus of the work is towards mining robotics platforms where operations are typically in unstructured, unpredictable environments and a high degree of dependability in their operations is required. It is argued that a test-based development approach leads to more robust solutions and faster development cycles than traditional single-track field-only development and that the key enabling technology for this development paradigm is the judicious use of simulation tools. The future direction of simulation for use in online applications such as active planning and as a means to assist tele-operation in high latency communication applications is also brief y considered together with the requirements for a useful simulation environment in terms of the simulator architecture. Finally, a case study is presented on the application of the discussed methodologies to an unmanned ground vehicle (UGV) for earth-moving tasks, which is being developed in an accelerated time frame with a transient development team.

Dec 6, 2010

By D M. Menne

This paper is intended to give a general review of current gold extraction technology for free-milling or non-refractory auriferous ores. Fundamental process concepts and some of the differences between the current technologies is referred to. Typical flowsheets and layouts are provided and it is demonstrated that technology for extracting free-milling gold is relatively simple. For environmentally sensitive areas such as encountered in New Zealand relevant cyanide decay and destruction technology is also discussed. Brief mention is made of some likely future innovations. Finally reference is made of New Zealand's previous significant contribution to gold extraction technology. These contributions were pioneering ranging from the cyanide leaching of gold to adsorption by carbon and precipitation by zinc. New Zealand has not allowed its potential gold projects to develop at a rate commensurate with the rest of the world thereby stifling its renowned innovative approach in this technology. It is time for New Zealand mining to recognise its unique opportunities in developing gold extraction technology and again take a rightful place in leading the way.

Jan 1, 1986

By Martin J. Kenwright

Within the famous Harrods department store, a new lift shaft has been constructed, servicing a depth of 22m below ground level as well as the existing 6 storeys of the store. The shaft will connect with a new goods tunnel which is to be excavated beneath the shop, as well as new floor space above ground level which has resulted from the infilling of a previously existing lightwell within the store. The construction of the deep shaft while maintaining uninterrupted use of the store by the Client led to a number of innovative solutions being undertaken. Empirical assessments were made of settlements anticipated from the construction process, which took place within a congested environment of existing foundations. Various elements were designed and installed to mitigate the effects of the inevitable ground movement on the surrounding overlying structure, which supported sensitive high quality finishes and mechanical and electrical installations. The reinforced concrete lining of the shaft was contained within a cofferdam of minipiles. The minipile placement accuracy (1 in 150) was vital as it could not interfere with the subsequent tunnelling works. As the scheme progressed this became even more critical since the minipiles were needed as support for parts of the permanent works. This paper describes:- the high quality placement and control of the minipiled cofferdam, the methods employed in assessing ground movements and the techniques used to mitigate against the effects of these movements.

Jan 1, 2000

By G. Gavan

Analysis of reported injuries for off-highway haul trucks indicated that 42.7% were slip and fall, and of these 34.1% occurred mounting and dismounting the machine. Redesign of the lower steps was concluded to provide the most overall improvement for increased safety and accident reduction. Various existing, innovative and conceptual designs were reviewed and evaluated. The most promising candidate designs were the four-spring supported lower steps and the center tube mounted lower steps. Both configurations proved to be viable designs as they passed successfully human factors and survivability tests conducted at a large copper mine.

Jan 1, 1979

By R. H. Estrada-Ruiz

This work analyses a new approach to estimates bubble size distribution of froth surfaces using artificial neural networks (ANN).Also, the robustness of ANN to interpret images with illumination perturbations, produced by light problems or dirt attached to the window of the video camera is evaluated. The experimental work was carried out in a laboratory flotation column, instrumented with an image acquisition system. The images were processed making use of a perceptron model with a hidden layer, sigmoidal transfer function and unitary bias, and the ANN trained with a back propagation algorithm. The results of validation show that ANN are reliable for learning and producing generalized predictions of the froth mean bubble diameter and bubble size distribution, when the model is trained using a database that contains information on the illumination intensity. Keywords: image analysis, neural networks, bubble diameter, bubble size distribution.

Jan 1, 2009

By Paolo Heiniger

The aim of this paper is to present the operative solutions devised and then adopted to implement the underexcavation (soil extraction) of the Tower of Pisa, by means of soil extraction. The intervention has been performed by the Consorzio Progetto Torre di Pisa, a joint venture made of five qualified Italian companies (Trevi S.p.A. , Rodio S.p.A., Italsonda S.p.A., Ismes -Enel Hydro S.p.A., Bonifica S.p.A.), selected for their experience in the field of monitoring and restoration of monuments, structural design, foundation engineering and specialised works in underground conditions. Since 1991 the Consorzio has been charged with the specific task of implementing, within the contractual frame of a Concession, all the decisions made by the International Multidisciplinary Commission appointed by the Italian Government the previous year, with the aim at solving the «problem» of the Tower, strengthening the structure and stabilising its foundation. The Trevi Group, which is represented by Trevi S.p.A. in the above mentioned Consorzio, has given and is giving its direct and constant contribution and is engaged in supplying the special equipment to the operation and the drilling technology which has been successfully adopted to date.

Jan 1, 2000

By Daniel L. Ng

This Bureau of Mines report describes the results of scanning electron microscopic (SEM) studies of the combustion residues of carbonaceous dust particles resulting from explosions and thermal ignitions in laboratory and full-scale mine tests. The dusts studied varied widely in rank and volatility: Pittsburgh seam bituminous coal (35% volatility), Pocahontas seam bituminous coal (16% volatility), anthracite (7% volatility), graphite, and diamond. The most systematic explosion studies were performed in an 8-L chamber with narrow size distributions of Pittsburgh coal dust with surface mean diameters of 2, 22, and 84 pm. Experiments were conducted mainly in air, with some data obtained in 50% 02. Observations of the bituminous coal explosion residues showed particles with rounded edges, particles with blowholes, and some cenospheres. The lower volatility dust residues showed fewer changes from the original, unburned dust. In addition to the experimental studies, results of SEM observations of residues from a mine explosion disaster are reported. Comparison of such residues with those from the laboratory and experimental mine explosions can help investigators determine the extent of dust participation in the disaster and in identifying the possible ignition sources.

Jan 1, 1983

By N. Wahl, D. M. Blackketter, R. Thornton

This paper evaluated using a water-filled abandoned mine (Orphan Boy) as a heat source for a 240- kW closed-loop heat pump with the goal of heating a 2,000-m2 building. The mine has a 245-m vertical shaft connected to a large stope by three horizontal cross-cut shafts. There is 1,250 x 106 L of water at a consistent temperature of 24-26° C that is available mostly in the stope. The only heat exchanger placement option is in the vertical shaft. Therefore, the focus was to model heat exchanger placement in the vertical shaft to determine the extent to which the systems will induce thermal currents between the stope and vertical shaft. Modeling of thermal currents, temperature profiles and heat contribution from the ground was done using finite difference and computational fluid dynamics. An optimal configuration was determined showing sufficient water movement and heat transfer will occur with a low water temperature in the shaft above 20° C. This project supports a U.S. Department of Energy (DOE) grant that will implement the full-scale system.

Jan 1, 2013

By Jared M. Green

This paper presents the wall stabilization design and implementation for a 541 linear ft masonry and concrete gravity-type retaining wall flanking the west perimeter of a 7.37 acre parcel in Bronx, New York. This paper will discuss the results of static and dynamic stability analyses performed for the pre- and post excavation phases for the proposed 300 ft wide open-cut of up to 14 ft of contaminated soil below the toe of the retaining wall. The wall stabilization consisted of over 74 inclined drilled and grouted anchor dowels, and 55 tiebacks drilled and grouted to the underlying mica schist bedrock. Three over-lapping rows of jet grout columns were chosen as the foundation solution for the existing retaining wall. This paper focuses on the design, construction and performance of the jet grout curtain wall. The jet grout wall served three purposes: 1) underpinning and excavation support for the removal of contaminated site soils, 2) permanent hydraulic barrier, and 3) resistance against a deep seated failure within the thick clay layer present at the site. The originally designed jet grout wall had unexpected negative effects to the existing retaining wall. The jet grouting program was modified while the Observational Method (Peck 1969) was employed to keep wall movements to a minimum. This paper discusses the diagnostic methods used to determine the cause of retaining wall movement; the implementation of a remedial ground improvement program; the modification to the jet grout installation procedure; and the ultimate performance of the jet grout wall.

Jan 1, 2011

By Edmonds W, Jeffcoat R

The completion of the first two open hearth furnaces in the new No. 2 open hearth plant at Port Kembla will increase Australian production of steel by 350,000 tons of ingots per annum.The paper gives an outline of the essential features of open hearth design and auxiliary equipment required to operate the two modern open hearth furnaces at present being installed.INTRODUCTIONThe increasing demand for steel required by Australian secondary industries led to the decision to construct and operate No. 2 open hearth plant at Port Kembla. Two basic open hearth furnaces of the most modern design are under construction and it is anticipated that these units will be commissi.oned in September 1956. Australian steel capacity will thereby be increased by approximately 350,000 tons of ingots per annum.PLANT LAY-OUT AND CONSTRUCTIONIn the design and lay-out of this plant the emphasis has been on efficient material handling with simplicity of design and operation. Overseas methods were studied and these studies, together with experience gained at Newcastle and Port Kembla open hearth shops, enabled this plant to be built to a standard which compares favourably with any other in the industry.Initially two furnaces, each of 2,75 tons capacity, have been built, but provision has been made in. the design and lay-out to enable expansion to six furnaces.The location of the new plant in relation to the existing units will be noted in Fig. 5. It is one of the first units to be built in an area which will dovetail into a pattern for...

Jan 1, 1957

By R. B. Allen, E. E. N. Smith, B. C. MacDonald

"LocationTHE MAIN PROPERTY and townsite of Eldorado Mining & Refining, Limited, Beaverlodge Operation, is on the north shore. of Beaverlodge lake, •about seven miles north of the deserted town of Goldfields on lake Athabasca, and four hundred and ninety air-miles equidistant from Prince Albert, Saskatchewan, and Edmonton, Alberta. Both Eldorado Airlines •and Canadian Pacific Airlines maintain scheduled flights from Edmonton to the 4,000-foot airstrip on the north boundary of the Company property. Bi-weekly flights are made by Saskatchewan Government Airways from Prince Albert. Men and priority freight are flown by Company aircraft direct from Edmonton. From June to-September, when the waterways .are ice-free, freight is carried by barge from the •railhead at McMurray, Alberta, down the Athabasca river to Chipewyan, and across lake Athabasca to• Bushell, the terminal on Black bay, lake Athabasca, a total distance of 265 miles.The Eldorado Operation has been connected by a 12-mile, all-weather highway to Bushell. Where the highway crosses the park-land along the Fredette river, the townsite, Uranium, is under construction to provide services to the uranium-producing district. Spur roads have been built to the Ace, Fay, Eagle, •and Martin mines of the Eldorado operation, and to the properties of Pitch-Ore Uranium Mines, Ltd., and Rix Athabasca Uranium Mines, Ltd."

Jan 1, 1954

By Gregory C. More O'Ferrall

Generally pillars in the Southern African hard rock tabular underground mining environment are designed using either empirical pillar design formulae or numerical modelling (analytical) methods utilizing the Hoek-Brown failure criterion. However, none of the pillar design methodologies employed takes cognizance of weak layers either within the pillar material or in the immediate foundation of the pillar. Over the past few years, the presence of a weak layer either within the pillar material or within the immediate foundation of the pillar has resulted in the closure of one platinum mine (Everest Mine), closure of one chrome mine (Wonderkop Chrome) and large-scale instability in a couple of chrome and platinum mines in South Africa and Zimbabwe. A study has been initiated to better understand the failure mode and strengths of the pillars where pillar failure associated with weak layers occurred. Owing to the infancy of the study into the failed pillar strength and failure mechanism, the purpose of this paper is to highlight the circumstances that led to the collapse of mining sections and a shaft, and the difficulty associated with designing pillars in the Southern African chrome and platinum mining operations.

Jun 1, 2012

By John McDonald, Peter C. Raleigh, Christopher Dishlip

This paper will discuss how the construction management team and the contractor working together on the City of Los Angeles, North East Interceptor Sewer project, managed information on a daily basis. Data was synthesized from various sources including: inspection, survey, instrumentation, laboratory and the tunnel boring machine data logger systems to produce state-of-the-art reports and graphics which will become industry standard. Special emphasis is placed on how the data is managed and interpreted in a clear and objective manner, permitting the tunneling processes to be carefully monitored and suggesting appropriate action to be taken by the construction management team and contractor.

Jan 1, 2005

By J Hall, A Gallardo, M Strizek

Mineralogy and coproponents Sino Iron, International Minerals and Austeel are in the process of developing four world class magnetite iron ore mines with multiple open pits along a 25 km strike length of Brockman Iron Formation to the south of Cape Preston on the West Pilbara coast. The close proximity of the proposed pits raises some challenging project approvals and environmental management issues relating to the impacts of dewatering at individual projects and the cumulative impacts of progressive development on local and regional groundwater resources, which includes a large fresh water aquifer system in the Fortescue River alluvium.This paper presents an outline of the hydro-environmental impact assessment process adopted and the key result that the cumulative impacts of dewatering at all four projects on the local brackish groundwater system in the basement rocks is only marginally more than the impact of any one project on its own, and that the impact on the Fortescue River alluvium aquifer is negligible. The paper also presents an outline of the proposed integrated water management approach that will involve coordinated monitoring, ongoing impact assessment and management, and reporting programs for all projects.

Jan 1, 2009

By Nikhil Dhawan, Veeranjaneyulu Rayapudi

This study investigates upgrading of low-grade banded hematite quartzite iron ore (Fe ~31%). Conventional beneficiation was found to be futile. The susceptibility of iron phases to microwave exposure and their selective absorption assists in the liberation of iron values. Microwave exposure of coarse particles at 540 W for 10 min yielded a concentrate with Fe 56.30% and recovery of 50.68%. Conventional carbothermic reduction at 500 °C, 60 min and 9% charcoal yielded a concentrate with Fe 57.6% and iron recovery of 68%. The presence of sufficiently bonded silica leads to an easy formation of a fayalite phase. The microwave reduction design yielded FeG of 57.6%, FeR of 47% and a yield of 24% at an optimal condition of 540 W, 8 min and 6% charcoal. It was found that a small fraction of microwave-irradiated ore-charcoal mixture melted rapidly, and pure ferrite balls were observed within 8 min. An optical micrograph of a ferrite ball reveals the retained austenite and martensite phase.

By A. Wahab Khair, Richard D. Begley

"This paper presents results of destructive tests performed on rectangular coal specimen under the influence of two vertical and simultaneous wedge indentation forces. Several wedge designs and spacings were utilized in compression tests. The objective of these experiments was to qualitatively monitor the effect of different wedge designs and spacings on the stress distribution within the coal specimen.Coal samples from the Waynesburg coal seam were cut and trimmed to cubical dimensions of approximately 5 X 10 X 20 cm. These specimen were subjected to parallel compressive forces through two vertically applied wedge indentors. Loading was achieved with a hydraulic hand pump in order to facilitate interferogram construction. The load increments were limited due to the sensitivity of the holographic interferometric technique (holometry) in measuring small displacements; therefore, interferograms were taken only during similar increments in order to allow for a qualitative comparison between different wedge design and spacings. In some cases, interferograms were taken immediately before and after failure of the specimen.Introduction Failure Modes Three distinct modes of failure occur when geologic materials are subjected to wedge indentation forces. As shown in Figure 1, a crushed zone is located immediately adjacent to the indentor while chipping can occur if the fractures initiated in the crushed zone extend upwards to the free surface.. The third failure mode is a zone of intricate frac¬tures located between the crushed zone and the chipping zone. Several experiments have been conducted over the years to better understand crater formation and stress distribution within geologic materials under the influence of an indentor. Generally speaking, crack initiation and propogation observed in these experi¬ments correlate fairly well with wedge indentation theory; however, the nature of the .fractures is greatly influenced by different material properties such as grain size and cleavage planes. In other words, a wide range of behavior has been found in different rocks subjected to wedge penetration. For example, it has been observed that some rocks are merely crushed and indented while others are more prone to cracking and chip formation. Therefore, the development or nondevelopment of chips depends mostly on wedge geometry, rock type and depth of penetration. This work is part of the study associated with opti¬mization of cutting parameters, which is best modeled by using brittle materials and subjecting them to rigid wedge penetration tests."

Jun 1, 1988

By A. P. Liu

Semi-industrial test on fine products of Meishan dressing plant was carried out with type RP80/25 high pressure roller mill produced by Homburg Corporation of Germany, and the influences of such factors as energy consumption, water containing, throughput and circulating load on rolling effect were investigated. Closed circuit experiment result showed that Meishan iron ore could be suitable for powder grinding with high pressure roller mill, and energy consumption of the operation was declined by 25%~30%, which was favorable for energy-saving, increasing production efficiency and improving grinding effects. According to above experimental results, this paper put forward the technical proposal of application of high pressure roller mill in Meishan, and pointed out some technical problems which needed to be settled urgently in technology disposal.

Jan 1, 2014

By Steve Skelhorn, Dan Ifrim

"A tunnel project poses many challenges; the operation of the Tunnel Boring Machine (TBM) being one of them. Mechanized tunneling is known as a safe and effective alternative to other methods in terms of schedule and cost; however, efficiency can be severely affected by a bad TBM selection and qualification and employment of inexperienced operators. The success of a mechanized tunneling project involves a comprehensive and interdisciplinary consideration of all contributing factors such as TBM technical specification and selection, TBM design and procurement including ancillary equipment and tunnel linings. The tunnel equipment selection along with the operation can make or break the project. The objective of this paper is to address the importance of the skills and qualifications of the TBM crew with particularity to the TBM Operator. The study includes the Owner and Consultant involvement in the selection and pre-qualification of the TBM crew and specifically the TBM operator as well as the role of Contractor and TBM manufacturer in TBM operator training. This paper also analyzes the possibility of issuing a TBM operator certification, and discusses the benefits and significance of periodic training and certification programs. INTRODUCTION Training in the tunneling industry is not a new topic. The industry continues to evolve and become more complex with technology advances and expansion of mechanical tunnelling to mechanized shaft construction, large diameter drilling and mining industry applications. The need for professionals trained to operate mechanized tunnelling equipment is ever increasing, while there is a significant number of veterans who will be ageing out in the next 5 years. Consequently attracting young professional is a very important aspect of sustaining a qualified pool of professionals. For any given tunnel project, the owner and the engineer spend up to several years, studying the ground conditions during preliminary and final design. Post contract award the contractor spend additional months studying the ground again to develop the optimum means and methods for construction. All this time and money spent at the beginning of the project has the purpose of developing the optimum tunnel design, assessing the risk associated and implementing mitigation measures to reduce risks to acceptable levels. Following the tunnel design process, sophisticated TBMs are being specified and sourced to ensure the best tool for the job. The question raises here: Are there available experienced/trained professionals capable of operating these sophisticated machines?"

Jan 1, 2016

By Charles D. Litton

An overview of state-of-the-art technology in fire detectors is presented by the Bureau of Mines regarding their use in the mining industry. Detectors are categorized according to the characteristics of a fire to which they respond. Operating principles of the various detectors, their application, and the advantages and disadvantages of each are discussed.

Jan 1, 1979

By Ivan R. Jankov

No setor industrial no mundo todo, são exigidas as emissões cada vez mais restritivas. Nas plantas onde o Precipitador Eletrostático já está instalado, a solução com o melhor custo-benefício para reduzir as emissões de material particulado abaixo de 20 mg/Nm3 é com o Filtro Híbrido. Esta tecnologia consiste em combinação dos princípios de operação de um Precipitador Eletrostático (utilizado na entrada do sistema), com uso de campo elétrico para separação de material particulado do fluxo gasoso, e de um Filtro de Mangas (utilizado na saída do sistema), com uso de tecido para retenção de material particulado. Salienta-se que a viabilidade de implementação do Filtro Híbrido depende da configuração original do Precipitador Eletrostático (i.e. altura das placas, número de campos, largura da carcaça) que determina o espaço disponível para mangas, bem como as velocidades máximas do gás dentro da carcaça. Na indústria siderúrgica, este tipo de retrofit já é utilizado em planta de sinterização, mas também é aplicável para despoeiramento de fornos de cal e de plantas de pelotização.

Oct 30, 2017