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By V. Polotski

Initiated and financed by the Canadian Space Agency, Micro-Rover Platform with Tooling Arm (MRPTA) project has targeted the development of a robotic system with remote control and autonomous navigation capabilities for testing a large variety of analogous planetary missions. Although developed for planetary exploration, the navigation system is highly suitable to such areas of application as construction and in mining. Autonomous navigation system is capable of moving the platform to predefined position(s)/orientation(s) while continuously mapping the terrain, assessing its traversability and choosing most appropriate path to follow. Designed according to the JAUS (Joint Architecture for Unmanned Systems) framework, the system consists of several interconnected components. Following components are of particular importance: Pose Estimator (PE), Terrain Evaluator (TE), Map Manager (MP), and Path Planner (PP). The PE uses a minimal sensor configuration consisting of an azimuth gyroscope, inclinometer and wheel odometry. The PE provides reliable pose estimates in spite of pronounced slippage by employing extensive use of fused data. The TE uses a nodding laser scanner which continuously sweeps the area in front of the platform and constructs a ?traversability grid? (TG) of the surrounding area. Multiple TGs are constantly constructed along the platform motion path are combined into a terrain map maintained by the MP. The PP uses this map to compute a motion path Obtained path is executed by the motion controller and remains current until it is contradicted by the most recent map ? at which point it is re-planned. This paper addresses integration issues, lessons learned and also outlines the possible applications for construction and mining.

Aug 1, 2013

By Sharif Jahanshahi

Calcium ferrite slags are often associated with Professor Yazawa due to his pioneering work on the thermodynamics of this type of melts. Over the past years CSIRO has invested some effort in studying physico-chemical properties of such melts to fill in some gaps in our knowledge and explore opportunities for application of the understanding developed. These investigations cover thermodynamics, transport properties of calcium ferrite based slags, as well as the kinetics of reactions of such slags with refractories. The present paper provides an overview of some of these studies and highlights some of the interesting behavior of such melts. The oxidation state of copper and arsenic in calcium ferrite based slags are predominantly Cu+ and As3+, respectively, at oxygen potentials below 10.1 atm. The concentration ofCu2+ in such slags becomes significant at oxygen potentials of greater than 10'1 atm at 1300 ?C. The activities of CuOo.s and AsOl.S in calcium ferrite slags show strong deviations from the Raoultian Law, while that of CoO is very close to ideal behaviour with respect to pure solid CoO. Addition of Si02 to calcium ferrite slags can have significant effects on the activities of FeO and Fe2O3 and hence the stability of magnetite phase. Transfer of oxygen in calcium ferrite slags is fast with diffusivity of 2xlO?3 cm2/s at 1350 °C and activation energy of 16 kcal/mol Presence of solid phases, such as magnetite, has pronounced effect on the viscosity of calcium ferrite slags. The observed dependence on solid loading and shear rate indicates deviation from Newtonian behaviour. The interfacial tension between copper mattes and calcium ferrite slags is strongly dependent on the matte grade, with the determined values being much lower than the corresponding ones for interfacial tension between similar mattes and iron silicate slags. MgO, Cr2O3 and MgCr2O4 have low solubility in calcium ferrite slags and their solubility increases with increasing copper oxide content of the slag at 1300 °c. The oxidation state of the slag has strong effects on phase transformation, dissolution rate and disintegration of refractories in calcium ferrite slags. Other key factors with major impact on slag-refractory interactions include viscosity and surface tension of slags as well as the contact angle between slag and refractory material.

Jan 1, 2003

By Iván Zevallos

"La mina de talco localizada en el estado de Río Grande del Sur (Brasil) fue explotada hasta agotar sus reservas. En ese sentido, para descartar la existencia de algún cuerpo del mismo mineral en las proximidades se propuso efectuar una prospección magnética terrestre. La asociación del talco con esquistos magnesianos y serpentinitas confiere validez al levantamiento geofísico, debido a la alteración de los esquistos que los torna ferromagnéticos, de forma que se determina que el yacimiento fue explotado. En ese sentido, el presente texto describe el levantamiento magnetométrico como método magnético para determinar el cierre de una mina de talco como importante precedente para los exploradores de yacimientos de minerales no-metálicos."

Dec 1, 2016

By J. Drew Potts

In this U.S. Bureau of Mines study, four underground respirable dust surveys were conducted to determine factors affecting belt entry dust levels and how using belt air to ventilate work areas affected dust exposures. Belt entry dust levels on the surveyed longwall and continuous miner sections averaged 0.59 and 0.26 mg/m3, respectively. The stageloader-crusher contributed an additional 0.5 to 0.9 mg/m3 of dust to belt air, while the feeder-breaker contributed 0 to 0.2 mg/m3 of dust. A 1,000-ft increase in belt entry length or a 200-to 500-st-per-shift increase in production resulted in roughly a 0.1-mg/m3 increase in dust. Using the belt entry as an intake entry on the continuous miner section appeared to reduce dust levels by 0.1 to 0.3 mg/m3 during cutting. Belt air was not used to ventilate the face on the longwall section.

Jan 1, 2010

By T A. Carter

In 2010 Agnew Gold Mine (AGM) struggled to produce the required tonnages from its stopes. The longhole rises used to create void in stopes were unreliable and often failed to gain the designed rise height. The number of firings per stope was having an adverse impact on the ground conditions at the stope brows, impeding stope productivity.Through practical experimentation with longhole drill rigs, box hole rigs and development drill rigs as well as trialling new methods in conjunction with reviewing drill hole data, drill hole accuracy was observed to be an issue on-site. Innovative dragging methods such as the reverse drag, combined with a slope instead of a vertical face on the rear of stopes, have improved dragging and a reduction of firings per stope, enabling larger production blasts.The methods trialled and subsequently implemented at AGM have facilitated the mine achieving budgeted targets for six consecutive quarters. This paper documents the use of these methods in a key lode of AGM’s operations to improve drill and blast practices in order to achieve production targets.CITATION:Carter, T A, 2014. Improving production drilling and blasting in the Kim South orebody at Agnew Gold Mine, in Proceedings 12th AusIMM Underground Operators’ Conference 2014 , pp 251–258 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Mar 24, 2014

By James E. Hoffmann

Oxidative pressure leaching is gradually supplanting other techniques for the decopperizing of slimes. The reasons for this include: much more rapid reactions, more compact equipment, a reduced environmental burden, and perhaps most important, a much lower final copper concentration in the decopperized slimes. This paper will discuss the reactions occurring during decopperization, the acidity and temperatures encountered and the techniques employed for discharging non condensable gasses. A spreadsheet is provided which allows adjusting the operating conditions depending upon raw (undecopperized) slimes composition, solids concentration and lixiviant composition. A typical process equipment flowsheet is provided along with a process narrative.

Jan 1, 2000

By Dipankar Gorain, A K. Vishwakarma, Vivek K. Himanshu, Murari P. Roy, Shubham Singh, R S. Yadav

The industrial establishments of a power plant consist of many important structures viz. cooling tower, wagon tippler, track hopper, plants and offices. The leveled foundation is the utmost need for erecting these structures. The leveling of the foundation is done by rock excavation, when the establishments have to be setup in hilly/rocky areas. Drilling and blasting is the cheapest and most dominant method of rock excavation. However, this method has associated hazards in terms of blast induced ground vibration, air overpressure, flyrocks etc. The foundation work and erection of the industrial buildings are done in parallel to achieve the faster construction of the establishment. The challenges to reduce the induced hazards in such cases are more. This paper presents a case study on the controlled blasting method devised for the rock excavation for construction of 2 × 660 MW Obra-C thermal power plant. The foundation work for this power plant was made by excavation of Dolomitic rock. The excavation work was performed in the proximity of the existing residence of the local people and Obra market. With the advancement of project, the excavation was also performed in the proximity to the ongoing construction work of various industrial buildings. Accordingly, the controlled blasting pattern was devised suitable to the specific sites. The pattern consisted of variations in blasthole diameter, burden-spacing, maximum explosive charge per delay, total explosive in a blasting round, initiation system and direction of initiation. The suitable muffling arrangements were also used, when the blast was conducted in the close proximity to the structures. The initial blasting pattern was established by analysis of blast vibration wave propagation characteristics. Thereafter, the final pattern was adopted for the safe excavation at the site. The safe excavation for the foundation work of this power plant has been completed successfully based on the devised controlled blasting pattern.

Feb 6, 2023

By R. K. Sinha, B. S. Choudhary, Desh Deepak, A. K. Mishra, Hemant Agrawal, Shankar Kumar

There are several methods (empirical, statistical, and machine learning tools) to calculate blast-induced ground vibration. Still, due to complications in the blasting procedure, under varying blasting loads and strata conditions, it is not easy to predict and simulate blast vibration precisely. Therefore, a study was conducted to simulate the field blast data in Ansys software using explicit dynamics. For this study, monitoring of ground vibration for 20 single hole blasts was carried out. The density of emulsion explosives was in the range of 0.9 to 1.15 g/cc. In the laboratory, rock properties were determined from the rock sample collected from the mine site before blasting. The in-hole velocity of detonation (VoD) and the density of the emulsion explosive were also determined. These parameters were used for numerical analysis to know the ground vibrations at specified points. The results of ground vibration predicted by the model are validated using field data.

By L. Martin, M. Raffaldi, M. Stepan, D. Benton

The Office of Mine Safety and Health Research, Spokane Mining Research Division, is continuing its high-energy, high-displacement testing of field-scale shotcrete panels. A test program was developed to determine the relationship between applied force, displacement and energy for both unreinforced and reinforced shotcrete panels. Reinforcement options consisted of synthetic macro-fibers, sprayed polyurea liners, chain-link mesh, welded-wire mesh and combinations of them. During testing, photogrammetry was used to measure the geometric changes of the panels, including volume changes and panel cracking. These measurements were correlated with the load and displacement data, allowing visual observation to be related to the applied force and displacement. The test results provide a comparison of the mechanical performance of the various panel types and can assist in interpreting the condition of installed surface support. Visual assessment of the loading cycle and strength capacity of shotcrete in underground excavations will improve mine safety by providing a means to better quantify the stability of installed shotcrete support.

Jan 1, 2016

By Eric Nelson

The paper point out the structural openings and the localization of ore bodies. Structural openings in rocks constitute the primary permeability network for the formation of most hydrothermal ore deposits. The distribution, geometry, density, and orientation of ore bodies in structural openings are controlled by two primary factors: the far and near field stresses and the mechanical properties of rock. When stress controls the orientation and kinematics of faults and fractures in the absence of pre-existing weaknesses, ore shoot orientation is perpendicular to the fault slip vector and can be predicted by kinematic analysis. However, when structural openings form along pre-existing weaknesses, ore shoot orientation cannot always be predicted by kinematic analysis. Because we can classify ore bodies based on the types of geological structures discussed above and the variations that naturally occur from material property heterogeneity, exploration for hydrothermal ore deposits should include analysis of geologic structure and evolution, rheological variations, pre-existing weakness, and fault kinematics to evaluate structuralcontrols on localization of ore bodies.

Apr 22, 2003

By E. T. White

The population balance is one of the basic relations for a:n:aIysing particulate minera1 processing operations. It is an exact relation. The principles of the population balance are reviewed and applications in the minerals industry discussed.

Jan 1, 1996

By M. P. Hoffman

The U.S. Bureau of Mines is developing a roof bolter with a computer-controlled drill head that will increase the safety of roof bolting in underground coal mines by allowing miners to be relocated to a safe area. To ensure secure anchorage, acceleration and strain data are broadcast from an instrumented drill steel to a data acquisition system. These data are analyzed, correlated, and transformed to pro-vide information about roof strata, then are sent to a supervisory computer executing National Institute of Standards and Technology's real-time control software. The supervisory computer sends setpoint commands to proportional-integral-derivative control loops to control drill thrust, position, revolutions per minute, and torque.

Jan 1, 1994

By R Berry

This paper looks at two ways to estimate the bulk mineralogy of the rocks for assay intervals. The aim is to find an efficient indicator of the most common minerals in the rock. Phase (modal) analysis has traditionally been done using visual methods such as point counting and image analysis. A modern version of this process is the X-ray point counting routine using the SEM-EDS based software. These methods are too slow and expensive for routine analysis of bulk sample mineralogy at the normal assay spacing.Two sources of data were considered that provide information that can be used to determine the mineral abundance in assay samples. The most widely applied method is (semi-) quantitative X-ray diffraction (QXRD). The QXRD method is most applicable to major minerals and has limited application to minerals at low abundance. The nominal detection limit is 0.5 per cent. Values below five per cent have large errors. A second, less common, method is calculation of mineralogy from chemical assay data. Conversion of chemical analyses to mineralogical analyses depends on the unique chemical composition of each mineral. Elements only found in one mineral are easily accounted for, but many compositions are ambiguous. Deciding on the actual mineralogy is not simple. Recalculation of mineral mode from chemical analyses is more accurate than QXRD when the correct minerals, and mineral compositions, are known.Where only a few QXRD analyses are available they can be used to setup a protocol for calculation of mineralogy from assay data. Linear programming works well in this environment. The best results are obtained when both H2O and CO2 are directly measured. Loss-on-ignition (LOI) should be included if these are not available.Where both QXRD and chemical analysis are available for all samples, the best results are obtained using the least squared method to merge the data sets assuming QXRD has much higher analytical errors than chemical assays. The combined method provides more robust results because the high abundance minerals are controlled by the QXRD measurements while the chemical assays improve the precision for low abundance minerals

Sep 5, 2011

By Giulia M. B., Ferruccio Cribari, Alessandro Bertero, Eliano Romani, Roberto Sorge, Francesca Casini

"The use of Artificial Ground Freezing (AGF) to form earth support and seepage control barrier systems has had applications worldwide. These cover a variety of construction problems, including the formation of frozen earth walls to support deep excavations, structural underpinning for foundation improvement, and temporary control of ground water in construction processes. An application of AGF during construction of Line C of Rome underground is described in detail.The new line “C” of San Giovanni metro station was constructed adjacent to the existing line “A” of San Giovanni station; the new metro line “C” is deeper than line “A” and runs below the existing station. The underpass project envisages an Artificial Ground Freezing in order to create a structural and waterproof temporary cut-off suitable to the two new tunnels excavation, while keeping trains running in the safest possible condition. The excavation of tunnels under the water table, with a hydraulic head of over 10 m in not homogeneous soils having different mechanical properties and permeability and below existing sensitive structures, involves special ground freezing sequences and methods, as well as peculiar drilling systems and operations, such as TDDT (Trevi Directional Drilling Technology).Artifical Ground Freezing IntroductionNatural freezing occurs seasonally in many areas of the globe and can affect negatively the engineering performance of geotechnical structures; on the other hand, man-made freezing is a controllable process that can be used by civil engineers to stabilise temporarily the ground in order to support and/or exclude groundwater from an excavation until the final retaining and lining structures are constructed. Freezing and thawing of the pore fluid within soils involve complex thermal, hydraulic and mechanical processes that have significant mutual interactions. For example, phase changes of the pore fluid caused by temperature variations can modify the pore water pressure in the soil, which, in turn, can induce mechanical deformation. At the same time, any changes in the hydraulic and mechanical conditions affect the thermal processes by advection and changes of ice and water contents.An application of AGF which will be presented in the paper, refers to the construction works of Line C of Rome underground. In this case AGF was carried out to provide temporary support during excavation of the two Line C running tunnels directly underneath the existing S. Giovanni station of Line A, in the safest possible condition. In order to keep the trains of Line A operational during excavation, a temporary structure was installed and a real-time monitoring system was conceived in order to control the temperatures of the soil during freezing and the response of the structures of the existing station."

Jan 1, 2016

By Helena Byrdziak

Polish Copper Industry, located in the Lepica-Glogów region and operated since the 1970's, includes four mines and two smelters, "Legnica" and "Glogów", the latter consisting of "Glogów" I" and "Glogów II" both having different technologies. The "Legnica" and the "Glogów I" smelters using shaft furnaces, so sulfur elimination largely takes place during batchwise converting, resulting in fluctuation SO2-concentration between less than 1% up to 10% in the converter pas W the sulfuric acid plants. The ensuing difficulties of the past have now largely been overcome. Introduction of flash smelting at "Glogów II" with subsequent acid making by double SO2-conversion from the stable process gas, contributed significantly to further reduction Of SO2-emission. In 1994 a new double conversion sulfuric acid plant was installed at "Glogów l" as well as a "Solinox" desulfurisation plant at "Legnica", further reducing SO2 emission considerably, The next step towards this goal under consideration is a semi-dry desulfurization system for the "Glogów I" power station, SO2- abatement measures by KGHM and the results thereby achieved are presented.

Jan 1, 1996

This research is about human development and socio-economic progress of the main mining areas of Chile in the period 1990 - 2007, and especially about the positive effects that mining activity has on poverty reduction and indicators related to the Millennium Development Goals of the United Nations. The analysis is doubly interesting, if one considers that the economic and social developments in Chile, recognised and prominent among the Latin American economies and developing nations, are more evident in mining areas as Tarapacß and Antofagasta (northern Chile), which concentrated than more 70 per cent of investments and mining assets in the country. Additionally, the study concludes with methodological reflections for the evaluation of socio-economic impact in the mining industry in developing countries.

Jan 1, 2009

By Coida D. S. Renata, Gerald Okwuchi Onyedika, Moura E. B. Esperidiana, Graca Valenzuela-Diaz, Martin Chidozie Ogwuegbu, Francisco R. Valenzuela-Diaz, Amauche Cyprian Achusim-Udenko

This work aims to incorporate Mgbee clay, vegetal fibre (Costus afer) in recycled low density polyethylene (rLDPE). The incorporation of clay and vegetal fibre in rLDPE was carried out using a twin screw extruder machine and the nanocomposites were obtained. The nano composites were characterized by the Young’s modules test, tensile tests, bending test, XRD, SEM, DSC, and TG and other properties evaluated. The results of morphological and thermal properties showed a good interaction between the clay, and rLDPE as compared to neat rLDPE.

Mar 1, 2017

By D. R. Mitchell

FOR the second consecutive year, attendance at the Coal Division sessions far exceeded exoectations. Those in charge were continually faced with problems of finding seats and space for attending members. 115 seats were set - II~ for the annual luncheon meeting of the Division and approximately 175 members showed un. Since the hotel management would not serve more than the 115 it meant that 60 members were forced to eat elsewhere. This created hard feelings with some members. How- ever, officials of the Division were not able to obtain in advance any indication of this overflow crowd, but are suggesting to the New York Office that some means other than ticket sales be adopted to obtain an estimate of Division luncheon and dinner attendance. Members could be circularized prior to he meeting or they could be checked when registering as to the events they expect to attend. Under the inspiring leadership of Cadwallader Evans, Jr., Chairman, the Coal Division had a phenomenal growth during the year. Reporting at the luncheon meeting, Newel1 Alford stated that approximately 190 new members had been obtained. A few more years of continuing increase at this rate will make the Coal Division one of the largest Divisions in the Institute.

Jan 1, 1944

By D J. A Van Zyl, J C. Cunning

Technological advances associated with the expanded application of paste technology in underground mine backfilling are now stimulating an interest in the disposal of process tailings as paste in the surface environment. Concurrent with the development of alternative surface tailings disposal practices is the requirement to fully understand the consolidation behaviour of tailings in paste form, and to relate this understanding to the significant body of data and operating experience from decades of study of the performance of hydraulically placed tailings. One effective method for demonstrating the benefits derived from handling and placement of tailings as paste is to review tailings slurry consolidation theory from the perspective of the changes which take place in the material as it makes its transition from a loose slurry to a dense, stable deposit resulting from managed thin-layer deposition. For a typical process tailings, an example is provided which illustrates the effect which mechanical dewatering has in accelerating the consolidation process and thereby providing a range of benefits from the perspective of surface disposal. Increased rates of filling (rise), expanded use of upstream embankment construction methods and elimination of impounded surface solutions are some quantifiable benefits which can be assembled on a site-specific basis to allow for valid comparisons with more traditional approaches to tailings disposal.

Jan 1, 1998

By N Redwood, N Fowkes, A Bassom, S Durkin

"It is well known that from time-to-time a vehicle will interact with a bund or windrow and often the barrier is insufficient to safely arrest that vehicle. The result of such an incident is often catastrophic. Regulations around the requirement for edge protection near pit edges vary between jurisdictions. Generally in Australia regulations tend to be around placing the responsibility on the mine operator to provide ‘adequate’ or ‘appropriate’ edge protection. Guidelines often place a minimum height of bund at between half and two-thirds the diameter of the largest tyre on-site.Safescape has identified the opportunity to improve safety in open pit edge protection and is currently developing the Edge Protector (EP) product. The EP is designed to create a vertical front face to a conventional broken rock safety bund. The fundamental premise of the product is that by creating a vertical front face to the bund, trucks cannot easily drive up over the bund and instead have to push through the rock to get to the other side.In addition to providing a safer system for arresting vehicles, the vertical front face also means that extra space is made available in the haul road. This can either be used to facilitate larger trucks or when designing a new mine, with an increase in overall pit slope.This paper outlines the research and development of a new edge protection product. Discussion will include project objectives, economic incentive for mines to apply the system, mathematical analysis of the truck/bund interaction and physical testing of the product.Citation:Durkin, S, Fowkes, N, Redwood, N and Bassom, A, 2016. Innovative Approach to Open Pit Edge Protection, in Proceedings Ninth AusIMM Open Pit Operators' Conference 2016, pp 138–149 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Nov 15, 2016