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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 F Farías, D Villa

Codelco’s Salvador Project has been operating a block/panel caving mine for more than 50 years. This underground mining method dynamically mixes the ore and dilution. As a result, forecasting grades is difficult and achieving 100 per cent extraction of the reserves is practically impossible. A substantial volume of the ore mixed with dilution becomes remnant ore and remains to be subsequently extracted.A potential open pit mine is under evaluation at Codelco’s Salvador Project, which includes the extraction of remnant ore post-block caving extraction. An effective methodology has been implemented to estimate what is left behind once the underground mine has closed. A new mixing method using the Cellular Automata (Alfaro and Saavedra, 2004) approach has been used to allow estimation of the remnant ore with a sufficient level of confidence to be included as part of the open pit reserve.A remnant block model is created using elements such as in situ block model, drawpoint layouts, historical production records and the drawpoint extraction. Using this information, simulations of the extraction of the mine by month from 1959 to 2019 were completed, using different mixing scenarios and trying to replicate the tonnage and grade extracted.Finally, the remnant block model is categorised using a score card with four inputs to assess the risk of the estimation of this material into a category class (measured, indicated and inferred).CITATION:Villa, D and Farías, F, 2016. Remnant ore model generation and categorisation post-block caving extraction at Salvador Mine, in Proceedings Seventh International Conference and Exhibition on Mass Mining (MassMin 2016), pp 461–470 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2016

By A Kobzev, C Robben

Sensor-based particle sorting of gold ores is the masterclass of preconcentration. The technical challenges of a grade in ppm scale makes a direct detection with currently available technology in milliseconds impossible. Consequently, the detection and classification of particles into ore and waste classes relies on detectable proxies which are the foundation for the classification. These must be reliable and repeatable across the ore bodies processed in future. A sensor-based particle ore sorting equipment must therefore be calibrated systematically by understanding the gold deportation in different lithological groups. Also, it must be in best operational state to minimise possible misplacement. The technical challenges are met by a stringent financial regime governing the business case. Many gold ore sorting projects require a stable grade of gold in the rejected waste significantly below 1gr/t. Two examples are introduced in this paper:  The pilot results and operational experience of X-ray transmission (XRT)-based particle ore sorting for pebble sorting of sulphide associated ore;  Laser-based particle ore sorting for pebble circuit of an orogenic, quartz associated gold ore. Usually, sensor-based particle sorters are installed in the crushing section of a plant. However, for large capacity plants, the number of equipment required, and the associated material handling costs result in significant capital and operating expenses for plants with 1200tph run-of-mine capacity. As a conclusion, it was decided to investigate sensor-based particle ore sorting applied to the pebble stream of two existing semi autogenous mills.

Nov 10, 2020

The Rosebery and Hercules mines, situated in the Rosebery-Williamsford district in western Tasmania, have a history of production dating back to 1896-7, although full scale production did not commence until 1936, following the development of a satisfactory process of selective flotation (Hall, Cottle, Rosenhain and McGhie, 1953). The mineral composition of the Rosebery zinc-lead ores was first described in detail by Stillwell (1934). The Hercules ore is generally similar, but as yet no descriptions of it have beenpublished.Since Dr. Stillwell's paper appeared, the management of the Rosebery and Hercules mines has from time to time submitted a number of interesting mineral specimens to C.S.I.R.O. Mineragraphie Investigations. Examination of these specimens brought to light eight minerals, some relatively uncommon, not previously recognized in these ores.They are cassiterite, molybdenite, stannite, electrum, meneghinite, boulangerite, pyrargyrite and pyrrhotite. Some of the specimens are also rich in tetrahedrite and gold. In addition each of the other ore minerals described by Stillwell, viz. pyrite, sphalerite, galena, bournonite, chaleopyrite and arsenopyrite, was detected in one or more of the specimens examined during the present study. The principal gangue minerals were found to be quartz, manganiferous carbonate, sericite and barite, agreeing closely with the observations of Stillwell.The present study was based on the examination of the following eight specimens.

Jan 1, 1960

Hydrogen and carbon monoxide reduction data were obtained on pelletized materials of the type currently being prepared commercially in Australia.Pellets, approximately 1 cm diameter, made from Deepdale, Iron Prince, and Mt. Newman iron ore were reduced by hydrogen over the temperature range 500°-900°C and the reduced pellets were examined by thermogravimetric, microscopic, electron probe, and x-ray techniques. After an initial time delay it was found that up to 95 per cent reduction the data could be described by a porous model where gaseous diffusion through the solid is rate controlling. Independent measurements of effective diffusivity supported the values obtained from the reduction data. Above 95 per cent reduction the rate decreased markedly due to the formation of retained wustite or fayalite.Comparison with reduction by carbon monoxide over the temperature range 750°-900°C showed that the rate of reduction was approximately five times slower than for reduction by hydrogen.The rate of reduction was found to be a function of the initial properties of the pellets which may account for the widely conflicting results that have been obtained with previous investigations on porous pellets.

Jan 1, 1971

That electricity is an important and valuable agent, the limit of whose capacity for utilisation is as yet unknown, is a truism; although enormous advances have been made, the possible developments are yet greater. Mining, along with other industries, shares already to a large extent in the practical utilisation of this agent. Electrical engineers have been employed for several years past in developing and applying electricity to all classes of machinery, and for every purpose where power is required and in no instance, that the writer is aware of, has its use been curtailed in favour of any other agency now known, while extensions are continually made. The first modern electric motor was shown at the Vienna Exhibition of 1873, and it was used to work a pump through a mile length of cable but it was not before 1878, that an electric motor was put into daily commercial use by Messrs. Chretian and Felix to work a beet sugar hoist. This early plant effected a saving of 40 % as compared with hand work.In 1879, the first Electric Railway was constructed for the Berlin Exhibition, and in the same year, Mr. T. A. Edison was running an experimental line at Menlo Park. The first electric line opened for the public, was constructed by Siemens and Halske, in 1881, at Lichtenfelde, and was 11 miles in length.

By J Webster-Brown

The Tui Mine is an abandoned Pb-Zn mine giving rise to water quality problems in the Te Aroha region of Coromandel, New Zealand. When sampled in September 2002, for example, both the Tui and Tunakohoia Streams draining the mine site exceeded ANZECC (2000) water quality guidelines for aquatic life protection (Cu, Cd and Zn) and recreational quality (Cd). Based on trace metal mass flux (kg/yr) from parts of the mine site, the principal pathways by which Cu, Zn and Cd contamination reach these streams have been identified as:the tailings dam leachate,the diverted stream water from above the dam,the drainage from Adit 5 (which accounts for 95 % of Zn and Cd contamination in Tunakohoia Stream), andto a lesser extent, run-off from waste rock piles below Adit 4 level. Of the various remediation options, which have been proposed for the site, the following are identified as providing the best protection for the Tui and Tunakohoia streams:stabilising the tailings dam embankment and capping the embankment and tailings,constructing and/or cleaning out engineered diversion drains around the perimeter of the tailings dam to divert surface water away from the tailings dam, andinstalling bulkheads within Adit 5. A formal postal survey of the people of Te Aroha (66 respondents from 230 surveys) indicated that their priority was that the site be made safe for the public to visit, and used for recreation. As soil samples in potential recreational areas of the mine site, significantly exceeded guideline values for Cu, Pb, Zn, Cd and As, soil removal or capping clearly also needs to be part of a remediation plan. Development of the site as a historical/ecotourism area was viewed favourably, as this may encourage more visitors to the Te Aroha area as well as educate local residents.

Jan 1, 2003

Although mining, particularly of gold and coal, played a significant role in the development of New Zealand, from the time of the spectacular gold rushes of the 1860s its economic importance to the country as a whole has decreased substantially since that time. Gold, coal and non-metallic agricultural and industrial minerals have been found in economically significant quantities, however, the search for base metals has not been successful.

Jan 1, 1982

Good morning ladies and gentlemen. It gives me great pleasure to talk to you today about a pet subject of mine, on when to mill and when to leach gold ores. According to Gold Fields Mineral Services of London, gold production in the United States in 1989 amounted to about 8.5 million ounces (259t), an increase of 29 per cent over 1988 and 67 per cent over 1987. The U. S. Bureau of Mines reports that from the major producing states of Nevada, California, Montana, and Alaska, some3.2million ounces of the 1989 production were produced from milling gold ores and 2.3 million ounces from heap or dump leaching. Ap- proximately 45 million tons of ore were milled and 140 million tons of ore were heap or dump leached.

Jan 1, 1991

The recent paper by Dr. Edwards upon the copper deposits of Australia furnishes a perspective upon that portion of the Commonwealth's mineral deposits which is the more welcome because it has been long overdue. The paper yields in compressed form and in handy arrangement for reference the more relevant data to end of 1938 for all of Australia's important copper deposits 'past"and. present, and for many of the lesser ones. The information supplied 'obviously' has 15een collected' painstakingly and compiled with discrimination.Such published surveys of a national character have been far too few.The Mineral Resources Survey branch of the Department of Supply and Shipping at Canberra has been engaged for several years upon comprehensive compilations of data concerning each of the more important minerals used in industry. Presumably the results will be published after the war. The group will constitute an impressive and valuable series.As yet the work has not been completed, and, for security reasons, much of that which has been finalized is not publicly available. This makes the paper by Dr. Edwards the more timely.In the compilation of data by those not acquainted at first hand with many of the districts involved it is inevitable that, from reading of the literature alone, certain misconceptions will arise relationships become confused; and some of the more recently acquired information unavoidably fail to be taken into account. One need only compare his own impressions of a district, gained from reading the published literature prior to inspection, with the impressions later arrived at following a visit, to realize the difficulties in appraising the various features,in their proper relationships.On the whole, Dr. Edwards has, kept such misinterpretations at a minimum, which is a tribute to the care he must have exercised in analysing the vast fund of data perused. A few errors of statement, mainly concerning, Queensland deposits, have been noted. None is vital, but in the interests of accuracy it seems well to point them out.QUEENSLANDMount IsaOn page 108 Mount Isa's prospective output of 12,000 tons of copper per year is stated as coming from the Doherty section (O'Doherty, Black Rock mine, R.B.),- the copper ore-body is said to occur in dolomitic limestone (-Page 110)-, and Mount Isa's copper output for 1938 from that source is given as 22 tons. On page 145 the same prospective copper output is stated as coming from a body lying out in the hanging-wall of the silver-lead-zinc...

Jan 1, 1943

By Holla L, Tyminski A

Stowing has been successfully used in many countries as a means of controlling surface subsidence, minimi ing incidences of spontaneous combustion, maintaining gate road stability and maximising coal recovery.Australian experience in stowing is limited but in the future increased extraction of thicker and/or multiple seams by longwall operations and resolution of conflict of alternative land u'ses may necessitate the use of stowing in coal mining. At present there is little incentive for mining companies to introduce and operate a stowing system because costs have to be borne by the individual companies and benefits spill over to society and the State. Cost sharing by the industry and State incentives may overcome the problem of cost disincentive.

Jan 1, 1987

WHEN the writer resided at Zeehan, qn the West Coast of Tasmania, some years ago, he took a keen interest in the geology of the district and availed himself of the opportunity to investigate occurrences, of the varied minerals in which the field abounds. The following notes were compiled as a result of one of his periodical visits to the outlying mining districts, when an examination was made of the bindsay Reward tin mining property, which has an area of 140 acres. This is most easily reached from Renison Bell, the centre of the North Dundas tin-fields, on the Emu Bay railway, 'about' eight miles north east of Zeehan. Thence a pack track some 14 -miles long connects with the mine, crossing the Piemah River by a fine suspension bridge.The mine itself is situated on the main south leading spot of the Parson's Hood Range, at an altitude of some 1600 ft. above sea level. The Parson's Hood Range is composed of granite and is an extension of the rugged Meredith Range. A remarkable feature is the uniform topography of the surrounding country when viewed from the peaks. Except where dissected by the rivers and creeks, the surface is practically level and, indeed, affords a striking illustration of an ancient uplifted peneplain.The mine has been opened by means of trenches and adits, and the ore-body proved to extend for a length of 30 chains, with an average width of about 100 ft. Its general trend is west-north-west, and its dip, which is steep, corresponds to that of the country-rocks. These latter, which are of sedimentary origin and generally regarded as of pre-Silurian age, have been tilted at high angles, consequent, no doubt, on the crustal movements produced by the intrusion of the huge granitic masses which now form the high ranges in the vicinity.It may be here remarked that it is not Within the scope of this paper to deal with the sequence of events leading to the geological structure...

Jan 1, 1923

By D Pilone

The Tyrrhenian micro-nodules, findable at low depths (200/600 m under s l) are a reasonable reserve of manganese. They can be easily and cheaply recovered but do not contain valuable metals as in the case of oceanic nodules. In this work a hydrometallurgical process for manganese recovery from Tyrrhenian nodules is presented. The studied treatment includes the following operations: magnetic enrichment, reducing leaching, leach liquor purification and electrowinning . The study shows that the most important step in the process is the preliminary manganese enrichment. It can be done directly on the platform reducing not only the transport cost, but also the residue mud in the metallurgical plant. The leaching parameters such as status and size of nodules, temperature, composition of leaching solution and S/L ratio have been investigated. After purifying the leach liquor by iron precipitation as ammonium jarosite , the conditions to electrowin manganese have been investigated. The yields of both manganese leaching and iron precipitation together with current efficiency and specific energy consumption in the electrowinning step are given.

Jan 1, 2000

By J Bassan

The mining industry is faced with imperatives to improve worker safety and productivity, adapt to skills shortages, high worker turnover rates, and provide more effective maintenance to new and ever more complicated plant and equipment. While more effective use of data combined with advanced analytics offers opportunities for improvement, providing this information to the worker in the field, in real-time, has proven expensive, cumbersome and ineffective. New capabilities are now emerging which address some of the limitations experienced to date. Augmented reality (AR) provides a means to overlay interactive digital information on top of the physical world. Combining the latest visual display, mobile computing and ‘track and trace’ technologies, AR provides an experience similar to a heads-up display in a fighter jet through small, personnel devices, such as smart phones or wearable glasses. Applying AR would allow a mobile worker to ‘see’ all relevant information for a given task, in the context of their physical environment and at the time they require it. The technologies behind AR are rapidly maturing and becoming available at a price point that is viable for commercial applications. It is anticipated that AR will become ubiquitous at a consumer level within the next five years. The specific challenges faced by the mining industry make it an ideal early adopter of AR technologies. This paper examines a number of use-cases of how AR can be applied to the mining industry and the benefits that can be realised. The paper will identify areas of further work and viable opportunities for immediate adoption within the industry.

Nov 22, 2011

Taking the Presidential chair of the Australasian Institute of Mining Engineers, my first duty is to thank you for the high honour and position you have conferred on me. A position entailing the highest compliment the Institute could bestow on any of its members, and one which I feel my inability to properly fulfil, inasmuch, as you have men in your ranks of the highest scientific training residing on that great continent where the head quarters of the Institute is established, while my engagements here will not permit me leaving this colony but for a very limited period.About six years ago, during the time the mining boom was at its height, there came to this colony from England, Germany, and South Africa, several mining engineers, who in conjunction with the mining engineers here, formed an Institute which we soon found we were not able to maintain. The mining boom gradually died away, and many engineers have left the colony to find employment in other parts of the world. We made overtures to your Iqstitute to take us under your wing, which you were kind enough to do, and the outcome is that you have come over 1200 miles to hold a meeting in New Zealand. The paucity of members residing in this colony does not admit of a large attendance; but we heartily welcome you to our shores and hope you will enjoy a holiday visiting some of the principal mining centres and exchanging ideas, which not only improves our minds, and widens our field research, but also tends to lead to further economic improvements in the extraction of metals the earth contains...

Jan 1, 1903

In the plumbing of vertical shafts the methods employed and equipment used, are generally made to best suit existing conditions. Undoubtedly, there is no method that can be called standard or that can be used with equal ease and success on all shafts. At the Mount Isa Mines Limited property in Northern Queensland, Australia, local conditions have presented no major difficulties to be overcome in shaft plumbing work. In fact, compared to those at many shafts, the problem has been rather simple. There are three vertical shafts connecting main mine workings, with the greatest plumbing depth for any single lift, 350 ft.Other conditions pertaining to plumbing work have been generally normal.The method we have employed is, in principle, similar to the Weisbach orientation method with a variation that does not necessitate damping of the wires to bring them to rest. Although conditions encountered have not been such that damping the wires would have been inconvenient, we feel we have saved much time and eliminated unnecessary...

Jan 1, 1940

By D J. Williams

The approach to the disposal and storage of mine tailings is slowly evolving. Tailings disposal has been based on minimising short-term capital and operating costs, with rehabilitation costs discounted by the application of a high discount factor in a net present value approach to accounting. This has led to the widespread adoption of surface tailings storage facilities (TSFs) to store slurried tailings delivered by robust and cheap centrifugal pumps and pipelines. Depending on the site climate, rate of rise of the tailings, nature of the tailings and the extent to which supernatant water is removed from the surface TSF, the tailings may or may not dewater, densify and gain strength. High rates of rise of dilute tailings to a facility used to store both tailings and supernatant water results in a wet, low-density, soft tailings deposit that not only occupies a large storage volume but also presents rehabilitation difficulties. A low tailings density results in high containment wall costs, very high rehabilitation costs and a low potential for future land use or ecological function. Overall, the cost of slurried tailings disposal, thought to be low, is actually high. However, low rates of rise, even of dilute tailings, in a dry climate with efficient supernatant water removal can produce a dewatered, high-density, stiff tailings deposit that may occupy a large footprint but to shallow depth that is relatively easy to rehabilitate. There are advantages in dewatering tailings in the processing plant to recover process water and chemicals, facilitate tailings disposal in a more solid form and facilitate rehabilitation. However, the cost of dewatering in-plant can be high, and the process water may not lend itself to reuse. There are also advantages in removing supernatant water to facilitate solar and wind drying of exposed tailings, although water is lost to evaporation and the dried tailings may best be harvested prior to inundation by fresh tailings or rainfall run-off. This paper discusses the background and trends towards the elimination of conventional surface slurried TSFs, with examples presented of the management of black coal and other tailings, including those that are clay mineral-rich.CITATION:Williams, D J, 2015. Towards the elimination of conventional surface slurried tailings storage facilities, in Proceedings Tailings and Mine Waste Management for the 21st Century , pp 11–24 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 27, 2015

By M Wilson, D Whiteman, P Kuiper, S Talu, G Watt, A van As

Once the draw process has begun in a block cave, it is very difficult to identify which regions of the cave have successfully propagated, where the caved material is flowing from and where it is flowing to. The uncertainty around cave flow increases as the cave is drawn and can be further compounded by poor draw control practices. These uncertainties make it difficult to plan effective draw strategies to control dilution, as flow model predictions tend to gradually diverge from the actual state of the cave. There have been documented occasions where observed caving phenomena, such as muck pile surface rilling, could not be reproduced with the cave flow models of the time. The ultimate consequence of cave flow uncertainty is generally manifest as higher dilution and lower grades.In order to measure the real-time flow of caved material within an active block cave, CRC Mining and Elexon have developed, together with Rio Tinto, a cave flow monitoring system called Cave Tracker, which is being trialled at Argyle Diamond Mine (ADM) in Western Australia. The Cave Tracker system at ADM comprises electronic ‘beacons’ that have been installed down long HQ diameter drill holes located above the extraction level. As the cave-back propagates and the rock mass fragments, beacons are released into the muck pile and flow along with the caved material to the drawpoints below. At Argyle, the beacons are configured to emit a signal every three days. These signals are picked up by detectors installed on the extraction and undercut levels, allowing the positions of the beacons to be determined.By examining the real-time material flow in different regions of the cave, flow mechanisms can be better defined. Draw control strategies can then be actively tailored to manage the current state of the cave. Thus, previously undetectable indications of excessive rilling, rapid cave propagation, cave stall, air gaps and dilution entry can now be identified early and assessed continuously as the cave progresses. For the first time it is possible to amend draw strategies based on measurements from inside and outside of the fractured zones, allowing caves to be managed more effectively.CITATION:Whiteman, D, Talu, S, Wilson, M, Watt, G, Van As, A and Kuiper, P, 2016. Cave Tracker flow monitoring system installation at Argyle Diamond Mine, in Proceedings Seventh International Conference and Exhibition on Mass Mining (MassMin 2016), pp 479–488 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2016

By Pfeifer H. C, Nicacio P. A D

Sinter has been used as part of the metallic charge in large-scale blast furnaces for many years with the well-known benefits in terms of productivity and fuel consumption. However, because of the high investment in a conventional sinter plant, small blast furnaces and the associated integrated mini steel plants have not taken the advantages of using sinter. Recently KTS Korf Tecnologia Siderurgica, a division of Mannesmann Demag Ltda in Brazil, has developed a mini sinter plant for which the investment is compatible with small blast furnaces. Consequently, it is of great interest to evaluate the economical impact of using sinter in such small-scale integrated steel plants. In order to compare two alternatives, ie 100 per cent ore and 70 per cent sinter in the blast furnace burden, mass and heat balances for the entire operation from sinter plant through the blast furnace and EOF-based melting shop, were performed to evaluate the final production cost of the liquid steel. It was found that, depending on the sinter feed price, substantial savings can be obtained with the use of sinter.

Jan 1, 1999

By Creelman C. A

The removal of a horizontal piIlar between Nos. 9 and 11 levels (1,116 feet from the collar of main shaft) was successfully carried out by blast hole drilling, and, to the best of the authors' knowledge, this mass blast of 40,000 tons of ore (requiring the use of 7,150 Ibs. of explosive and 5,385 feet of primacord) was the first occasion on which a task of this magnitude has been carried out underground in an Australian mine.Blast hole drilling was introduced by this company approximately fifteen months ago at New Cobar Mine in sub-level stoping.This experimental drilling and blasting gave very valuable information as to the correct technique to be adopted when the final plans were being prepared for the removal of the horizontal pillar at New Occidental Mine.The dimensions of this pillar were approximately 15 feet long, and from 40 to 60 feet wide, and 65 feet in depth.The block of ore extended to 35 feet above the level and 30 feet below, the upper section being partially excavated to form the bell-hole floor and grizzly chambers used for drawing off the broken ore in the shrink stope above the No. 10 level.Description of Ore-bodyThe main ore-body is situated almost vertically in a well-defined shear zone at the junction of sandstone and slate, the sandstone forming the eastern and the slate the western wall.The ore-body consists of highly silicified slate (chert) sparsely impregnated with sulphides, containing a small percentage of copper and bismuth.The total length of the ore-body is approximately 450 feet, with a maximum width of 60 feet in the main section, which is about 200 feet long.This is the section shown in longitudinal and cross-section (Fig. 1).The ore-body is divided by a horse of mullock in the northern end into two legs, the eastern and western, which are approximately 250 feet long and averaging 25 feet in width.This ore-body is strong, hard and abrasive with extremely strong walls, an ideal proposition for open stoping and mass blasting.MiningIn all levels above No. 9 the cut and fill method of ore extraction was adopted. On Nos. 10 and 11 levels the shrinkage method was introduced with economical results, and no difficulty had ever been experienced with shabby or bad walls.Shrink stoping had been carried upwards from No. 11 level to within 10 feet of No. 10 level, when mining hazards developed, and instead of...

Jan 1, 1944