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By G. Danko, R. Tiwari, J. Knowles

Many excavation and loading tasks require equipment operators to simultaneously coordinate the motion of multiple machine links, in order to achieve complex tool trajectories. Efficiency, ore selectivity, and machine wear, are all affected by the skill level and attentiveness of the operator. A software-based kinematics reconfiguration system designed to assist operators with various tasks has been implemented on a small experimental excavator using our new differential control architecture. Kinematics transformation and feedback control algorithms are being developed and tested using computer simulation, and the results implemented on the experimental excavator. Several task-specific kinematics transformations, including a virtual revolute-to-Cartesian machine reconfiguration and computer-assisted bucket steering and stabilization have been successfully tested. Progress, challenges, results, expected benefits, and planned work are described.

Jan 1, 2006

By Alain E. Holeyman

After scoping out the objectives of this general report, the report reviews the three assigned main themes addressed by the papers submitted to the session: pile monitoring, testing, and data processing. It focuses on later developments and on issues requiring clarification, thereby identifying topics for potential discussion. Pile Monitoring does not bring much novelty, except for the integration of IT on construction sites. As far as testing, new developments focus on internal pile loading procedures while more confidence is being gained with dynamic and kinematic load tests. Significant advances are noted in the interpretation of data, where variability of results are coped with, loading rate effects are being better addressed, and more routine use of Finite element analyses are observed. Several many older problems remain while new issues emerge from more recent technologies and approaches.

Jan 1, 2006

By S. M. Flaherty, R. E. Scheffel, A. Guzman

Geochemical conditions within a leaching operation are heterogeneous. This variability arises mainly from hydrological controls imparted by physical characteristics of the ore and by heterogeneous metallurgical properties at the rock-fragment and industrial heap scale. The resulting chemical conditions are responsible for stratified mineral recovery, non-uniform extraction and prolonged leach cycles. This paper presents field data from a sulfide-leaching operation which clearly demonstrate the impact of chemical heterogeneity on metal recovery and the potential use of modern measuring techniques to facilitate operational monitoring and decision making for optimization of leaching operations.

Jan 1, 2006

By G. K. Mann

Fragmentation analysis of blast or crushed rock material is a time-consuming and costly process. During the last two decades, the mining industry has been investigating image-based analysis systems as an alternative to generate fragmentation results. Many image-based techniques and commercial products have emerged during the last few years, and the mining industry has recently begun using these tools for real-time estimation of size distributions. Some existing systems require manual image editing to add or delete edges (or net) before executing the fragmentation analysis routine. This manual procedure may take hours of time for each image analyzed. Reliable and robust image segmentation should be able to handle a wide range of rock textures and sizes under a variety of lighting conditions. This paper describes a novel software application, which has the capability to autonomously capture images and analyze them to generate the particle size distribution. The system can also process a batch of images captured during a fixed duration of time and produce the overall particle size distribution. The new method has different layers of segmentation modules, which allows the system to operate under a wide range of rock textures and lighting conditions. A new grey-level slicing technique is developed which can perform under a range of illuminating conditions. The Canny-based edge detection technique is used to segment rocks appearing in dark regions.

Jan 1, 2006

By Theo. A. M. Salet

The historic centre of one of the most beautiful cities in Northern Europe -Amsterdam - is being excavated to accommodate the new North/South metro line. This new line is due for completion in 2012, and will link the Buikslotermeerplein district north of the harbour, underneath the Central Station and the old city with its gables and picturesque canals, to the commercial centre in Amsterdam Zuid/WTC. Three underground stations are being construction in the old city at Rokin, Vijzelgracht and Ceintuurbaan. The logistics of working in the middle of an historic city are demanding -maintaining tram, vehicular traffic and pedestrian access along narrow streets, providing suitable protection for the public alongside the working areas, arranging adequate delivery routes, as well as monitoring the old and mostly historical buildings for potential settlement. Safety of both the public and adjacent properties is paramount. Diaphragm walling - 1.2m & 1.5m thick and up to 48m deep - was chosen as the support system for the three deep metro stations. Challenging engineering as well as state-of-the-art equipment to construct the diaphragm walls was needed in order to meet the tight working specifications, in the narrowest locations imaginable. Extreme conditions call for innovative solutions.

Jan 1, 2006

By G. B. Dukes

Scaling of rockpasses was problematic at Tau Lekoa Mine prior to production commencing in 1991. High horizontal stress levels relative to the host rock mass strength have been instrumental in causing the observed scaling. Scaling has been more pronounced in the deeper rockpasses and these are monitored regularly. Rehabilitation of one of the reef passes and one of the waste passes was required in the period 1999 to 2001. This paper describes the extent of the problems experienced to date as well as the rehabilitation completed.

Jan 1, 2006

By Peter (Yunqing) Zhang

Longwall recovery under weak roof conditions could have considerable delay if the immediate roof is weak and deteriorates during screening. A pre-driven longwall recovery room is a feasible solution to minimize the impact of longwall move on production. In this longwall recovery project, a 16-ft recovery room was pre-driven to cover screening, and the shearer cut another 16 ft outby to reach the final recovery line. The pre-driven recovery room was carefully monitored as the face was approaching it. The longwall face operated very well as it cut into the recovery room. The recovery process took about 13 days, and considerable time was saved compared with the previous panel. The support in pre-driven recovery room was designed to handle both front abutment pressure and weak immediate roof conditions. Pumpable standing support was used to support the cantilevered roof as the fender pillar narrowed and collapsed when the face cut into the recovery room. To ensure the stability of the recovery room, 3-D computer modeling was used to evaluate the support system. Abutment pressure, critical fender pillar width, bolting system, pumpable cribs and shield support were considered in the model. The recovery room was carefully monitored during longwall recovery. Roof-to-floor convergence and crib convergence were recorded every shift as the longwall face was approaching the recovery room. Roof, floor and pillar activities and crib performance were also observed as the face cut into the recovery room. This paper presents the support design for the recovery room, evaluation of the support system through computer modeling, and details of the monitoring results.

Jan 1, 2006

By A. R. Barnes, A. F. Newall

Keywords: Pyrometallurgy, furnace, smelting, spinel, PGM, phase diagrams As Merensky reef ores are replaced by UG2 ores, chromium levels in PGM smelting furnace feeds have steadily increased. Increased chromium levels lead to operating problems. Attempts to increase the chromium solubility in the slag by a variety of techniques create other difficulties. The authors have developed a technique for removal of the chromium spinel interface along with the matte for subsequent separation outside the smelting furnace by utilising differential solidification in the ladle. The process has been patented internationally with support from the Innovation Fund.

Jan 1, 2006

By R. B. Krog

As part of its mining health and safety research program, the National Institute for Occupational Safety and Health (NIOSH) conducted a longwall methane emission and mining time study at a mine operating in the Pittsburgh Coalbed to access the methane emission consequences of mining a longer face. The methane emission contributors from the mining of a longwall face are: 1) gas released from the coal broken by the shearer, 2) gas emitted from the coal on the face conveyor, 3) gas emitted from the coal transported on the belt, and 4) background gas emitted from the coal face and from the adjoining ribs. Based on the results of the study, a set of site-specific mathematical formulas and constants were developed to characterize each of the four longwall emission contributors. The mathematical formulas were then applied to longer longwall face mining scenarios to predict the methane emissions from these faces.

Jan 1, 2006

By S M. Stewart

Building and Maintaining Community Relationships   In mining terms, the town of Waihi is distinctive with the Martha mine situated right in the heart of the town. MarthaÆs central location and other mining activity nearby means there is an increased community focus on the happenings at the mine and the effects and impacts of mining. While WaihiÆs proximity to the mine is unique, all mines have a community context that they operate within.   Issues of proximity simply heighten awareness and emphasise the need for building and maintaining good community relationships. In the three years we have been working alongside the Waihi community, we have worked together with concerned and supportive residents, representatives of Newmont Waihi Gold and representatives of Hauraki District Council, to develop a collaborative framework for addressing the economic, social, environmental, cultural and spiritual wellbeing of the people of Waihi. This could not have occurred without the genuine commitment of all participants.   This collaborative focus has resulted in some tangible progress in Waihi which, in part, stems from people taking an interest in the town because the town is taking an interest in itself. As we have worked and learned within the process of building and maintaining a collaborative and sustainable community environment, we have tried to adhere to a philosophy and a set of basic principles. We believe that this approach, combined with a teachable skill set, helped to create the opportunity to develop a truly collaborative community environment which continues to grow. Our paper will describe this philosophy, these principles and the skill set that we have applied.   The application of the process in Waihi has resulted in a series of outcomes unique to Waihi. These outcomes include formation of the Waihi Community Vision committee, the Vision Waihi Trust and the subgroups set up to further the interests of particular groups, for the collective benefit of all the community.   Based on our experience of other situations, and on the way the Waihi process has developed, we believe that the identified principles and skills can be transported and used in other cultures and contexts. While the resultant outcomes may differ, the underlying principles will still apply. Progress will come from creating a sustainable environment within which the community (including residents, industry and regulatory authority) can determine its own internal relationships and the vibrant growing sense it has of itself.

Jan 1, 2006

By A. Basçetin

Equipment selection in mining engineering is one of the most important decisions that affects the mine design, production planning and economic parameters in open pit and underground mining. Mine planning engineers generally use their intuition and experiences in decision making. Mostly, linguistic variables (the weather is raining, soil is wet, etc.) come into question and decision-makers may not know how these variables are computed. Since the advent of the fuzzy set theory, these uncertainties are easily interpreted in the decision-making process. The development of computer technology and programming of colloquial language with expert systems have considerably reduced decision-makers? burden. This paper reviews the development of a computer programme software called EQS (EQuipment Selection) that automates equipment selection in mining engineering using fuzzy set theory. The EQS with an introduction of the concepts and theories of multiple attribute decision-making, the fuzzy set theory, and EQS applications to mining industry problems with case studies are presented

Jan 1, 2006

By Hakan Gurgenli

Many coal seams have weak shale immediate roofs that cause ground control problems. Therefore, it is important to know the properties of these shales so that preventive measures can be developed in advance. However, it is sometimes hard to understand this rock type due to its unpredictable behavior. A good example of this situation is found in two shale coal mine roofs located in the Illinois coal basin (Herrin No. 6 seam). Although, these mines are located very close to each other, one of them has many roof falls, whereas the other has no measurable ground control problems. The aim of this paper is to explain why and how one shale roof behaves worse than the other. Laboratory tests, including point load strength index, slake durability index, moisture activity index, weatherability index, water content determination, swelling strain and x-ray diffraction tests were performed to analyze the shale properties. According to these analyses, some useful correlations were found between the engineering properties, moisture-sensitivity indices, and weathering properties. Finally, mine and support design considerations based on the test results were discussed and recommendations to prevent ground control problems were given.

Jan 1, 2006

By Gabriel S. Esterhuizen

A survey of pillar conditions was carried out at 21 operating limestone mines that use the room-and-pillar method. The surveyed pillars were all located in rock that was classified as ?Good? to ?Very Good? using the RMR rock mass classification system. The average pillar width was 14.5m and the width to height ratio varied between 0.53 and 3.52. Pillar conditions were rated using a visual rating system that accounts for the effect of geological structures as well as stress related fracturing. Nine cases of pillar instability were recorded. Pillar instabilities were typically limited to individual pillars or small groups of pillars within an otherwise stable layout. Local geological structures such as inclined discontinuities or weak bedding planes contributed to instability in seven of nine cases that were observed. Elevated pillar stresses contributed to instability in the two remaining cases. All the unstable pillars observed had width-to-height ratios of less than 1.5. It is concluded that pillar instability is most likely to be caused by unfavorable geological structures in pillars with width to height ratios of less than 1.5. Stress related instability such as rib spalling becomes more prevalent when the average pillar stress approaches approximately 20 MPa.

Jan 1, 2006

By M. J. Papo, A. Muwila

Hercules? is a low nickel austenitic stainless steel developed at Mintek that has a typical composition of 9 wt% Mn, 0.05 wt% C, 2 wt% Ni, 0.25 wt% N and 16.5 wt% Cr. A more corrosion resistant version of Hercules? (Hercules? B) with 0.5 wt% Mo has also been developed. Potentiodynamic tests performed on Hercules? B in a 5 wt% sulphuric acid solution showed it to have improved corrosion resistance comparable to that of AISI 304. The effect of a varying Mn content on the corrosion resistance of Hercules? B has also been investigated and the results discussed in this paper. From the corrosion test results, it is clear that decreasing the Mn content of Hercules? B increased the corrosion rate while increasing it decreased the corrosion rate. KEYWORDS Austenitic stainless steel, %ferrite, molybdenum, manganese, nitrogen, electrochemical corrosion tests, potentiodynamic scans, microstructure, chemical analysis.

Jan 1, 2006

By F. Freme

Coal production in the United States reached a record level in 2005, ending the year at 1.03 Gt (1,133.3 million st) according to preliminary data from the U.S. Energy Information Administration (Table 1). Production in 2005 was 19.2 Mt (21.2 million st) higher than the 2004 level of 1 Gt (1,112.1 million st) and surpassed the prior record set in 2001 by 5.1 Mt (5.6 million st). Although total U.S. coal consumption rose in 2005, not all coal-consuming sectors had increased consumption for the year. Coal consumption increased in the electric power sector by 2.2 percent and declined in the other industrial sector, while coking coal consumption decreased slightly.

Jan 1, 2006

By Jacques J. Eksteen

Metallurgical accounting around toll treatment smelters pose a number of challenges. This paper reviews the requirements for good sampling practice, and how conflicting requirements for good furnace operation and design often makes reliable closure of the metallurgical balance tenuous at best. Typical physical causes of variance and bias will be identified. The propagation of error (in the form of variance) will be discussed for a copper smelter.

Jan 1, 2006

By Andreas Hucke

For the roadway design in the German hard coal mining industry, an advanced combined planning system has been applied during the past 20 years. The German mining industry is working with single entry roadways system. After first longwall passage the roadways will be stabilised with side wall building material packages. Later this roadway will be used again for the second retreating longwall. The intention of the implementation of several different design methods for the planning of the roadways is to enhance the reliability of the results. On one hand the planning system uses numerical simulation and physical modelling in addition to analytical and empirical methods. On the other hand in-situ monitoring and analysis during the roadway development will be used to verify and calibrate the numerical and physical models. Especially before the implementation of new support elements in underground, this system is suitable and reasonable because the new support elements will be tested in the physical and numerical simulation prior to cost intensive underground tests. The interaction between the numerical and physical modelling in comparison with underground monitoring and analysis during development and the later use of roadways will be shown with some examples. The first example shows a rock bolted rectangular roadway which will be mined at both sides of the roadway. Different support and roadway building material package systems are investigated under various stress conditions. The results are utilised to optimise the roadway support and the roadway side package systems. The influence of different points in time of the installation of several support elements in a combined arch and bolted roadway is shown as another example. Two different types of support systems are compared within the physical models. These models are used as a base for ongoing numerical analysis and simulation to find out the ideal point of time to assemble the different support elements. The last example handles the influence of slickensides in the roof of arch shaped roadway on their stability. Different slickenside positions and densities are investigated and classified.

Jan 1, 2006

By R. C. Bratton, R. Q. Honaker

Hindered-bed separators are recognized as low-cost, high-capacity devices for both classification and density separation; however, since their inception, there have been few significant advances in the fundamental technology. Recently, Eriez has shown through modeling and pilot-scale testing that the innovative approach to feed presentation offered in the CrossFlow teeter-bed separator provides improved metallurgy when compared to traditional hindered-bed classifiers or single-stage coal spirals. This design feature prevents excess water from entering the separation chamber and disrupting the overall fluidization flow rate within the teeter zone. Most recently, a side-by-side industrial scale evaluation has verified that this technology improves overall efficiency and simultaneously reduces the separation cut-point. With regards to coal processing, data from full-scale units indicate that the CrossFlow offers good separation efficiency, high unit capacity, and metallurgical results consistent with laboratory- and pilot-scale separators.

Jan 1, 2006

By M. Jacobs

Keywords: Smelting, converting, sulphide, sulphide smelting, platinum, platinum group metals, PGM, base metals, nickel, copper, matte, slag, furnace, electric furnace, Söderberg, electrode, granulation, converter, flash drier, sulphuric acid, acid plant, Ausmelt, Sirosmelt, pyrometallurgy, metallurgy, Anglo Platinum, South Africa Waterval Smelter complex is situated in Rustenburg, in South Africa?s North West Province. The smelter objective is to process wet concentrate to produce crushed, slow-cooled, sulphur-deficient nickel-copper matte rich in platinum group metals (PGMs), gold, and base metals for despatch to the Magnetic Concentration Plant at the Base Metals Refinery. Throughout its history, the smelter complex has been continuously upgraded in line with increasing production demand, changing feeds, environmental initiatives, and advances in available technology. The smelter receives filter cake and slurry from Anglo Platinum concentrators and joint ventures. Wet concentrate is fed through a flash drying process utilising coal-fired, fluidised bed hot-gas generators, to produce dry feed material for the electric furnaces and slag-cleaning furnace. For primary smelting, two electric furnaces are used, each with a rated capacity of 34MW. Furnace matte, containing the bulk of the base metal sulphides and PGMs, is tapped periodically into refractory-lined ladles and granulated using high-pressure water jets, then dried through electrically powered pneumo-driers to become the main feed to the Anglo platinum Converting Process (ACP). Slag is tapped semi-continuously, granulated, and treated through the slag mill. The ACP treats the combined matte output of Waterval, Polokwane, and Mortimer smelters. It is a top-blown furnace, with furnace matte, air, and oxygen being injected into the converter via a lance submerged in the slag. Converter matte is tapped and bottom cast into moulds, slow-cooled, crushed, and despatched to the refineries. Slag is granulated and dried for recycling to the slag-cleaning furnace. ACP slag is fed to the slag-cleaning furnace along with a reductant and a sulphur source. Slag-cleaning-furnace matte is granulated for processing by the ACP, while slag is granulated and processed in the slag mill. The slag mill and flotation circuit treats granulated slag from the electric furnaces and slag-cleaning furnace to recover entrained matte containing valuable PGMs and base metal sulphides.

Jan 1, 2006

An Atomic Force Microscope (AFM) was used to measure the surface forces between glass sphere and silica plate in CnTAC1 (n=12, 14, 16, 18) solutions. The results showed the presence of long-range attractive forces that can be fitted to single exponential functions. With a given surfactant, the attractive force increased with increasing concentration, and reached a maximum at the point of charge neutralization (p.c.n.). The decrease in the attractive force above the p.c.n. is probably due to the inverse orientation of the surfactant molecules. A plot of the log (p.c.n.) vs. the number of carbons in the hydrocarbon chains of the Cn TACI homologues showed a linear relationship with a slope of -0.37, indicating that the surfactant adsorption entails a decrease in free energy by -0.85 kT per mole of CH2 (or CH3) group. These results suggest that the adsorption of long-chain surfactants is controlled by hydrocarbon chain association during the process of forming surface hemi-micelles (or domains). Possible origins of the long-range attractions are discussed on the basis of the results presented in this communication.

Jan 1, 2006