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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

GENERALTHE coal deposit, where it is being worked, consists of a bed of brown coal varying in thickness from 120 ft. to 200 ft., covered by an overburden of clay, drift, loam, etc., of a thickness of 22 ft. to 40 ft., and averaging 28 ft.The overburden is first entirely removed from the coal, and then the coal is excavated by. large revolving shovels which work at the bottom of the hole or open cut in the coal and deliver it in shovel bucketfuls to the transport system. The shovels owned by the Commission and available for this coal excavation are two Bucyrus steam revolving shovels, one being type 150B, weighing 150 tons, having a 21-cub. yd. bucket, and capable of digging a 47-ft. face; and the other being type 175B, weighing200 tons, having a 31-cub. yd. bucket, and capable of digging a 61-ft. face.In addition to these two steam shovels, the Commission has recently obtained a No. 250 Ruston electric revolving shovel weighing 340 tons, and having a bucket of 10 cub. yd. capacity, and capable of digging a 75-ft. face. When this electric shovel has been erected it will replace the steam shovels on the coal excavation, and the permanent transport system has been designed to take delivery of the coal from its bucket.The duty to be performed by the transport system is to take the coal from the shovels, elevate it out of the open cut, transport it to the screening house, deliver it iuto the hoppers at the top of this building, then to take the coal after it has passed over the screens and distribute the required grades to the power house and to the briquetting plant.

Jan 1, 1924

By J. K. A. McLEOD

Address by the President of the Institute (Mr J K A McLeod) in presenting the Institute Medal to Howard Knox Warner, C.B.E. Address by Howard Knox Warner after accepting the award.

Jan 1, 1978

By T Arena

To maintain copper recoveries and maximise production at the Sepon Copper Operation it is crucial to control the amount of copper entering the leaching circuit. This requires close control of blending of the multiple ROM stockpiles to achieve the desired head grade. Grade variability in the ROM stockpiles can lead to significant variation in the processing plant copper feed grade.Head grade sampling from the milling circuit at Sepon is complicated due to milling in leach solution to preserve the water balance. Copper is present in both liquid and solid forms and copper in the added milling solution has to be accounted for. This leads to difficulties in manual head sampling which also introduces delays due to sample preparation and assay turnaround. On-stream analysis is complex because of the solution and solid copper and the need to account for recycled copper solution.This paper describes the complexity of feed grade management at Sepon and the application of on-belt analyser technology to assist in the control of copper metal throughput.

Aug 8, 2011

FIRST TOWN PLANNING PROPOSALS Initially, accommodation at the minesite was provided at the Pastoral Homestead situated some seven kilometres north-east of the mine and between 1963 and 1966 was the base of the exploration camp. Tents were used for sleeping of 100 men and the Homestead used for dining and office facilities. With the beginning of ore production and shipment due to commence in 1969 a permanent town location was sought. Early town planning studies had been commissioned by Amax Inc. and Colonial Sugar Refining Co. Ltd. and in 1967 The Broken Hill Proprietary Company Ltd. took over the responsibility for putting them into effect. The location chosen was about four kilometres due east of the mine. Certain dominant factors influenced this choice. It was near enough to the mine to share services, yet far enough away not to be affected by dust and noise and received the additional shelter of a range of hills separating it from the mine. A predominant slope to the east provided good drainage and the ground was easy to excavate for services.

Jan 1, 1976

Microfluidic Solvent Extraction for Mineral Processing of Copper Leach Solutions

Sep 13, 2010

By T Berryman, C Adams, L Griesel, C Buxton

The Kalgoorlie Consolidated Gold Mines (KCGM) schedule model is used for short- to medium-term planning and scheduling at the Fimiston Open Pit Mine (the Superpit). The model bridges the gap between grade control models, which are generated one to seven days prior to mining, and the annual Resource and Reserve model update that is used for budget and life-of-mine plans. The schedule model uses close-spaced grade control data (up to 20 000 m drilled each month) as well as resource definition drilling to estimate production volumes three to six months ahead of current mining. From this, a rolling 12 week mining and processing schedule is generated on a monthly basis. As the KCGM operation is mill and sulfur constrained, the schedule model needs to be an accurate predictor of ounces as well as tonnes, gold and sulfur grades. The process must also be time efficient in order to meet monthly planning and reporting deadlines. Due to the large amount of new data generated each month, model updates using conventional interpretation and estimation techniques have proven to be impractical and too time consuming. This paper will examine the evolution of the Superpit schedule model process over time, recent improvements and the effect of different model outcomes on short- and medium-term mine planning.CITATION:Griesel, L, Buxton, C, Adams, C and Berryman, T, 2014. The superpit schedule model – A time-efficient data-driven estimation for short- and medium-term planning, in Proceedings Ninth International Mining Geology Conference 2014 , pp 397–410 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 18, 2014

Real Time and In Situ Measurement of Elemental Composition Using Lasers

Sep 13, 2010

By i, A Shirbazo, S Saydam, S Ata, H L. Ram, B Li

The integration of internet technology into industrial sectors has significantly accelerated the adoption of Internet of Things (IoT) devices, transforming communication, data aggregation, and information distribution. The mining industry has embraced this evolution by deploying IoT devices and advanced technologies like autonomous robots and sensors to enhance operational safety. These sensors enable real-time data transmission and continuous monitoring of key parameters, providing decision-makers with timely insights. However, the interconnected nature of these devices has introduced complexities, resulting in inconsistencies across operations. Addressing these challenges, this research explores the application of modern digital principles to the mining industry through the Reference Architecture Model Industry 4.0 (RAMI 4.0). RAMI 4.0 offers a robust framework that integrates digital and physical systems, promoting data transparency, interoperability, and decentralised decision-making. This study aims to briefly introduced framework designed for the unique challenges of mining operations, leveraging the latest digital technologies. The lack of standardisation in the mining sector highlights the need for a comprehensive approach to tackle issues such as interoperability, scalability, security, safety, and repeatability. Establishing standard procedures can ensure smooth interaction between connected devices, ultimately enhancing operational efficiency in the growing IoT ecosystem within the mining industry. Introducing a well-defined reference architecture like RAMI 4.0 can streamline management processes and improve operational efficiency in mining. By adopting this framework, the mining industry can effectively navigate the challenges of digital transformation, leading to a more connected and resilient future. The study concludes that RAMI 4.0, with its structured approach, can significantly enhance the efficiency and productivity of mineral processing operations, fostering sustainable growth in a digitally driven industrial landscape.

Sep 1, 2024

By Matters C. W

THE following paper embodies the present practice and the results of past experience in the survey departments of two of the leading Broken Hill mines, the Central (Sulphide Corporation Ltd.) and the Broken Hill South S. M. Co. N. L.The authors intend to limit the scope of this paper to a consideration of office methods, as much has recently appeared in technical literature concerning field work, both surface and underground. Special reference may here be made to a valuable paper on 'Mine Surveying' by H W Gartrell, in Vol XIII of Transactions, in which the author gives considerable attention to field work. Moreover, much of the office work described in current literature is American, and sometimes not suited to local conditions, being ·often exceedingly elaborate and demanding a large staff of assistants. It is believed that the methods of recording information described in this paper are sufficiently simple and flexible to be adapted to most Australian mines. Brief acknowledgement must be made to the work done by Americans, who have raised mine surveying to the position of a separate profession, instead of being merely an unimportant branch of land surveying.

Jan 1, 1912

By W Zeng, D Walker, D Cai, E Baafi

"The efficiency of the truck-shovel haulage system is significantly influenced by the truck fleet size. A discrete event simulation model with 3D animation has been developed to estimate the productivity of a truck-shovel network system, shovel efficiency, truck cycle time, truck utilisation and the optimal fleet size. The simulation model considers the dynamic variability of traffic conditions and also the truck as an individual entity. The resulting truck cycle time was found to be realistic and thus providing a better tool for strategic mine planning.Citation:Zeng, W, Baafi, E, Walker, D and Cai, D, 2016. A 3D Discrete Event Simulation Model of a Truck-shovel Network System, in Proceedings Ninth AusIMM Open Pit Operators' Conference 2016, pp 265–273 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Nov 15, 2016

By C DahnTr-Lindqvist

The Kiruna mine produced about 19 Mt processed iron ore in 1999 using sublevel caving. General failure in the hangingwall has been widely studied and its mechanism is rather well understood. Failure in the footwall is more recent and not perfectly explained. Plane shear failure and Hoek and BrayÆs circular failure charts were successfully used to match the first surveyed failure surfaces. The footwall is not free yet but covered by a caved waste rock abutment whose exact behaviour is poorly known. Based on new field data and numerical models (FLAC), the following paper presents recent improvements in understanding the Kiruna mineÆs footwall failure process.

Jan 1, 2000

During recent years there has been a marked increase in the use of explosives in Queensland coal mines. Delay detonators have been introduced and their use has extended with the wider application of mechanised methods of mining.The need for careful study of the characteristics of delay detonators is stressed so that the advantages of simultaneous firing, from the points of view of safety and efficiency, may be obtained. With their use new potential hazards are introduced. These hazardsare considered and means whereby the overall safety may be improved are discussed.The increase in the number of misfires since the introduction of delay detonators is shown and the examination of misfired detonators is described. Lessons to be learned! from these misfires are noted and details are given of the essential requirements for safe and efficient blasting using delay detonators.INTRonUCTIONOne of the aims of mechanization in coal mines is to reduce the physical effort applied to the winning of coal. Explosives play an important part in achieving this and, following the introduction of power borers for the drilling of shot-holes in Queensland coal mines, much of the arduous work associated with coal getting has been eased. During recent years there has been a marked increase in the consumption of explosives, as shown in Table 1, and it must be the aim of all to use these explosives safely and efficiently. That there are dangers associated with the use Of explosives cannot be denied. The shotfiring operation is fully covered by legislation and, being under the control of one man, shQuld be capable of being carried out with a high degree of safety. The main source of accident appears to be the failure to take proper cover and this has resulted in...

Jan 1, 1958

By J M. Shekiro

In the chloride process to manufacture TiO2 pigment, feedstocks containing higher TiO2 contents (high-grade ores or HGOs) are favoured in order to minimise production of undesirable by-products. Most of today’s HGOs are produced through the smelting or reduction and leaching of ilmenite, processes which consume significant energy and/or produce large volumes of non-titanium materials that may have to be landfilled. In order to improve the economic and environmental sustainability of its TiO2 business, the DuPont Company, working with Kobe Steel Ltd, has developed an innovative process called TiRON for making HGO. Using a rotary hearth furnace, the process reduces ilmenite to a high TiO2 slag and metallic iron granules. The TiO2 slag is suitable for TiO2 pigment manufacture, and the iron is suitable for steel making. TiRON can process sand or rock ilmenite of varying compositions and particle sizes. Fossil fuel instead of electricity supplies the energy for the reduction. Dusts and off-spec materials are recycled. These process attributes, together with capital requirements estimated to be significantly lower, give TiRON substantial economic, environmental, and process flexibility advantages over conventional ilmenite upgrading processes. TiRON has been demonstrated at the semi-works scale, and preparations are being made to bring it to the pilot scale.

Oct 5, 2011

By R Hardie, J Crerar, J Merritt, B Kirsch

Longwall mining and related subsidence, and watercourse diversion for surface mining operations have the potential to impact on fluvial geomorphic processes and the health of river systems. This is evident in the Isaac River in central Queensland. The scale and likelihood of these impacts are a function of the extent of existing and proposed mining developments and of the ongoing geomorphic, hydrologic and ecological processes within the Isaac River. Understanding the objectives for the river, the past and ongoing processes at work, the cumulative impacts of longwall mining development and the options for managing those impacts is essential for the development of an effective strategy to manage the health of the river system. An assessment has been undertaken to identify and understand the cumulative impacts of mining subsidence and other mining influences on geomorphic processes and waterway health in the Isaac River over a river length of approximately 100 km near Moranbah in central Queensland. The assessment included the development of a vision and objectives for waterway health. The assessment has identified mining and landuse changes that have impacted on the hydrology, geomorphology, ecology and hence the health of the Isaac River. The assessment has then sought to identify the cumulative impact of longwall mining and related subsidence on current stream condition and the proposed vision for the system. The primary impact of longwall mining on the river was found to be associated with sediment transport. The investigation included assess- ment of total sand available for transport, the volume of sand transported annually and the fluvial process response to subsidence. Recommendations have been developed for the management of the system and for longwall mining to increase system robustness and achieve the river health objectives.

Jan 1, 2009

By M Stewart

The structural framework for the major gold deposits of the Reefton Goldfield was largely established in the 1930s after a detailed regional geological mapping programme. Recent new mapping has now substantially modified the structural framework of the Globe Hill - Devils Creek area and the Waiuta area. Using bedding-cleavage vergence as a method of establishing fold limb facing, many new fold structures have been identified, some of which conflict with long-established structures such as the Globe Hill and Waiuta anticlines. In addition, the mapping of areas of west- versus east-facing limbs constrains the position of many faults. The mineralised Globe-Progress Shear is one such fault which graphically demonstrates major structural discordance of the folds in the hangingwall compared to the footwall. Recognition of the folding is establishing the structural framework for understanding of the origin of these productive gold mining areas.

Jan 1, 1996

By C S. Szentesy, K Howie

The Rosia Montana gold deposit is located within the æGolden QuadrilateralÆ area in the Apuseni Mountains of Transylvania, Romania. The deposit is situated approximately 85 kilometres north of the regional centre of Deva, within the province of Alba, at elevations of up to 1100 metres above sea level. The Rosia Montana deposit contains a current resource of 344.07 million tonnes at an average grade of 1.3 grams per tonne (g/t) gold (Au) and 6.0 g/t silver (Ag) for a total (measured, indicated and inferred) contained resource of 14.29 million ounces of gold and 67.00 million ounces of silver. The resource was calculated using a 0.6g/t Au cut-off, a 10 x 10 x 10 metre block size and multiple indicator kriging. The low sulfidation style epithermal mineralisation at Rosia Montana is hosted within Tertiary age dacite intrusions and related vent breccias. Mineralisation is generally disseminated and associated with silica, adularia, illite, pyrite and carbonate alteration of host rocks, with minor late carbonate-base metal veins. Precipitation of precious metals is generally considered to have occurred as a result of over-pressurization, boiling and subsequent brecciation. The dacite intrusions are hosted in Cretaceous shallow marine and deltaic shales and slates, which overlie older Paleozoic sedimentary and metamorphic rocks within uplifted sections of oceanic sea floor.

Jan 1, 2002

By A McGann, P J. Coghill, D Miljak

"It is widely accepted that bulk ore sorting could provide a step change in processing of low-grade ores. For this to be achieved a rapid, accurate bulk sensor of grade is required as well as sufficient natural variation of grade in the ore stream. CSIRO trialled a magnetic resonance (MR) sensor capable of measuring chalcopyrite, and by inference total copper grade, on the 1300 t/h Ridgeway portal conveyor. The gauge produced an unprecedented set of data down to a 1 t scale for months at a time. This paper analyses the measured variation and compares it to a simple model derived from the bore core data and mixing within the block cave mine.The model of the small-scale (<1000 t) variation is developed using fractal methods which have successfully been used in the past for copper porphyry deposits showing a power law or near power law distribution of copper grade and vein sizes. These fractal distributions have two features highly favourable for segregating ore, a large proportion of low-grade pods and the large-scale spatial clustering of grade. We show the presence of fractal ordering in bore core data at short range in the Cadia Ridgeway porphyry deposit and measure its persistence in the crushed rock produced by the Ridgeway block cave mine over one month. The model is then extended to demonstrate the effect of varying head grade, mixing and pod (or diversion) weight on bulk sorting efficiency.CITATION:Coghill, P J, Miljak, D, McGann, A, 2016. Modelling Grade Variation in Crushed Ore at Cadia Ridgeway and Its Potential Consequences for Bulk Ore Sorting, in Proceedings The Third AusIMM International Geometallurgy Conference (GeoMet) 2016, pp 77–88 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Jun 15, 2016

By A D. Campbell, G R. Power

Many caving mines use numerical flow models to simulate mine production, forecast recovered ore grades and optimise the draw strategy. In sublevel caving (SLC) mines, the effects of blasting and fragmentation at an individual ring scale generally cannot be included in these models. Previous attempts to use results from marker recovery trials to calibrate numerical flow models have been limited due to difficulties in accounting for blasting effects at a ring scale. This paper outlines how an empirical criterion for blasting and fragmentation was used to attribute variable flow properties into a numerical flow model based on the blast design and modelled fragmentation. The flow model was then validated using data from a number of full scale marker recovery experiments. The result of this approach was a significant improvement in forecast accuracy when compared against the same modelled cave marker recovery without the inclusion of these blasting effects. Improvements in the flow model are currently being adopted within the mine scale model to further improve the accuracy of grade forecasting, optimise the draw strategy and increase net present value. The integrated modelling approach is also being used to simulate the effects of different drill and blast designs on cave recovery. It is suggested that, if implemented, the technique would lead to improved blast designs in other SLC mines, increase the value of marker trial data and reduce costs associated with large scale blast design trials.CITATION:Campbell, A D and Power, G R, 2017. Improving calibration of flow models against SLC marker trials by linking blasting effects to particle mobility, in Proceedings 13th AusIMM Underground Operators’ Conference 2017, pp 11–22 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Oct 16, 2017

By D Gagnon, P Bouchard, F Vanier, E Soares de Lima Filho, J El-Haddad, M Sabsabi, G J. Wilkie, A Beauchesne, A Hamel, A Blouin, T Vaillancourt, F Boismenu, A Harhira, A Plugatyr, C Padioleau

Quantitative mineralogy is an established discipline in the geosciences and is aimed at providing mineral grade and texture information for geological and mineral processing applications. The two core technologies underpinning Quantitative Mineralogical Analysis (QMA) are Scanning Electron Microscopy (SEM) in combination with Energy-dispersive X-ray Spectroscopy (EDS). Technologies such as QEMSCAN and MLA are now routinely used to optimise the performance of large-scale mineral processing plants in the base and precious metal sectors. One of the major disadvantages of the QMA methods used today is extensive sample preparation requirements which make application of this technique to real-time mineralogical characterization not feasible. A breakthrough has been achieved by the National Research Council Canada in collaboration with CRC ORE by developing a novel Laser Induced Breakdown Spectroscopy (LIBS) based technology capable of real-time mineralogical characterization of process streams without sample preparation. The potential applications of this technology include, but not limited to, in-pit muck piles, underground draw points, cross-belt analysis as well as slurries. This paper describes the development of the LIBS-based technology from a proof-of-concept (TRL2) to the construction of a prototype sensor and its validation in a simulated environment (TRL5). Future work is being planned to test and further validate the LIBS sensor on a mine-site which will progress the technology to its next readiness level (TRL6).

Nov 10, 2020