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By K. Neumann

"INTRODUCTION For many automation and safety tasks in open cut and underground scenarios it is crucial to have highly reliable distance measurements at hand. These measurements can for instance be used to obtain the exact position of a machine in one-, two- or even three dimensions. Research and development has shown interest in the ultra-wide-band technology (UWB) in recent years. While for this technology short range, high speed data transfer is the current main research focus, the technology can also be used for highly accurate ranging applications. Due to the use of a very wide frequency band, it is robust against disturbances of many types (e.g. EMC, rain, dust etc.) and is therefore attractive for the use in mining applications. The wide frequency band also offers benefits for ranging applications. Especially in environments with strong multipath problems such as in underground mines it is possible to focus on the dominant signal propagation path, thus increasing the reliability of the measurements. [1] State-of-the-art UWB ranging equipment claims precision within the range of a couple of centimeters and working ranges of more than hundred meters. At the Institute for Mining and Metallurgical Machinery (IMR) at RWTH Aachen University in Germany a modern UWB system was examined in several laboratory and real life tests to examine the feasibility of UWB bases ranging equipment in mining applications. UWB TECHNOLOGY The term ultra-wide-band denotes radio systems that use an ultra-wide frequency band. A common definition for UWB radio systems is that it needs to work on a frequency bandwidth of more than 500 MHz or a bandwidth equal to 20% or more of the center frequency [1]. Due to the ultra-wide frequency bandwidth UWB systems overlap the frequency spectrum of narrow band radio technologies like Wi-Fi, Bluetooth and other mobile communication systems which use a defined carrier frequency onto which information is modulated on (e.g. by using frequency or phase modulation). In order to not conflict with these other radio applications, it needs to be ascertained that the transmission power of a UWB system on a given frequency is so low that narrow band systems are not affected by it. As opposed to this only a small fraction of the UWB system’s bandwidth is affected by the narrow band system. The unaffected remaining bandwidth is sufficient to reconstruct the original signal, even if additional noise is present. Figure 1 shows the power spectral densities of popular radio standards [6], [7], [8]. A significant driver of research and development of UWB systems has been wireless high bandwidth communication. Using an ultra-wide frequency band is highly desirable here, as the channel capacity is dependent on the bandwidth. So far systems have been realized especially for short distances (e.g. wireless USB or Wireless HDMI) but beyond that, communication systems for long distances (several kilometers) are possible [2]. Advances in semiconductor technology led to a reduction in power dissipation of such systems. This enabled higher integration levels which in turn facilitated smaller solution sizes for space constrained applications [3]. Nowadays, UWB is also used for high-precision ranging applications [4], [5]."

Jan 1, 2015

By Denis Tepavac, Mark Trim

Structural performance of fiber reinforced concrete (FRC) depends on its ability to carry tensile forces after cracking. Australian Standards AS5100-2017 and AS3600-2018 are the only available design standards that establish a test procedure to determine strength and toughness of an FRC in direct tension. Direct tensile testing of fiber reinforced shotcrete samples was performed to determine if the model and guidelines in AS5100/3600 were applicable to shotcrete; all previous testing was from cast samples. In addition to direct testing, micro CT-scanning was also performed. The paper presents tests performed, results, and how the tests could be used on future projects. In addition, a brief summary is provided of the guiding structural mechanics used for estimating residual tensile strength and test methods utilized to verify those estimates.

Jun 13, 2023

By Michael McNinch, LaTasha R. Swanson, Jennica L. Bellanca, Justin Helton

Accident data indicates that mobile haulage poses a significant pinning, crushing, and striking risk. Proximity detection systems (PDSs) have the potential to protect mineworkers from these risks. However, unintended consequences of mobile PDSs can undermine the safety benefit they provide. Soliciting iterative user input can improve the design process. Users help provide a critical understanding of how mobile PDSs may hinder normal operation and endanger mineworkers. Researchers explored users’ perspectives by conducting interviews with mineworkers from seven mines that have installed mobile PDSs on some of their haulage equipment. Mineworkers reported that mobile PDSs affect loading, tramming, section setup, maintenance, and general work on the section. Mineworkers discussed the operational effects and increased burden, exposure, and risk. Mineworkers also suggested that improved task compatibility, training, logistics, and PDS performance might help address some of these identified issues. This paper also gives additional insights into mobile PDS design and implementation.

By Michael McNinch, LaTasha R. Swanson, Jennica L. Bellanca, Justin Helton

Accident data indicates that mobile haulage poses a significant pinning, crushing, and striking risk. Proximity detection systems (PDSs) have the potential to protect mineworkers from these risks. However, unintended consequences of mobile PDSs can undermine the safety benefit they provide. Soliciting iterative user input can improve the design process. Users help provide a critical understanding of how mobile PDSs may hinder normal operation and endanger mineworkers. Researchers explored users’ perspectives by conducting interviews with mineworkers from seven mines that have installed mobile PDSs on some of their haulage equipment. Mineworkers reported that mobile PDSs affect loading, tramming, section setup, maintenance, and general work on the section. Mineworkers discussed the operational effects and increased burden, exposure, and risk. Mineworkers also suggested that improved task compatibility, training, logistics, and PDS performance might help address some of these identified issues. This paper also gives additional insights into mobile PDS design and implementation.

By K. Hanumantha Rao, A. Nayak, K. S. Narasimhan, S. N. Mahapatra

B.A. Hancock It is not at all surprising that causticized potato and potato derived amylopectin starch solutions performed much better than their parent starches. Some preparation is required to rupture the starch granules to effect the polymeric adsorption and interparticle bridging necessary for selective flocculation. In laboratory work comparing the deslime performance of causticized and autoclave cooked laboratory corn starch solution preparations, it was found that higher deslime weight rejections, with attendant proportionally greater iron unit losses, occurred with the causticized starch. These results may be specific to the ore involved but they do suggest that cooking and causticizing cause different starch granule rupture and/or starch breakdown, which have an effect on desliming response. I calculated from the data in the article that the slimes product grades were high - 24.3% and 20.3% Fe when 53.7% and 54.5% Fe concentrate products were obtained, respectively, in Table 4, and 21% Fe with a 62.6% Fe concentrate in Table 5 - using the natural tailings sample, which had a head of 34.3% Fe. It may be advisable for the authors to consider different starch preparations in future investigations. The combination of upgrading and selectivity results presented in Table 4 are not as good as the authors suggest. The authors' claim that a system has been developed to produce saleable concentrates from the Kudremukh tailings is quite disconcerting. There are many hurdles yet to be crossed before commercial application of selective flocculation becomes possible because differences between the very small-scale laboratory tests conducted and commercial application are rather large. Among the many differences are varying circuit feed grades that will occur from use of tailings, the apparent face that much lower tailings grades will be encountered in practice (it is much easier to achieve a high concentrate grade with reasonable recoveries using 34.3% Fe tailings as in the study rather than 25.3% Fe tailings grades that the plant apparently averages), the hydraulic nature of the thickeners used in operations compared to the static system used in laboratory tests, the different size distributions that will be obtained from a plant closed grinding-classification circuit, and differences in water used in a plant operation and the laboratory. The authors wrote that it was necessary to overgrind to be sure that the coarse gangue would not settle with the iron oxide floccules. This situation is likely to be exaggerated in commercial operations where it is assumed cyclones would be used for classification. Because cyclone classification is greatly influenced by particle densities, there will probably be an even greater difference in size between the iron and gangue particles in the plant, which would make the gangue slightly coarser still in relation to the iron. This would make the selective flocculation-desliming separations using the procedure employed by the authors even more difficult and, using the dispersant system the authors employed, greater overgrinding would be required. To grind finer to minimize the coarse gangue in the flocculated iron oxides is quite inefficient and appears not to broach the problem. The actual problem appears to be insufficient dispersion of the ground pulp. In this situation, addition of a dispersant would likely be required to attain a sufficiently high pulp dispersion level to efficiently effect a selective flocculation-desliming separation. Although the very coarse particles would still have a tendency to settle with the floccules, it probably would be found unnecessary to overgrind as much as indicated. Use of an optimum combination of dispersant and pH modifying reagents may also significantly improve the selectivity of desliming. Additionally, although it is possible that sufficient dispersion may be obtained by pH control alone in some situations, it is quite probable that added dispersity was obtained in the reported work from using distilled water. It is research experience that distilled water enhances dispersion. In commercial operations it may not be expected that sufficient dispersion will be obtained by pH control alone, unless the water used in the process is by nature quite dispersive. Overall, a change in the Kudremukh tailings dispersant scheme appears necessary where a dispersant is used in conjunction with a pH modifying reagent. With this change, different dispersion-flocculation responses will result that would have to be further evaluated. Therefore, it is still an open question whether an efficient and effective selective flocculation separation using Kudremukh tailings may be obtained that will produce saleable concentrates.

Jan 9, 1986

By R. A. Ynchausti

In January 1993, Pyramid Resources began implementation of a supervisory expert control system at a U.S Cu concentrator. The objective of this control system was to improve plant profitability through unit operation optimization and integration. This paper documents the key aspects of the project, including: economic and associated benefits, system architecture, concepts of implementation, process control strategies, practical aspects of implementation and conclusions. The implementation of expert control at this concentrator has resulted in an estimated benefit of $50,500 per day. This is a net result of improved tonnage, reduced reagent consumption, improved concentrate grade and reduced energy per ton produced.

Jan 1, 1995

By Bruce R. Sutherland, Jim B. Ramsden, Gerry L. Bolton

Conductive metal powders are important building blocks for today's micro-electronic circuitry. Formulated into inks, they provide the interconnects needed to complete a complex integrated circuit and the means to enter the world of miniaturization. Traditionally, the inks have been based upon expensive metals such as silver, palladium, platinum and gold because of their excellent electrical conductivity and resistance to corrosion and oxidation. The use of a copper based ink, as an alternative to precious metal inks, recently has received considerable attention. Instability in the prices and limited supply of certain precious metal systems have driven up production costs, making the development of a lower cost copper system more attractive to manufacturers. However, lower production costs are on1 y real ized if performance and reliability can be maintained. While the development has been driven by cost, copper does offer some significant performance advantages over noble metal systems: conductivity as good as silver and 4W better than gold; leach resistance better than silver and equal to gold; stability at high frequencies better than gold or silver; strong film bonding characteristics; and compatibility with most solders. These benefits, however, do not come without cost. The inherently reactive nature of pure copper, while providing unique performance properties, makes it difficult to process. Unl i ke precious metals which can be fired in air, copper would oxidize and so requires special furnaces and atmospheres. Despite these difficulties, the transition from precious metal thick film systems to copper is gaining momentum. Manufacturers of high density, high performance circuitry are exploring the performance advantages of copper over gold and silver and the manufacturers of consumer products are considering the potential cost savings of copper over silver-palladium. Sherritt has developed a fine copper powder for this industry. Through association with the ink manufacturers, it has been found that performance properties of the ink vary with the physical and chemical characteristics of the powder. Production Process The production of very fine copper powders at Sherritt is based upon the disproportionation of cuprous ions as outlined in Equation [1] (1).

Jan 1, 1990

By McCarthy. Richard E.

The prime movers of the Centralia Project, the surface coal mine and the power plant, private utilities are very aware of public attitudes. They have established and maintain the reputation for leadership in public service and are genuinely concerned that this project initiate the pro-grams and design the hardware to answer the question :What will be the impact of the mine and the plant on the physical environment, i.e., the air, soil and the water." So in the beginning almost as soon as the decision had been made to go ahead with the project, officials of the two private utilities, Washington Water Power and Pacific Power & Light went on record and publicly stated time and again that the overall approach of the Operators would be to do all that was reasonably possible to safeguard the environment. This attitude became part of the thinking of the project planners, part of the design of the power plant and part of the plan for the surface mine. The coal to be mined is from the Skookumchuck formation. The formation is Late Eocene and is made up of poorly consolidated marine and non-marine deposits. The major overburden removal equipment is a bucket-wheel excavator -conveyor system and a 56 yard dragline. Mining of the coal will be done with truck and shovel. The coal is processed, washed and crushed to 1 ¼ " for delivery to the power plant. The muddy water created by the washing process is chemically treated and the solids removed by a thickener-vacuum filter system.

Jan 1, 1971

By Russell Barr

Operational excellence is generally known as a management system integrated across critical functions that is geared towards continually improving operational performance. Functional areas such as health, environment and safety, quality and human resources are the focus of many corporate-wide operational excellence programs. Operational excellence also focuses on improving areas such as customer orientation, employee empowerment as well as process, and systems optimization. It is widely viewed as critical to sustaining business performance improvement. Although it is difficult to find a universally accepted definition, or even common foundation in many respects, operational excellence remains a popular term in the business world. Many organizations have developed their own version of organization excellence, influenced by such individual factors, other similar institutions or even third-party service providers. A mining organization is no different from other organizations in that adopting and implementing effective operational excellence programs can dramatically improve business execution and performance across regional or global interests. This paper brings together various perspectives of operational excellence and reconciles them for a useful composite for the mining industry. While most agree that operational excellence should include normal functions in a manufacturing operation such as production, maintenance and engineering and processes such as quality, environmental and continuous improvement, many other factors for operational excellence seem to vary from perspective to perspective. Thus, programs that manufacturers engage in may seem the same, but may, in fact, be different in key areas. This may affect organizational performance in tangible ways. Management must buy into the company?s definition of operational excellence and be dedicated to achieving it. A review of many of the existing definitions of operational excellence, explicit or embedded as part of a program, seems to yield the following common factors: ? It should help organizations better execute their processes and services. ? It should be geared towards improving quality ? It requires that the various operations should be aligned with the overall enterprise strategy. ? It should be geared towards continuous improvement. A composite of operational excellence definitions suggest that it is: ? Geared towards helping the organization achieve sustained profitability; ? tied to strategic alignment and business objectives; ? tied to solid investment strategies; ? integrated as part of the culture, process, time plan and performance; ? a relevant performance measurement system; ? extended to include all aspects of the supply chain (including external suppliers); ? integrated with health, safety and environmental (HSE) aspects. And, while the pursuit of operational excellence intuitively suggests that businesses should improve, it is very difficult to achieve given the difficult challenges facing companies today. Mining businesses face numerous pressures to perform in a global marketplace such as demand, energy cost, variable cost and pricing fluctuations as well as infrastructure challenges to further confound the environment. Companies generally must look to the following:

Jan 1, 2009

By R. L. Loofbourow

SEVERAL categories of storage are used depending on capacity. Operational storage, which is small in comparison with the market, facilitates handling surges of a few hours' or a few days' duration. Seasonal storage, usually larger, permits accumulation of product during sea- sons when demand is low, for delivery when demand is high. In producing areas, large storage may permit production at a uniform rate, without waste or distress sale. Near large markets such storage increases the efficiency of transportation, allows a more extensive or higher grade market to be served, and affords protection against interruption in delivery.

Jan 1, 1959

By F. A. Renninger

The mineral aggregate industry is the world's largest mining and processing endeavor, yet it is graced with little of the romance or public awareness that accompanies mention of gold, silver, iron, copper, uranium, or aluminum mining efforts. Much of this reaction is undoubtedly due to the fact that the uses to which crushed stone and sand and gravel are normally put are not fully recognized or appreciated by the general public. Few individuals ever have occasion to purchase mineral aggregates for anything other than use for decorative shrubbery beds or walkways. They may, however, buy ready-mix concrete for a new patio, bituminous concrete for a new driveway, concrete blocks, or other building materials for a new room and never realize that the primary ingredients of their purchases are either direct or indirect products of the mineral aggregate industry. The average person driving past an operating crushed stone quarry or an active sand and gravel pit rarely realizes the economic impact the industry, represented by that operation, exercises on the general economy. He is not aware, nor does he really care, that elements of the modern comfortable environment to which he has grown accustomed rely to a great extent on the products of the crushed stone and sand and gravel industries Iron and steel, glass, cement, agriculture, and highway and building construction are but a few of the major industries to whom the products of the mineral aggregate industry are basic. Without these industries or without the stone, sand, and gravel basic to them, most of the major elements of our modern day civilization would be non-existent.

Jan 1, 1968

There are multiple stages in a mining operation that a mining engineer has to draw polygons to be used as operation guidelines. These polygons are drawn by hand and based on engineer?s experience. However, having automatic procedures for forming the shapes can increase the quality and decrease the efforts required. These shapes need to be homogenous in grades and rock types so that the quality and dilution of material sent to the plant can be estimated with the good approximation. In this paper, a clustering algorithm with shape control is introduced which can provide reasonable guidelines for all the aforementioned shapes by manipulating its parameters. At the end, implementations of the algorithm on a small part of a gold deposit with different mining strategies is presented and evaluated based on homogeneity of grade, rock types and determined destinations as well as the shape.

Feb 27, 2013

By Swan. J. D.

Repairing and replacing equipment damaged by corrosion and abrasion is a major cost throughout industry, especially in the coal mining industry. Careful study of corrosion and abrasion, and their causes and effects, often leads to the selection of alternative materials which can provide economies. What, actually, are corrosion and abrasion and how do they contribute to the cost of operating a coal-preparation plant? Furthermore, what can be done to alleviate corrosion and abrasion problems and thereby reduce operating costs? These questions will be answered in the following discussion, which will describe the destructive action of corrosion and abrasion and give several methods for controlling corrosion and abrasion losses, These methods include the substitution of stainless steel for carbon steel, the use of corrosion inhibitors, and the use of design to eliminate corrosion and abrasion. Examples will be given illustrating the benefits that have resulted in plant tests when these methods of controlling corrosion and abrasion were used.

Jan 1, 1970

By C. J. Pritchard

The Office of Mine Safety and Health Research (OMSHR) investigated ways to increase mine airflow to underground metal/nonmetal (M/NM) mine working areas to improve miners? health and safety. One of those areas is controlled recirculation. Because the quantity of mine air often cannot be increased, reusing part of the ventilating air can be an effective alternative, if implemented properly, until the capacity of the present system is improved. The additional airflow can be used to provide effective dilution of contaminants and higher flow velocities in the underground mine environment. Most applications of controlled recirculation involve taking a portion of the return air and passing it back into the intake to increase the air volume delivered to the desired work areas. OMSHR investigated a Nevada gold mine where shaft rehabilitation was in progress and one of the two main fans was shut down to allow reduced air velocity for safe shaft work. Underground booster fan operating pressures were kept constant to maintain airflow to work areas, inducing controlled recirculation in one work zone. Investigation into system behavior and the effects of recirculation on the working area during times of reduced primary ventilation system airflow would provide additional information on implementation of controlled recirculation into the system and how these events affect M/NM ventilation systems. The National Institute for Occupational Safety and Health monitored the ventilation district when both main fans were operating and another scenario with one of the units turned off for maintenance. Airflow and contaminants were measured to determine the exposure effects of induced recirculation on miner health. Surveys showed that 19% controlled recirculation created no change in the overall district airflow distribution and a small reduction in district fresh air intake. Total dust levels increased only modestly and respirable dust levels were also low. Diesel particulate matter (DPM) levels showed a high increase in district intake mass flow, but minor increases in exposure levels related to the recirculation percentage. Utilization of DPM mass flow rates allows input into ventilation modeling programs to better understand and plan for ventilation changes and district recirculation effects on miners? health.

By Nicolin Govender, Pramod Kumar, Raj Rajamani

Mill power models have been used in a variety of ways in industrial practice since power directly equates to throughput and fineness of ground product. We first start with Hogg-Fuerstenau Power Model and show how this model successfully predicted the power draw of many grinding mills in several mining operations. Then, we show how this model was on the verge of being able to predict the influence of lifter design on power draw. Next, we describe the discrete element model and how it overcame the issues faced by the previous power model. Using a DEM software known as Millsoft, we show the influence of lifter design geometry on power draw and analyze the power draw of rubber lifters versus the steel lifters via several case studies. As years passed, the two-dimensional discrete element model imbedded in Millsoft is superseded by three-dimensional discrete element method. Due to the gigantic computational power of graphic processing units, new computational codes that can do the tumbling motion along the entire length of the mill has come about. Here, we show the predictive capability of Blaze-DEM for ball and SAG mills.

Automated drilling in surface mines is here, it?s successful, and it?s already at work in mines around the globe. Coal, copper, iron and gold mines in large mining countries such as Canada, Australia, South Africa, the United States and Chile are meeting mining objectives previously ruled out as unattainable. Pit Viper automation enables operators to accomplish more objectives safely. Operator assist functions like AutoLevel, AutoDrill, Auto Rod Changer and multi-rig teleremote control are a few of the features mines are using to gain consistent, sustainable productivity.

By S. F. Willey

The difficulties encountered in justifying replacements for over-age mobile mine equipment at the Gay Mine are common to most mining operations. More critical management reviews, resulting from ever rising capital expenses, increased such difficulties. These increased difficulties are especially apparent to those who are primarily operators and are not statisticians, mathematicians, or computer oriented. The Gay Mine is located 17 miles east of the town of Fort Hall in southern Idaho. This open pit operation annually supplies the J. R. Simplot Company and the FMC Corporation with 1.5 MM - 2.0 MM tons of phosphate ore. Stripping ratios average approximately three bank cubic yards of waste per ton of ore mined. The mobile mine equipment fleet consists of ten 24 yard scrapers; twenty-one 30-50 ton end dump trucks; four 32 42 yard shovels; fifteen dozers in the D-8 and D-9 classes; and three road patrols. Equipment replacement is based on the results of evaluations made on individual units. Authorization of capital expenditures for equipment replacement is dependent upon a favorable profitability index (true rate of return on investment) plus a favorable payout time. The system is based on cash flows and requires the determination of (1) the net cash outflows in the form of capital expenses plus (2) the expected cash inflows resulting from reduced expenses and depreciation tax credits. After adjustments for taxes and the time value of money, the net amounts are used to calculate the required indices. The basic elements for the system related to the replacement of mobile mine equipment include: (1) the determination of dollar penalties to be expected from the continued use of aging equipment; (2) the selection of equipment that will provide the greatest return on the investment dollars; (3) the quantification of the expected savings; and (4) the calculations of the prescribed indices. Inadequacies inherent in previous evaluating methods led to the search for more

Jan 1, 1972

By R. Bishop, J. Baggett, J. Monsalve, J. Hole, N. Ripepi, A. Abassi

This work focuses on the operational and safety issues associated with karst voids in large opening underground mines. Issues include water inrush, structural instability, and engineering uncertainty in these environments. Coupled with the fracturing prevalent in folded sedimentary rocks, karsts are complex and challenging ground control risks. Traditional methods of predicting karst locations, such as probe drilling, are impeded by the inconsistent spatial distribution and variable sizes of the features. Ground penetrating radar (GPR) is a geophysical technique that transmits radio waves into a medium and subsequently detects reflected waves via a receiver. The travel time and energy of received signals are then processed and interpreted. The difference in material properties between limestone and open karsts causes strong reflections. GPR is frequently used as a geophysical surveying technique in several industries, however there is a lack of published research on underground mining GPR applications. The purpose of this work is to prove the viability of GPR in underground stone mines for karst detection, and to discuss the importance of karst detection ahead of mining. INTRODUCTION The Mine Safety and Health Administration (MSHA) currently lists 116 active underground stone mines in the United States, the vast majority of which extract limestone for crushed stone products. These limestone mines have the potential to encounter karst voids at some point in their operation, as most karstic regions of the United States develop in limestone rock masses (Kuniansky, Weary, & Kaufmann, 2016). Karsts, the cavities formed by the dissolution of carbonate rock, have long plagued the mining and tunneling industries, as well as been a hindrance on the Earth’s surface, producing sinkholes and ruining otherwise valuable land for construction and public use. The impact of karsts on the Gavarres tunnel in Spain is well documented by Alija et al; constant instability conditions, material spills into the tunnel, and unexpected cavities seriously delayed the project deadlines and “were not foreseen in the design” (Alija, Torrijo, & Qunita-Ferreira, 2013). At the water supply project in Sohngua River, China, Bin et al detail the presence of both water and sediment filled karsts which are sources of disastrous conditions at this tunnel (Bin, et al., 2017). A hydrological tunnel in Lebanon encountered numerous massive karsts in the tunneling path which required remediation via friction anchors, rockbolts, welded wire fabric, channel steel arch segments, invert steel beams, and shotcrete (Leech, Jaoude, & Ghanem, 2008). From a design standpoint, rock mass classification schemes, such as the RMR from Bieniawski and the Q-system from Barton, are not able to represent the true nature of a karstified carbonate rock mass, and therefore complex case-by-case analyses of underground conditions are necessary (Andriani & Parise, 2017).

Jan 1, 2019

By Z. T. Mathe, M. A. Vera, M. C. Harris

This contribution presents a methodology how to quantify froth zone recovery in a continuously operated laboratory mechanical flotation cell. The methodology consists of relating the overall flotation rate constant to the froth depth of the flotation cell. As a result, a froth zone recovery factor (Rf) can be extracted. This froth performance parameter has been studied as a function of the flotation cell operating variables. By understanding the effect of these operating variables on Rf, an integrated methodology for modelling froth zone performance in batch and continuously operated laboratory flotation cells has been proposed. The Rf modelling is based on a semi-empirical approach which considers a number of parameters to be used. Some of these parameters may have physical significance, i. e. they may be easily and physically measured. The modelling approach consists of taking into account the interaction between the pulp and froth zones. This interaction allows froth zone recovery (Rf) to be predicted. The whole modelling exercise process lies on auxiliaries relationships which indicate the dependence of the parameters with the operating conditions of the flotation cell. This contribution is part of a larger project that deals with the modelling and optimisation of flotation plants (Project P9L, 2000).

Jan 1, 2001

By J. A. Marshall

"INTRODUCTION The purpose of this paper is to investigate the potential for use of UAVs in underground mines and present a prototype design for a novel autorotating UAV platform for underground 3D data collection. The mining industry has recently shown increased interest in the use of unmanned aerial vehicles (UAVs) to assist in everyday operations [20, 11, 4]. Above ground, small UAVs are in some cases a more efficient, inexpensive, and safer alternative to manned aircrafts currently used for photography, inspection and security [6, 10]. For example, attaching camera, infrared and LiDAR payloads, UAVs can provide a low-cost method of obtaining highly accurate 3D photogrammetric data and aerial photography. UAVs are now commonly used in open pit mining operations for applications that include stockpile surveying, 3D pit modelling, facilities management, accident reporting, progress monitoring, and environmental assessment [11]. There are numerous companies offering UAV services for mining applications; e.g., UAV Geomatics, Leica Geosystems, Sky Futures, SenseFly and FlyTerra, to name just a few. Common services include stockpile and open pit volume computations, environmental assessment, aerial mapping and photogrammetry. Although the aforementioned services are thosemost commonly provided by UAV surveying companies, they may also add value to other daily mining operations. For instance, SenseFly offers pre and post-blast monitoring in order to identify the presence of misfires and wall damage. This data can also be used to reconcile the blast results with expected results. GEM Systems offers a UAV equipped with a magnetometer for mineral exploration surveys. Companies such as Barrick have even used UAVs for solids modelling at tailings dams and stability monitoring [11]. UAVs in mining have so far been mostly limited to surface applications. Harsh underground environments pose many obstacles for flying UAVs. The confined space, dampness, reduced visibility, air movement, and lack of control signal propagation hinders most operators from being able to fly a drone underground. It may be that truly practical uses for UAVs underground will require either autonomous or semi-autonomous flight capabilities. Although there are many difficulties with flying underground, the potential benefits from a working system could greatly improve mining operations. The potential benefits of deploying UAV platforms underground include access to unreachable and dangerous locations and removing personnel from unsafe situations. These benefits have the potential to greatly improve mine monitoring and mine safety. Research has shown that current UAV technologies exist that allow for autonomous indoor flight. Extensive research has been done to develop UAV systems that are capable of performing on-board simultaneous localization and mapping (SLAM), which can allow them to navigate and map a foreign environment autonomously [5, 7, 1, 13]. Grzonka [7] successfully used an open hardware quadrotor to autonomously navigate and map an office building. The research outlines the localization, mapping, path planning, height estimation and control of the autonomous quadrotor. Other research has been done that exploits autonomous UAVs for search and rescue. Kassecker [9] proposed a software and hardware framework for a quadrotor capable of indoor and outdoor urban search and rescue and Rudol [19] developed a system for human body detection and geolocalization using an autonomous UAV.The use of autonomous UAVs in search and rescue has the potential to improve situational awareness and surveillance for a rescue team. Similar research has been done that uses autonomous UAVs for indoor exploration. Pravitra [15] outlined a strategy for autonomous exploration of miniature air vehicles (MAVs) within indoor environments and Rudol [19] developed a method for using an unmanned ground vehicle (UGV) and a UAV for cooperative indoor exploration. These studies show that aut"

Jan 1, 2017