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By R. W. Plume

Gold extraction along the Carlin trend requires large withdrawals of ground water, which can be perched, unconfined at shallow depth, and (or) confined at depth. Five hydrogeologic units-Quaternary basin-fill sediments, Tertiary basin-fill sediments and sedimentary rocks, Tertiary volcanic rocks, Devonian to Ordovician siltstones, and Devonian to Ordovician carbonate rocks--form the framework for two aquifer systems that discharge along some reaches of the Humboldt River and its tributaries and are recharged by streamflow along other reaches. Ground-water withdrawals eventually could affect these stream-aquifer interactions. Further work is needed to quantify regional hydrologic processes and evaluate potential effects of mining on water resources.

Jan 1, 1992

By Aixiang Wu, Minjie Zhang, Zhuen Ruan, Yiming Wang

This paper combines theoretical and experimental analysis to conduct relevant research to improve the accuracy of predicting paste yield stress by slump flow. The analytical model of slump flow for yield stress is derived based on a mini-cylindrical mold with a height-to-diameter ratio of 1. It shows that the dimensionless slump flow is a monotonic decreasing function of the dimensionless yield stress and is independent of the material type (specific gravity), which provides a theoretical basis for quantifying the rheological properties of paste with slump flow. Three different tailing-prepared pastes were tested for their slump flow and implemented rheological tests simultaneously. The yield stress is obtained based on the Bingham model fit, as the measured value of the yield stress is substituted into the derived theoretical model. The studied pastes yield stresses range from 34.78 to 524.08 Pa, with corresponding dimensionless slump flow of 3.43 to 1.09. The results showed that the calculated slump flows were generally greater than the measured values. The analysis showed that this was mainly due to the thixotropy of the paste, with minor deviations ranging from − 1.5 to 5.8% for the less thixotropic pasted prepared from tailing C. An approximate analytical solution for yield stress as a function of slump flow is obtained using Taylor’s formula. However, it is unsuitable for predicting the yield stress because the yield stress calculated by this function is much higher than the measured value. The empirical yield stress model was constructed and experimentally verified. The results show that the empirical formula has high accuracy and good generality. The deviation of the studied pastes is between − 15 and 5%, which provides a practical method for rapid and accurate prediction of paste yield stress in mine sites.

Jun 1, 2023

By James B. Cathcart

Marine phosphorite deposits occur in Brazil, in the Bambui Group of late Precambrian or Early Cambrian age. The phosphorite is laminated, isoclinally folded, and is composed of black, elongated apatite pellets and quartz grains cemented by quartz and muscovite. Abundant, narrow quartz veinlets cut through the rock at right angles to the elongation direction of the pellets. The phosphorite is 0 to 80 meters thick and contains 5 to 30 percent P205. The deposit is elongate towards the northeast, and the central, thickest, and richest part is bounded by faults. Measured reserves are about 250 million tonnes that average about 13 percent P205. Preliminary testing indicates that grinding, scrubbing, and desliming will produce a material usable for fertilizer manufacture at a cost competitive with imported phosphate fertilizers.

Jan 1, 1977

By Michael MacMillan

AI is already changing how mining companies are seen, judged, and trusted. This paper discusses “reputation engineering,” a structured way to build trust in a world where AI systems summarize and evaluate everything a company says publicly. Using mining examples, emerging AI search trends, and real communication work, the paper explains why the next 12–18 months are a crucial window for action. It also provides a practical framework to help mining companies improve their visibility, accuracy, and consistency across both human and machine channels.

Feb 22, 2026

By Chunbao Sun, Qi Liu, Chao Wang

Entrainment is a process by which fine and ultrafine particles are transferred to the flotation froth from the top of the flotation pulp, and eventually discharge to the concentrate product, evenwhen they are not attached to gas bubbles. Therefore, entrainment can be considered as a two-step process, one at the upper layer of the pulp to the flotation froth, and the other from froth to the concentrate. Entrainment is inevitable for both hydrophobic and hydrophilic minerals and is one of the significant factors affecting concentrate grade. This paper provides a comprehensive review of the entrainment mechanisms and entrainment models, as well as a summary of the main factors affecting entrainment and the techniques thatmay be used to lower or eliminate entrainment. Based on the review, we point out that selective aggregation of fine and ultrafine gangue minerals using appropriate process aids (polymeric depressants, inorganic salts, etc.) to increase their particle sizes appears to be a convenient and economical method. Directions of further research along this line are discussed.

Aug 31, 2020

By Satoshi Honda, Mitsuru Shimizu, Tatsuji Nagao, Motoaki Kurisu, Hirokazu Izumi, Toshinori Takahashi, Hiroyuki Itoi

"1. INTRODUCTION Grade separation of roads and railway tracks is an effective method for solving traffic-related issues in cities. However, in urban areas where the existing traffic infrastructure is already overcrowded, construction of new roads often faces problems especially in the proximity of existing structures. This paper summarizes the construction plan and results of new road tunnel construction in the proximity of the piers of elevated tracks on the Tokaido Shinkansen railway.2. SUMMARY OF CONSTRUCTION AND ISSUES Auxiliary Route No. 26 as specified in the Tokyo urban plan is a project by the Tokyo Metropolitan Government, covering the construction of a new road with a total length of 22.3 km currently on the way to completion. In Shinagawa Ward, Tokyo, Auxiliary Route No. 26 is designed to cross the railway tracks of the Yokosuka Line and the Tokaido Shinkansen Line, so for this project, the East Japan Railway Company (JR East) was commissioned to design and build a road crossing under the railway tracks (Sumiyoshi Underpass). Figures 1 through 3 show a sketch of the Sumiyoshi Underpass. The Sumiyoshi Underpass was planned as a two-lane tunnel for vehicles, which was to cross under the railway tracks of the Yokosuka Line and the Tokaido Shinkansen Line at an angle of 70 degrees. The structure concerned is a single-story single-span box culvert structure with the following dimensions: 11.5 m wide, 7.7 m high and 31.6 m long. The Tokaido Shinkansen Line tracks were constructed on a girder-type elevated bridge built in the 1960s, and the foundation piles of the piers (P7 and P8) in the proximity of this crossing box culvert of RC structure were constructed using an earth drill method. The crossing structure for this project is located extremely close to the piers of the Tokaido Shinkansen railway tracks, with a minimal separation of 0.4 m, and the most significant issue of this project was construction in a manner that would not obstruct the normal operations of the Tokaido Shinkansen (Figure 4). Initially, we considered installing a temporary earth retaining structure in the proximity of the piers, cutting the ground and building an RC box, but concluded that it would be very difficult to apply this method because of probable excessive displacements in the Shinkansen railway piers. That is why we decided on the use of a non-open cut method in order to minimize the impact on the piers."

Jan 1, 2016

By Edward S. Hsia

Pluor Utah has been closely associated with the engineering and construction of earth bottom thickeners for porphyry copper operations, for the counter-current decantation circuit of a gold cyanide plant and similar applications in mineral processing. During the past 13 years, some 18 of these thickeners have entered service and the bottoms have proved to be watertight structures with no particular problems encountered. In the course of this work, technological advances have been realized in the procedures for engineering and construction of these units to assure watertight basins and achieve all possible economies in construction. This paper describes the successful application of engineering and construction techniques for a number of these thickeners.

Jan 1, 1977

By Adabala Raja Venkata Sai Naresh, Radhakanta Koner

Particle size distribution (PSD) is an essential parameter in assessing the overall efficiency of blasting operations in mines and the subsequent mine-to-mill process in the mining industry. Despite some drawbacks of 2D image analysis techniques in accurately estimating particle sizes in PSD, the mining industry has relied on them for the last three decades. This study proposes the 3D rock fragmentation measurement (3DFM) technique for deducting the accurate dimensions of 3D rock particles for the PSD. 3DFM has utilized different processing algorithms. Images of different views of the non-touching rock particles of varying sizes have been acquired as a data acquisition step of structure from motion technology for generating sparse point cloud. Dense point cloud reconstruction is used to avail finer details of the point cloud using clustering views for the multi-view stereo algorithm. Random sample consensus (RANSAC) algorithm coupled with an unsupervised classification using the density-based spatial clustering of applications with noise (DBSCAN) classifier is employed to extract the rock clusters from the 3D point cloud. Finally, the accurate rock sizes are derived using the hybrid bounding box rotation identification (HYBBRID) algorithm with a root mean square error (RMSE) of 0.10 cm for length, 0.10 cm for breadth, and 0.32 cm for depth. The PSD of rock fragments obtained from the proposed 3DFM technique is found to be matching with the results of mechanical sieving and manual gauging with an R2 values of 0.98 and 0.99, respectively. The 3DFM method can be considered cheaper, more accurate, and computationally faster in determining the rock dimensions for the PSD determination method to enhance the productivity of the mining industry.

Dec 29, 2023

Silver bearing bulk sulfide concentrates from several Peruvian mines were autoclaved in a 19 liter (five gallon) laboratory autoclave in Lima, Peru. Cyanidation of autoclaved concentrates following a hot lime jarosite destruction step extracted over 98 percent of the silver and over 95 percent of the gold. Autoclave operating parameters such as time, temperature, pulp density and autoclaved solids recycle were investigated and reaction rates determined. The problems of excessive heat generation, silver solubility during autoclaving, and formation of pellets containing unreacted sulfides were addressed. The data presented will be used to design a continuous autoclave pilot plant to pro-vide reliable scale up data for a 50 -100 ton per day facility.

Jan 1, 1992

By X. F. Wang, K. B. Fu

"We investigated experimentally and theoretically the adhesion behavior of Acidithiobacillus ferrooxidans (At.f6) to different copper sulfides. The adsorption experiment showed cell densities of 10.74 × 106, 8.06 × 106, 3 × 106, 4.24 × 106 and 2.35 × 106 cells/cm2, respectively, on the surfaces of djurleite, bornite, covellite and chalcopyrite. The order was: djurleite > bornite > covellite > chalcopyrite. The results indicate that A. ferrooxidans has high affinity to adhering to the surfaces of djurleite and bornite in the acidic region. But the thermodynamic approach predicts that there will be no attachment of At.f6 to the surfaces of bornite, covellite and chalcopyrite. This discrepancy is due to the inadequate description of electrostatic interactions. The DLVO approach shows attachment of At.f6 to the surfaces of djurleite, bornite and covellite, and repulsion between At.f6 and chalcopyrite. The DLVO approach can explain the differences of the adhesion of At.f6 to different copper sulfides.IntroductionThe bioleaching of low-grade copper sulfides is a developing technology, and has been applied successfully to the extraction of copper from secondary sulfide minerals (Watling, 2006; Pradhan et al., 2008; Akcil and Deveci, 2010). The bioleaching of chalcopyrite is still a major challenge (Bosecker, 1997; Brierley and Brierley, 2001; Ehrlich, 2004). A study conducted at Billiton Process Research showed the following preferential order of sulfide minerals leached by mesophilic cultures: chalcocite > bornite > cubanite > covellite > pyrite > enargite > carrolite >> chalcopyrite (Dew et al., 1999). The bacteria can solubilize the valuable metals from the orebodies by the oxidation of minerals. Bacterial adhesion plays a critical role in the bioleaching processes (Chen et al., 2008; Harneit et al., 2006). Generally, bacterial adhesion can be explained by surface thermodynamics and the extended DLVO theory, in which the adhesion energy between the bacteria and mineral is calculated as a function of the separation distance (Sharma, 1999; Bos et al., 1999; Sharma and Hanumantha Rao, 2002). These methods take into account Lifshitz-van der Waals interactions, electrostatic interactions and acid-base interactions (Busscher et al., 2010). These interactions are very well understood and formulated in mathematical equations. The most important inputs in these calculations are surface energy, surface charge, electron donation and electron acceptance on the bacterial cell surface and mineral."

Jan 1, 2015

By Amir Karami, Scott Munro

This paper focuses on remediation of a 3.6 km long water conveyance tunnel that suffered two large falls of ground (FoGs), one of which subsequently progressed to the ground surface, resulting in full collapse of the tunnel. The tunnel is part of a network of water conveyance tunnels and open channels that direct water into two turbines located in an underground powerhouse, originally constructed in the 1970s. At the time of construction, the tunnel was partially supported with shotcrete or rock bolts, with no further ground support added since construction. Two sonar surveys in 019 and 01 identied two adacent large FoGs in the tunnel, approimately 1.2 km from the tunnel outlet. Historical geological and geotechnical information indicated that the FoGs occurred within a 60 m wide fault zone. Remediation plans were developed, which included stabilization of the outlet channel, the portal, the tunnel leading up to the FoG areas (1.2 km length) and the FoG areas. Several remediation options were considered to restore the tunnel, including construction of a diversion tunnel to bypass the FoGs or remediation of the FoG areas with steel ribs and backlling the void above the FoGs to surface.

Jun 23, 2024

By F. Sill

The disposal of residual material from processing and combustion of coal, from incineration of domestic refuse and sewage sludges kind to the environment is a prior task for the future. Deutsche Montan Technologie (DMT) has developed a new technique which makes possible to fill-up goaf cavities behind running caving systems in coalmining. In a mixing and pumping station on the surface high concentrated suspensions are produced from the above mentioned materials. The paste is pumped through pipes to the coalfaces and via trailing discharge pipes stretched to the fracture zone in the caved-in goaf. Since three years a special designed plant is working successfully on a coal mine of Ruhrkohie AG.

Jan 1, 1994

By Christopher Mark

Six decades ago, the most dangerous job in the USA was mining coal underground. Roof falls were responsible for half of the deaths, killing about 100 miners every year. Fast forward to 2016 and zero roof fall fatalities. Just three miners were killed by roof falls during the following 6 years. How did the mining community achieve this historic goal? This paper starts by analyzing the roof fall fatalities in 1968, categorizing them by their fundamental cause. Then, it shows how each type of roof fall was reduced over time, using snapshots of the fatalities occurring in subsequent decades. Along the way, it evaluates the influence of the regulatory environment, changing mining methods, and better ground control technology. The study found that in 1968 more than half of roof fall fatalities at large mines were attributable to an inadequate safety culture. The immediate effect of the 1969 Coal Mine Health and Safety Act was to reduce the riskiest activities, like needlessly going under unsupported roof. Other hazards, like large roof falls, required technological developments before they were brought under control. Roof Control Plans, which the US Bureau of Mines had been advocating since the 1920s, played a significant role throughout the process.

Mar 12, 2024

By Richard H. Kennedy, G. A. Swanquist, John W. King, Frank F. McGinley, Dale C. Mathews, Hans H. Adler, E. C. Peterson, Ralph M. Wilde

INTRODUCTION From the first historical records of the discovery of uranium as an element and the attempted classification of its minerals in the early 18th century-through its first uses in pigmentation and the coloring of glasses and ceramic glazes-until 1939 when it was discovered that the isotope U235, was fissionable, uranium oxide in the form of pitchblende ores and concentrates (produced mainly in Bohemia, Canada, and the former Belgian Congo) in recent times was the source of uranium compounds incidental as byproducts to the recovery of radium from this invariable associated source. In 1938 this byproduct production from pitchblende concentrates was about 471 st of U3O8, with over 90% from Canada and the Belgian Congo and only 25.85 st from carnotite ores in the United States.1 Under the impetus of the Atomic Energy Commission's (AEC now part of the Energy Research Development Administration) domestic and foreign production incentives and buying programs, and as an initial assurance of atomic armament capability of the United States and the Free World, the growth of the uranium mining and milling industry burgeoned from 1952 to 1962. After a short period of decline, in the second decade and in large commitments beyond, it has again extended its capacity to meet ever-increasing fuel demands of atomic power generation by the electric utilities industry. In 1961 the peak production in the United States alone was 17,758 st of U3O8. Peak aggregate domestic and foreign deliveries of 34,581 st of U3O8 to the AEC occurred in 1960.z Canada's maximum delivery of 13,506 st of U308 was made in 1959. These peak and continued productions in the Free World are largely from: the Mesozoic (Jurassic) and Tertiary (Eocene) sandstones in the United States; the quartz pebble conglomerates of Canada and the Witwatersrand; pegmatites, Jurassic limestones, and Precambrian complexes, with less but significant production; the phosphoria, where byproduct production is minor. This uranium production in the form of precipitated concentrates has come from the milling of ores from these sources, both directly and by retreatment of gold cyanidation tailings on the Witwatersrand. Milling of crude ore has followed these processes: conventional crushing and size preparation, ore drying when required, salt roasting for high vanadium ores and byproduct vanadium recovery, carbonate or acid-leaching processes, classification sand-dine separations or countercurrent decantation (CCD) circuits and complete liquid-solids separations, resin-in-pulp (RIP) or liquid-liquid (solvent) ion-ex- change extractions, clarification of pregnant liquors, precipitation, filtration and washing, sodium and vanadium removals, and drying or roasting and packaging of the high-grade, high-purity uranium concentrate commonly referred to as "yellowcake." Coupled with the hazards and control of dust generation incident to conventional crushing and milling operations, more stringent control of airborne respirable and ingestible radioactive particulates and the protection of personnel against definitive external radiation are inherent to uranium milling. Impoundment and control of tailings and other effluents of uranium milling are more restrictive than in conventional practice, be- cause long-term disposal and containment of the uranium series of radionuclides, whether in solution or in solid form, are requisite to uranium milling and are made manadatory under regulatory agencies of government. 2. GEOLOGY AND MINERALOGY OF URANIUM Early Uses and Byproduct Production of Uranium Uranium was discovered by Klaproth in 1789 but had little commercial importance until the discovery of uranium fission by Hahn and Strassman at the close of 1938. The well-known uranium ores of Joachimsthal, Czechoslovakia, the Congo, and the Colorado Plateau were early sources of radium. Minor quantities of uranium were used for small-scale technical and industrial applications, particularly in coloring glass and ceramics, but most of the uranium was discarded. The Colorado ores were also mined later, chiefly for vanadium. Impetus of Armament Capability and Fuel Demands for Atomic Power Following the discovery of atomic fission, uranium became critically important for military applications and, more recently, as a nuclear fuel. Prior to 1966 uranium was acquired in the United States almost solely for use in the weapons program of the AEC. By 1970 the AEC had procured approximately 325,000 st of U3O8 from domestic and foreign sources. Current and future marketability is primarily dependent upon commercial demand for reactor fuel. Estimates of

Jan 1, 1985

By Jian Liu

The dissolubility of a natural sphalerite (ZnS) in the entire pH range was theoretically calculated, and its practical dissolution in an aqueous solution at different pH values in an inert environment, together with its surface properties after dissolution, was fully investigated. The results of the investigation indicate that the total concentration of Zn (CZnT) decreases significantly with the increase of pH value, while the pH value is set below 8; however, it reverses when the pH value reaches 8. Such a tendency is similar to that of the theoretical calculations, although the experimental CZnT were much higher than those of the theoretical calculations. The X-ray photoelectron spectroscopy (XPS) of the sphalerite surface after its dissolution under alkaline solution shows that a polysulfide (Sn 2-) surface layer with a binding energy (BE) value of 162.96-163.25 eV is present on the surface, and the percentage of Sn 2- increases significantly with an increase in pH value; the undissolved and dissolved sphalerites under the acidic solution have a negligible difference in S2p peaks. The surface S/Zn ratio of all dissolved sphalerites shows a marked Zn enrichment and S deficiency. An atomic force microscope (AFM) view of the sphalerite surface, after its dissolution under the alkaline solution at a pH of 12, shows that the surface is significantly different in morphology from that of the undissolved one.

May 1, 2012

By CHENGLONG XU, HAORAN LI, YALI FENG, JINRONG JU, Shunliang Liu

With the depletion of mineral resources and the growing demand for metal resources from industrial development, the recovery of metal resources from secondary resources has attracted increased attention. Among all secondary resources, spent catalyst is one of the most important as it contains valuable metals such as vanadium, nickel, molybdenum, cobalt, and aluminum. Compared with the extraction of metals from minerals, the recovery of valuable metals from spent catalysts has the advantages of a simple process, a short production cycle, lower investment cost, and less environmental impact.

Apr 1, 2023

By P. H. S. W. Kulatilake

The presence of discontinuities strongly affects the mechanical and hydraulic behavior of rock masses. Joint geometry networks play a vital role in civil, mining, and petroleum engineering projects associated with jointed rock. The need for a realistic representation of joint geometry in rock masses has been recognized. The first part of the paper shows how to build three-dimensional stochastic joint network schemes and also shows how to perform validation studies for these schemes using joint data from the Stripa mine, Sweden. Due to the existence of complex joint patterns, mechanical behavior of jointed rock masses usually exhibit scale effects and an-isotropic properties. A correct understanding of the mechanical properties (strength and deformability) of jointed rock masses is important for designing and performance estimation of structures build in and on rock masses. Beyond a certain volume, the mass proper-ties of the rock may remain essentially constant with respect to the effect of joints. This minimum volume may be used as the element size to represent the equivalent properties of a statistically homogeneous rock mass volume which contains a significant number of joints. This volume may be termed as a "Representative Elementary Volume" (REV) and may be of great importance for engineering purposes. Investigations are underway at both the 2D and 3D levels to look into the possibility of establishing relationships between REV mechanical properties and joint geometry parameters. Recently developed joint geometry modeling schemes are linked with existing distinct element codes (both 2D and 3D) to create a stochastic/deterministic stress analysis approach in achieving the goal. Results obtained so far in this direction are presented in the second part of the paper.

Jan 1, 1992

By J. H. Daniel

The reduction of accidents will play an ever increasing role in the mining of coal and hardrock ores as mining operations become more mechanized, the equipment becomes more costly and sophisticated, and as mineral production exploits deeper and more marginal coal and ore deposits. The most effective means to reduce accidents is through the design of mining systems and equipment. Results of safety research by the U.S. Department of the Interior, Bureau of Mines, to design safer coal extraction and haulage systems and to reduce electrical accidents are presented.

Jan 1, 1991

By C. K. Arthur, N. K. Dumakor-Dupey, B. A. Kansake, F. A. Kaba

Autonomous mining systems have been deployed for improving mine performance. However, there is a fear of job losses. Adoption of autonomous systems is envisaged to be resisted by major stakeholders in Ghana due to high illiteracy and unemployment. This paper assesses the preparedness of Ghanaian mining stakeholders for the adoption of autonomous systems to Ghana’s surface mining industry. Closed and open-ended questionnaires were administered to mine stakeholders. Respondents generally expressed unwillingness to accept autonomous systems into Ghanaian mines due to fear of increased unemployment. We propose setting up a mining education fund (MEF) for training stakeholders in autonomous mining systems. INTRODUCTION Mining contributes enormously to the sustenance and growth of global and national economies through the provision of raw materials, employment, revenues and foreign exchange (Carvalho, 2017; ICMM, 2017; Cordes et al., 2016; Solomon et al., 2008; Walser, 2000). The International Council on Mining & Metals (ICMM, 2014) reported that globally, formal mining employs approximately 2.5 million people. Many resource-rich countries, especially the developing ones, have experienced strong socioeconomic growth propelled by the discovery and extraction of valuable minerals. McMahon and Moreira (2014) reported a positive linkage between mining and sustainable development. They revealed that averagely, resource-rich countries have improved Human Development Index (HDI) scores than countries without mineral resources. Mining remains a crucial industry in Ghana’s economic development (Bermúdez-Lugo, 2016; Amponsah-Tawiah and Dartey-Baah, 2011). Over the years, mining has contributed significantly to the gross domestic product (GDP) of Ghana. In 2013, mining accounted for 1.7% of Ghana’s GDP and about 19% of government revenues (Ghana Chamber of Mines, 2015). The Ghana Chamber of Mines also reported that mining contributed over 50% of foreign direct investment, 37% of export earnings and 1.1% of direct employment revenues. The US Department of Energy (DOE) estimates that 65% of coal, 92% of metals and 96% of industrial minerals are mined using surface mining methods (DOE, 2007). Generally, mining is a capital-intensive venture, with high operating cost, hence there is a constant demand for mining companies to seek efficient cost reduction and production maximization strategies. One strategy being pursued keenly is automation, which is noted to improve productivity, and worker safety at minimal cost. According to Parreira (2013), mining automation involves direct teleoperation whereby workers remotely control the mining process using computers from a control room.

Jan 1, 2019

By J. Paraszczak

Application of teleoperated and automated (or ?autonomous?) mobile equipment in underground metal mines is a promising avenue for overcoming some of the challenges facing mine operators. These include, but are not limited to, the issues related to safety and health of underground workers, better use of the shift time leading to increased productivity, skilled manpower shortages, and remoteness of some mine sites. Autonomous load-haul-dump machines and trucks offer several benefits over man-operated ones, but their use at their full capacity is a challenging and complex task. This paper makes an overview of commercially available equipment and systems and their applications. It examines factors affecting adversely availability, utilization, and production efficiency of autonomous vehicles and compares them to conventional man-operated machines. Technical and operational aspects are discussed and their criticality is analyzed. Based on that, recommendations concerning means and measures that may help raise operational effectiveness are given. It is stressed that due to a scarcity of publicly available information on the performance and cost of autonomous loading and haulage operations, more field studies and in-depth analysis are needed.

Feb 23, 2014