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By Gary M. Bone

The autonomous control of vehicles interacting forcibly with their environment, such as dozers and tractors, is an unsolved and challenging problem. Forces and motions are inherently coupled between the tool and the means of vehicle propulsion. Furthermore, they are often operated within uncertain and unstructured environments, such as those encountered in underground mining. There is a growing industrial interest in the development of robotic vehicles to improve productivity, efficiency and safety in mining and construction. This paper focuses on the modeling and control of autonomous robotic dozing for a material removal operation. A dozing process model has been developed based on observations of both a fullscale dozer and a scaled-down version. The model characterizes the dynamic interactions between the blade position, material accumulation on the blade, material distribution in the environment, and the motions of the dozer. The dozing control objective is to remove the loose material as rapidly as possible by driving forwards at full power while automatically raising/lowering the blade in response to sensor measurements. Two different controllers were developed to meet this objective. The first controller is based on a set of heuristic rules, and the second is an optimal controller based on the dynamic model. An instrumented scaled-down robotic dozer and dozing environment, designed to emulate the full-scale operation, are used to implement the controllers and compare their performances over multiple dozing passes. Experimental results are presented showing that the model-based controller increased the material removal rate by 33% compared to the rule-based controller. Lastly, technologies for full-scale implementation are discussed, followed by proposed future work and conclusions.

Aug 1, 2013

By Olav Rune Godø

We present a science-based infrastructure for continuous online monitoring of the ocean interior including benthic, pelagic and the demersal habitats. It will reduce expensive ship based monitoring costs associated to offshore and coastal industries. We combine established Norwegian cabled observatory technology and German mobile seafloor robotic technology and thus supports the transition from local to spatial ecological monitoring. Both technologies are developed through science - industry partnerships. In Norway, the Institute of Marine Research has worked with Statoil ASA and Metas AS to install and operate the LoVe cabled observatory. The German technology is developed by iSeaMC and Kraken Robotik, two spinoff enterprises of the Helmholtz Alliance “ROBEX”. GEOMAR has recently developed a lander-based deep-sea crawler that operates autonomously based on the original iSeaMC crawler system using the Kraken Autonomy. Combined with the Spanish image processing and modelling expertise in the SME Deusto Sistemas SA the consortium hosts the capacity to establishing a complete semi-autonomous real-time monitoring system. Merging of existing technologies into one operational autonomous product through the unique competence of partners’ support international ambitions (e.g. Blue Growth, GES, Horizon 2020), and renew monitoring that assess impact of human use of the marine environment. The consortium has been invited to contribute to technology/science programs for the Yellow Sea and for European mining and offshore decommissioning industries, which demonstrates the leading role of our consortium. The project is funded through the EU Martera program and started in June this year.

Jan 1, 2018

By J. Nsasi Bakambu

This paper describes an autonomous platform for exploration and navigation within networks of tunnels, as those typically found in underground mines and caves. In the exploration mode, a remotely located supervisor instructs the platform to move through successive sections of the network, gathering range data that is, then, concatenated into 2D/3D survey maps of the environment. In the navigation mode, the supervisor specifies high-level missions on the previously acquired survey maps. A motion planner, then, translates each mission into a set of consecutive navigation actions, separated by natural landmarks. Mission execution consists of detecting landmarks, self-localizing and performing the planned navigation actions.

May 1, 2003

By M. P. Tibbs

An autonomous spray application system for a structural Thin Spray-on Liner (TSL) is targeting productivity and safety on underground coal continuous miners by potentially replacing steel mesh, and has broader applications as surface support and confinement in metalliferous mines and civil tunnelling. Polymer chemistry, coating formulation, geotechnical assessment and the autonomous application system are being developed as an integrated package as part of a continuous miner automation project. This polymer-based TSL system has significant benefits over conventional steel mesh skin confinement, including being more automatable by spray application, providing complete skin confinement and active skin reinforcement as a fast-curing composite with substrate, and having effective fire retardant properties for the polymer and the underlying coal. This paper presents a preliminary assessment of distance sensing systems that would enable autonomous adaptation of a nominal spray path to spray a consistent thickness of TSL (nominally 5mm) over an irregular topography. Two alternate sensors are assessed; firstly, a 2D LIDAR mounted on a linear axis is used to produce a 3D surface profile for generating an adapted spray path; and secondly, a robot end-effector-mounted ultrasonic sensor is assessed for wall following techniques to dynamically adapt a nominal spray path.

Aug 1, 2013

By V. Polotski

This paper describes a platform for autonomous operations in open pit mining environments. A typical operation consists of: (1) Initial locomotion toward a remote worksite; (2) Pattern navigation within the worksite; (3) Worksite manipulations and (4) Return locomotion to the start location. The platform includes precise localization module based upon the fusion of odometry, inertial and GPS measurements. The guidance module starts from a set of way points specified on a GPSreferenced map and plans and executes the mission. A typical mission includes specified manipulative tasks along the navigation path. During motion execution the on-board system continuously verifies that the path is free of obstacles and that the hardware is not overloaded. Momentary losses of external positioning measurements does not adversely affect the performance, owing to the redundancy in position and heading estimation. A rehearsal phase follows planning and allows the supervisor to examine the kinematic behavior of the platform during motion, thus reducing the need for continuous monitoring during execution and providing protection against potential losses of communication.

May 1, 2003

By Juliana Parreira

The past decade shows record increases in global demand for minerals and metals with an accompanying significant decline in skilled personnel. Mining companies today are examining new technologies to maximize production, reduce costs, and create safer work conditions to deal with this shortfall. Automation of an open-pit mine haulage system is receiving attention as a beneficial option since it provides more consistent and efficient operation of mining equipment, it removes workers from potential danger, it reduces fuel consumption significantly reducing greenhouse gas (GHG) emissions, and it can help optimize vehicle repairs and equipment replacement because of more-predictable and better-controlled maintenance. This paper describes a simulation model under development using the EXTENDSIM software package to examine scale-up issues and constraints of autonomous vehicles in comparison to a manual system. The software can predict and manage Key Performance Indicators (KPIs), such as productivity, safety, cost, equipment failures, fuel consumption, and tire wear under different road and load conditions. By breaking-down the various systems of an autonomous haulage truck and simulating the overall haulage system using a Monte Carlo approach, the model becomes a flexible and powerful tool to use within a mining organization. Direct comparison to a manuallyrun system can be done to show the cost and operational benefits of automation. Project managers can use this tool to guide decision-making about possible application of autonomous haulage trucks at a specific mine site.

May 1, 2010

By Juliana Parreira

The past decade shows record increases in global demand for minerals and metals with an accompanying significant decline in skilled personnel. Mining companies today are examining new technologies to maximize production, reduce costs, and create safer work conditions to deal with this shortfall. Automation of an open-pit mine haulage system is receiving attention as a beneficial option since it provides more consistent and efficient operation of mining equipment, it removes workers from potential danger, it reduces fuel consumption significantly reducing greenhouse gas (GHG) emissions, and it can help optimize vehicle repairs and equipment replacement because of more-predictable and better-controlled maintenance. This paper describes a simulation model under development using the EXTENDSIM software package to examine scale-up issues and constraints of autonomous vehicles in comparison to a manual system. The software can predict and manage Key Performance Indicators (KPIs), such as productivity, safety, cost, equipment failures, fuel consumption, and tire wear under different road and load conditions. By breaking-down the various systems of an autonomous haulage truck and simulating the overall haulage system using a Monte Carlo approach, the model becomes a flexible and powerful tool to use within a mining organization. Direct comparison to a manuallyrun system can be done to show the cost and operational benefits of automation. Project managers can use this tool to guide decision-making about possible application of autonomous haulage trucks at a specific mine site.

May 1, 2010

By Frank Johnson

Between 2000 and 2006, platinum production from the South African mines expanded from 206 to 307 tonnes (DME, 2007). Most of this additional metal has come from traditional ?narrow? reef stoping, generally taken to mean stoping in working places with a mining height of less than 1,5 metres. It is well known that narrow-reef stoping presents safety, technological and ergonometric challenges (Pickering, 2007). In planning for the expansion, which is still continuing, the platinum mining industry realized that it could not simply continue with traditional methods of narrow-reef mining. Particular issues identified were: ? High labour-intensivity: caused by use of hand-held rock drilling machines, labour-intensive support installation and stope cleaning; ? Dependence on rock-drillers: this occupation is no longer an attractive one and there is a reducing flow of new recruits; ? Safety: most of the work is performed close to the new faces, where there is the greatest exposure to the hazards of falling rock.

Jan 1, 2008

By Huguez Ames, Ulisses Rogerio Da Silva

El presente estudio desarrollado por Investigación y Desarrollo de Procesos Químicos y Metalúrgicos en Tecsup – Lima, aliado con Stockholm Mining ha aplicado tratamientos en base a la oxidación de especies y así seleccionar el método más viable técnica y económicamente para lograr remover el cianuro total en dicha agua clarificada hasta por debajo de 1,0 mg/L para ser recirculada para diluir a la pulpa inicial, lo que repercutirá dentro de la propuesta de cambios en obtener una pulpa detoxificada en cianuro que pueda usarse como relleno en pasta para labores mineras.

Sep 1, 2017

By W. G. Davenport

Chapter 6 examined autotherrnal smelting of pure chalcopyrite concentrate with 50 mass% O2-50 mass% N2 blast. It showed that production of 1500 K products with this blast requires: 181 kg of pure oxygen 337 kg of air per tonne, of concentrate. It also showed that the grade of matte produced with this blast is 58% Cu. This chapter re-examines autotherrnal smelting by asking: (A) WHAT COMPOSITION BLAST (MASS% 02 -MASS% N2), 298 K, WILL AUTOTHERMALL Y PRODUCE 65% Cu MATTE 1500 K FROM PURE CHALCOPYRITE CONCENTRATE? (B) HOW MUCH PURE OXYGEN AND AIR WILL BE NEEDED? These are important questions for flash? smelting because furnace operators usually want to send specific composition matte to converting. This chapter shows how a specified matte can be produced autotherrnally with 298 K oxygen-air blast. Later chapters show how it can be done with hot blast, hydrocarbon combustion, different concentrates etc.

Jan 1, 2001

By Peter Kowalczyk

Magnetic surveying and map production is well established in land based mineral exploration. Magnetic data are routinely used to map geology in covered terrains, to estimate the depth to basement in overburden covered areas, and to identify altered zones, mineralization, bedding attitudes, and fault networks both regionally in map view, and through interpretation to depth in 3D. Best practices for magnetic survey methods and magnetic interpretation exist in all areas of land based geophysical survey methodology - mineral exploration, hydrocarbon exploration, geological mapping, archeological mapping, and in military applications. At sea, and particularly under the sea, sophisticated magnetic surveys are being done, but it can be argued that these are primarily in niche applications, for example in naval mine-hunting and UXO applications. Magnetic data is not normally collected on AUVs and ROVs conducting mapping and hydrographic survey operations. OFG has developed physical and mathematical calibration routines so that magnetometers can be mounted directly onto AUV and ROV bodies where significant heading errors and magnetic gradients exist. This simplifies the routine deployment of magnetometers on AUVs and ROVs for mineral exploration and other magnetic survey applications without the need for towed bodies, ungainly mounting frames, or degaussing of the survey equipment. Our experience shows that magnetometers can be operated routinely on AUVs and ROVs and that with careful processing useful maps can be produced routinely at low cost.

Sep 1, 2014

By J. W. Jamieson, J. Escartin, A. Steinführer

Evidence of hydrothermal activity on two Mid-Atlantic Ridge oceanic core complexes (OCCs), at 13º30’N (the Semyenov 1 through 5 fields) and 13º20’N (the Irinovskoe field) (Fig. 1) were studied using CTD casts, dredges, TV-grabs and SP surveys during previous research cruises to these sites (Cherkashev et al., 2013, McLeod et al., 2009). In late 2013, the Semyenov and Irinovskoe fields were revisited, this time with an autonomous underwater vehicle (AUV) and a remotely-operated vehicle (ROV) during the ODEMAR (Oceanic Detachments at the Mid-Atlantic Ridge) cruise on the French research vessel "Pourqoui Pas ?". Here we present the first visual surveys and direct sampling of these vent sites. High-resolution (~2 m) bathymetry of the 13º30’N and 13º20’N OCCs and their associated vent fields was collected during 4 and 5 AUV dives, respectively, using the GEOMAR AUV "ABYSS" (Fig. 1). These surveys were flown between 70 m and 100 m above the seafloor, typically at a constant height to reduce vehicle movement. The AUV was equipped with Eh, turbidity, and temperature sensors in order to detect active hydrothermal venting. Over twenty ROV dives with the ROV "VICTOR 6000" allowed for the visual exploration of the OCCs and collection of 59 hydrothermal rock samples from the vent fields. As a result of these exploration activities, the first robust estimates of the size of the deposits, and the geologic controls on sulfide accumulation at these sites can be determined.

Sep 1, 2014

By Sven Petersen

The southern Mid-Atlantic Ridge (SMAR) is one of the least-explored spreading centers in the world with respect to hydrothermal activity. In the past 8 years research focused mainly on the ridge segments close to Ascension Island, discovering hydrothermal fields as far south as 14°20?S (Haase et al., 2007; German et al., 2008; Tao et al., 2011). However, the vast majority of the SMAR ridge axis has never been thoroughly investigated for hydrothermal activity. In the spring of 2013 we used segment-scale AUV deployments as well as conventional CTD surveys to identify areas of hydrothermal activity along 16 mid-ocean ridge segments between 13° and 33°S, thereby covering close to 5 % of the global ridge axis in a single cruise. During cruise MSM25 of the German research vessel Maria S. Merian, we tested longrange (>100 km lines per dive) AUV deployments of GEOMAR?s AUV ABYSS (a Remus 6000 vehicle) along the spreading axis for their capability to locate active venting in a fast and efficient way on regional surveys. Since the missions covered long distances,

Sep 14, 2011

By Timm Schoening, Greinert. Jens, Iason –. Zois Gazis

"Ferromanganese nodules are again of interest because of their high concentrations of Ni, Co, Cu as well as REE. With regards to an operational underwater mining industry, one of the main questions and important requests is to finding a method that can predict the abundance of nodules with high accuracy within reasonable time spans, without many requirements for ground truth data; and all these on an operational scale and ideally automated. In this regard, we present results of a study based on the combination of highresolution multibeam and optical data acquired by an AUV using specific machine learning techniques to reveal a detailed distribution of the Mn-nodules in correlation to the seafloor terrain. The accuracy of the method employed and results gained were validated and approved through comprehensive statistical analysis and by comparison to box-core data.Study AreaOur study area (AUV survey block G77) is located in the Clarion-Clipperton Zone (CCZ) (Eastern Central Pacific Ocean), an area that has been receiving international research and industrial attention for many years already (e.g. McKelvey et al., 1979; Bernhard and Blissenbach, 1988, von Stackelberg and Beiersdorf, 1991, Jeong et al. 1996). Block G77 covers an area of 9.5km2 in a depth between -4478m and -4536m. The area is characterised by gentle slopes 0-5° (0-3° in most of the area and only in the outer parts of the Block slopes can exceed 5°). The seafloor is characterised by moderate to low rugosity, the only exception being a small area in the eastern part, where sub-recent smallscale volcanic activity created 15 cone-shaped morphological features of up to 55m height and 150m width that are clustered in an area of 700 x 380m (Figure 1)."

Jan 1, 2017

By C. C. Nolan

As the size of the mills get larger and the liners get heavier, abetter means had to be found to handle liner replacement. McLellan Industries is famous for their innovative ideas andwas called upon by an engineering company to develop a mill liner crane. The first crane was developed for Similkameen about 1969 to serve a 32' Ø X 14' Long SAG Mill. The next was Island Copper in Port Hardy, B.C., the same size as Similkameen in 1970. At that time, we took existing hydraulic cranes and modified them to meet the mill configuration. In 1973, we developed a completely new approach for the Southern Peru copper mine at Tacna, Peru for a Ball Mill, size 16'-6" Ø X 19' Long. Each installation required a design study to meet the change in mill size, trunnion size, elevation of floor to feed trunnion, area at the feed or discharge end of the mill. We have supplied self-propelled units as well as lift in. When there is no room at the feed end and if the mill has a trunnion overflow discharge, we have the mill supplier provide a structural frame to span the sump and move the mill liner handier into position with the use of the overhead crane or a mobile crane.

Jan 1, 1999

By C. C. Nolan

As the size of the mills get larger and the liners get heavier, a better means had to be found to handle liner replacement. McLellan Industries is famous for their innovative ideas and was called upon by an engineering company to develop a mill liner crane. The first crane was developed for Similkameen about 1969 to serve a 32' 0 x 14' Long SAG Mill. The next was Island Copper in Port Hardy, B.c., the same size as Similkameen in 1970. At that time, we took existing hydraulic cranes and modified them to meet the mill configuration. In 1973, we developed a completely new approach for the Southern Peru copper mine at Tacna, Peru for a Ball Mill, size 16'-6" 0 X 19' Long. Each installation required a design study to meet the change in mill size, trunnion size, elevation of floor to feed trunnion, area at the feed or discharge end of the mill. We have supplied self-propelled units as well as lift in. When there is no room at the feed end and if the mill has a trunnion overflow discharge, we have the mill supplier provide a structural frame to span the sump and move the mill liner handier into position with the use of the overhead crane or a mobile crane.

Jan 1, 1999

By Charles A. Lindberg

Mobile cranes on tires are perhaps the most important accessory in truck-haulage pits. They usually are of 20-ton capacity at short radius and with outriggers but have considerable overload capacity. Standard booms are 30 ft but have 10-ft extensions with which they are usually operated. Cranes have two engines, both originally gasoline, but 150-hp Diesel engines have been found more reliable for the propulsion motor, the 100-hp gasoline motors being retained for hoisting. Pro- visions are made for dropping the ballast counter- weight to reduce axle weights to legal limits for highway travel. The weights are carried on a regular truck or are transported on an extra trailer axle behind the crane. Tractors-Probably equalling the cranes in usefulness are the track-laying tractors which are used to prepare roads and other surfaces, to clean up at the shovel, and for dozing on stripping dumps. A new type of tractor mounted on rubber tires has been tried out on the Mesabi Range for the past year and a half. The advantage of this design is its mobility which makes it capable of taking care of the spill at the shovel and then running to the dump to clean up. Alternating between these two jobs, it relieves heavy tractors that can be used to better advantage on heavier work that does not require so much traveling. This tractor can travel at speeds of 12 to 13 mph and is designed to facilitate repair of the expendable parts. Weaknesses have developed in the internal construction which have seriously marred the performance record of this unit, but when used within its capacity it is quite successful.

Jan 1, 1949

By Charles A. Lindberg

It will be generally agreed that the most important accessory to a rail haul operation is the railroad type locomotive crane. The oldest and still most common type is the steam crane, a self-contained steam power plant, coal fired, complete with boom and hoisting machinery and mechanical drive capable of propelling the unit on its own power at speeds up to 15 mph on the level, and hauling, if necessary, a car for transport of the objects being handled. Usually, for greater mobility and safety, this crane and flatcar are moved around the pit by a switcher locomotive. Crane capacities range from 25 to 40 tons, these loads being handled with the shortest radius of boom and with outrigger. Boom lengths are 55 to 60 ft long, usually with heavy lift main blocks at 40 ft boom lengths. Lifting capacities with booms at maximum radius are approximately 20 % of maximum rating. Free capacities, namely without outriggers, range from 65 (at minimum radius) to 55% (at maximum radius) of the above capacity values.

Jan 3, 1950

By George C. Trevorrow

It is a pleasure to appear on this program and discuss a subject which is of particular interest to me. In my regular duties as Safety Director of Bituminous Coal Operators' Association, I am called on by member companies to discuss matters affecting face ventilation. As a member of the Joint Industry Safety Committee, as I will later describe, I have a part in processing requests for the use of auxiliary fans for face ventilation. The use of auxiliary fans in bituminous coal mines for this purpose came into rather wide use in the late. '20's when conveyor mining was introduced. In this application, the equipment consisted of a chain conveyor with a face chain conveyor parallel to the face on which the coal was loaded by hand and, in turn, was discharged onto the room conveyor and thence to a loading point on the entry at the mouth of the room. Another method was to use a shaker conveyor with a duckbill which was maneuvered across the face of the room from which the coal was loaded and transported by the shaker to the loading point. In either case the equipment did not readily lend itself to driving crosscuts or breakthroughs with the result that rooms were driven to depths of 250 or 300 feet without adequate means of ventilating the face area with the main split of air. It was, therefore, necessary to use other means of ventilating this area as the rooms were being driven and during retreat work if pillars were extracted. Auxiliary fans of the blowing type were utilized for this purpose. They were of very small capacity using small diameter tubing. By the time the room was driven half way to its projected limit ventilation was very poor or practically nonexistent. To compound the problem the fan was usually set up at the mouth or neck of the room and in many cases the intake air to the fan was the return air from the room. It is small wonder, therefore, that there is on record 12 cases where auxiliary fans were given as the cause of explosions. In 9 of these occurrences, arcs or sparks from open-type motors or accessory equipment on these fans were given as the primary ignition source. They fell into such ill repute that in a number of cases they were blamed as the ignition source even though smoking was strongly suspected as the primary cause.

Jan 1, 1967

AT the session on mine ventilation on Oct. 8, 1926, held in connection with the. autumn Institute meeting at Pittsburgh, there was considerable dis-cussion of the use of auxiliary fans in coal-mine ven-tilation, and before adjourning the following resolu-tion was passed: "Resolved, that we, as a Committee, in consideration of the increasing and widespread use of auxiliary fans iii coal mines deplore the fact that they are often used without adequate knowledge of their limitations and dangers."

Jan 2, 1927