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By F. Grant

"General *The mining experiences of the coal mining industry in Western Canada have been extremely varied, with the mining companies having to adjust their operations or fail due to the harsh economy of the country in the first part of the century. The bituminous or mountain mines had the railways as main consumers with, at times, optimism that potential steel producers would require metallurgical coal. The prairie and foothills mines mainly provided household fuels, with the fine coal sold to local thermal power plants at discounted prices. In practically all cases fuel competition was very keen, and the less successful mines ceased operations in short-time spans. Knowledge of the parameters that governed the success or failures of the past coal operations should be of value to the present and future mining companies. The initial coal mines were small and were started to supply local demand. These mines had little in the way of capital machinery, engineering, or transportation equipment; therefore the mining methods and mine plans were very simple. The first industrial-sized mines imported most of their management and mining methods from other mining areas, mainly Great Britain. It took time to change the bias of management and mining methods to the requirements of strata characteristics, with rapid closure to those mines that were slow to adapt working methods. The main markets for coal were for household fuel, thermal power plants and railways, with very few other industrial markets developed. The economy of the period was harsh and cyclic and the coal mines were affected more than most industries by these boom and bust periods. It led to the survival of the fittest or the most efficient. Due to the economy, mechanization was introduced to the mines very slowly, with the inability to sell coal fines at a profit being another reason for the delay. Manual labour with hand tools was the main means of production. The work was heavy and arduous, and the pay was based on contract coal tonnage; therefore both men and management paid close attention to details so that nonessential work could be eliminated. Mine openings were dimensioned so that coal could be loaded easily by hand and support requirements were kept to the minimum. Transporting and handling the timber supports required heavy labour; thus the most efficient dimensions were chosen to suit the strata. On the other hand, during the main production seasons the mines tried to make the strata stress work for them so that the pressure was kept on the coal face to keep the coal loose while the strata, a short distance back, was induced to cave to minimize the abutment stresses. This caused mining to be an art, using skills developed by experience with the strata. This led to the development of efficient mine layouts with the openings dimensioned to the strength of the strata and the type of support available. The lack of capital and mechanization, and the manual labour, induced the mines to correlate their service and haulage systems with their mining methods. This caused many innovations that proved very practical."

Jan 1, 1985

There have been many developments in recent years in pipeline transport to enable them to be more widely used in industry. Substantial tonnages of materials that are not affected by water, such as coal and other minerals, aggregates and wastes, can be moved over considerable distances in quite small diameter pipes. Where there are no existing road or rail facilities, long-distance pipelines are usually cheaper to install, and this advantage increases in difficult terrain. Pipeline operators all over the world assert that hydraulic lines pay for themselves in a relatively short time, in spite of the heavy capital outlay, and this is equally true for lines convey-ing slurries or pastes within a plant complex.'This paper reviews some of the more important investigations in the hydraulic transport field. Although reference to systems carrying a wide range of materials is made, the majority of recent published data centres on coal transport.The paper looks at the application to a wide range of particle sizes, the development of non-aqueous slurrying media and coal/water fuels. The review also looks at some of the equipment being proposed to provide more reliable operation and in particular the range of solids-handling pumps now available.-The paper goes on to identify areas where further research and development is required and some of the many organisations undertaking this work.

Jan 1, 1985

By Guy Reed, Russell Frith

In situ or pre-mining horizontal stresses are arguably the least well understood of the principal inputs into underground coal mining geotechnical engineering design, whether analytical, empirical, or numerical. This is a direct result of both the cost and difficulty of obtaining meaningful stress measurements, the various limitations of the measurement method in terms of sourcing strata types that approximate the assumed conditions of the post-measurement mathematics to convert measured strains into stresses, and a common practice by some geotechnical professionals to preferentially utilise generic values rather than interrogate the available measurement data for cause and effect relationships between horizontal stress magnitudes, directions and a range of associated controls. That numerical modelling simulations attempt to mimic reality but often rely on simplified generic horizontal stress input assumptions is a particular cause for further consideratio The paper attempts to further explore the nature of in situ horizontal stresses using a range of stress measurement results from the Australian coal sector supplemented by several international studies addressing the same basic issue, the result being a number of credible and highly relevant “cause and effect" inter-relationships between the three principal in situ stresses in addition to the influence of rock properties (e. Young's Modulus and Poisson's Ratio), cover depth and the larger-scale structural geological environment. In particular, the paper demonstrates that despite being commonly overlooked as a primary rock/coal material property, Poisson's Ratio and the associated K Effect are intrinsic to understanding 3D in situ stress measurement results and therefore, predicting in situ stress magni- tudes more generally for geotechnical analyses purposes. As a fundamental question, the paper addresses whether it is necessary and of engineering value to characterise in situ horizontal stresses: according to distinct "domains," in the same way that more easily identifiable geotechnical properties such as rock mass ratings, coal seam thickness, ply splits, and cover depth are often treated.

Jun 25, 2024

By C. G. Hunkin

In situ, or in-place leaching is concerned with the extraction of metals from natural mineral disseminations without removal from their geologic location which, in many cases, amounts to the reversal of the deposition process accompanied by a presumed increase in velocity of the processes, if the project is to be profitable. Solution mining processes involve removal of minerals such as sulfur, common salt, and potash, generally leaving cavernous voids, in contrast to in situ leaching which term is applied to the selective dissolution of a mineral from its gangue without sensible disturbance of the formation. Where such a process can be operated, the advantages are manifold and have been so recognized by miners from the earliest days of mining. Recent technological developments have encouraged a reassessment of the status of in situ leaching, and it now appears possible to extend the application of the method from a few isolated special situations to many uranium and copper deposits. Anaconda's interest in the techniques stems from long experience with vat and heap leaching, 'dump leaching, and natural leach activities associated with several established mines. Increasing activity through-out the industry has been noted, particularly in leaching low grade pillars and the peripheral zones of operating mines, often by the introduction of leach solutions via boreholes drilled from surface. Reactivation of dormant mines] using similar techniques has been successful. Over the long term, environmental improvement activity will lead to excess sulfuric acid production, even to a disposal problem. The cost of leach solutions and reagents must be reexamined in this light. The mineral industry now classifies as uneconomic deposits of readily soluole minerals whose potential value, on a per acre basis, may De several times that of many currently profitable oil field reser-

Jan 1, 1971

By P. V. Golde, R. A. Poole, G. R. Baiden

"INCO is committed to proceed into the next century using automation and robotics to achieve safety and productivity goals necessary to enhance its competitive position. Stobie Mine, decades old, is the first of its mines to change from labour-intensive to automationassisted techniques. This paper is a synopsis of the progress made during the transition period including overviews of some of the projects as well as some of the difficulties in the assimilation of the technology. BackgroundThe ObjectiveThis paper is an update on remote control and LHD automation installation at Stobie mine. The communications system installed at the mine and the ability to remotely control underground equipment from surface is reviewed (Poole et al., 1996, 1997). It discusses some of the experiences and processes required to further the concept to consolidate the operation of multiple machines under a single operator. It considers the communications systems requirements and their focuses, particularly on the development of systems for the tele-operation of LHDs and drilling machines from surface."

Jan 1, 1998

By E. Lee Cameron

Summary Records of the past show that the first mineral production in what is now the Province of Manitoba consisted of salt, obtained about the year 1800 by the evaporation of brine. Also at an early time in our history, the Ordovician limestone at St. Andrews Locks, East Selkirk, and other localities was quarried for use as building scone in the construction of forts and fur trading posts. Both salt and building stone are still produced in Manitoba, although not from the original sources. In addition, there is now a substantial production of a variety of other industrial minerals and their products such as lime, crushed stone, gypsum, peat moss, and bentonite. The annual dollar value of production of the industrial mineral industry in Manitoba is today greater than at any time in our past and is derived from a greater variety of products. At the present time, exclusive of the various gravel pits operated by the Provincial Department of Public Works, twenty companies operating thirty-four separate pits, quarries, or mines are producing industrial mineral raw materials in Manitoba. This paper attempts to outline the development of the industry from its start about 1800 to the present, giving general information on the various materials produced. Some suggestions regarding the possibilities of establishing new industries based on other raw materials are given at the end of the paper.

Jan 1, 1949

By R. Armstrong

The stability of rock slopes is significantly influenced by their curvature in plan view. The importance of this in open pit mining is indicated by the fact that, in a deep pit, steepening of the slopes by 1° may save as much as $100 million. It is considered that there are two significant factors that play a part in the influence of plan curvature. These two factors are the effect of stress, and the effect of geological structure. The scant literature that pertains to this aspect of rock slope design was reviewed. The geometrical influence of the plan curvature was then investigated. It was seen that it has a parabolic effect on the maximum possible wedge that can fail into a circular pit, where the tighter the concave curvature the smaller the wedge. The plan curvature also affects the volume of a particular wedge, where concave slopes result in an exponential decrease in the volumes and convex slopes have exponentially increased wedge volumes. A change in the strike of the wedge did not affect the curvature’s influence on the volume, but the volumes of shallower dipping wedges were affected more by the influence of the plan curvature. La stabilité des talus des roches est très influence par la courbure de celles ci dans la vue en plan.Son importance de l peut arriver à sauver même $100 millions. Il est considère qu il y a deux facteurs importants qui jouent une influence sur cette courbure. Il s’agit de l’effet des contraintes et l’effet de la structure géologique. La brève littérature qui se réfère à cet aspect du conception sur le talus des roches a été revue. L’influence géométrique de la courbure des plans a été investiguée. Il a été vu que cela un effet parabolique sur la bosse ou le su relèvement maximum possible qui peut faillir dans un puits circulaire, ou le plus resserre est la courbure concave, le plus petit est su relèvement (bosse). La courbure plane aussi affecte le volume d’un particulier su relèvement ou les talus concaves résultent dans une décroissance exponentielle en volume alors que les talus convexes accroissent la volume de ces su relèvements (bosse). Le changement de l’orientation de la bosse (su relèvement) perpendiculairement ou obliquement n’ a par affecte l’influence de al courbure sur le volume mais les volumes des bosse (su relèvement) peu profonds étaient affectes par la courbure des plans. Die Stabilität der Felsensteigungen wird erheblich durch ihre Biegung im Plan beeinflußt. Der Wert von diesem in der Tagebaugrube wird durch die diese Tatsache, in einer tiefen Grube, steepening der Steigungen durch 1° angezeigt; kann soviel wie $100 Million speichern. Es wird betrachtet, daß es zwei bedeutende Faktoren gibt, die eine Rolle im Einfluß der Planbiegung spielen. Diese zwei Faktoren sind der Effekt des Druckes und der Effekt der geologischen Struktur. Die dürftige Literatur, die diesen Aspekt des Felsensteigungdesigns betrifft, wurde wiederholt. Der geometrische Einfluß der Planbiegung wurde dann nachgeforscht. Es wurde gesehen, daß es einen Parabolischen Effekt auf dem maximalen möglichen Keil hat, der in eine kreisförmige Grube ausfallen kann, wo, das fester die konkave Biegung, das kleiner der Keil. Die Planbiegung beeinflußt auch das Volumen eines bestimmten Keils, in dem konkave Steigungen eine exponentiale Abnahme an den Volumen ergeben und konvexe Steigungen exponential Keilvolumen erhöht haben. Eine Änderung im Schlag des Keils beeinflußte nicht den Einfluß der Biegung auf das Volumen, aber den Volu

Jan 1, 2003

By D. J. Thorkelson

New data indicate Wernecke Breccia-associated iron oxide copper-gold (IOCG) deposits likely formed from moderate-temperature, high-salinity, non-magmatic brines. The breccias formed in an area underlain by a sedimentary sequence that locally contained evaporites (potential source of chloride and possibly sulfur) and was thick enough to produce elevated fluid temperatures. Metals (Fe, Cu, Co, U) were probably derived from host strata, transported as chloride complexes, and precipitated due to changes in fluid temperature and pressure during brecciation. These new data suggest that the spectrum of genetic models for IOCG deposits that typically invoke formation from magmatic or hybrid magmatic-non-magmatic fluids should be expanded to include those systems that formed in a non-magmatic environment. Modifications to the definition of IOCG systems are proposed that reflect the degree of involvement of magmatic and/or non-magmatic fluids and the nature of the mineralizing environment. A division into magmatic, non-magmatic, and hybrid magmatic-non-magmatic IOCG types is suggested. Typical magmatic end-member IOCG deposits include Lightning Creek and Eloise, Australia. Hybrid magmatic-nonmagmatic IOCG examples include Ernest Henry and Olympic Dam, Australia. The Wernecke Breccia and Redbank deposits are suggested as possible representatives of non-magmatic IOCG end members. Endmember magmatic IOCG deposits have similarities to some porphyry deposits, whereas non-magmatic IOCG end members share characteristic with some sediment-hosted Cu deposits, suggesting that the range of IOCG deposits may form a link between intrusive- and sediment-related deposits

Jan 1, 2007

By Laurence McGonagle

"The Highland Uranium Project (HUP) is located approximately sixty miles northeast of Casper, Wyoming and is owned and operated by Power Resources, Inc. (PRI). With an annual production of680 tonnes (1.5 million lbs) U308, HUP is one of the largest uranium producers by in-situ leach (ISL) in the western world. Uranium is currently produced from four wellfields with a total flow rate of approximately 1,135 m3/hr (5,000 gpm). The carbonate leach solutions are processed by anion ion exchange at two satellite facilities located in close proximity to the wellfields. The loaded resin is transported by truck to a central processing facility for elution of the uranium. Uranium in the pregnant eluant is precipitated and washed prior to calcining.Wastewater from the satellite facilities is treated and used for irrigation at a Land Application Facility. The wastewater generated at the central processing facility is injected into a 2,750 m (9,000 ft) deep waste disposal well.When economical mining of the orebodies is complete, restoration of the groundwater is initiated. There are currently two wellfields at HUP undergoing ground water restoration. Phase I restoration consists of removal of the carbonate leach solution from the ore body. Phase II includes treating the withdrawn fluid with reverse osmosis and reinjection of the permeate into perimeter wells.Future plans include construction of additional satellite facilities at the Gas Hills Project and other economical deposits located within 240 km (150 mi) of HUP. The capacity of the central processing facility will be increased to 1,815 tonnes (4 million lbs) U308 per year by late 1999."

Jan 1, 1998

By K J. Lownie, T Rafferty

The in situ testing of mine ventilation fan systems has been a contentious issue for many years. Site testing was generally undertaken by adapting standards that were developed for the laboratory testing of fans using standardised airways. The deficiencies inherent in this practice have been widely recognised by informed practitioners, and this led to the first stand-alone document specifically intended for the in situ testing of large fans (ISO 5802:2001 Industrial fans - Performance testing in situ).This paper describes the structure of the International Standards organisation and the processes that are followed in the course of preparing such a standard.The application of ISO 5802:2001 is briefly outlined together with how test data is assessed for compliance with the suppliers guarantee. This paper must be read in conjunction with ISO 5801:2007, ISO 5802:2001 and ISO 13348:2007.CITATION:Lownie, K J and Rafferty, T, 2013. A review of ISO 5802:2001 industrial fans - performance testing i n situ, in Proceedings The Australian Mine Ventilation Conference , pp 149-154 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 1, 2013

By R. C. W. Webber

Mining up to depths of 5 000 m would be a world first and, accordingly, no previous experience in the determination of acceptable heat stress limits, criteria or indices is wholly applicable. However, some South African gold mines are already operating at depths beyond 3000 m and much of the knowledge gained in reaching and working at such depths will be helpful in making adequate provision for acceptable environmental control at the greater depths being contemplated. Accordingly, it is necessary to take cognisance of the industry?s experience in deep-level mining and of standards and regulations already established in South Africa and elsewhere in order to ensure acceptable working conditions and control standards, that compare favourably and defensibly with those in other mining industries. The local and international use of heat stress limits, criteria and indices were investigated as it was necessary to determine to what extent any other indices, limits or criteria would be applicable to South African deep mine conditions. In addition, it was necessary to establish whether there was a single heat stress index that could be used for South African ultra deep mining conditions. It was found that an appropriate combination of heat stress indices would be required in planning for and ultimately controlling thermal conditions in ultra-deep mining. The depths being contemplated and the concomitant potential heat hazard present too great a risk for reliance on a single environmental component of heat stress, such as wet-bulb temperature at present in common use locally. The study recommends that a heat stress index, preferably Air Cooling Power (ACP), be used to design an ultra deep mine?s ventilation system and that wet-bulb temperature be used to monitor and control the system once it is implemented.

Jan 1, 2003

By Silvana Costa

In the last two decades, there have been nearly no new mining towns built in Canada. Governments and mining companies have viewed long distance commuting (LDC), commonly known as fly-in-flyout or fly-in mines, as a way to avoid problems associated with building a new community and providing for its sustainability after mine closure. LDC is also considered more cost-effective than building a mine town. The intensification of the use of LDC in the Canadian mining sector has been quite rapid, particularly in northern regions. However, LDC has implications to employees, their families and communities, which deserve further examination, particularly considering the significant expansion in Northern mining and Aboriginal participation in this sector. This paper presents a review of the major issues in long distance commuting, both from an industry and community perspectives. It is a result of preliminary investigation for a PhD research project that will be pursued by a Bridge Fellow and UBC Mining Sustainability Working Group member, and guided by an interdisciplinary research team at the University of British Columbia (UBC). The Bridge Fellowship Program is research-training program linking the UBC?s Faculties of Medicine, Engineering and Graduate Studies. Its mission is to develop creative evidence-based prevention measures for public, environmental and occupational health problems. The SWG is an interdisciplinary student group based in the UBC Department of Mining Engineering, committed to respond to the complex sustainability-related challenges currently faced by the mining industry. In other to pursue this project, it is paramount that industry and local communities alike participate in the development and clarification of research questions as well as in the research design. It is hoped that this paper will function as an invitation for industrial and community partners for such study. The main themes identified for this research are occupational health and safety of LDC employees, family life impacts and community health impacts of this model of resource development.

May 1, 2004

Heavy media separation serves to upgrade mill feed and reduce unit operating costs, allowing ores to be mined which could other wise be uneconomic. At the Aberfoyle mine at Rossarden in north-east Tasmania, a simple heavy media operation using a converted Akins screw classifier as a separating vessel, removes barren quartz from mineralised material. At the Cleveland mine at Luina on the west coast of Tasmania a more complex ore mix requires a versatile operation combining hydro-dynamic and static separation equipment to provide an efficient beneficiation circuit. The two operations are briefly described with a background of basic heavy media separ- ation practice.

Jan 1, 1978

By J. G. Pharoah

Over the last two decades a variety of models for solid oxide fuel cells (SOFCs) have emerged ranging from one dimensional (1-D) to 3-D models, from steady-state to transient models; single- and half-cell and entire stack models. A majority of these models have focused either on the transport processes or on the chemical/electrochemical processes. The approach taken by our research group is to develop a comprehensive SOFC model framework based on the considerations of detailed electrochemical reaction mechanism and by accounting for complex transport processes occurring in the porous media at the micro-scale level. In this paper, we review the state-of-the-art in SOFC modeling and identify the existing gaps that need to be filled in.

Jan 1, 2005

By J. R. Menasce

Mechanization in low-stope panels situated in hard rock infers roof support by tensile bolting to allow free passage of trackless mining equipment in the production areas. This is in sharp contrast to conventional mining, where compressive roof supports?such as timber and grout packs?have traditionally been used, up to 1.5 metres from the production face. Bolting is a hazardous operation because material is dislodged from the roof during the drilling activity. Even with temporary roof support installed, small pieces of rock are dislodged by the percussive action of the drifter. Operations with the man situated directly under the drill, during the drilling activity, are hazardous. The only way to remove the hazard is to move the man away from the machine for as much as possible throughout the complete cycle Costs associated with safety cannot be quantified, but need to form part of the decision-making process. Machine selections based on purchase and running costs alone do not justify the investment cost of mechanized bolters. The equipment selection process needs to take into account the total cost of mining as well as the human safety impact and loss of production costs from having to re-bolt roofs in a production panel to prevent falls of ground. Labour costs in mechanized low-stope bolting are between one-quarter and half the labour costs of non-mechanized bolting. This paper reviews the mechanized bolting option versus handheld bolting from a mining process and cost perspective in a hard rock, low-stope room-and-pillar mining operation in the platinum and chrome industries.

Jan 1, 2006

By R. Cammack

"A fundamental component of the Hoek–Brown empirical rock failure criterion is assessing an appropriate mi constant. In developing their empirical criterion Hoek and Brown normalised triaxial test results by dividing the principal stresses at failure by the uniaxial compressive strength to provide mi values for typical rock types. Experience shows that Hoek triaxial tests for individual lithology types commonly have a large inherent scatter. In addition, tests are often conducted on core from random locations, which although being of one parent rock type, display variations in density as well as minor variations in grain size and alteration.This paper presents experience from projects the authors have been involved in which large sample populations of triaxial and UCS tests on similar rock types were available. Geophysical logging data was also available for some projects. The methods used to estimate the compressive strength for each sample and the effects on normalising the data sets are described. The variability of the data and uncertainties and assumptions involved in the process of assigning a mi value from the normalised data are also discussed."

Jan 1, 2015

By Cong Wang, Siyang Long, Pengcheng Zhang, Haibin Zuo

This paper introduced the research progress of microwave treatment on coal. The mechanics of microwave treatment mainly include thermal effects and non-thermal effects. Thermal effects, which lead to cracks and changes of pore structure, attribute to the selective heating of microwave. Non-thermal effects involve the removal of oxygen functional groups, improvement of coal rank and decomposition of minerals. Therefore, microwave treatment of coal has a lot of potential applications, mainly including drying, desulfurization, improvement of grindability, enhancement of coal-water slurry property and change the combustion and gasification properties.

Jan 1, 2016

By J. Brune

The disaster at the Upper Big Branch (UBB) mine 2010 has demonstrated the destructive violence of a coal dust explosion by killing 29 miners in the worst mining accident the United States has experienced in almost 40 years. This explosion brought to light that the United States mining industry must strengthen explosion prevention and explosion hazard detection practices. Recent legislation such as the Mine Improvement and New Emergency Response Act of 2006 (MINER Act) pushed the strengthening of explosion and disaster response and miner protection in addition to stricter regulations on the sealing of abandoned areas and on conveyor belt flame resistance. The focus of this new act was on how to respond to a disaster or explosion, yet not much improvement was made with respect to prevention explosion disasters. Researchers at the Colorado School of Mines have recently concluded extensive research into methane and coal dust explosion prevention practices and regulations as it may be applicable to underground mines in the United States. This research aims to forward more studies into the use and adoption of standards and procedures that have been utilized in countries with strong explosion prevention histories.

Feb 23, 2014

By S. J. van Wyk, A. S. H. Haagner

Land rehabilitation transcends the mere establishment of vegetation across disturbed landscapes; it should be conceptualised as a specialised ecological reconstruction process. This process necessitates a long-term perspective on the success of land repurposing. It requires a continuum of inputs specified and managed by a dedicated and qualified custodian to ensure the sustained economic viability and ecological sustainability of the land. Based on the authors’ combined experience and field observations over more than five decades, they advocate for an urgent shift away from traditional land rehabilitation practices toward a paradigm centred on land capability reconstruction and active stewardship. The prevailing rehabilitation culture has overly simplified the process to a mere revegetation exercise, which is fundamentally incompatible with the comprehensive requirements for sustainable land capability. While the regulatory framework provides valuable guidance for obtaining a mine’s social license to operate, a paradigm reset is essential. Mining companies must prioritise rehabilitation quality, set achievable sustainability goals, and establish clear pathways and milestones to meet relinquishment criteria. Currently, the status quo view—a model reliant on outsourced contracting and agricultural approaches—is that mine rehabilitation is a one-time intervention rather than a complex, systemic, and long-term process. This perspective presents significant challenges, as the success of ecological interventions can only be accurately assessed over extended timeframes, often spanning decades. Shortsighted rehabilitation specifications, coupled with practitioners operating within agricultural decision frameworks, frequently overlook the necessity for integrated rehabilitation expertise and the scientific foundation essential for designing and implementing effective ecological outcomes. A lack of long-term monitoring information impedes the required adaptive management of rehabilitated systems and, therefore, delays the transition towards final land use. This short approach costs the mining industry millions annually, often without recognising the inadequacies in long-term liability mitigation and the substandard ecological success achieved. The disconnect between procurement processes, the qualifications of service providers, and the unclear pathways to relinquishment can impede successful rehabilitation outcomes, frequently undermining progress toward sustainability milestones. Unless there is a fundamental reset of the land rehabilitation culture, pursuing sustainability will remain an elusive and perhaps impossible objective. Consequently, mining companies may hesitate to fully commit to sustainable land rehabilitation practices, as the prospects for relinquishment and final closure remain uncertain at best.

Apr 25, 2025

By Mazandarani M, Chabot L, Vichion K

Pitch-steering models have been developed for discretely advanced mining machines (such as heading machines and coal shearers) using small-angle geometry and there are illustrative examples of simulator predicted performance. Although simple linear models result from the analysis of open-based machines, sledge mounted machines require execution of a Linear Programming energy minimisation to determine the attitude of the machine base at each advance over the previously cut floor steps. An analytical approach is based on elastic beam concepts developed for such applications as longwall face conveyors, caterpillar tracked machines such as continuous miners and longhole drills. Simulation results for longhole drills show the expected performance of an automatic guidance system and the destabilizing effects of sensing deviation too far behind the drill bit. Certain drill bit boundary conditions are expected to assist TBM. steering studies in three dimensions.There is a real role in mining machine steering for the mathematical models used in flight simulators.

Jan 1, 1991