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By A. E. Moss

"IntroductionTHE WORLD-WIDE search for iron ore has been vastly accelerated during the past fifteen years .and Canada is playing a most prominent role in this prospecting boom. During this period, the search for .and development of iron ore deposits in Canada bas proven eminently successful and there is every indication that exploration will continue to be active for many years.This paper has been prepared primarily for the information of those who have bad little or no experience in iron ore exploration. For convenience, it is divided into three parts: ( 1) a brief discussion of the marketing of iron ores, with special reference to Canadian production; (2) a summary of the main features to be considered when prospecting for or evaluating a potential iron ore deposit; and (3) an outline of the methods and procedures used in the search for the direct-shipping iron ores in the Quebec•-Labrador iron ore field.The Iron Ore MarketDue to the tremendous tonnages of high-grade direct-shipping iron ore indicated in the iron ore fields of the Quebec-Labrador and Steep •Rock areas, it might be assumed that there would have been a sharp decline in iron ore prospecting in this country. On the contrary, the development of these two major fields, which must be classed among the world's greatest, has been responsible for much of the current activity. The search for high and medium grade magnetite deposits is being• conducted in many parts of the country and a number of these have reached the development stage. Production is being expanded from the known fields, such as Wabana in Newfoundland and Michipicoten in Ontario."

Jan 1, 1955

By James Pennington

[The Mining and Metallurgical Divisions of the Bureau of Mines, Region V, conducted an investigation in 1950-51 of the iron sulfide deposits in Aitkin and Carlton Counties, Minn. Twelve diamond-core-drill holes, aggregating 2,347 feet, were drilled in secs. 14 and 15, T. 46 N., R. 25 W., Aitkin County, to increase reserves of iron sulfides known to exist 2 miles southwest in secs. 28 and 29, T. 46 N., R. 25 W. Three diamond-core-drill hobs, totaling 561 feet, were drilled in Canton County, sec. 7, T. 46 N., R. 2 0 W., to check reports of the presence of a large sulfide deposit in that area. Mineral-dressing tests were made on cores from 10 holes drilled in Aitkin County. These included core from hole 21 drilled in sec. 28 and submitted by the Glen Development Co.]

Jan 1, 1953

By J. Wiese

Recently the operating philosophy at concentrators processing platinum bearing ores has started to move from a recovery dominated system to one in which the production of high grade concentrates at the expense of some recovery would provide greater benefits in the further upgrading of the platinum group minerals (PGM). The low grades usually obtained are associated with the presence of naturally floatable talcaceous gangue minerals in all PGM ores. Polysaccharide depressants such as guar gum and carboxymethyl cellulose (CMC) are used to improve the grades of the concentrates. Recent testwork has shown that the use of high depressant concentrations can prevent any naturally floatable gangue from reporting to the concentrate. The only gangue present in the concentrates would be due to its entrainment in the froth. Under these conditions much higher grades can be achieved. The sulphide minerals themselves, however, become susceptible to depression at high depressant concentrations. This work examines how the recovery of sulphide minerals in two Merensky ores was affected by the type and concentration of the collector in the presence of high depressant concentration (500 g/t) and that the response of the sulphide minerals was also dependent on the type of depressant used (guar or CMC).

Jan 1, 2009

By S. W. Marcuson, P. J. Mackey

The Canadian non-ferrous mining and metallurgical industry has made great strides in environmental protection during the past half century. The path taken by the copper-nickel smelting industry in reaching today’s level is traced in this paper. Following the practice at early copper smelters in Wales and in the US, Canadian smelters originally used tall stacks to disperse furnace of-gases. This was the normal mode of operation and was accepted by society and by Government. Gradually, Government regulations required fixation of sulphur dioxide emissions and Canadian companies responded with significant technical developments to achieve this result. The initial development in Canada of the first new technologies such as the Cominco Flash Suspension Roaster and the Freeman Flash Smelting Process - both representing early versions of the modern established flash smelting technologies - and then later technologies such as the Inco Flash Smelting Process and the Noranda Process, both of which continue to this day, are discussed in this paper in terms of their contributions to the development of environmentally friendly plants. The evolution of these and other technologies is also discussed. Some comments regarding how the industry will face the future are also included.

Jan 1, 2015

By Walter Gervásio Ladeira

O quartzito Taboões é uma fonte potencial de matérias-primas de sílica (areias industriais), e precisa ser adequadamente caracterizado para se definir metodologias de beneficiamento que visem o seu melhor aproveitamento possível. Dois litotipos foram classificados nos quartzitos intemperizados da Formação Taboões presentes em São Joaquim de Bicas – MG: quartzito argiloso e quartzito. A principal diferença entre eles é a abundância relativa de argilominerais. Em uma amostra representativa do quartzito argiloso foram caracterizados quatro tipos de contaminações com auxílio de análises granulométricas e químicas, microscopia (óptica e eletrônica de varredura), e difração de raios-X. Estas contaminações são: incrustações no quartzo; películas de argilominerais e minerais de ferro aderidas ao quartzo; partículas de minerais de ferro liberadas em meio ao quartzito; e partículas liberadas de rochas estranhas ao quartzito. A caracterização realizada é um ponto de partida para se planejar rotas de processamento mineral visando obtenção de matérias-primas para a indústria.

Aug 8, 2018

By O. Craciun, C. A. Bridges, M. Cai, J. Sugawara

There are a number of methods that can be adopted for predicting the ultimate lateral resistance of a free-head rigid pile, from the conventional Brinch Hansen and Broms solutions to three-dimensional finite element analyses. Often these methods give rise to significantly different pile ultimate lateral capacities which could lead to either unsafe or too conservative designs. It is also well known that finding a rigorous and practical solution is challenging due to the complex three dimensional and nonlinear soil-structure interaction. This paper reviews some of the most common methods and produces results of pile ultimate lateral capacities embedded in cohesive or cohesionless soils. Subsequently, a finite element analysis is performed using PLAXIS 3D modelling under the same design conditions. Based on comparison of results, limitations and advantages are highlighted, and the most suitable method is proposed from a practical point of view.

Nov 1, 2022

By Bruce I. Thomas

The occurrence of tin-bearing gravels along Tozimoran Creek in central Alaska has been known for a number of years. In September 1944 the Bureau of Mines investigated an area approximately 1,000 feet long and 200 feet wide along Tozimoran Creek to deter-mine the cassiterite content of the stream gravels, which are about 4 feet deep and covered by 3 feet of overburden. Nine trenches and two shafts were excavated, from which samples of the underlying gravels were taken. This report contains a discussion of sampling methods and tables giving the results of analyses.

Jan 1, 1948

By P. V. Chandramohan

"In ports, piled berths are designed and constructed for berthing of ships with a finite draught. Piles in a bridge foundation also have a large free stand above scoured level. The piles of these structures have to withstand large horizontal forces imparted by the impact of the approaching vessels or due to longitudinal and transverse action in a bridge. It is also imperative that these piles have to project out of the dredged / scoured bed. These piles are normally designed as slender compression members subjected to bending also. They are subjected to vertical load tests for assessing the soil resistance. Lateral load tests, as a rule, are also stipulated. IS and IRC codes stipulate a deflection criteria for lateral load test to arrive at the capacity. These tests are usually conducted on a working pile by jacking out two piles. At the time of the test, pile will be free headed. But in service, piles are fixed head. There is a large difference in deflections between a fixed head and a free headed pile. Besides, a free headed pile will be subjected to a much higher bending moment than the fixed head one. This will put the working test pile under risk of breaking during the test. The problem is analyzed with case studies. INTRODUCTION Vertical capacity of piles is assessed by static formulae. This formula is based on the soil properties obtained from random soil exploration and laboratory and in-situ testing. Since soil is not a homogeneous medium, properties can vary. The design parameters taken for computations may be different from the ones at the interface of the pile with the soil. The best way is to find out is by a load test. The code IRC:78-2014 has rightly stated that initial load test is part of the design process. This is true with the vertical load test. But there are certain problems with the purpose and inference of the lateral load test. In both the tests the criteria for acceptance is the quantum of movement of the point of application of the load. In the former, the movement is vertical and depends more on the compression of the soil than the compressive strain in concrete. But in the latter, this movement is partly on account of the flexural rigidity of the pile and partly due to the horizontal compressibility of the soil. The role of rigidity of the pile is more when compressibility of the soil is higher. Lateral load test is done by jacking one pile against another because it is difficult to get an independent horizontal reaction. Please see Fig.1 Photo."

Jan 1, 2015

By Yifan Ding, Shemek Oginski, Patrick Finn

The Manhattan section of the New York Water Tunnel No. 3 constructed by the Schiavone/Shea/Frontier-Kemper Joint Venture is a $668 million project. The contract includes a tunnel drive of 8.85 km (29,045 feet), tunnel lining of 14.77 km (48,468 feet)and construction of nine shafts ranging in depth from 143 m (469 feet) to 169 m(555 feet). Construction methods for excavation of the shafts are presented including raise bore, ground freezing, soil excavation, blasting, slashing, muck handling, rock support and shaft final concrete lining.

Jan 1, 2007

By J. Alton Burks

When acoustical materials are used in a mining environment for noise control purposes, they are subject to environmental deterioration from hydraulic fluid, moisture, and dust. These and other factors can cause physical degradation of the material, which can lessen its ability to absorb sound. In this study, the Bureau of Mines measured the sound absorption properties of 16 different acoustical materials after 4 sample treatments: (1) being kept clean and dry (as received from the supplier), as a control or reference standard, (2) immersion in water and draining, (3) immersion in lOO-pct-petroleum-type hydraulic fluid and draining, and (4) exposure in a coal mine. The last three treatments were used to approximate the type of physical degradation that can be experienced in actual use. The impedance tube or standing wave method was used to measure the normal absorption coefficient. It was found that the absorption coefficient of most materials was adversely affected by the retention of either oil or water, with oil having the greater effect. The only class of materials that was affected by neither oil nor water was neoprene foam.

Jan 1, 1990

By W. G. Pariseau

Conventional barrier pillars in underground coal mines are intended to protect mains and sub-main entries for relatively long periods of time. Inter-panel barrier pillars that may be used in especially deep coal mines, say, below 800 m (2,400 ft), are intended to protect longwall panel faces and adjacent panel entries for the life of nearby panels. Barrier pillar failures have serious consequences, especially when failure is sudden and catastrophic. Design of barrier pillars is thus of considerable importance to safety and efficiency of operations. Locally, failure occurs at the limit to elasticity when stress tends to exceed strength. Strength of rock is stress dependent, so an analysis of stress is central to rational design of barrier pillars. There are several approaches to stress analysis for coal mine pillar design that range from the simplified but popular tributary area method including variations that use empirical definitions of the tributary area (volume) to more sophisticated numerical methods such as the boundary element method and the finite element method. Despite ease of use, empirical methods are limited and always suspect when applied to conditions beyond their scope of definition, while boundary element methods do not generally include pillars in the solution domain. The finite element method is not so restricted and thus is a natural choice for conventional and inter-panel barrier pillar safety analyses. Caving of roof strata certainly affects the distribution of stress about longwall faces and nearby barrier pillars. Conventional wisdom that considers roof strata to respond as cantilever beams indicates the longer the span the greater are loads on longwall faces and face supports. Failure of roof beams, caving, shortens spans and relieves face and support loads. The same view is applicable to barrier pillars in that long roof spans outside of barrier pillars leads to higher pillar loads than short spans. Hence, caving should be beneficial to barrier pillar safety. However, the benefit may be small depending on the extent of caving and only in the form of a slight reduction in overburden weight transmitted to the barrier pillar, especially in case of inter-panel barrier pillars. FINITE ELEMENT MODEL Finite element models for stress analysis in rock mechanics are formulated in consideration of physical laws, kinematics, and material laws. These models meet the essential requirements for equilibrium of stress, satisfy strain displacements relations, and in a general sense, relate stress to strain through material laws, often referred to as constitutive relations. The last may be complex and replete with nonlinearities. A de facto engineering material law is the elastic model in the form of Hooke?s law for linear, homogeneous materials that may be anisotropic. A limit to elasticity is imposed by strength in the form of a failure criterion or yield function that accommodates triaxial stress states. Examples used in rock mechanics are the well-known Mohr-Coulomb (MC)criterion, the popular Hoek-Brown (HB) criterion, and the Drucker-Prager (DP) criterion. The first is linear in stress, while the second is nonlinear. Both do not include any effect of the intermediate principal stress. The last is also linear in stress but includes the intermediate principal stress. All show an increase in the major principal stress at failure with confining pressure. In the UT2/3 finite element programs, the failure criterion Y is a nonlinear, anisotropic form and is also the plastic potential [1]: [YJI=+ 11NYJI=+- (1) ] where N is an exponent, usually 2, and J2 and I1 are nonlinear anisotropic forms of the second invariant of deviatoric stress and the first invariant of principal stress. The form (1) reduces to DP when N=1and isotropy prevails. When Y = 1, the limit to elasticity is reached and plastic deformation is possible. The material constants that enter (1) are all computed from unconfined compressive, tensile, and, in case of anisotropy, shear strengths. These latter strengths may be estimated from conventional laboratory test data. Of course, joints in field-scale rock masses induce different values. How different is often a matter of conjecture. For comparative studies, laboratory rock properties seem adequate. Inelastic, that is, plastic behavior occurs with strain beyond the elastic limit. Strain hardening, ideal plasticity, and strain softening are possibilities. Ideally brittle behavior with complete loss of strength is an extreme form of strain softening [2]. Caving may also be considered as strain softening with a less drastic reduction of material properties. As intact roof strata fail, fall, and form a rubble pile below, a new material is formed with greatly reduced elastic moduli and strengths, say, 1/100th of the original intact moduli and strengths. From another viewpoint, caving is simply a natural cut and fill process. Input for stress analysis by the finite element method includes: 1. Preexcavation stress state 2. Geology (stratigraphic column) 3. Structure (major faults, joint sets) 4. Elastic moduli 5. Strengths, and specific gravities of each rock type 6. Excavation sequence Output from an analysis includes distributions of: 1. Stress 2. Strain 3. Displacement 4. Local factor of safety (element fs) The last is defined as the ratio of strength to stress and in view of the failure criterion (1), is the ratio [fsJstrengthJstress=] where the numerator is the maximum possible value and the denominator is the actual value of the square root of the second invariant of deviatoric stress. This invariant is a measure of shear stress intensity but also reduces to uniaxial tensile and compressive strengths as the case may be. An fs greater than 1 indicates an elastic state of element stress; a value of 1 indicates the limit to

Jan 1, 2009

By Grynberg H, Lindon P, Wardrop J

The Gippsland Basin is unique in Australia in that it is a major resource based industry centre within a sensitive and special environmental context supplying Melbourne, a major urban/industrial environment with most of its energy 'on-line'. The environmental effects of the supply systems are generally local and mostly affect only those who are directly or indirectly dependent on the upstream systems. The major urban metropolis which is served remains largely unaware of the environmental impacts of the system upon which it is dependent, except when specific attention is drawn to them as in the case of the Latrobe Valley Outfall, algal blooms in the Gippsland Lakes, etc. This paper discusses the environmental context within which the energy industries operate, the environmental legislative framework which applies, the likely environmental impacts and some solutions. The energy resources of the Gippsland Basin occur in an area where the physical environment exhibits a wide variety of inherent energy states in its physical and biological regimes. The off-shore regions of the oil and gas platforms has to be able to withstand the wind and wave energy generated in a shallow sea in a confined waterway lying athwart the main current and climatic stream. The coastline includes the delicately balanced quiescent environments of Corner Inlet with its 'wilderness' tourism industry and the powerful surf and long shore drift and dunes of Ninety Mile Beach.

Jan 1, 1992

By R. J. Evans

The generation and disposal of solid waste from electric utility plants using a lime or limestone wet-scrubbing system and the potential effects on the environment were estimated for 1975 and 1980. The study indicated that in 1975 approximately 5.8 million tons of desulfurization solid waste (50 percent solids) will be generated. In 1980, when it is estimated that desulfurization will become commercially accepted, approximately 71.4 million tons of this material will be generated for disposal and/or utilization. The desulfurization waste material when combined with lime, fly ash, and water may have potential for use as a roadbase material, landfill reclamation, and synthetic aggregate.

Jan 1, 1974

By L. J. Buter, D. J. Collins

Introduction FMC's Paradise Peak gold mine was discovered by staff geologists in July 1983. Located south of Gabbs, in western Nevada, the deposit contains about 11 Mt (12 million st) of ore grading at 3.6 g/t (0.105 oz per st) of gold and 129 g/t (3.75 oz per st) silver. It is estimated that the ore contains 34 t (1.1 million oz) of recoverable gold and 933 t (30 million oz) of recoverable silver. The 3.6 kt/d (4000 stpd) mill began operation April 14, 1986, just 18 months after Davy McKee completed a feasibility study and construction, and two-and-a-months ahead of schedule. It also came in about 10% under budget at a cost of about $100 million. Crushing Run-of-mine ore is delivered from the mine in 45-t (50-st) haul trucks to a 272-kt (300,000-st) capacity open air stockpile. Ore is reclaimed using 5 m3 (7 cu yd) front-end loaders that feed a 91-t (100-st) hopper equipped with a 610- x 610-mm (24- x 24-in.) grizzly. A 1.4- x 11-m (54-in. x 35-ft) apron feeder delivers ore from the hopper by way of a vibrating grizzly screen with 127 mm (5 in.) openings to a 1- x 1.3-m (43- x 51-in.) Rexnord jaw crusher. Crushed material is conveyed to a 1.8- x 4-m (6- x 14-ft) Link Belt vibrating screen equipped with a 50-mm (2-in.) manganese grizzly bar deck. Screen oversize is fed to a 1.7/0.6-m (5.5 ft) Rexnord standard cone crusher. Product from this crusher joins the -50 mm (-2 in.) screen undersize and is conveyed to a 136-t (150-st) surge bin. Three hydraulically driven belt feeders deliver ore from the ore bin to three 2 x 6 m (7 x 20 ft) Link Belt single-deck tertiary screens fitted with 6 x 25 mm (0.25 x 1 in.) slotted polyethylene screens. Screen undersize - -6 mm (-0.25 in.) rock - is conveyed to a 3.6-kt (4000-st) ore storage bin. Screen oversize is delivered by way of a conveyor to a 91-t (100-st) surge bin. From this bin, two belt feeders feed ore to two 1.7 m (66 in.) Rexnord Gyradisc crushers, which are in closed circuit with the tertiary screens. Design features include magnetic protection for tramp iron removal and sloping floors and pump sumps for ease of clean up. Dust scrubbers keep the working environment clean and in compliance with state dust emission regulations. Grinding Two 1 x 4.5 m (3.5 x 15 ft) belt feeders deliver ore from the fine ore bin to a conveyor belt that feeds it to the 5 x 7 m (16 x 22 ft) Allis-Chalmers ball mill. The conveyor belt is equipped with a Merrick weightometer. This controls feed rate to the ball mill by speed control on the hydraulic motors driving the feeders. The 2.6 MW (3500 hp) powered mill grinds 3.6 kt/a (4000 stpd) to an average grind of 85% -75 µm (-200 mesh). The mill is in closed circuit with four 660 mm (26 in.) Krebs cyclones. Three of these are normally in operation while one is a standby. Warman pumps feed the cyclones through a cyclone distribution manifold. The cyclone underflow returns to the ball mill, which has a 300% average circulating load. Mill discharge pH is 11, and that is obtained through pebble lime addition to the feed belt. Cyclone overflow is sampled using a Heath & Sherwood two-stage sampler. It then flows to a 27-m-diam (90-ft-diam) Eimco thickener. Thickener overflow is returned to the grinding circuit, while underflow at 50% solids is pumped to the leaching circuit. Grinding-circuit design features include a steeply sloped floor for ease of clean up, an open area over the pumps for maintenance accessibility, and a ball hopper with a self discharge bottom to speed ball addition. Other features include a mill liner handler and an air clutch that connects the mill motor to the mill.

Jan 12, 1986

By K. A. Lewandowski

Binders have been suggested as an aid for agglomeration to improve copper recovery in heap leaching operations. However, it has not been established if the use of binders would negatively affect the solvent extraction process, which is used to purify the pregnant leach solution from the heaps and remove any contaminants. Such negative effects would lead to an increase in processing costs or a decreased in copper production. The controlled studies reported here have shown that some binders (a polyacrylamide and a waste treatment additive) did not interfere with the solvent extraction process. Other binders (a polyvinyl acetate emulsion and tall oil pitch) negatively impacted copper solvent extraction and, therefore, should not be used in copper heap leaching plants.

Jan 1, 2009

By Mark E. Smith

Oxide ores can consume enormous amounts of expensive sulfuric acid. The problem is amplified with increasing heap heights. One solution is to provide a thin liner and drainage system between each lift of ore, thereby intercepting the pregnant leach leach solution (PLS) after it exits the active lift. However, these liner systems require special attention to hydraulics, slope stability and geomembrane design criteria. Inadequate attention to the first two can result in reduced recoveries, increased acid consumption andsystem failures. The geomembrane selection criteria are different from the base liner, and optimizing its selection can have significant effects on the operation’s bottom line.

Jan 1, 1996

By Gustavo Angeloci

Artisanal mining is a rudimentary activity that today attracts over 30 million people in virtually all developing countries around the world. As the price of gold has steadily increased over the past decade, 15 million people have become involved in extracting this metal in 55 countries. Individuals have switched to mining from primary industrial sectors such as agriculture to increase their income. These workers generally have little capital, low education levels, and no previous experience in mining. Together with a lack of technical support from governments, these factors lead to disorganized and informal mining activities that generate environmental and social chaos. The absence of technical knowledge and capital has caused a proliferation of Gold Ore Processing Centres (GOPCs) around the world established by local entrepreneurs, who provide a way for miners to process their ores using amalgamation for a fee that is relatively low to non-existent. Gold recovery by the independent miners rarely exceeds 30 % and gold-rich tailings are left at GOPC facilities as a form of payment. GOPCs recover around 90 % of the remaining gold using cyanidation, flotation, and amalgamation, without any compensation paid to the miners. In processing these mercury (Hg)-contaminated tailings, Hg cyanide complexes are produced that are dumped into aquatic environments, leading to rapid bioaccumulation of Hg by fish. In the town of Portovelo, Ecuador, the establishment of partnerships between GOPC entrepreneurs and artisanal miners has proven to be successful in forming legal small-mining companies to create more equity and reduce pollution. About 108 GOPCs operate in Portovelo-Zaruma, with 40 % of these still working illegally without proper regulation and permitting. Over 20 % of these GOPCs continue to use grinding, concentrating and amalgamating of the gold, with 58 % performing cyanidation of tailings and/or gravity concentrates, and 15 % combining flotation with cyanidation. About 94 % of the GOPCs concentrate the ore prior to applying amalgamation, which significantly reduces Hg emissions to the environment. Incorporating flotation has given the operators increased skills in mineral recovery, with the side benefit of producing a copper concentrate as added value. Despite these innovations, mineral recovery is still inefficient, and waste management is a major challenge in creating true sustainability in this sector (technical efficiency together with social and environmental responsibilities). Further organization, training and capacity-building are needed. The principles of Lean Manufacturing Methods ("Just in Time" production and "Automation") are suggested as possible techniques to assist small GOPCs to become sustainable. In this concept, a larger mining company can become associated with artisanal miners in a partnership to provide training and investment for exploitation of small deposits that would be infeasible as a single large operation. As well, an International Training Centre for Artisanal Miners (ITCAM) is being established in Portovelo with collaboration of the Government of Ecuador to further enhance and upgrade mining activities in this region. ITCAM will provide artisanal miners with technical, business and environmental training to become responsible small-scale miners. In building this new capacity, ITCAM intends to create an atmosphere of trust to attract private and corporate investors to become partners with artisanal miners.

Aug 1, 2013

By Thomas M. Barczak

This U.S. Bureau of Mines report chronicles the historical development of longwall mining in the United States and speculates on future developments to the turn of the century. The involvement and contributions made by the Bureau during these developments are also discussed. Two major periods of history are analyzed: (1) from 1875 to 1950 when small advancing faces were operated manually, and (2) from 1950 to 1990 when mechanized extraction and powered roof supports provided a system to efficiently extract large coal panels. Five eras of technological development during the modern period are described and analyzed. These eras discuss the development of (1) mechanized extraction, (2) powered roof supports, (3) high-capacity roof supports, (4) shield supports, and (5) system automation. Current trends are analyzed in terms of longwall utilization, face production, support capacity, face widths, and new technological developments. From these analyses, the future of longwall mining to the year 2000 is speculated. It is concluded that longwall mining will continue to grow in importance during the next decade and that the next major technological milestone will be the realization of a fully automated longwall mining system.

Jan 1, 1992

? Hollow Stem Auger ? Drill Bits ? Leads/Torque Arm ? Hydraulic Gearbox ? Hydraulic Power Unit ? Grout Pump ? Crawler Crane

Jan 1, 2003

By T. Norvell, R. Gosine, S. O’Young

"This paper describes the use of dynamic scheduling and discrete event control to provide coordinated control of multiple automated vehicles. This work has been carried out within ongoing research into multi-robot coordination developed around the underground mining scenario. Demonstrations using scaled laboratory models of underground mines illustrate the potential for this technology for full-scale implementation for mine-wide automation. IntroductionIn the past decade, the mining industry has been improving the efficiency of underground mining operations. Robotics and automation have demonstrated the potential to further reduce costs. Tele-operation of underground vehicles from above ground and autonomous navigation have reduced travel delays and allowed for single operator control of multiple vehicles (Bloomquist and Hinton, 2001). Other recent projects include the automation of the digging process as well as the drilling and blasting operations. Infrastructureless guidance systems are also being developed (Bloomquist and Hinton, 2001).Mine-wide automation requires significant developments at two levels: (1) the development of mining robots capable of performing tasks either autonomously or semiautonomously; and (2) the development of methods for automating operations at a systems level. This paper focusses on the latter, and describes a general framework for the coordination of multiple mobile robots in an unstructured or semi-structured environment."

Jan 1, 2003