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Underground mining and particularly dipping narrow tabular orebodies are difficult to mechanize appropriately, given the low gold price and other external factors. Particularly in the deep level mines in South Africa, there is little choice left but to mechanize if the industry is to remain competitive and a significant global player. This paper presents a design philosophy for appropriate mechanization intended to generate solutions that can be implemented using the people currently employed in South Africa mines. The design philosophy is based on the ability of high-pressure water (hydropower technology) to deliver enhanced performance to users and on simplicity in the eyes of the user. Four examples of systems and equipment are described to illustrate the approach to Appropriate Mechanization. These include: • The Development End System, • The Monorail Raise Climber, • Automatic Pump Control Valves, and • The Energy Recovery Pump. The equipment is presented with the following critical issues foremost in mind: Safety, Working Environment, Performance, Cost effectiveness and Implementation. Although the appropriate mechanization approach is described in the context of the South African underground mining industry, much of the Appropriate Mechanization equipment has worldwide applications. Key Words: Hydropower, Mechanization, Tunnel Development, Raise Development, Monorail, Raise Climber, Pump Control Valve, and Energy Recovery

Sep 1, 2001

By M. Andersson, R. Elsrud

The quality and the production rate for the mining operations in the Garpenberg mine has been much improved due to a new system, that presents the latest exploratory and planning data for the driller at the moment he deploys the drill rig at the face. Other components in this improvement work are better planning procedure, large-scale production system with longer rounds and introduction of new drill rigs in the mine. The new Rig Control System (RCS) for the new series Atlas Copco Boomers L2C has made it possible to develop this system for production drilling in the Garpenberg mine. The ABC Regular has been extended with map navigation and drill plan generator. The driller will have the best estimate of the orebody in front of him and the best drill plan for that orebody. The customer’s specific system will also become a standard Atlas Copco product for the Boomer ABC drill rig family.

Sep 1, 2001

By B. Hayen

The principal advantages of fibre optics as compared to copper wire are well known and include almost perfect electromagnetic isolation, light weight, small size, excellent transmission security and substantially better bandwidth/distance performance. The decreasing cost of the optical fibre technology (both fibre cable and equipment) has led to another generation of private networks, which provide much larger bandwidths, very high reliability and an increase of the maximum geographical coverage. The larger bandwidth allows to transport all types of information on a single network. Typical communication requirements are speech (audio), computer data, LAN info, control information, video, etc. OTN or ‘Open Transport Network’ is a transmission system based on the latest available technology in fibre optics. It is characterized by the dual ring approach, resulting in high network availability, and the integration of different types of services in one network. As such, it can fulfil almost all transmission requirements for voice, data, LAN, video and any special service required.

Sep 1, 2001

By S. M. Rupprecht

The transportation of men, material and rock in mechanization programmes is often neglected, or at least plays only a secondary function, as the primary focus is on proving the technology. This is despite recognition of the fact that mechanization is essential if gold mines are to remain competitive. However, the use of totally mechanized systems will require further research in the short to medium term before they become generally available. Thus, there is a real need to improve mechanized men, material and rock transportation systems as they are currently used. This applies to both reef horizons as well as to horizontal transport systems. Keywords: Transportation, rock handling, material handling, men transportation, face cleaning, gully cleaning, continuous scraper, monorail, mechanized raise climber, mechanization.

Sep 1, 2001

By N. von Stade, G. du Plessis, W. van Niekerk, H. Bosman

Exploration, and other, boreholes are drilled to obtain information about the geological environment. Knowledge of the exact position (dip and direction) of the holes is important to ensure compatibility between the hole and the geological information. Kumba Resources traditionally used mechanical methods to determine the hole characteristics. These are cumbersome and expensive, and as a consequence a new method, the IVEC (Iscor Video Exploration Camera), was developed which utilizes a charged coupled device (CCD) image sensor focused on a three-dimensional compass. This system is rugged, relatively inexpensive and gives real-time results during borehole logging. Keyword: Borehole inclination, deviation, dip and direction, geophysics, exploration.

Sep 1, 2001

By O. S. Lubbe, G. Annandale, J. W. van Wyk

This paper deals with the development and evolution of room and pillar mining in the South African chromitite and platinum mining industry over the past sixteen years. The paper describes the need for cheaper, more effective and safer mining methods in hard rock mining. It also describes how a mining method traditionally only applied in coal mining in South Africa evolved into a method ideally suited to conditions in chromitite and platinum mines. The paper also touches on joint efforts from mining houses, mine management and equipment manufacturers to design and build mechanized equipment custom designed and unique to South Africa in order to overcome challenges presented by the harsh operating conditions encountered in the mines in the Bushveld Complex.

Sep 1, 2001

By D. Gerhart, J. Hung, J. Hackwood, A. Pix

A computer-based, real-time mine management system has been installed in a number of underground operations. The system’s innovative software application is coupled with wireless data acquisition and database management to provide complete mine monitoring and control execution in closed-loop control fashion. The system is well suited to automatically assign equipment, acquire status, and reassign resources based on status; and to automate information handling. The system has provided mines with improved utilization of the equipment fleet and mining crews, and reduced workplace cycle time. This paper describes the deployment of systems at a number of underground mining operations and discusses future development of the system. Keywords: Computer-based: Real time: Utilization: Mining cycle control: Monitoring: Productivity

Sep 1, 2001

By W. J. Murray

Tests were conducted during the middle of this year to evaluate techniques and the equipment used in a novel continuous mining system for use in narrow reef tabular orebodies. Equipment was designed and supplied to test a mechanized drilling rig, a selection of rock breaking techniques and an integrated rock removal system, mounted on a self-advancing reciprocating flight conveyer. As the rock breaking techniques do not depend on the use of large quantities of conventional explosive the systems and equipment employed here have the potential to run continuously for 24hours per day. Whilst the tests carried out use simple prototype equipment employing established technologies, the long-term objective remains the use of sophisticated machinery capable of running continuously and un-manned, only interrupted by brief service intervals. Keywords: Hydro-fracturing, Rock breaking, Low energy, Propellant, Non-explosive, Safety, Continuous mining, Rocksplitter, Boulder buster, Ro-bust.

Sep 1, 2001

By Nareetsile S., J. Kabwe

In the past few years Orapa and Letlhakane Mines have investigated various new technologies to enhance and improve production. The goal has been to improve productivity, reduce operating costs and make the mines more profitable The advent of Global Positioning Systems (GPS) in the early ’80s brought about the realization of this concept. Orapa and Letlhakane Mines started using GPS in 1999 and it is now used atLetlhakane mine for surveying, vehicle tracking and dispatching and for floor control system. Orapa Mine uses GPS in surveying, floor control and drill navigation. It will also be used for vehicle tracking and dispatching in mid-2001 following the installation of a fleet management and control system. The introduction of GPS at both Orapa and Letlhakane mines have improved productivity and reduced operating costs in the areas of drilling, topographic survey and floor control. In vehicle tracking and dispatching GPS has allowed for real-time information management for timeous decision-making which optimized fleet run time hours.

Sep 1, 2001

By C. Clark, P. Patton, B. M. Stewart

Handling materials in underground mines continues to be a major safety problem. To help reduce materials-handling injuries, the National Institute for Occupational Safety and Health (NIOSH) at the Spokane Research Laboratory is developing, modifying, and testing equipment to replace the necessity of doing lifting tasks manually. To reduce single-event lift injuries, equipment having mechanical automatic weight sensing and balancing control was investigated. The Coleman manipulator was selected for testing. Modifications to the Coleman manipulator to make it more suitable for underground mine use included mobilization, self-containment, all-purpose gripper attachment, and support jacks. To reduce or eliminate the need to clean off manually the materials that commonly plug grizzly openings (timbers, wire mesh, roof bolts, and other debris), a track-guided pincher arm device was developed. The TGPA attaches to an impact hammer head, and the pincher arms are controlled by the operator of the hammer. Oversized rock can be broken with the pincher arms in the up position; the arms can then be lowered to grab and remove debris. Sweeping action to remove cohesive fines bridging grizzly openings is also greatly improved. This device is especially useful in recessed grizzlies. An industrial gun was tested to evaluate its effectiveness in breaking oversized rock. Boulders up to 76 cm in diameter were successfully broken to minus 33 cm. Although methods to control flyrock need to be developed, an industrial gun may be a safe and inexpensive alternative to breaking oversized rock in certain underground mining situations. Keywords: Mining, materials handling, over-exertion, injuries

Sep 1, 2001

By Hannweg L. A.

In a first for the diamond industry, Koffiefontein Mine in the Free State, South Africa, opted for the front cave mining method to extract a 90 metre high block of kimberlite ore. Block caving, because of its high initial capital requirements, resulting in a negative internal rate of return (IRR),was ruled out as a feasible mining method for Koffiefontein Mine. Front caving is essentially a combination of the traditional block cave and sub-level cave mining methods, but uses two or more levels of retreating drawpoints. Two extraction levels, in the case of Koffiefontein Mine, are spaced 12 m apart vertically, with the upper 478 m level (48Level) acting as the undercut/extraction level, and the lower 490 m level (49 Level) as the extraction level. Caving is achieved by undercutting a small column of ore, which is then drawn, on both the 48 and 49 Levels, until the planned extraction percentage is achieved. The next column of ore is then mined by advancing the undercut (48 Level), and the process is repeated until the entire ore block is depleted to the contact. Caving-by-gravity techniques of mining rely on closely controlled draw of the caved ore to ensure proper caving action and to minimize the dilution of ore with waste material from the open pit. This paper discusses the need for, and implementation of, a draw control system at Koffiefontein Mine — a computerized production management system, and a draw control system based on linear programming, to allow control over the draw rate and mining sequence — a major factor in all production planning to optimize production efficiency, ore recovery and cave management. Keywords: Draw control, Koffiefontein Mine, Front cave, Caving

Sep 1, 2001

By P. C. Schutte, J. R. Smith

The objective of ergonomics is to enhance the effectiveness and efficiency with which human tasks are carried out. Furthermore, the objective is to improve desirable human values. This can be achieved by enhancing safety, reducing fatigue and stress, increasing comfort, increasing job satisfaction, having greater user acceptance and thereby improving the quality of life. Mechanization has influenced the prevalence of injury, mainly due to the application of human physical effort as the power source. With mechanization, the operator’s function is now essentially one of control rather than being an energy source, however the risk of injury has not diminished. Mechanization in itself has introduced inefficiencies, health risks and physiological stress. The major objectives of ergonomics are discussed through examples of acceptable and less successful implementation of ergonomics within mechanized mining. The influence of the machine system on the human is addressed and practical solutions to improve and optimize the interaction of the human and the machine are outlined. Furthermore, practical examples of control and display integration, anthropometric and biomechanic influences on design, orientation, posture and stereotypes are used to accentuate the advantages of the application of sound ergonomics principles to the specialised area of mechanized mining.

Sep 1, 2001

By T. Gibson

It is generally accepted that South African coal mines have gone through the mechanization of most of its underground mines, and while there certainly were a lot of productivity improvements, the lack of visibility on these machines operating underground still leave vast areas for improvement. The average actual cutting time still remains very low, in the 30 per cent area, which leaves significant improvement possible. Currently all analysis is carried out using hand-written reports. Unfortunately this is subjective and often inaccurate because of human interpretation. In addition in order to avoid costly component failure, a monitoring system is required to warn of eminent failures and condition monitoring. The challenge faced was to supply and install a system that was ‘Open’ and could be retrofitted to existing machines in operation because of the current standard of communication links to the underground sections. In addition it was intended to use, existing ‘off the shelf’ software and hardware and adapting this for the harsh underground mining conditions wherever possible in order to reduce costs. As development occurred, as with all technology, doors opened to other opportunities such as, remote access data logging and Internet based reporting. We focused on the Voest Alpine Bergtechnik (VA) range of continuous miners, as need arose to achieve the desired cost improvements because of the strategy of service contracts the subsidiary company, Voest Alpine Mining & Tunnelling (VAMT) offer the mining industry in South Africa. This paper describes a data logging system that has been installed on various continuous miners that provides data in real time, on line, and that could be expanded to any electrically supplied underground mobile or stationary mining machine.

Sep 1, 2001

By B. Zongwane, A. T. Visser

In surface mining operations, ultra-heavy trucks operate on haul road networks which are typically from 10–40 km in length. Road networks for these vehicles have historically been designed and maintained empirically, relying heavily on local experience. Whilst it is possible to construct amine haul road that requires no maintenance over its service life, this would be prohibitively expensive, as would the converse but rather in terms of vehicle operating and maintenance costs. An optimal functional design will include a certain amount and frequency of road maintenance which can be planned, scheduled and optimized within the limits of required road performance and minimum vehicle operating and road maintenance costs. For existing mine haul road networks, which may not be optimally designed and maintained, the problem of identifying existing deficiencies, quantifying their impact and assigning priorities within the constraints imposed by limited capital equipment and manpower is problematic. This is reflected in the fact that most surface mine operators agree good roads are desirable, but find it difficult to translate this into an effective road maintenance system. The aim of this paper is to present a road maintenance management system which utilizes on-board truck diagnostic data in conjunction with computer-based truck dispatch systems. Through a comparative analysis of the various haul road maintenance systems available to a mine, a condition-triggered road maintenance system is introduced. System architecture, evaluation of real-time data, event trigger level determination, specific condition signatures and real-time rolling resistance calculation are discussed. Finally the event, activity, transaction and notification system is portrayed in conjunction with the determination of key productivity indicators and benchmarked road and truck performance. Keywords: Haul road, maintenance, surface mining, rolling resistance, truck haulage.

Sep 1, 2001

By B. S. Spottiswoode

Lack of visibility makes it difficult for continuous miner (CM) operators to judge the desired sump depth. The resulting inaccuracies have proven to lead to significant production losses. This problem of measuring the depth of sump has been addressed in the past and a few measurement techniques have evolved. Despite various attempts, a suitable commercial depth of sump sensor does not yet exist. A system using the Doppler effect has been patented, developed and successfully tested. The method is non-intrusive and involves a beam of microwaves being projected obliquely at the roof. The received signal is analysed with respect to the transmitted signal, yielding the desired measure of displacement. Surface tests have revealed an accuracy of a few centimetres. Underground simulation tests on a load haulage dump (LHD) machine have verified the repeatability under the harsh conditions of interest. The system is presently being installed on a CM where it is to undergo a long-term performance evaluation. This paper presents the theory behind such a system, the hardware developed, the signal processing requirements and an analysis of the test results.

Sep 1, 2001

By T. Vincent, J. Steele, C. Debrunner, M. Whitehorn

This paper presents current work on the development and use of stereovision for underground mining. Information on the calibration of the cameras and the feature-matching algorithm are presented. This system uses an intensity-based approach that evaluated correspondences along the epipolar line. Once features have been identified and their distance from the cameras computed, a three-dimensional map of the muck pile is developed. The approach used here uses a ray-tracing algorithm. This approach provides an uncertainty measure along with the elevation. A discussion of the use of this modelling information in the control of the LHD is included. Keywords: Robotics, automation, LHD, underground mining, vision sensing, task automation, tele-operation

Sep 1, 2001

By G. R. Baiden

Introduction The introduction of teleremote systems to underground mining can provide a significant improvement in the performance of a mine when compared with conventional mining techniques. This paper presents the concepts of teleremote mining in a case study showing how the systems work and the competitive advantage autonomation of mining techniques will provide for underground metal mining operations into the future. This paper is divided into two sections: the Mining Automation Program and What is next? On January 1st 1996 Inco Limited, Tamrock Oy, DYNO Explosives Group and CANMET formed a consortium for the development of teleremote mining equipment called the ‘Mining Automation Program’ or MAP. This program included a five-year research and development agreement that combines the talents of the above organizations to create mining equipment and systems for autonomating mining. The projects are based on the communication system currently sold and marketed by Automated Mining Systems Limited. The main components of the program investigated the development of a positioning and navigation module, autonomated systems using teleremote techniques for development and stoping, and software systems to support the use of this equipment. The program included the establishment of a test mine, at Inco’s 175 Orebody near Copper Cliff North Mine. This facility was unique allowing collaboration of companies and research organizations inthe design and testing of techniques and equipment used to apply autonomation to mining. Since the inception of the project other research alliances have been added to enhance the program. These include the application of ground support (Meyco/ Master Builders), muck pile recognition, the broadening of telecommunications links (PRECARN Associates Inc.-MALTA project) and the collection and processing of drilling core through the automated diamond drilling project (J.K.S. Boyles). MAP began as an idea a number of years ago with the fundamental question ‘Can an ore-body be profitably mined through autonomation?’ The concept was to design mining equipment and systems that would allow the teleremote operation of a mine. Automation was only one componentof this much larger teleremote mining issue. To start with, it was essential to prove or disprove the feasibility of this concept. The fundamental requirements are: • Telecommunications • Positioning • Navigation • Equipment • Software • Electronics • Mining Engineering • Organization. Each of these had to be considered. Technically, the feasibility of the project hinged on the successful development of a high capacity communication network, an accurate underground positioning system, a navigation system and finally the electronics and software that could integrate these. Mining equipment that could perform all the mining functions was the next requirement, along with explosive supplies that could be delivered to the holes teleremotely. Whatever the systems developed, they must be able to work in both bulk and selective mining situations and in varying conditions within a mine. Finally, the organizational issues of a change from our current method of operation to teleremote mining had to be understood. After five years of research and development the answer to the question ‘Can an orebody be profitably mined using autonomation techniques?’ is YES! There are still hurdles to overcome, however, the basic premise has been proven. The development and production of underground tunnels and stopes has been done. There have been interesting outcomes in terms of reduced effort to accomplish mining and the total time to mine. Definitions •Automationis the process by which a machine or system is run continuously including the ability for the system to self-correct. •Autonomationis the same as automation except that the process does not self-correct. •Teleremote operation is the operation of mining equipment over a network from any location out of line-of-sight of the machine. •Equipment Automationis the addition of technology to a machine that allows for unmanned operation of a machine and thus enhances the productivity of the operator. For example, a guidance system that allows a load-haul-dump to drive by itself, thus freeing the operator for other tasks. •Teleremote mining describes a mine process that combines the use of teleremote operation (potentially with some automation), positioning and process engineering, monitoring and control. •Tamrock DataSoloTMis a computerized drilling rig as shown in Figure 1. •Tamrock DataMini™ is a computerized development drill rig used for drifting and construction tunneling as shown in Figure 2.•Tamrock Toro 450™ is a LHD (Figure 3).

Sep 1, 2001

By I. Wigden

This paper discusses system integration and installation of High-Tec systems in underground mines. ABB has the capability to be a System Integrator and co-operates with partners in different areas of technology. Today it is difficult to find one Company that is responsible for the complete Automation System. The design of the system is also dependent on the caving procedure that is currently being used in mines. Most of the engineering must be done during the feasibility study and the design phase. Any mistakes made during these phases will be costly to rectify in the commissioning phase. The paper will also include a presentation of the benefit of using Automation in an Underground Mine, and the importance of integration with the people component. Most of the experience and discussions in this paper are from different technologies that have been developed in Scandinavia and adopted from LKAB in Kiruna. The author of this paper was responsible for the Automation projects in Kiruna Mine during1994 - 1999. These projects include: • Broadband communication of data, audio and compressed video in one data stream. • Control System for Haulage -1045m • Automation of Load Haulage and Dumping machines (LHD) • Control of Production Drilling Rigs from a Central Control Room.

Sep 1, 2001

By P. Valicek, M. Farren, G. Harrison, G. van den Berg, P. van Dorssen, P. Kramers

Full mechanization of the stoping operation using rockbreaking methods other than blasting has been a target of research for decades because of the considerable payoffs in terms of increased face advance rates, productivity and safety. However, the unavailability of economically viable rock breaking tools has prevented progress so far. This has changed with the invention of activated cutting tools, which achieve significantly reduced operating forces, power consumption and wear compared to non-activated tools and thereby permitted the development and evaluation of the first mining system using this technology. Targets for the mining system were a face advance of 100 metres per month on a double shift basis for a 30 metre long panel and eventually fully automated man-free stoping. The purpose of this paper is to describe the design, development and evaluation of the mining system. This was a major collaborative effort between Anglo Platinum’s Rustenburg Platinum Mines Rustenburg Section — Townlands Business Area, Anglo Platinum’s Research and Development Department within the Mining Technology Division, the inventor of the technology Bechem GmbH, the equipment manufacturers Long-Airdox Ltd and Zollern GmbH, and CSIR Miningtek who managed the project. A structured process was followed during the development to minimize the risks involved in using such leading edge technology. The system was rigorously evaluated to ascertain the economic viability of the method and to collect data for the design of a production system.

Sep 1, 2001

By C. Mueller

In many automated mines, multi media video and audio funtionality has to be combined with sensor information or steering commands, which is the idea of a new, PC based integrated and multi media capable control system. The new control system (Multimedia Control - MMC) bases entirely on TCP/IP networking and internet technology. For the first time, this enables the ‘intelligent’ use of video and audio information: pictures and voice sequences may be forwarded on request only, they may be stored if particular events occur (e.g. video black boxes) and sensor signals as well as actions from the automation system can directly be assigned with multi media sequences. MultiMedia Control entirely bases on object oriented software. It uses most modern software technology. As user interface, only a standard web browser is required. This makes the handling of different machines easy. By using mobile web pads, dedicated local operator interfaces are not required any longer. The service staff just connects to the automated equipment by – wireless –LAN to make required adjustments. Customization is easy using an open Application Programming Interface. Software modules may be added to the system without touching or recompiling existing components. The system was prototyped in 2000 using a demo-application. The performance tests showed very positive results both regarding the control system behaviour and the speed/latency timing behaviour of the multi-media information processed. The system now is slightly reshaped to completely meet the final product requirements. It is expected to be available by the end of 2001. Key words: Machine Automation; Control System; Multi Media; Remote Control; Teleoperation; Ethernet; TCP/IP; Internet Technology; Streaming Video; Quality Assurance; Service; Control Centre.

Sep 1, 2001