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A discussion on simulation tools to aid the development of robotics platforms is presented. The focus of the work is towards mining robotics platforms where operations are typically in unstructured, unpredictable environments and a high degree of dependability in their operations is required. It is argued that a test-based development approach leads to more robust solutions and faster development cycles than traditional single-track field-only development and that the key enabling technology for this development paradigm is the judicious use of simulation tools. The future direction of simulation for use in online applications such as active planning and as a means to assist tele-operation in high latency communication applications is also brief y considered together with the requirements for a useful simulation environment in terms of the simulator architecture. Finally, a case study is presented on the application of the discussed methodologies to an unmanned ground vehicle (UGV) for earth-moving tasks, which is being developed in an accelerated time frame with a transient development team.

Dec 6, 2010

By Gordon T. McKenna

"Syncrude Canada Ltd. is developing new concepts in lease-closure landscape design for its Oil Sands Leases 17 and 22 in northeastern Alberta. Closure planning is becoming an integral part of the planning cycles and of the lease operation. By incorporating closure planning into the day-to-day operation, the company will achieve acceptable lease closure in an economical manner. Ultimately, Syncrude will achieve lower operating costs through innovation in mine planning and a reduction in residual liabilities.New concepts being evaluated for lease-closure landscape design include: designing for closure, use of landforms and natural analogs, self-armouring bouldery ground, robustness in design, landform grading, terrain analysis of reclaimed land, geotechnical hazard assessments, choices in closure design timeframes, passive maintenance, determining post-closure monitoring goals, engineering tailings, engineering other substrates, use of test plots and field demonstrations, geomorphologic monitoring of reclaimed lands, defining closure goals, and visiting other mines. These concepts are being formalized under the new discipline of Landscape Engineering."

Jan 1, 1996

By Hassan Ghaffari

? HPGR Process/Overview ? HPGR vs. SAG ? The Manufacturers ? Mine Operations using HPGR ? Projects by Wardrop/Tetra Tech ? Economic Benefits ? Questions Main Operating Parameters ? Press Force (N/mm2) ? Roll Speed (m/s) ? Moisture Content (%) ? Feed Particle Size Distribution Specific throughput M* = throughput/D*L*V (ts/hm3) Flake thickness/strength in balance with the compressing force (floating roll situation)

Aug 1, 2013

By Tracy Brettmann

A new method for estimating ground vibrations caused by pile driving was developed as a result of a vibration monitoring program performed for a large pile driving project. The method is accurate, rational and theoretically based starting with energy actually transmitted to the pile (not the rated or operating hammer energy). This energy is then assumed to be transmitted to the soil in the form of surface waves that attenuate from both geometric and material damping. The main input parameters for this method include the energy transmitted to the pile and the dynamic properties of the soil (wave velocity, material damping, and unit weight). In this study we concurrently measured both: (1) pile driving of 14-in.-square, 65-ft-long precast concrete piles with a Pile Driving Analyzer?, and (2) vibration levels at various distances away from the piles during driving. A geotechnical study for the site was also performed that included measurement of the dynamic soil properties using both crosshole and seismic cone testing. This paper presents the data obtained from the study and compares the results to the values estimated using this new method. Vibrations from pile driving is a serious matter that impacts virtually every pile driving project. It is important that accurate methods for estimating ground vibrations be available to engineers and contractors.

Jan 1, 1999

By P. Tsang

The mechanisms and functions of yield pillar are analyzed by employing finite element method that takes time dependent and plastic failure of rock into consideration. The design criteria for different geological conditions are discussed. The results provide further evidences that yield pillar design will improve floor or roof condition, especially when the floor and/or roof strata are weaker than the coal. Based on this study, the yield pillar size is determined for one cod1 mine located in southern West Virginia.

Jan 1, 1989

Tellurium (Te) is one of the least abundant elements in the crust and tends to form minerals associated with copper, lead, zinc and iron sulfide deposits. Today, most tellurium production comes from the anode slimes and other wastes generated in metal refining. Most of the current tellurium produced in the world is used as an alloying agent in iron and steel, as catalysts, and in the chemical industry. However, future demand and production could increase because tellurium is increasingly used in solar panels and some electronic devices. Tellurium minerals are found in Au-Ag districts in New Mexico, but were not considered important exploration targets in the past. In New Mexico, tellurium is found associated with porphyry copper deposits in southwestern New Mexico and with Au-Ag veins in the Eureka, Sylvanite, Organ, Lordsburg, Steeple Rock, Wilcox, Mogollon, Chloride, Cuchillo, Hillsboro, Zuni Mountains, White Oaks, and Nogal-Bonito districts. The only tellurium production from New Mexico has been from the Lone Pine deposit (Wilcox district), where approximately 5 tons of tellurium ore was produced. Gold-tellurides are found with gold, silver, pyrite, and fluorite in fracture-filling veins in rhyolite at Lone Pine, with reported assays as much as 5,000 ppm Te. Other districts in New Mexico have potential for tellurium, but require field evaluation.

Feb 27, 2013

Mining is a fundamental activity on which modern society and the world's economy are entirely dependent. Mining investors, large and small, invest on an international scale, frequently being active in several countries.   Prior to committing investment to new countries, the prudent investor will consider the risk involved by analysing a number of physical, financial, administrative and political parameters that impact on the potential financial returns it is seeking. This paper considers these risk factors in relationship to New Zealand and six competitor countries. The conclusion is that for reasons largely within the control of our politicians, New Zealand is a high risk country for mining investors.

Jan 1, 1993

Pillars with width to height ratios of less than 1.0 are frequently created in underground hard rock mines. The strength of slender pillars can be estimated using empirically developed equations. However, the equations can provide variable results when the width-to-height ratios approach 0.5. This paper investigates some of the issues affecting pillar strength at low width-to-height ratios in hard brittle rock. The investigation includes an evaluation of empirical pillar strength data presented in the literature and observations of pillar performance in underground limestone mines in the eastern United States, supplemented by numerical modeling in which failure processes and sensitivity of slender pillars to variations in rock mass properties are evaluated. The results showed that the strength of slender pillars is more variable than that of wider pillars. The numerical model results demonstrated the increasing role of brittle rock failure in slender pillar strength. The absence of confinement in slender pillars can result in a fully brittle failure process, while wider pillars fail in a combined brittle and shearing mode. The onset of spalling in slender pillars occurs at or near the ultimate strength, while this is not the case for wider pillars. Slender pillars are shown to be more sensitive to the presence of discontinuities than wider pillars, which can partly explain the increased variability of slender pillar strength. Two examples are presented, which illustrate failure initiation by brittle spalling and the sensitivity of slender pillars to the presence of discontinuities.

Jan 1, 2006

By N. Sasto, E. Bondi, G. R. Lane

Cyest Corporation has been involved in economic modelling and optimisation with various mining clients within South Africa, and internationally, for the past 5 years. In the mining industry in particular, the relationships between variables that are controllable, and those that are not, and the physical and economic outcomes are complex and often non-linear. These relationships constitute an economic system. In the mining context, although many of the relationships can be accurately quantified on a ?single variable to single variable? basis, such simplistic relationships will not suffice in order to understand the dynamics of an entire mine. One has to specify and quantify the relationships between hundreds, if not thousands, of variables. Furthermore, in reality, these relationships change over time. This is the role of an economic model where all the relevant cause-effect relationships, within pertinent constraints, are accurately represented. Models that are used for optimisation must therefore capture the dynamics of the economic system in question as well as anticipate changes to the relationships between these variables. An accurate economic model is a prerequisite for successful optimisation. Optimisation entails the allocation or configuration of resources, within control of management, which will maximise (or minimise) a desired objective function. An optimal configuration (implying trade-off) of controllable variables therefore exists for a given set of assumptions that will yield a maximised objective function. Due to the multi-variant trade-offs required for optimisation, the concept of the ?Economic Surface? or ?Hill of Value? has been used to represent these optimisation outcomes and to discern the route to an optimal configuration. A good example of this is the volume versus cut-off grade trade-off that yields an optimal value for a particular shaft with its unique geological and economic assumptions. More recently, Cyest has extended these economic models to incorporate risk associated with variance in assumptions and inputs. This is termed DFA (dynamic financial analysis) and incorporates stochastic modelling and some of the latest actuarial techniques around modelling global assumptions (such as pricing and exchange rate). This paper will cover the theory around mine optimisation through some example case studies, and also explain the latest thinking regarding incorporating DFA.

Jan 1, 2007

By Tony Robles

"A new process is disclosed for the recovery of gold and/or silver values from activated carbon wherein they are adsorbed as cyanide complexes. A unique chemistry allows the new process to use mill process water containing an inexpensive, non-hazardous compound as the eluant. The new process has an elution period of 5 hours at 98°C. The gold in the eluant can be recovered by electrowinning or zinc precipitation. The new elution process is simple, reliable, and provides an eluted carbon that may not require thermal regeneration before reuse. Retrofitting the new process to existing processes such as Zadra, Anglo, and others will not require significant capital expenditures.IntroductionThe efficient and reliable elution process for gold/silver from activated carbon is a very important process in the gold mining industry. The most common techniques for elution of gold cyanide from activated carbon are the Zadra and Anglo procedures.Specialized elution techniques like the Micron and Acetonitrile processes have not been commercialized to significant extent probably due to relatively complex unit operations and expensive reagents.Important functions of the gold recovery circuit are:Efficiently recover gold/silver from the loaded carbon.Carbon is in good condition for reuse for optimum recovery.The pregnant solution is amenable to electrowinning or zinc precipitation to recover gold/silver from the solution.The whole process to be simple and short to reduce gold inventories.Present Elution ProcessesTable 1 shows some carbon elution processes that are available today. The two main elution processes used in the industry are: (1) the Zadra process, in which hot cyanide solution is circulated through an elution column and electrowinning cells; and (2) the Anglo American Research Laboratory (Anglo) process, consisting of a pretreatment step with caustic cyanide solution, followed by elution with deionized water."

Jan 1, 2000

By Robert H. Peters

The objective of the project descibed in this report was to design and field test a model health and safety program at a coal mining company and a gold mining company. The model program was implemented primarily by providing training on loss control, accident investigation, and the operation of mobile equipment; and by providing technical assistance to help solve health and safety problems. Data were obtained from company records on occupational injuries, illnesses, accidents, and "near misses"; and through direct observation of employees performing a large number of randomly selected jobs. At the coal mine, employees were observed five times over a 15-month period. At the gold mine, employees were observed six times over a 16-month period. During the study, the percentage of sampled jobs containing one or more safety deficiencies decreased from 74.3 pct to 36.6 pct at the coal mine and from 86.4 pct to 19.1 pct at the gold mine. Work on this project was performed by Woodward Associates, Inc., under a Bureau of Mines contract.

Jan 1, 1986

By H North, J Barringer, S McNeill, D Pairman

Models of ground surface elevation, slope, aspect, curvature, roughness, deformation, as well as other features are gathered together in the term Digital Terrain Model (DTM). DTMs can be generated from a wide range of technologies such as ground surveying, aerial and satellite imagery, including both active and passive sensors. Some elevation derived parameters, such as roughness and slope, can be measured directly using innovative active sensor technology and smart processing, rather than via traditional processing of elevation information. Such models are used as part of a visual interpretation process, and increasingly for computer-assisted analysis using visualisation technology. There is an ever-increasing demand for DTM information to be used in the mineral exploration and mining industry, and consistent pressure from industry to develop models of higher spatial resolution, higher accuracy, and better overall reliability, regardless of the world-wide location of interest. This presentation will survey the range of techniques available for DTM generation, including active (LIDAR, SAR interferometry and differential interferometry) and passive (optical or SAR stereo) methods, as well as interpolation methods (contour or structure interpolation), and the economic placement of these various techniques in the local and regional context. The research issue oftrue-ground elevation models and slopes is also addressed, using LIDAR and SAR polarimetry as signpost technologies. Particular emphasis will be given to the strengths and limitations of new data sources that will, over the next few years, make the acquisition of elevation models of remote regions of the world inexpensive and relatively accurate.

Jan 1, 2000

By L. J. Lorig

Much of the present knowledge about caving behavior of rock masses has been obtained from empirical observations. Additional notions about caving have been developed through inferences derived from two-dimensional finite element analyses. These analyses have indicated that a combination of one low-angle set of fractures and one nearly vertical set of fractures is the optimum fracturing configuration for ease of cavability of an orebody. This paper presents the results of two- and three-dimensional distinct element analyses which draw different conclusions than those reported from finite element studies. The distinct element method is selected far analysis of cavability because this method treats the rock mass as an assemblage of rock blocks which may interact individually, The results of the analyses are compared to a documented case history which involved a groundfall of 80,000 tons of ore in a 160-foot high pillar. The mechanics associated with these results are-explained in terms of simple static stability analysis of wedges. The propensity for orebody caving is primarily a function of the number of joint sets or potential "release" surfaces in the orebody. This mechanism is influenced by the bounding weak discontinuities, and intact strength of rock material.

Jan 1, 1989

By M. Menéndez

Enhanced gravity separation appears to be one of the most promising methods for processing all types of <200-µm coal feeds and tailings. Systems based on this technology are reviewed, and the results of investigations based on C900 Multi-Gravity Separator tests conducted to assess the treatment of <200-µm, extremely difficult-to-wash coal settling pond tailings are presented. Multi-Gravity Separator processing tests of ultra-fine tailings with a high clay particle size content (22.6% <10 µm and 60.1% <40 µm) and a 69.56% ash content show that this material can be effectively treated after desliming (<10 µm) of clay-size particles to produce a coal with a 20.6% ash at a separator combustible material recovery of 69.3%. Desliming is shown to be critical in reducing coal ash content and combustible material recovery. Similar improvements are anticipated in the recovery and separation pro-cesses for other enhanced gravity separation systems from the desliming of feeds. Although not a conventional form of treating Multi-Gravity Separator data, the existence of well-defined polynomial relationships based on the product of drum shake amplitude and shake frequency relative to product coal recovery, product ash content and yields at varying wash water flows is demonstrated. Low-amplitude and intermediate- to high-frequency bed agitation are shown to produce optimum ash reduction results.

Jan 1, 2007

By John Sleavin

As part of the Link Light Rail project in Seattle, WA, work was completed at the Pine Street Stub Tunnel (PSST) in early 2007 for the Central Link project. This tunnel was excavated using cut-and-cover construction within the limits of Pine Street. The stub tunnel provides a turn back via double crossover for light rail trains running in the Downtown Transit Tunnel (DTT), as well as a connection point for the next phase of the project, the University Link (Fig. 1). Designing the new University Link tunnel connection to the existing PSST was a tricky task. The on-site geotechnical conditions, buried obstructions, geometry, requirements for construction and balancing operational considerations and neighborhood stakeholder concerns associated with the recently completed PSST combined to create a uniquely challenging assignment.

Jan 1, 2010

By G J. Corbett, T M. Leach

Approximately 42 t of mercury were produced from Puhipuhi from the late nineteenth century until the end of World War II, with no significant gold or silver production. Sinter, eruption breccias and veins, mined for mercury at Puhipuhi and essentially barren of gold, are inferred in many geological models to represent the surficial levels of adularia-sericite style low sulfidation gold-silver systems. These systems may contain economic gold-silver mineralisation at depth. Conceptual geological models have been employed at Puhipuhi in the search for buried gold mineralisation. Homestake Mining utilised a McLaughlin model for exploration from 1982 to 1987, targeting mainly the vicinity of the sinter deposits. From 1987 to 1989 BHP sought deeper structurally controlled gold mineralisation within the basement greywackes, utilising models derived from studies of Round Mountain, USA and Hishikari, Japan. Macraes Mining Company Limited have accessed the previous work and applied a conceptual geological which invokes a north-south structural control for the emplacement of high-level felsic intrusions at depth. Dextral movement on these structures associated with oblique convergence facilitated the formation of a pull-apart basin in which lacustrine sediments overlie basement greywackes and are in tum overlain by Pliocene basalts. Continued activation of the NS structures created a series of inferred NE-trending dilational structures, which are targeted as fluid upflow centres for the surficial outflows. Upflows occur as eruption breccias (e.g., Plumduff) and outflow as silica sinters (eg Mt Mitchell, Williams) which are also partly obscured by the basalt cover. Argillic alteration and mercury mineralisation occur at elevated crustal levels (eg Puhipuhi mine). Modelling from structure and alteration zonations have targeted a fluid upflow in the vicinity of Bush Hill, which was not accessed by previous workers. This target was subsequently supported by surface geology and multi-element soil geochemistry.

Jan 1, 1997

By C Garlick, O Gregory, H Rogers, B I. Winters, Z C. Ye

BHP New Zealand Steel produces iron from titaniferous ironsand by a direct reduction process comprising multihearth furnaces/rotary kilns/electric iron melters. The electric iron melter is a six-in-line rectangular submerged-arc furnace which takes the partially reduced ironsand (80 per cent metallisation) from the rotary kiln and completes the reduction process to produce iron of nominally three per cent carbon. As the melter operates at around 1500¦C and under very hostile conditions, it is near-impossible to obtain any basic operating parameters such as the velocity and temperature distribution in the slag and in the molten iron. As a first attempt to understand the operating conditions inside the melter, a scaled room-temperature model using wax and water to represent the slag and iron, was constructed. This paper will report on some of the preliminary model results on the temperature distribution.

Jan 1, 1995

By Robert E. Wallhagen

The froth foam seal topping system is part of a system for remote sealing of mine passages using flyash transported pnuematically from the surface. Making the final 5 percent of the seal with a foamed-in-place fire retardant polyurethane reduces the required flyash volume by 50 percent and provides a more reliable seal. Foam components are held at the surface under proper conditions of temperature and pressure; then conveyed down the borehole through individual hoses and mixed at the bottom with a static mixer. The polyol component is pre-mixed with fluorocarbon-12 which, when released from system pressure in the mixer, boils and causes the foam to expand. Difficulties in handling this particular foam formulation are offset by a flame spread index well below the 25 level by ASTM E-162 normally required for under-ground applications. Isocyanate, polyol (TDI) and catalyst are conveyed to the downhole package by three separate lines. Five additional lines operate the valving and convey solvent so that the mixer and package lines can be flushed immediately after foaming. The eight-hose bundle is provided in segments of several lengths so that bore-hole depths can be matched. Cast-in-place plastic cylinders hold the bundle together and transfer the weight of the hose through a special quick-release clamp to the crane&apos;s wire rope. The downhole package and hose bundle are deployed using a specially designed winch and crane system capable of borehole deployment to 1500 feet.

Jan 1, 1977

By Jochen Petersen, Thandazile Moyo

"The oxidative leaching of chalcopyrite in ammoniacal solutions has been evaluated using electro-analytical techniques. The anodic dissolution process has been established to be a seven-electron transfer process under nitrogen in ammonia–ammonium sulphate solutions and ammonia–ammonium carbonate solutions. The number of electrons transferred in the carbonate and sulphate salts suggests that the sulphur is oxidised to a thiosulphate intermediate and the copper and iron released as Cu+ and Fe2+. The Cu+ and Fe2+ is subsequently oxidised in solution in non-Faradaic reactions. The deportment of Fe2+ and S2O32- is affected by choice of the ammonium salt used in the leaching process. In the perchlorate salt, only five electrons are transferred, however observations made on the mineral surface after leaching do not support the formation of elemental sulphur. Scanning electron microscopy and energy-dispersive spectroscopy analysis of the mineral surface suggest presence of an iron–sulphur surface layer completely free of copper under the ammonia–ammonium sulphate conditions, an iron-rich surface layer under ammonia–ammonium perchlorate solutions and absence of surface layer build up under ammonia–ammonium carbonate solutions. INTRODUCTION Hydrometallurgical processes for copper extraction provide a viable route to recover the metal from mixed and low-grade ores, as well as overcome the environmental challenges faced by the traditional pyrometallurgical processes. Chalcopyrite is not only the most abundant of the copper sulphides, but also the most stable, making it recalcitrant to hydrometallurgical processes. Hence, hydrometallurgical processing of chalcopyrite continues to be an attractive area of research due to the vaguely understood surface chemistry of the mineral in different aqueous media. Different approaches to hydrometallurgical treatment of chalcopyrite can be carried out. These include thermal treatment prior to leaching, direct leaching and direct electrochemical leaching (Venkatachalam, 1991). Direct leaching of chalcopyrite can be carried out in various solution systems, as reviewed by Roman and Benner (1973) and Venkatachalam (1991). Ammoniacal solutions are attractive and effective lixiviants that form stable amine complexes with some base-metal cations while rejecting iron. Leaching of chalcopyrite in ammoniacal solutions in the presence of an oxidant is possible due to the stabilisation of copper(I) and copper (II) by ammonia at elevated pH levels. In oxygenated ammonia solutions, it has been suggested that chalcopyrite dissolves according to Equation 1 (Beckstead & Miller, 1977a):"

Jan 1, 2015

By S. H. Yi, J. R. Kim, Y. S. Lee

The viscosities of CaO-SiO2-Al2O3-MgO-FeO slags were measured under conditions ofCaO/SiO2=1.15–1.6, 10–13 percent Al2O3, 5–10 percent MgO and 5–20 percent FeO. Slag viscosity decreased with increasing FeO content at a fixed basicity (CaO/SiO2) of slag. Slag viscosity at low FeO (<7.5 percent FeO) exhibited a minimum value by increasing MgO content in slag. Viscosity decreased with increasing slag basicity up to 1.3 while it increased as slag basicity increased from 1.3 to 1.5. Thus, it was proposed that the driving force for the decreases of slag viscosity would be an increase in depolymerization of silicate network at C/S=1.3, while the viscous behaviour at C/S>1.3 would be increased with increasing the chemical potential of primary solid phase e.g. dicalcium silicate. A thermodynamic approach for the activity of primary solid phase in molten slags resulted in a reasonable relationship between viscosity and slag components. Therefore, it was confirmed that slag viscosity in basic slags system (C/S>1.3) could be determined by the chemical potential of dicalcium silicate. Keywords: viscosity, basicity, bosh slag, blast furnace, slag structure, FT-IR

Jan 1, 2004