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By R. R. Klimpel

The use of froth flotation as a means of separating and upgrading sulfide mineral concentrates is standard industrial practice throughout the world. It is ap-parent from observing the industrial practice of sulfide mineral flotation over the last decade that progress is being made in optimizing the operating aspects of flotation. Examples of this are the availability of improved instrumentation and related computer control devices, the modification of mechanical flotation cell designs, the introduction of column cells, better reagent dosage control, blending of feed ores, increasing attention to coarse and fine particle separations, the successful introduction of new frother chemistries, etc.

Jan 1, 1989

By J. F. Edwards

In situ extraction of copper through borehole injection presents a new technology for the mining of copper. For the successful application of this technology, copper recovery at the surface must be specifically designed for borehole injection and the general conditions of the well field. This paper describes the design of a solvent extraction / electrowinning facility specifically designed for in situ leaching of copper. This design is based on commercial solvent extraction / electro-winning with considerations of the requirements of this specific application.

Jan 1, 1988

By Jan M. Mutmansky

30.1-THE SCOPE OF SYSTEMS ENGINEERING JAN M. MUTMANSKY JAN M. MUTMANSKY 30.1.1-DEFINITIONS The terms "systems engineering," "systems analysis," and "operations research," common in today's technical literature, often are interchanged because of their similar meanings. However, some differences exist which need explanation. The most convenient way to achieve an understanding of the differences is to start with the definition of a system, namely, a collection of components which interact in a specific manner to accomplish a common objective. Accordingly, a haulage truck, a computer, a missile, a mining company or a nation each may be considered a system. Systems engineering generally can be defined as the conception, planning, design and engineering of any system of interacting elements so that the objective of the system is automatically optimized. Thus, systems engineering normally is con¬cerned with systems not yet activated.',' Systems analysis may be described as a scientific method of making decisions based on a quantitative or other objective evaluation of all action alternatives. It is very similar to systems engineering but usually is not considered to be restricted to problems of design prior to use. While the previous two disciplines are somewhat vague and can encompass a great variety of engineering functions, operations research can be more specifically defined as the application of mathematical models to the problem of optimizing the objective of any predefined system. Systems analysis and systems engineering are closely aligned sciences but opera¬tions research differs in the following ways. First, it generally is associated specifically¬with optimization and mathematical models while the other two often are not. In addition, it, is used predominantly on well-defined problems which can be ex¬pressed in mathematical terms. However, systems engineering or systems analysis may deal with highly complex social or governmental systems which may be ill¬defined and unsolvable by the classical methods of operations research. Finally, systems analysis and engineering always strive to look at the entire system to avoid the problem of suboptimization often necessary in operations research because of the necessity for a mathematical model. Because of his more extensive system, however, the systems engineer often is less able to find the optimal system. In summary, operations research, systems analysis and systems engineering are very similar in purpose but one, operations research, is more mathematical in nature and forms an important part of the other two activities. Other definitions which may be helpful are provided by Griffiths 3 Wilson,4 Falkic 5 Hall,2 Quade and Boucher, 6 and Flagle et al. 1 30.1.2-METHOD AND TECHNIQUES The systems or operations research approach makes use of scientific problem solving. The basic procedure comprises the following general steps: 1. Definition of the problem. 2. Construction of a model of the system. 3. Testing of the model under known conditions.

Jan 1, 1973

By John A. Cordes, Thomas F. Torries

INTRODUCTION Nonfuel mineral markets have always tended to be volatile due to the cyclical nature of demand and the difficulty of fine-tuning capacity and output levels. Experiences over the past two decades, however, have been especially perverse. This short volume attempts to provide insights into this era and some guidance for the future. The papers are linked together by their focus on issues of productive capacity. At the same time, they provide a useful description, explanation and evaluation of the industry's evolution and its implications for the near-term. The regnant pessimism of the 1980s was very much alive during the early months of 1987 when the theme of this symposium was formalized. Indices of real metal prices had only inched-up from all-time lows in 1986. The hemorrhage of corporate red-ink was still a powerful memory. Frustration with the apparent inability of closures and reduced capacity utilization to re-establish market balance was strong. To the more pessimistic, the industry appeared destined to a quarter century of persistent excess capacity and nonremunerative prices. The conditions to support this pessimism were readily apparent. Economic literature tells us that surplus capacity is a complex, usually unexpected and often long-lived phenomenon caused by the interaction of at least three factors. The first is a rising capital-intensity of production. The second is the presence of aggressive new entrants whose capacity additions are typically (1) trade- dedicated because local market absorption is low; (2) cost-competitive for natural or policy-support reasons; (3) heavily burdened by debt-repayment obligations; and (4) viewed as important sources of employment, regional development and foreign exchange. The third, and often decisive, factor is an unanticipated decline or stagnation in demand growth for the sector's output. The first two factors combine to increase competitive pressures and to raise the actual or perceived cost of idle capacity. Market rigidity reduces responsiveness to price signals and distorts the burden of adjustment. Demand atrophy exacerbates these pressures especially on unprotected producers in the higher quadrants of the global supply function. In the mid-1980s, evidence of the existence of all these factors were easy to cite. Culprits were often identified. Claims for protection, global sharing of adjustment burdens, and imposition of disincentives to new capacity regardless of inherent economic status were co-dominant themes with the buzz-words of "competitiveness" and "level playing fields." This, notwithstanding the suggestions of the same economic literature that excess capacity persists longest when interventionist remedies permit it to continue. Today, only eighteen months later, the mood is decidedly more buoyant and most analysts are cautiously optimistic about the next few years. Many informed analysts have concluded that the excess capacity of the recent past has disappeared. For the present, the marketplace seems to have restored a balance between supply and demand. That the adjustment took five or six years longer than anticipated attests to the dramatic structural changes which have characterized the industry. The implications of these changes for the future are unclear. Were the macroeconomic shocks, coupled with industry transitions, so extraordinary in magnitude and timing that experiences were unique? If so, the next years may hold more stable and cautious times for the industry. Alternatively, is the inherently volatile metals industry facing a future of cycles equally perverse in terms of amplitude and duration due to economic uncertainities and inflexible industry response capabilities?

Jan 1, 1989

By Z. Sample

"INTRODUCTION This past year commodity prices continued their dip with increased volatility causing market values to slide another 16% putting increased pressure on even the largest companies to improve their free cash flow.[1] Without a recovery in commodity prices in sight, companies must find a sustainable method to improve returns in the current economic climate. In an effort to improve plant sustainability, the mineral processing industry is investing in advanced automation technologies and innovative processing methods that are both more reliable and more efficient than ever before. One such breakthrough technology is Heap Leaching (HL). This method of extraction has certain advantages over traditional metallurgical methods making previously unsustainable operations economically feasible. While HL is already seeing use in the gold and copper industries among others, recent developments may allow for the use of HL to process primary sulfide ores which make up about 80% of today’s ores.[2] For this reason, this emerging technology is poised for exciting growth. Unfortunately, as with any process change, the implementation of HL projects requires significant training on both the control system as well as the underlying process, and further, due to the complex nature of the HL process, this can be a particularly difficult task. DEMOGRAPHIC TIME BOMB Even before the implementation of these new technologies, the availability of the skilled workforce has already become a significant problem for the mining and mineral processing industries. From a survey of 912 mining professionals, Stratum International found that a mere 0.4% of senior level candidates were between the ages of 25 and 34 and a similar proportion aged over 75 years.[3] This indicates that there is both a deficiency of young skilled workers and a skilled workforce that is retiring earlier than the previous generation. Combined with data published by the US Department of Labor stating that the median age of the mining workforce is approaching 50 years old, research suggests that up to 50% of skilled mining and mineral process professionals are expected to retire in the next 5 years, leaving with their irreplaceable knowledge and experience.[4] While it is projected that the labor pool will be sufficient to fill open positions, the real question is if this young workforce will have necessary skill sets and experiences. In addition to a rapidly aging workforce and an inexperienced labor pool, a study done by the Oil and Gas Journal showed that it takes about 7 years, on average, for new workers to achieve a level of competency that permits them to assess risks and appropriately make decisions.[5] Not only is this figure is in direct conflict with the typical tenure of 5 years in one position meaning that the thinly spread skilled labor will be required to become senior staff before they are able to achieve competency in their current role, this also means that these millennials are not given the opportunity to become competent in their role before the retirement of the more experienced workforce."

Jan 1, 2016

By C. Pritchard

John Marks said in his acceptance of the Hartman Award in 2008, “I guess that without the occasional complaint, your mine is probably over-ventilated” (Marks, 2008). Miners are seldom in this situation and spend much of the time trying to find enough air to keep an operation running. With examination, there are usually changes that can be made to increase the efficiency of ventilation systems. Mine ventilation air is a costly commodity, especially by the time it has been heated or cooled and moved to the bottom of the shaft and through the mine airways. Modifications that result in surplus mine ventilation air could bring financial and environmental benefits. Some issues mine operators have needed to address recently are increased airflow requirements to dilute diesel particulates in metal and nonmetal mines, to ventilate reserves that are deeper, hotter, and further away from fans and shafts, and to meet demands from increased production. This paper discusses successful methods to find additional usable air when there is no extra ventilation capacity. Most of the options presented in this paper are useful for metal/ nonmetal operations but some may be applicable to coal as well.

Jan 1, 2009

By Brad Grothen

What is the most economical way of tunneling in mixed ground that may experience high pressures? Non-continuously pressurized, mixed ground Tunnel Boring Machines (TBMs) are being utilized to deal with a wide range of geology. Continuous improvements in these mixed ground machines allow for ever-increasing efficiency and reduction of project risk due to unexpected conditions. We will explore the performance of recent mixed ground machines throughout the world and then look at how new improvements to mixed ground machines will enable excavation of an expanded range of ground conditions. These conditions include mixed ground with low fines, mixed face rock, and fracture/fault zones with high pressures where in the past a Slurry TBM may have been utilized.

Dec 1, 2022

By Steve Karl

Introduction US steel production dropped 5% in 1985 to 79 Mt (87 million st). US operators are producing at only about 65% of capacity. More than 600 steelmaking facilities have closed in just 10 years. And McDonalds Corp. now employs more people than the entire US steel industry's 200,000. Not gloomy enough? Well, the North American iron ore industry can expect more plant closures and capacity reductions in the coming years. And don't count on the Federal government's voluntary restraint agreements with foreign steel producers to bail out the industry. In 1985, the first full year of the restraint agreements program, steel imports were more than 25% of domestic consumption, well above the 18.5% target. That's the grim truth, according to M. A. Hanna's Robert F. Anderson. Hanna's chairman was speaking to a group of iron ore, taconite, and steel industry executives at the Minnesota Section AIME meeting in Duluth in January. Despite those depressing facts, Anderson said he believes the domestic iron ore and steel industries can survive, although they will both be shadows of their former selves. But, he is giving them five years to make the necessary adjustments or both will die. Major steel producers during the last four years have added about $7 billion in losses to their books, he said. In Minnesota's Iron Range, employment in iron ore and taconite has gone from 14,000 10 years ago to less than half that today. Anderson explained that steel producers have more capacity today that more than meets their demand for iron ore. This places great pressure on iron ore producers to restructure to survive. Hanna, for example, has been forced to close or divest its iron ore interests in Missouri, Michigan, Canada, and Minnesota since 1980. The latest casualty was the company's Butler taconite project in Minnesota. "In just five years we've reduced ownership of active pellet capacity by 80%," he said. Technological ironies Improved technology is one cause of the industry's woes, Anderson said. While these improvements are welcome in terms of remaining competitive, the irony is that some of these technological improvements are coming at the expense of the iron and steel industries. There is a growing demand for lighter and less expensive substitutes for steel. Automobiles contain about 318 kg (700 lbs) less steel than they did 10 years ago. And, Anderson said Ford Motor Co. has indicated it plans to reduce steel usage an average of 50 kg (112 lbs) per car in the next few years. One leading steel analyst has predicted that steel usage in cars will fall another 40% in the coming years. Improved steelmaking technology has also decreased raw steel production. Continuous casting is more efficient than traditional forms of steelmaking, Anderson said. Continuous casting accounted for about 43% of steel production in the US last year, compared to 9% a decade earlier. And, Japan and Korea are producing more

Jan 3, 1986

By Malcolm D. Flavel

Recent research into the mechanisms of crushing processes has led to the establishment of new criteria for the effective design and operation of comminution plants. This paper reviews this work and gives examples of the productivity gains and cost benefits that have been achieved in the practical application of these findings.

Jan 1, 1988

By Stanley J. Gasior

Most bituminous coal mined near Eastern industrial areas requiring high Btu pipeline gas is caking and therefore unsuitable for fixed-bed pressure gasification by present techniques. If the caking property of such coal can be destroyed the resulting fuel can be gasified in a fixed bed at pressure with steam and oxygen as a preliminary step in making a high-Btu gas. To find a practical way to convert strongly caking coals of granular or small lump size to noncaking fuel was the object of this study. In previous work strongly caking coals of 1/8- to 1-1/2-inch size was converted to a noncaking coal char by treatment in a static bed in about 3 hours [1/]and coal of 18-100 Tyler mesh in a fluidized bed in about 5 minutes.[2/] An inert gas such as `steam, nitrogen, carbon dioxide, or a mixture of all three with a small amount of oxygen was used in both studies. In our work a strongly caking bituminous coal from the Pittsburgh seam of 4-8 Tyler mesh size was converted to a-noncaking form in free-fall in about 2 seconds by dropping it through a countercurrent flow of steam containing 4 to 7 percent oxygen at 1,150°-1,200° F and 300 psig. This method should also be applicable to smaller-sized material.

Jan 1, 1965

By Virgil W. Carmichael

In the Fort Union formation of western North Dakota, eastern Montana and northeastern Wyoming there are immense tonnages of lignite and subbituminous coal that have not yet been evaluated in terms of present economic conditions. Continued expansion of United States energy requirements has focused ever increasing attention on this tremendous resource, particularly as efficiency in mining and transporting of coal, as well as in electrical energy generation and transmission have improved and as hydrogenation and gasification of coal approach economic feasibility. This "total energy" concept for coal includes all of the energy uses that coal offers and has resulted in mergers of oil and coal companies and acquisition of coal re- serves by oil companies, as well as by coal companies and others. There is no doubt that these coals are entering an exciting new era of exploration and development that will result in greatly increased production. As a matter of fact, increased consumption for energy generation is well under way and recognition of the economic feasibility of high-Btu pipeline gas and synthetic petroleum products from coal is imminent. As coal is gradually displaced in steam electric generation by the more exotic fuels and processes, it will be increasingly used as raw material for the synthetic petro-chemical industry and the organic chemical industry.

Jan 1, 1968

By R. S. Mateer

Linear programming on desktop computers is commonly used to optimize coal blending proportions. The objective function is usually the cost of the blend. The constraints consist of materials and heat balances as expressed as linear functions of the blend. This is illustrated in Example 1. Inclusion of a sulfur compliance constraint in more complex because the maximum permitted sulfur percentage is not a pre-specified constant. Rather, it is a function of the calorific power of the blend itself. The current limit of 1.2 pounds of sulfur dioxide per million Btu may be expressed as: [Sulfur Max%= 0.6 . Hl10,OOO with H in Btu/lb.] A proper constraint equation may be formed by defining for each coal a function that is the difference between the actual sulfur percentage and the maximum sulfur percentage. This may be regarded us an excess sulfur percentage. For Coal A of Example 1. this would be: [ Sulfur Excess%=0.5-0.6 13,000/10,000=-0.28] This value would be used as the coefficient of the weight proportions of this coal in the blend. The complete constraint equation would then be the sum of such terms for each coal set less than or equal to zero. This is illustrated in Example II. [ ]

Jan 1, 1995

By Anna Eleria, Joseph Welna, Jim Herber, Nathan Campeau

Constructed by stonemasons over 120 years ago, a portion of the Trout Brook Storm Sewer Interceptor (TBI) owned and operated by the Capitol Region Watershed District in Saint Paul, Minnesota, needed rehabilitation. A routine inspection of the 10-foot limestone block tunnel revealed degraded and missing mortar between the blocks, allowing significant infiltration and soil migration through the tunnel joints. Conditions, including damaged and missing blocks, were considerably worse in a 250-foot-long segment beneath a busy mainline railroad corridor. Barr’s solution included tuck-pointing to repair the mortar joints, shotcrete overlay, and construction of a hybrid cast-in-place/shotcrete “tunnel within a tunnel” to support the mainline railroad loads.

Jun 13, 2021

By D. L. Stevens

Following an in-depth scenario and strategic-planning exercise in 1997, Noranda's mine production goal was set at 500 kt/a (550,000 stpy) of both copper and zinc metal in five years. There had been no recent discoveries, reserves were shrinking and things had to be done differently and quickly. Change is now continual in Noranda's program. The following steps were taken: the exploration and business development groups were combined, teams were formed to search for and respond to opportunity; geologists were coached to become more business minded and engineers were coached to become more optimistic; the company went global; clear thresholds were set, marginal properties were farmed out and other properties were fast tracked; reconnaissance exploration was focussed where there was a clear competitive advantage; and Noranda became a "flexible" partner to juniors and seniors. Is it working? A number of successes, near successes and outright failures are discussed. The main result is a much higher rate of opportunity flux, which is essential for success in the mining industry.

Jan 1, 2000

By G. S. Walker, W. van Bronswijk

The accurate determination of free cyanide and metal cyanide complexes is of increasing interest to Carbon-in-Pulp (CIP) gold extraction operations as cyanide consumption is an important economic factor in the processing of complex ores. Characteristically complex ores are high cyanide consumers and these ores usually contain a range of sulfide minerals e.g. covellite (CuS), digenite (Cu1,S), chalcocite (Cu, S), Pyrrhotite (Feci-x)S), marcasite (FeS2), arsenic and antimony sulfides and zinc sulfide. These minerals can consume significant quantities of cyanide, e.g. various copper(!) cyanide complexes such as CuCN, Cu(CN)2·, Cu(CN)/ and Cu(CN)/ can form, depending on the cyanide to copper ratio in solution. Measurement of free and complexed cyanide is thus a prerequisite for efficient cyanide dosage control. Free cyanide can be determined potentiometrically or amperometrically but the methods are prone to error and are laborious [1]. Metal cyanide complexes can be determined by reverse phase HPLC, however, the species ofa single cation (e.g. Cu(CN)i-, Cu(CN);2 and Cu(CN)/) elute as one species [2]. Additionally the high amount of suspended matter in CIP leach solutions tends to introduce errors. Raman spectroscopy has the potential to be used as an in­line or on-line method of analysis. Free cyanide and the cyanides of gold, silver, copper and iron have been studied in aqueous alkaline solutions with a view to developing such a method. Spectra were obtained with a Bruker RFSl00 FT-Raman spectrometer using a 1064 nm laser delivering 800 mW of power at the sample. Depending on the solution, 250, 1000 or 4000 scans at 4 cm-1 resolution were accumulated. The cyanide stretches observed were relatively narrow (10 15 cm-1 full width at half height) and well resolved (Figure 1 ).

Jan 1, 1995

By Ron F. Schritt

Over the many years since the development of the steam powered shovel, various powering and control techniques have been employed for the various shovel functions. While volumes have been published on this subject, this paper will be limited to a very brief discus-sion of one of the latest of these and its application to a unique machine. The evaluation of the subject machine is far beyond the scope of this discussion, which will be limited to the techniques and equipment employed, and the considerations involved in their choice. The basic requirements for any power and associated control system for any power shovel function have remained relatively un-changed over the years. To the extent possible, such an equipment grouping must be: Easy to install during fabrication Easy to maintain and repair by available personnel Life cycle cost competitive Adequately reliable Adequately responsive And as may be expected these factors are arranged in various orders of priority by different manufacturers and users. All the various time honored approaches have to some extent fulfilled these require-ments but were discarded or fell into disuse when more effective approaches were developed. The latest in this long line of develop-ments and perhaps the most promising is that of electro-hydraulic controls and hydraulic drive.

Jan 1, 1977

By Delbert Hamilton, Christopher Snyder

In the last three years there have been four uncontrolled heating events in mines that have been attributed to the use of polyurethane foam as a void fill product. These heating events are due to the exothermic reaction that occurs during application of these polymeric products. These events led the Mine Safety and Health Administration to issue a safety alert on polyurethane products used in void filling and ground consolidation in mining, with the goal of educating the mining community about this potential hazard. This paper provides an overview of various types of polymeric products and best practices, the factors that contributed to the heating events, and case studies involving polymeric products.

Jun 25, 2024

By C Rutter, N Shea, K Kolobe

The Henderson mine, a panel cave mine in Colorado, has undergone multiple ventilation system changes to meet dynamic airflow needs. This paper explains the ventilation designs for different production panels, the challenges faced, and the modifications made to optimize the ventilation systems. The study highlights the importance of a robust ventilation system for safe and productive mining.

Mar 2, 2022

By Adrian Smith, Debra W. Struhsacker

13.1 INTRODUCTION Cyanide is, a generic term indicating the presence of the cyanide ion (CN-). Cyanide is a very common, naturally occurring compound produced by many biochemical reactions. Many plant species synthesize organic compounds which contain cyanide in the form of cyanogenic glycosides (Knowles, 1976). For example, trace amounts of cyanide are present in the seeds and leaves of many members of the Rosaceae (rose) family (Kingsbury, 1964). Many common items such as lettuce, maize, sweet potatoes, kidney beans, (Oke, 1969) almonds, and cigarette smoke contain cyanide. As examples, a recent chemical analysis of chocolate-covered almonds measured a total cyanide content of about two ppm (Steffen Robertson and Kirsten, 1987); and the U.S. Surgeon General (U.S. Department of Health, 1964) has shown that cigarette smoke contains up to 1,600 ppm total cyanide. The chemistry of cyanide solutions is complicated because the cyanide ion forms compounds and complexes with many elements. Some cyanide species are highly toxic whereas others are relatively inert and harmless. Molecular hydrogen cyanide (HCN) is the most toxic form of cyanide. Under most conditions, HCN exists as a gas which readily dissipates or reacts with the environment to form less toxic or nontoxic forms of cyanide. Thus HCN is an ephemeral toxin, and many naturally occurring geochemical processes reduce the HCN concentration of a heap system with time. As discussed below, free cyanide includes the two species, ionic cyanide (CN-) and molecular hydrogen cyanide. Free-cyanide toxicity in man, mammal s, and aquatic species is we1 1 documented (Doudoroff, 1976; Ecological Analysts, 1979; Towill et al., 1978). The lethal doses reported for human adults vary with the type of exposure as follows: • One to three mg/kg body weight if ingested; • One hundred to 300 ppm if inhaled; and • One hundred mg/kg of body weight if absorbed. Acute toxicity of free cyanide to freshwater invertebrates ranges from 0.028 to 2.295 mg/l, depending on species and test conditions. Generally, free-cyanide concentrations greater than 0.1 mg/l are expected to kill sensitive species in freshwater or marine environments (Doudoroff, 1976;

Jan 1, 1988

By R. H. King

Recently, the North American mining industry experienced a severe recession, forcing managers to take dramatic steps to cut costs and compete in the difficult international market. Some of these steps were closing mines, reducing work forces, renegotiating wage agreements, and purchasing the most productive equipment. Managers are now looking beyond these traditional avenues and are focusing more on advanced technology. In the present environment, it is essential that mine operators obtain the maximum use of capital expended on equipment. However, mine workers do not obtain maximum efficiency or productivity from equipment because the adverse and hazardous mine environment impedes human performance. Also, the efficient use of large, complex machines calls for levels of precision that many times are beyond the capability of even highly trained miners. A possible solution to this problem is a machine that mines without operators - autonomous mining machines. However, numerous problems confront researchers who are attempting to develop such equipment. Some mining tasks are not always composed of a series of cyclic motions readily performed by factory floor robots. In addition, mining takes place in the geological environment where conditions are highly variable and unpredictable. As a result, these machines must be able to sense and adapt to variations in operating tasks and environment. Considerable autonomous vehicle research has been completed, especially for defense. However, autonomous vehicle (AV) technology has not advanced to practical application yet (King, 1988) and mining research is necessary in areas: representing mining specific knowledge; •analyzing and reasoning about sensor data in the mining environment; and •discovering completely new mining methods or new approaches to existing methods that become apparent when we remove the constraints imposed by the necessity of human operators. A specific machine, the LHD, can be used to show the problems for researchers who are attempting to develop autonomous machines for mining. This author chose the LHD because it can borrow concepts developed for autonomous navigation by military programs. But considerable mining research is also required. Furthermore, studies done at the Henderson mine, in Colorado, show autonomous LHD 's promise cost and safety benefits (King, 1988). At Henderson, LHDs load ore from draw points, tram to an ore pass, dump and return, or switch to another draw point. An autonomous LHD must sense vehicle position along the route, relate sensor data to stored-map information, to determine location, follow drift center lines, plan paths between dump position and initiate appropriate control commands, sense vehicle operating status and vehicle health, key on features or targets for special tasks like high speed turns, perform end of travel tasks (loading and dumping), and detect and avoid obstacles. These goals are similar to those for shuttle cars, trucks, and front-end loaders. Therefore, much of the technology is transferable. Each Henderson LHD extracts six to 40 dippers from each of a series of draw points. The LHD transports the ore to an ore pass within 55 m (180 ft) of the draw point, making the longest round trip 110 m (360 ft). The LHDs have very fast hydraulic dumping and loading systems that reduce the round trip cycle to less than one minute. Even though the LHD is capable of 500 trips per shift, the average production is 300 dippers. Man trip and lunch reduce available operating time to 6.5 hours per shift. Mucking difficulties (setting large boulders aside), operator breaks for activities like talking shop, and cleaning and smoothing roads further reduce operating time. Supervised autonomy can reduce the number of operating units by increasing operating time per shift since computer controlled machines can operate during lunch and between shifts and reduce operator errors. If dippers per shift increase from 300 to 350 (long-range goals are 500 dippers per shift), constant production requires only 10 operating LHDs and two spares. Manpower requirements drop from 24 to four by controlling five machines from one workstation. A review of technology available from the Autonomous Land Vehicle, the Advanced Ground Vehicle Technology, the Ground Surveillance Robot, and other programs, show the following differences between others work and mining industry needs: •If we focus initially on mobile haulage vehicles, we can navigate from a map. We do not need to explore. •We can modify the environment to reduce the navigation requirements. •We have a harsher environment than any of the research programs have encountered. •Our equipment must operate faster and more precisely than present AVs. •Our equipment must operate reliably over long periods of time. •We must have better onboard machine health monitoring and diagnostics. •The AV programs do not address geosensing. •The major AV programs are not cost-effective. For example, we cannot afford the computer power for robust image processing, yet. To computer control an LHD, we must replace the guidance and monitoring skills of experienced operators with sensors, computing hardware, interfaces, and several software mod¬ules. Experienced operators avoid collisions and load efficiently in piles that may contain oversize muck. Collision avoidance without an operator requires sensing all obstacles in the draw

Jan 1, 1991