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By Poul Hansen

"In mid-I986, a world-class mining enterprise was created in British Columbia, bringing together the copper mining operations of Lornex Mining Corporation and Cominco into a new entity, Highland Valley Copper. This paper will focus on the background and rationalef or the formation of this partnership, the resulting operating changes and the productivity and cost benefits expected.IntroductionSince the deterioration of the world copper industry in 1981, the future of the Lomex and Cominco mines in the Highland Valley of British Columbia looked increasingly precarious. Despite the expansion of the Lomex mill complex in 1981 to one of the world's most cost-efficient copper and molybdenum concentrators, persistent low metal prices had made the remainder of the ore in the Lomex orebody marginally economic and had significantly foreshortened the expected life of the operation.Cominco had acquired the Bethlehem Copper assets in order to consolidate its ownership of the Valley orebody, and was feeding the Bethlehem concentrator with ore from the Valley orebody. In spite of the high grade and free-milling character of the Valley ore, profitability of the Cominco operation was severely restricted because of the limited capacity of the Bethlehem concentrator and its location high on the hillside above the orebody."

Jan 1, 1987

By John Russell

"Faster, safer, grinding mill relining offers the obvious attractions of reduced mill relining times with the knock-on incentive to reduce all other maintenance down-time, opening the possibility for increased annual plant utilisation.Leading edge liner handler technologies by RME, focused toward even shorter relines for very large SAG and AG mills, have recently split into two quite distinct paths:•,?Single SAG/AG Mill Relining Machines (MRM’s) of very large capacity, such as Newcrest Cadia’s 40’ SAG MRM of 6000 kg capacity and P.T. Freeport’s 38’/34’ SAG MRM of 7250 kg capacity;•,?Twin-machine SAG/AG Mill Relining Systems of moderate to large capacity such as BHP Billiton’s Escondida Laguna Seca 38’ SAG MRM’s, each featuring 4500 kg capacity.RME, its customers noted above and their liner suppliers are providing leadership in this important annual utilisation advance.Once the 24 hour mill shell reline becomes reality, liners designed for maximum profit, not maximum life, albeit exchanged more frequently, become possible too.INTRODUCTIONAt most mineral grinding plants, mill relining activities dictate each maintenance shutdown’s critical path. When annualized, mill relining remains the largest, single influence in defining plant availability.Because of restricted access, both inside and outside the mill, increased application of manual labour has no effect on reducing relining downtime. The only answer for RME has been to develop and apply new relining technologies now known as RME’s Mill Relining System.RME’s primary focus for over twenty years has been the reduction of grinding mill relining times while simultaneously providing a marked improvement in relining safety. Our original (1990) target was to halve traditional (pre-RME) reline times and to eliminate accidents and injury by mechanizing all physical work."

Jan 1, 2008

By G. Couture

"The Glencore Raglan mine Concentrator, located in Quebec’s Nunavik region, has been in operation since 1997. The nickel metallurgical plant was originally designed to process 100 tonnes per hour of ore to produce 130 000 tonnes of nickel concentrate per year at 16% Ni. The increased grinding capacity and the discovery of rich ore bodies have increased the annual production to more than 190 000 tonnes of concentrate at 19% Ni. In 2014, the Metallurgical group, with support from BBA, implemented an expert control system on the flotation circuit. This project was initiated to cope with the high variability of the concentrator’s feed. Increasing the plant recovery and final concentrate grade were also important project objectives. The implementation of the expert system ensures better control of concentrate inventory while maintaining maximum plant throughput. This paper describes the successful implementation of the new control system, the control technology selection and the flotation circuit optimization. It will also discuss the performances obtained with this new approach and the improved process stability.IntroductionThe Raglan Mine is located in Northern Quebec along the 62th parallel. It has been in operation since 1997 and was originally designed to produce 130 000 tonnes of concentrate annually at 16% Ni. The increasing of the grinding capacity and the discovery of rich ore bodies have increased the annual production to more than 190 000 tonnes of concentrate between 18 and 20% Ni."

Jan 1, 2015

By E. M. Shemang, C. E. Suh, L. Mbinkar, University of Yaounde

"Two iron deposits within the Precambrian mineral belt of Cameroon are described in detail for the first time: the Archean Metzimevin replacement iron deposit enclosed in Fe-enriched itabirite, and the Proterozoic granite-hosted, shear zone-related Mayo Binka magnetite deposit. In the Metzimevin de¬posit, quartz is corroded and microplaty hematite overprints martite-textured hematite. The Mayo Binka massive magnetite veins show evidence of deformation in magnetite (fracturing and microbrecciation) and in overgrowths of specular hematite (mechanical twinning and undulating extinction). The magnetite is partially replaced by hematite (martitization) and goethite. Ores from both deposits have >88% total Fe2O3 and low contents of contaminants such as SiO2, Al2O3, MgO, CaO, P2O5, and TiO2. They are also poor in Cu, Pb, Zn, V, Cr, and Ni. The Metzimevin massive hematite is characterized by an accentuated light rare earth element depletion relative to the Fe-enriched itabirite. It is suggested that the Metzimevin iron deposit is the result of hypogene leaching of gangue minerals from, and further hematitization of, an itabirite protore. Although the genesis of the Mayo Binka massive magnetite is unclear, it is spatially related to Neoproterozoic granitic rocks. The data allow some comparison of these little known, but pot¬entially economic iron deposits, with some of the world’s better investigated deposits, and are useful to the exploration efforts for iron ore currently underway in Cameroon and the Central African subregion.Deux gisements de fer de la ceinture minérale Précambrienne du Cameroun sont ici décrits en détail pour la première fois : le gisement de fer Archéen de Metzimevin formé par remplacement et encaissé par des itabirites enrichies en Fe, et le gisement de magnétite Protérozoïque de Mayo Binka as¬socié au cisaillement dans un granite. Au gisement de Metzimevin, le quartz est corrodé et de l’hématite en microplaquettes se développe au dépends de l’hématite a texture martitique. Les veines de magné¬tite massive de Mayo Binka présentent des évidences de déformation dans la magnétite (fracturation et microbréchification) et dans les surcroissances d’hématite spéculaire (Macles tectoniques et extinction ondulante). La magnétite est partiellement remplacée par l’hématite (martitisation) et par la goethite. Le minerai des deux gisements contient >88% de Fe2O3 total et un faible contenu en contaminants tels que SiO2, Al2O3, MgO, CaO, P2O5, et TiO2. Il est également pauvre en Cu, en Pb, en Zn, en V, en Cr et en Ni. L’hématite massive de Metzimevin est caractérisée par un appauvrissement relatif en terres rares légères relativement à l’itabirite enrichie en Fe. Il est suggéré que le gisement de fer de Metzimevin résulte du les¬sivage hypogène des minéraux de la gangue ainsi que de l’hématitisation poussée d’une préconcentration de fer dans l’itabirite. Bien que la genèse de la magnétite massive de Mayo Binka demeure obscure, elle est spatialement associée aux roches granitiques Néoprotérozoiques. Ces données permettent de comparer ces gisements de fer peu connus et potentiellement économiques avec certains des gisements mondiale¬ment mieux connus, aidant ainsi les efforts d’exploration présentement en cours en Afrique de l’ouest et au Cameroun."

Jan 1, 2008

By K. Adham, C. Lee

Over the last forty years, a number of specific fluidized bed applications in nickel extraction have been developed for commercial use. Five important processes have gained particular acceptance, namely, sulphide ore roasting, nickel sulphide (matte) roasting, nickel oxide reduction, laterite ore pre-reduction, and nickel chloride pyrohydrolysis. These applications involve different feed materials and process conditions, however, all benefit from fast reaction kinetics and high heat and mass transfer rates in the fluidized bed reactors. They have been studied, tested, and implemented by various nickel producers, who have published their results in many papers and patents. This paper examines the design issues surrounding the application of fluidized bed technology to the above nickel processes. Based on the available data in the open literature, computerized process modelling is used to provide generic flowsheets that illustrate the key features of each process.

Jan 1, 2004

By J. Hu, F. Lin, R. Chen, F Peng, S. Yang, W. Yu

"Microseismic monitoring technology has become one of the most effective method of mine ground pressure monitoring after decades of development. But safety assessment of mine ground pressure by using microseismic monitoring is still in the development stage, it needs to be perfected continuously in practice, and choose the optimal assessment indexes and methods. The definitions and physical meanings of wave velocity, b value, and EI-VA value are introduced in this paper. Statistical calculation of the microseismic events in Luomu Mine is finished by using these indexes, then the functions and calculation results of V, b value, and EI-VA value with the variable of time are also given in the paper. The preliminary safety assessment method is established in Luomu Mine, and it has achieved good results in practical application.1.1 Engineering background The Luomu Mine is a super large molybdenum and tungsten production base in China, ore reserves is up to 2 billion tons, first in Asia and third in the world. It begins mining since the 1960. and bases on underground mining until 2002. In order to recover resources more effectively, it began to use opencast mining method and formed a production of 30000t/d in the early 1990. After about 30 years of underground mining, a large mined out spaces was formed under open pit mine, up to area of 1.2 million m2 and volume of 18 million m3, as shown in figure 1. The large number of mined out spaces seriously affects the normal production, mining and handling of mined out spaces are in the high risk. In the past years, several rock mass collapsions happened, and it caused a serious security threat to persons and equipments. According to the distribution characteristics of mined out spaces, Luomu Mine is divided into A, B, C, D and E mining area. The stability of D mining area is studied in this article. D mining area mainly includes 1376,1350,1340,1317 mined out spaces and 1280 deep large mined out area, as shown in figure 2. The mined out spaces of D mining area is extremely complex and high-risk. Therefore, a microseismic monitoring system was built to monitor the stability of D mining area, a large number of valuable datum has been obtained, and it has a striking effect (Cheng & Peng, 2013; Peng et al., 2013)."

Jan 1, 2015

By M. Mirnezami, D. Lascelles, J. A. Finch, E. El-Ammouri

"In a previous publication, the depressant action of Mg above pH 10 on Cu-activated sphalerite was described (Lascelles et al., 2001). In the present communication, a second role, aggregation is introduced.Aggregation (i.e., the tendency of particles to cluster) is measured using settling rate and turbidity converted to an aggregation index (AI) where 0 corresponds to dispersed and 1 to aggregated. Surveys of Cu and Zn flotation stages at four concentrators showed the A1 increased significantly above pH 9. The metal ions identified in the process waters, principally Ca and Mg, were tested to determine which might be responsible. The presence of Mg was found to be the most important, 50 ppm Mg having a greater impact than 500 ppm Ca fkom pH 9 to 1 1. In one plant, poor repeatability in A1 was suspected to be related to varying Mg levels; doping with Mg significantly increased AI.In both aggregation and depression, therefore, the common feature is the impact of Mg at pH > 9. Over this pH range Mg forms a range of hydroxy species, including Mg(OH)2 precipitates. Suggested aggregation and depression mechanisms associated with these precipitates are introduced. Possible problems and opportunities arising from the findings are discussed.INTRODUCTIONProcess waters in flotation circuits contain a variety of metal ions that may introduce unwanted activation or depression. Two common metal ions are calcium and magnesium. Typical concentrations are in the range 50 ppm Mg and 500 ppm Ca (Marticorena et al., 1994, Basilio et al., 1996, Negeri et al., 1997, Nesset et al., 1998)."

Jan 1, 2002

By Jeff R. Reinson

The Diavik Diamond Mine is producing diamonds from two orebodies, the A154 South and A154 North kimberlite pipes, discovered beneath the waters of Lac de Gras. Innovative dike technology with appropriate water collection and treatment systems allowed Diavik to start open pit mining of the ore bodies in 2002. To allow planning, engineering, and implementation of sufficient water handling infrastructure, reasonably accurate estimates of groundwater inflow quality and quantity over the life of mine are required. Prior to mining, a numerical model using the continuum approach was developed for regional and site wide water management. After approximately two years of mining, groundwater inflows to the pit were found to exceed those predicted by the base case hydrogeologic model. The most likely explanation was flow through Dewey?s Fault zone. As this fault was not explicitly accounted for in the model, a detailed hydrogeologic investigation was conducted to evaluate its geometry and hydraulic properties. A multi-disciplined approach was used and involved core logging, fluid logging, geophysical logging, packer testing, a pumping test, and water quality sample collection. The results of the field investigation were used to update the conceptual and numerical models and to develop a Discrete Fracture Network (DFN) model to address small scale problems such as flow into future underground drifts. The updated numerical hydrogeologic models predict that up to 70 per cent of the groundwater inflow to the A154 N/S open pit is through the relatively narrow fractured rock zone associated with Dewey?s Fault. Consistent with the continuum model, the DFN model predicts that inflow to a drift excavated in Dewey?s Fault will be approximately 10 times the inflow to a drift excavated in competent rock. The DFN model provides a better understanding of the distribution of these inflows on a local scale over the length of the drift.

May 1, 2006

By F. Halverson

"The theory of flocculation usually is in a state of flux, involves many diverse phenomena, and is complex and sometimes contradictory in details. Instead of attempting a general discourse, I shall discuss selected observations made at our Stamford Laboratories, which impinge on theoretical aspects in two somewhat distinct areas of flocculation. Since some of you many not be familiar with flocculation, and :.n order that we all attach the same meaning to the jargon used, I first would like to review briefly a generalized picture of what goes on.Assume we have a suspension of particles in water, with a distribution in the sizes of particles. The surfaces of the particles interact to some extent with the water--· tending to alter the extent of hydration, may generate some ion exchange, all being somewhat variable with time--developing a surface condition which is very complex in details. We refer to this suspension as the ""substrate.""In the usual situation, if the suspension is allowed to stand quietly, the large particles settle out first, with somewhat smaller particles settling more slowly, and then there is a portion of very fine material which takes a long time or doesn't settle out at all. This resistance to settling t~ the very fine particles results from many factors, but all relate back to the size and density of the particles, to their surface properties, and to the other components in the aqueous suspending medium."

Jan 1, 1978

By Ruy L. Rodrigues

Vale is in the early stages of commissioning its Onça Puma nickel operations. The project is meant for the production of 58,000 tpa of nickel contained in ferro-nickel, substantially contributing to the company?s vision to achieve world leadership in the nickel business. Mineral resources will be exploited from the homonymous deposits in the Midwest of state of Para, Brazil ? some 100 km southwestwards from the company?s Carajás iron ore properties. Resources as of 83 Mt at 1.73 % Ni will sustain a mine life of approximately 40 years. The property was acquired in late 2005 and Vale has since extended the engineering studies and proceeded with the implementation. Nickel will be mined from saprolitic ore at a rate of approximately 10 Mtpa (ore plus waste) in early years ? ramping up to some 15 Mtpa 7 years later ?, to feed the plant at a rate of 2.5 Mtpa. The process uses conventional RKEF (Rotary Kiln Electric Furnace) pyrometalurgical route whereby the ore is homogenized, calcined in rotary kilns, melted in electric furnaces and further refined to ferro-nickel. The plant has been designed and constructed applying the latest available technology, aligned with Vale?s vison to exceed the highest existing standards for environmental control, health and safety and productivity in the industry. Total investments in these operations are anticipated to correspond to USD 2.3 Bi and will materially contribute to the regional development and well being of the nearby communities and other stakeholders.

May 1, 2010

By D. Turk, P. Lefebvre, J. Sargent, K. Major

"Stillwater Mining Company recovers platinum and palladium from their Nye Montana operations. Mining first commenced at Nye in 1987 at a milling rate of 455 t/d (500 stpd). The plant was expanded in 1995 with the replacement of the ball mill and the addition of flotation capacity to increase mill throughput to 1820 t/d (2000 stpd). The applications for platinum and palladium have increased in recent years particularly in the automotive industry and the supply of the metals has remained fairly constant with prices for both platinum and palladium increasing and remaining very stable. In 1997 Stillwater initiated the expansion of their operations to increase production of platinum and palladium. Projects were initiated to expand production at the Nye operations, increase smelter and refining capacities at the Columbus facilities and to develop the extension of the orebody at the East Boulder site. This paper will discuss the changes at the Nye concentrator which were completed to increase production from 1820 t/d (2000 stpd) to 2730 t/d (3000 stpd) and eliminate some of the process bottlenecks.IntroductionStillwater Mining Company is mining the only significant primary source of PGMs outside of South Africa. The J-M Reef is an extensive mineralized zone containing PGMs that has been traced over a strike length of about 43 km (27 miles) in the southwest region of Montana. Stillwater controls the entire PGM mineralized zone.Johns-Manville geologists discovered palladium and platinum in the early 1970’s. In 1979, a Manville subsidiary entered into a partnership with Chevron, USA to develop the project. In 1 987, operations at the Stillwater property near Nye, Montana commenced."

Jan 1, 2000

By Carl Bertrand, Patrice Nadeau, Claude Bazin

"Rio Tinto Fer et Titane processes the ore extracted from the Lac Tio orebody to concentrate the hemo-ilmenite (FeO.TiO2-Fe2O3) mineral that is subsequently smelted to produce pig iron and titanium oxide slag. The ore is crushed, heat treated (roasted) and concentrated using dry magnetic separators. This paper describes a model to predict the magnetic susceptibility of the roasted ore and its behaviour in the magnetic separation plant. The model uses a classification of the ore as a function of the size and magnetic susceptibility of the particles. A subsequent division into mineral species allows the simulation of the magnetic separation process. The model is used to assess various operating options when process disturbances occur.INTRODUCTIONOre processing operations consist of ore size reduction followed by the recovery of valuable species in a concentrate that is subsequently sold for its minerals or metal content. The concentration processes are based on the physical and/or chemical properties of the minerals contained in the ore. Flotation is typically used to recover minerals of base metals such as copper, zinc, lead or nickel. Iron ore and other dense minerals are typically concentrated by gravity separation processes. Magnetic separation uses the magnetic properties of the minerals to concentrate magnetite and other minerals, to clean coal concentrate and to recycle ferrosilicon for dense separation processes (Brophy, 1985).Magnetic separators can be divided into low and high intensity separators and high gradient magnetic separators (Gillet, 2008). Most of the low gradient magnetic separators are built as rotary drums that are operated in wet or dry conditions. Dry magnetic drum separators are used by Rio Tinto Fer et Titane in Sorel-Tracy, Canada to concentrate hemo-ilmenite from the ore extracted at the Lac Tio Lake mine near Havre St-Pierre, Canada. The analysis of production data suggests that process improvement could be achieved by identifying key variables for the control of the magnetic separation circuit and/or by modification to the circuit flowsheet. The use of a process model was considered to be an effective approach to conduct a preliminary analysis of the circuit with a view toward process optimization. However, the literature contains few detailed studies dealing with the modelling of magnetic separation processes."

Jan 1, 2011

By Chris Larsen, Carole Fortin, Dave Scott, Curtis Deredin, Ian Orford, Jean Guy Gauthier, Andy Trusiak, Lyne Côté, Mike Cooper

"Upon successful commissioning of the Stage Grinding Project (Cormier et. al., 2002), process improvements predicted through pilot plant testing were obtained in several flotation circuits, resulting in higher grades and recoveries for zinc and lead concentrates. Subsequent to establishing new baseline operating conditions from the Stage Grind Project implementation, additional opportunities were identified, and through the application of Six Sigma methodologies further gains were made. Six Sigma improvement projects were carried out in the copper-lead, zinc, lead upgrading and bulk flotation circuits. The overall performance increase resulting from incremental improvement projects has been substantial.Most remarkably, given the operational maturity up to the late 1980’s, the Brunswick concentrator team has continued to deliver a steady stream of major improvements over the past fifteen years. While senior managers and their programs have changed several times, there have been some critical constants over the long run. Common elements have been a commitment to team work, a commitment to recruit and maintain technical personnel, a structured business improvement framework supported organizationally by senior management, and focus on a few priority initiatives rather than trying to fix everything at once.The paper briefly discusses the longer term setting and then endeavors to illustrate, with examples, how improvements are presently achieved by applying the Six Sigma quality program.INTRODUCTIONThe Noranda Inc. Brunswick Mine, located near Bathurst, New Brunswick, is one of the world’s larger lead/zinc mines. Milling of ore began in 1964 from the No. 12 orebody, with an expansion in 1966 to accommodate ore from the No. 6 mine. In excess of 100 million tonnes have been milled to date. The concentrator employs differential flotation to produce lead, zinc, copper, and lead/zinc bulk concentrates. The ore is massive sulphide, with approximately 20% valuable minerals, 60% pyrite and 20% silicates."

Jan 1, 2005

By C. Larsen, I. Orford, L. Strah, M. Renaud, P. Radziszewski

"An AG/SAG mill was commissioned at the Brunswick mine concentrator in October 1998. This paper discusses the original shell top hat liner design for the bi-directional AG/SAG mill, observed liner wear, subsequent liner design modifications, and benefits.The original liners were chrome-moly steel Norsteel with rubber grates and rubber-lined pulp lifters. The design was based on experiences of other AG/SAG mills and recommendations by the liner supplier, Norcast. Liner design modifications were made in an iterative fashion after observing the wear rate profile of the liners; over ten liner sets were implemented. Shell liner design improvements were supported by a design of experiments approach in conjunction with discrete element method (DEM) charge motion simulations. Design optimization took into account lining costs and impacts on operating performance. The team approach to the liner design improvements process is described with emphasis on the application of the design of experiments. The liner wear history and mill operating performance are presented."

Jan 1, 2005

In this paper, geostatistical techniques are applied to forecast the annual copper price in the short and medium terms (from one to five years ahead). These techniques allow the incorporation of monthly and multivariate information in the analysis and provide more accurate results than traditional approaches, especially as far as the one-year forecast is concerned. A second advantage of geostatistics stems from its ability to assess the uncertainty associated with the unknown future prices, thanks to estimation variances or confidence intervals, depending on the technique used. Such an assessment has a crucial importance in decision-making, from both macroeconomic and microeconomic points of view

Sep 1, 2004

By A. Cabañas

"In this paper, geostatistical techniques are applied to forecast the annual copper price in the short and medium terms (from one to five years ahead). These techniques allow the incorporation of monthly and multivariate information in the analysis and provide more accurate results than traditional approaches, especially as far as the one-year forecast is concerned.A second advantage of geostatistics stems from its ability to assess the uncertainty associated with the unknown future prices, thanks to estimation variances or confidence intervals, depending on the technique used. Such an assessment has a crucial importance in decision-making, from both macroeconomic and microeconomic points of view. IntroductionThe copper price traded in the London Metal Exchange is a relevant parameter for defining macroeconomic policies of producing countries like Chile. It is also a key factor for the mining companies, since fluctuations in the sell price affect the expected financial flows. Due to the amount of money involved in decision-making, it is necessary to have accurate forecasts of the future copper prices and to quantify the uncertainty associated with such prices.This paper focuses on the annual copper price estimation in the short and medium terms, i.e., from one to five years into the future. Henceforth, the word “estimation” will be used as a synonym of “forecast,” according to the geostatistical jargon (Matheron, 1989).Two main approaches, based either on statistics or econometrics, are currently used to forecast commodity prices, but both of them are not very accurate when applied to copper. First, the main methods are briefly reviewed, then the geostatistical formalism will be presented. So far, the latter approach hardly has been used to estimate commodity prices, although it may reconcile both statistics and econometrics via (1) the use of a stochastic approach and (2) the handling of ancillary variables related to the copper market. Another advantage of geostatistical techniques is the ability not only to forecast the copper price, but also to measure the uncertainty associated with it."

Jan 1, 2004

By J. G. Henning

Following completion of planned mining operations at the Goldcorp Dome Open Pit Mine, a high-grade Shaft Pillar located in the pit highwall was recovered. Mining of this Shaft pillar faced numerous rock engineering design and implementation challenges due to its remote position on the highwall and the presence of mine workings within the wall. The case example presented in this paper discusses the geotechnical investigation performed at the site, novel measures undertaken for installation of ground support required for rockmass reinforcement and for worker protection, as well as operational challenges to successful mining of the Shaft Pillar.

May 1, 2009

By David Whalen

Mobile equipment in oil sand mining operations experience more maintenance problems than similar equipment in other surface mines, due to soft underfoot conditions. Oil sand properties are known to vary with temperature, bitumen content and previous loading cycles. One of the challenges is the widely variable underfoot pressure which supports shovels and trucks. In the case of a heavy hauler driving on in-pit roads, each tire is supported by a different ground stiffness resulting in an apparent uneven surface. Driving over uneven ground causes twist in the truck frame, which is transmitted to the dump body. Through a finite element analysis of a haul truck dump body, it was shown that slight frame twists produce localized stresses in the intersections of the floor stiffeners. These stresses are at times greater than those resulting from the maximum ore weight and are primarily responsible for cracking in these intersections. Syncrude maintains high quality haul roads, which are constructed of gravel, and makes every effort to keep the shovel pit roads as smooth as possible. This problem cannot be avoided through operational practices only and must also be accounted for in the design of haul truck bodies.

May 1, 2003

By Hamid Butt

Information Technology ??Advanced Information Technology is dramatically changing information flow within organizations. This enables employees to have information at their fingertips to make informed and prompt decisions. ??Real-time information allows timely analysis, which dramatically reduces cycle times, making organizations faster and more flexible. Business Challenges ??Continual growth of mining and Mine mobile fleet.??Increasing maintenance costs. ??Difficult to identify and troubleshoot equipment problems while equipment is operating. ??New equipment is increasing in complexity and cost. Therefore, each failure results in a greater impact to production and cost. ??Troubleshooting practice is reactive. ??Protect and optimize the use of mining assets to realize maximum business value. ??Maintenance and Operating information is not easily accessible ?no near real-time system that provides complete information.

May 1, 2006

By Jamie King

This paper describes the use of dynamic scheduling and discrete event control to provide coordinated control of multiple automated vehicles. In the past decade there have been significant advances in the field of robotics for underground mining. As this trend progresses toward a realization of a completely automated underground mine the need for a central control system, capable of providing coordination for multiple vehicles in a semistructured environment, becomes more evident. In the past year general research into multi-robot coordination has been applied to the underground mining scenario and demonstrated in a scaled model underground mine in a laboratory setting. This system shows significant potential to be adopted into a full-scale implementation for mine wide automation.

May 1, 2001