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By T E. Tibbetts

This paper deals with coal sampling in general and with mechanical coal sampling in particular. The necessity of obtaining representative samples is emphasized. Other sections of the paper are devoted to the design and selection of automatic samplers, with a consideration of the three main types, and the testing, operation and maintenance of these samplers. The cost of the installation of an automated sampling system must be related to the value of the material to be sampled, to the volume of coal involved, and to the savings in labour and economy which can be achieved. Introduction T HE Committee?:; on Coal Sampling of the Coal Study Subsection, Thermal Power Section (Eastern Zone), Canadian Electrical Association, was established in November, 1963, to "study the various problem areas of coal sampling." The first undertaking of the Committee was to at-tempt to survey the problem areas of coal sampling through an evaluation of coal sampling difficulties as experienced at both the plant design and operational levels within the electric utilities represented on the Committee. The results of this enquiry indicated that satisfactory answers to almost any conceivable

Jan 1, 1965

By Andreas Gaich

A new 3D fragmentation analysis method for muck piles is presented. It works with aerial imagery from UAVs (drones) and handles entire muck piles with minimum user intervention.

Feb 1, 2020

By L. S. Almeida, U. A. Courbassier, C. T. Guimãaraes, M. N. Souza, V. L. Silva, H. P. Dias, G. A. Bicalho, B. S. Rocha, P. N. Rodrigues, A. Carnevale

During primary aluminum production the anode changing is a very important task. So improvements on it will be essential to avoid disturbance and have a better operational control. After anode changing a good current distribution will be guaranteed using a cavity cleaner and precise anode setting. Albras switching a manually anode setting to an automatic one solved the setting problems. In this paper it will be shown some pot line results and the improvements on workers ergonomic and safety conditions. The device was developed in a partnership between Albras and Pesto.

Jan 1, 2006

By Thierry Bernard

New technology to automatically design a blast based on autonomous drone. The process of flying a drone, calculating the 3D cloud of points, generating the critical face profiles and placing holes automatically according to burden specification becomes fully automatic. A nice time saving with more efficiency

Feb 1, 2020

By F. Sundqvist, B. Skawina, J. Greberg, A. Salama, M. Astrand, P. Ekbeck

Today’s mining operations require fast reporting and rapid rescheduling based on updated information. An automatic mine scheduling system could not only quickly reschedule but also propose alternative solutions. To avoid the financial and physical risks associated with testing such a system directly in operation, it could be first evaluated via discrete event simulation models. This would offer a safe environment to evaluate different operating rules and algorithms. In this study, this is achieved by integrating automatic scheduling software with a discrete event simulation model.

Jun 1, 2021

By CK Tsang, Jack Muir, Dharman Gersch, Joshua Barry

Correct face pressure is critical to safe operation of a closed face TBM. If inadequate face pressure is applied, this will lead to excessive ground movement, and may result in collapse of the tunnel face. Face pressure calculations are performed manually every few meters along the tunnel alignment. With the application of a 3D ground model, ground profile information can be extracted for automatic computation. This will significantly improve the efficiency and accuracy and is adaptable to changes in design parameters. This paper will discuss the development of automatic computation techniques in extracting information from a 3D ground model.

Jun 13, 2021

This paper presents a review of computer techniques for the automatic contouring of geological and geophysical data with output as interactive display on graph plotters or graphics terminals and passive display on automatic drafting tables. The advantages of the method of fitting a triangulated surface to randomly distributed data using an advancing front algorithm are described, as well as the technique for determining interpolated values for the production of contour line segments and a contour smoothing algorithm. This contouring method is employed by the Geological Survey of Queensland and is implemented as an interactive system. An alternative method ideally suited to randomly distributed data involves the use of piecewise parametric cubic splines. This method which is ideal for sharp variations in magnitude and areal extent typical of geophysical anomalies is discussed. The mathematics of surface interpolation using non-parametric splines and an explicit piecewise surface fitting technique are discussed. Curve tracing techniques which are suitable for automatic contouring are also presented and the inherent advantages of interactive contouring using on-line plotters and graphics terminals for previewing of displays are described.

Jan 1, 1977

By D. M. Doyle

"The Strathcona Concentrator operations, the application of control systems in the crushing, flotation and tailing fill sections, and current and future computer control concepts are described in this paper.The computer has been used for reporting and monitoring roles and operating the on-stream analyzer since start up of the mill in 1968, while over the past twenty months, it has been used for process control. The systems which have been developed include:1. The blending of pentlandite concentrate with pyrrhotite concentrate to produce a special product of constant nickel analysis.2. The blending of cement with tailing fill to produce backfill of consistent cement content.3. The supervisory control of xanthate, frother and pH to the flotation circuits to maintain the nickel copper concentrate grade within narrow limits.IntroductionThe Strathcona Concentrator is currently treating 7,200 tons per day of an ore which contains nickel associated with the minerals pentlandite (28 -32% Ni) and pyrrhotite (0.3 -1.0% Ni). The ratio of the nickel minerals varies from 4 to 15 parts of pyrrhotite to 1 part of pentlandite over the orebody. The production of a high grade concentrate re4uires the separation of this small quantity of .oentlandite from the much greater proportion of pyrrhotite and gangue and is complicated by the presence of two pyrrhotite minerals differing in nickel content, floatability and magnetic susceptibility."

Jan 1, 1974

By F. E. du Plessis, P. De Waal

Through the development of innovative in-line mineral quantification sensors, the possibility has arisen to apply modern control theory to implement automatic process control for electrostatic high tension (“HT”) roll separators. A pilot-scale set-up was constructed to enable continuous tests to be carried out. A typical dry mill feed was continuously pre-heated and separated with a modern lab scale HT roll machine. The mineralogy as well as mass-flow of the non-conductor stream was quantified in-line, and the combined streams were re-circulated in an endless loop by a combination of vibration feeders and a bucket elevator. A fractional factorial experiment was executed to determine the most significant control parameters of the HT roll separator. Then a multi-input, multi-output dynamic model of the HT electrostatic separator was extracted by the application of standard system identification techniques for automatic control. The most important control variable to ensure a stable product grade could be identified. This allowed a robust single-input, single-output controller to be implemented. The process variable and set-point was mineral grade and the control variable was electrode voltage. Roll speed was manually adjusted while the mineral grade was kept on set-point by the control system. The roll speed, where maximum mass flow and therefore maximum yield was produced on-grade, could therefore be rapidly determined. Atmosphere humidity and ore temperature served as disturbances. Some other adjustable parameters were kept constant during the experiments, namely feed mineralogy, splitter settings and feed rate. Delivery of maximum yield, with a controlled grade, can improve production while reducing the burden of complex manual tuning. Manual tuning previously involved coping with multiple parameters with uncertain cross coupling influences on the end result. Even the end result was typically only known after completion of mineral assays. Automatic grade stabilisation and yield optimisation for a HT roll separator bank requires in-line measurement of mineralogy and mass flow, as well as the implementation of a robust process control system.

Jan 1, 2005

By A. L. Mular

"IntroductionSince the mid -1960s, automatic control of grinding circuits has become the rule, to avoid losses attributable to frequent circuit upsets associated with uncontrolled disturbances such as ore hardness variations. Higher capital costs of grinding equipment and corresponding operating costs-especially with respect to energy consumption-are major factors that continue to stimulate interest in grinding control.Grinding circuit control strategies depend upon the control objectives defined by the processing plant and are subject to constraints such as: maintain final per cent solids within some range, do not transport steel ball s out of the discharge trunnion, or do not overflow or empty the pump box and so on. Constraints depend on the nature of equipment employed within the grinding circuit and may actually determine the characteristics of the control scheme. Typical control objectives are:1. Maintain final particle size at set point by ,a. manipulation of fresh feed rate with circulating load maintained by manipulation of pump box water addition rate, orb. manipulation of pump box water addition rate with circulating load maintained by manipulation of fresh feed rate, where the methodology utilized to accomplish either (a) or (b) is dependent upon equipment/circuit constraints such as the availability of a variable speed pump.2. Maintain circuit throughput at a maximum by,a. manipulation of fresh feed rate subject to constraints on final particle size and variables such as power draw, circulating load and mill overload.3. Maintain mill load at set point by a. manipulation of fresh feed rate subject to constraints such as on power draw.4. Maintain mill power draw at set point bya . manipulation of fresh feed rate subject to mill load constraints. Often, a grinding control objective is dictated by the recovery vs fineness-of-grind characteristic that exists for downstream separation circuits. When recovery is relatively insensitive to size, maximum throughput in the grinding circuit is advantageous.The purpose of this paper is to review control strategies for primary ball mill grinding circuits, rod mill/ball mill grinding circuits and semi-autogenous grinding mill circuits. Primary sensors employed are highlighted and modern trends are documented briefly."

Jan 1, 1989

By Ilmar Stöckel, Gösta Harlin, Agne Rustan

INTRODUCTION This chapter is a continuation of the studies by Rustan and Stockel (1979, 1980) on techniques for automating ventilation in Swedish mines and construction works. The studies have been financed by the Swedish Board of Technical Development. As a result of the studies it has been recommended that a good solution to diesel exhaust emission would be automatic, step by step control of the fans near the working place. Diesel vehicles are the major polluters underground in the mines. Therefore, we have suggested that diesel vehicles regulate the fans The goal of the continued study has been to find a way for active diesel vehicles to start and stop gallery fans at both intake and return air. In this paper different methods for activating fans are discussed. The best methods are chosen and tested in the mine. In this study we have found that change of temperature is an inexpensive and effective way to start and stop crosscut fans in sublevel caving and radio signals seem to be an attractive system for starting and stopping gallery fans . This work has been done in close collaboration between LKAB in Kiruna and the University of Luleå, Divisions of Electronics and of Mining and Rock Excavation. An advisory group for the project has been established with ventilation experts from the mines, representatives of the local mine workers' unions, and authorities from the local offices of Governmental Inspection of the Workers Safety. VENTILATION SYSTEM STUDIED In the project the ventilation system at LKAB in Kiruna was studied. The mining method used is sublevel caving with 9-13 m slice height. The air above ground is heated in winter by hot water and the main fans push the air down to a main distribution level along the 4000 m long and about 100 m wide ore body. From the distribution level, air is taken through shafts down to the sublevels, where it is pushed through the levels by local gallery fans on both the intake and return sides, Fig. 1.

Jan 1, 1981

By Akira Ishizu, Nobuo Matsui, Hideo Yamamoto, Tatsuya Nagahama

At Kamioka Mine of Mitsui Mining & Smelting Co., Ltd., Japan there are three mills, treating a total of 6400 t/d of lead-zinc Ore. In the lead-zinc bulk differential flotation at Shikama Mill the addition of reagents is automatically controlled by the feed rate, the lead and zinc content in feed, froth and tailing, the pH and the concentration of cyanide ion in the pulp. As the zinc thickener overflow at Shikama Mill contains CU(CN)3--, ZnS, CdS, CN-, xanthate and frother, all the ingredients in the over- flow other than CN are floated by using the Nagahm flotation machine, and the water containing only CN- is effectively recycled to the lead- zinc differential flotation circuit. In the lead-zinc straight differential flotation at Mozumi Mill, the overflow of tailing pond is recycled especially to the cleaning flotation circuit by decreasing the pulp density. Thus the integrated recycling of wastewater greatly reduces environmental problem and in addition, it generates sizeable profit.

Jan 1, 1977

By W. TRINKS

RAPID progress has been made in the automatic control of open-hearth furnaces in the past few years and many firms today\supply such control apparatus. It is somewhat surprising that so little was heard about open-hearth control up to about, 1928, and that thereafter the practice of automatically controlling open-hearth furnaces spread very rapidly. Before discussing the reasons for this it may be advisable to list the quantities that can be controlled. One of the easiest quantities to be controlled in the open-hearth furnace is pressure. The reasons for controlling it are plain. If there is excess pressure in the furnace, products of combustion leak out around .the .door and through all the cracks in the brick-work. The stability of the piers between the doors is seriously endangered, and front wall repairs become frequent. Furthermore, hot gases are lost that might be usefully employed in heating the checkerwork. If there is a slight vacuum in the furnace, cold air entering through the doors and cracks cools the interior, slowing down the reactions and making it impossible to secure the highest degree of preheat from the checkerwork.

Jan 1, 1931

By Stewart W. Daniel

"Increasing labour costs, the trend to larger mills, the processing of lower grade ores and a diminishing sup-ply of well-trained and experienced mill operators contribute to the necessity of automating a grinding circuit. With sophisticated process control techniques, supervision of the mill line is reduced to an occasional inspection by the shift supervisor. Process operating decisions and/or adjustments are quickly and accurately performed by the electronic devices to be described. When the variables in the grinding circuit are stabilized using the sensors and controllers as discussed, the over-all grinding circuit is maintained at its optimum grinding load level, with ample protection against under-and overloading."

Jan 1, 1967

By Toro HCH, Von Borries GH

A brief description of the semi-autogenous grinding (SAG;) facilities of Compania Minera Disputada de Las Condes is given. A data-logging and computer system was connected to the plant inter facing the existing analog control system in a supervisory s, control philosophy. The development of a control straiov,v t,) maintain maximum power of the SAG mill atsubjected to process restrictions is shownThe present control scheme is discussed inalgorithm was designed based on correlations onLween vartaoles. Associated with this, a direct level of control was developed be, on classical control algorithms, process inter-active tuning has been included. Also, an algorithm to prevent overloading of the is discussed. Control scheme tests are presented in comparison t manual operator control under the same conditions. It is shown t the control strategy gives a more stable operation and a higher plant throughput.

Jan 1, 1985

By Loui Geoffroy, Philippe Gaultier, Martin Piotte, Claude Coache, André Drouin

"Automatic driving at high speed of an underground truck was tested at Brunswick mine in September 1995. Modifications to the truck included: a remote interface to control actuators, front and back video cameras to follow a roof mounted optical guide and proportional hydraulic controls on the steering.The mathematical model of the hydraulic system was adjusted using least square regression. The steering data, used in calculating the regression parameters, were acquired from the moving truck. The automatic steering control used three measured variables: lateral deviation, angular deviation and steering angle. Lateral deviations are obtained using the cameras, which are in continuous view of the guide, while steering angles are acquired from an extensiometer placed at the articulation point of the vehicle. Gain scheduling was used to compensate for vehicle speed and available hydraulic flow. Non-linear characteristics of the modeled hydraulic system were offset using open loop compensation.Speeds up to 23 km/h in forward direction and 13 km/h in reverse were achieved deviaduring continuous testing along one of the mine’s production drifts. Proportional steering was essential in achieving high speeds, as it enabled more precise positioning of the vehicle’s steering direction while reducing the abuses on cylinder and cylinder pins via diminished oscillations about the optical guide at high speeds."

Jan 1, 1997

By W. Barbarowicz, H. E. Uhland

AT the Noralyn mine and mill of International Minerals & Chemical Corp. in Bartow, Fla., process instrumentation has been incorporated in three departments-mining, flotation, and preparation. Use of the dragline is the most difficult aspect of the mining operation to control automatically. At the Noralyn mine there are two draglines, a Bucyrus-Erie 1250-B with 29-yd bucket and 235-ft boom and a Bucyrus-Erie 1150-B with 21-yd bucket and 215-ft boom. These are equipped with a minimum number of instruments, but further instrumentation would increase the operator's efficiency.

Jan 7, 1957

"The ore currently being milled at Delnite is a high pyrrhotite ore with the gold intimately associated with the pyrrhotite. To get maximum recovery of the gold with the lowest reagent cost, it is necessary to keep the pH as low as possible In the laboratory the best results were obtained with a pH of 10 but in the plant it was found that a pH of 11 was the minimum practical pH. With the n1anual control it was difficult to maintain this figure.The Mines Branch had a conductivity probe (see Fig. 1), developed by Dr. G .G. Eichholz that they wished to try out in plant operation.On June 17, 1963, the probe with all necessary control equipment was installed in the regrind circuit (see Fig. 2) at Delnite Mines. Crushed quick lime is fed at this point but it is also necessary to feed hydrated li1ne at two other points in the cyanide circuit in order to maintain the pH close to 11. 0 throughout the circuit. Only the feeding of the quick lime at the regrind mill was controlled in this test.One thing that concerned me with the operation of the probe was whether the reading on the probe chart would correspond to the pH. A look at the graph accompanying this paper will show that except for very minor variations the graphs of the chart reading and the pH reading are parallel. The upper graph shows that the pH reading and the lime titrations also correspond and that the cyanide titrations appear to have little effect on the pH reading.Table 1 gives the results obtained for the two months before and after the instal1ation of automatic control as well as the two months of control. Unfortunately there was a decided change in ore just after the automatic controls were removed. There was much less pyrrhotitc in the ore than usual thus changing the need for lime and cyanide."

Jan 1, 1964

By Lorenzo Bacchetti

Automatic yards with ad-hoc WMS (Warehouse management software), are the key for a modern and efficient warehousing which can face today logistic challenges. WMS boosts the traceability of material while optimizing the storage space. The operations in the yard are safer and logically organized according to algorithms that are specifically adjusted case by case. WMS can easily handle multi-cranes yard avoiding conflicts and increasing accuracy of positioning with decreased number of movements. The synergy of automatic cranes and WMS reduces bottlenecks and speeds up the preparation of deliveries with an overall improvement of warehousing and shipping scheduling.

Oct 1, 2019

There are multiple stages in a mining operation that a mining engineer has to draw polygons to be used as operation guidelines. These polygons are drawn by hand and based on engineer?s experience. However, having automatic procedures for forming the shapes can increase the quality and decrease the efforts required. These shapes need to be homogenous in grades and rock types so that the quality and dilution of material sent to the plant can be estimated with the good approximation. In this paper, a clustering algorithm with shape control is introduced which can provide reasonable guidelines for all the aforementioned shapes by manipulating its parameters. At the end, implementations of the algorithm on a small part of a gold deposit with different mining strategies is presented and evaluated based on homogeneity of grade, rock types and determined destinations as well as the shape.

Feb 27, 2013