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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 N van Aarde, B A. Moore, S van der Merwe

Frequently materials handling operations are compromised by transfer chute problems ranging from high wear rates, blockages and ineffective loading of the downstream conveyor. This paper will present the design flow implemented to overcome problems in two case studies utilising discrete element modelling incorporating material characterisation.Material testing is relevant in achieving a valid discrete element method (DEM) simulation model and subsequently a valuable design tool for transfer chute assessment and design. It is well recognised that in the current growth and demand for mineral resources, leading to ever increasing conveyor capacities associated with export terminals and mineral processing facilities that transfer chutes are a key focus point. The successful performance of the transfer chute is also dependent on operating with a ærobust rangeÆ of material flowability and handling characteristics. This requirement is crucial in accommodating mineral ores from developing resources, which are often more friable and stickier than in past decades.This paper will include details of chute installations associated with iron ore and coking coal, from the DEM simulations through to the performance of the installed and commissioned plant.CITATION:Moore, B A, van der Merwe, S and van Aarde, N, 2013. Implementation of advanced transfer chute designs, in Proceedings Iron Ore 2013 , pp 445-450 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 12, 2013

Titanium and Zirconium Industries Pty. Ltd. separates rutile and zircon from heavy mineral concentrate recovered from sand dunes on the east coast of North Stradbroke Island, Queensland. Separation plant feed is delivered to Dunwich, on the west coast, by a seven mile aerial ropeway traversing the island. Mining and concentration is effected by two floating dredge-concentrators now operating on the beach 31; miles from the aerial ropeway terminal. Heavy mineral concentrate is transported hydraulically from the dredges to the ropeway through a 6 in. pipeline. Six pumps in series deliver 24 ton/hr of dry solids in a pulp containing 13 per cent solids. For maximum economy the transfer pumping system is controlled deliberately to cause transportation in the zone of incipient settlement of solids, ieat velocities below the limit deposit velocity for the particular pipe diameter, pulp density, and specific gravity of solids. Automatic density control, based on a combination of power consumption and pipeline pressure, eliminates the danger of plugging the line but periodic flushing is necessary to remove gradual accumulation of solids in the bottom of the pipe. After 15 months operation the pipeline was descaled with hydrochloric acid to remove severe blistering with rust nodules, regrowth of which is now prevented by continuous injection of inhibitors. After transporting 100,000 tons of heavy mineral the average wear on the steel portion of the pipeline was 0·01 in. and indications are that wear on the asbestos cement portion is less.DESCRIPTION OF OPERATIONSGeographyTitanium & Zirconium Industries Pty. Ltd. (T.A.Z.I.) operates on North Stradbroke Island, some 30 miles southeast of Brisbane, Queensland. The island is approximately 25 miles long and eight miles wide, and is bounded on the east by the Pacific Ocean and on the west by Moreton Bay (Fig. 1). With the exception of a small outcrop of volcanic 1. Manuscript received at The Institute. 8th May. 1962. This paper was presented at the Annual Conference of The Institute. 5th-11th August. 1962.

Jan 1, 1962

By Edwards A. B

Renison Bell is on the Emu Bay Railway, midway between Zeehan and Rosebery on the west coast of Tasmania. The tin deposits in this area have been described by G. A. WaIler (1902), L. K. Ward (1909), H. Hermani (1914), and Hartwell Conder (1918), for the Tasmanian Geological Survey. The ore-bodies occur in the slates, grits, altered lava flows and tufts of the Dundas Series, and consist of fine-grained cassiterite disseminated through massive sulphides (chiefly pyrrhotite or pyrite), or through bodies of quartz and sulphides. Some of these bodies show a N.W.-S.E. strike, parallel to the strike of the tin belt, but others strike N.E.-S;W. or E.-W.The ore-bodies are of two types: (1) steeply dipping fissure veins,' spoken of locally as "feeders," and (2) flatter-lying bodies more or less conformable with the bedding planes of the slates (bedded veins), spoken of locally as "floors."The feeders range from 5-12 ft. in width, with occasional bulges as great as 4q ft. Their lengths vary from 100 ft. to several hundred yards, and they are known to continue to Clmsiderable depths. 'They dip steeply, generally at angles of 45° to 60° to the east or south.The floors, where they occur, 'are directly connected with the feeders, and are sheet-iike bodies of sulphide ore. The composite ore-bodies thus have the shape of an inverted L, or a T, according to whether 'the floor extends out from one side or both sides of the feeder. Most of the floors extend from the hanging-wall side of the feeder. Where erosion has removed the connection, they appear as separate bodies.The feeders as a rule carry more quartz and arsenopyrite than the floors, and are richer in tin. In addition, the cassiterite tends to be coarser grained in the feeders than in the floors. The floors, on the other hand, carry a greater proportion of -sulphides, chiefly pyrrhotite, and the grade of ore and grain size of the cas,siterite tend to decrease as the floor is followed down the dip away from the feeder, so that the outer and lower extremities of the floors may be too low-grade to work economically. The average grade of the ore worked at present is 0·9,0/0 tin. The slates forming the roofs of the floors are commonly much contorted and silicified,' so that they form hard rocks in which the contortion and shattering of the original slates are well preserved. Joints extending upwards, more or less at right angles to the roof of the floor, are occasionally filled with finely crystalline quartz, similar to that in the orebodies, and are often rich in tin, so much so that the slate as a whole may average 0·4% tin.Some carbonate gangue is present in all of the ore-bodies, commonly on the footwall side, and, in places it becomes an important constituent...

Jan 1, 1943

By Mayfield P. L J, Honeyands T. A

BHP's two million tonne per annum nominal capacity Hot Briquetted Iron (HBI) plant at Port Hedland in the Pilbara region of Western Australia is based on FINMET¦¦ direct reduction technology. The FINMET¦¦ process produces direct reduced iron (DRI) by reacting fine iron ore with reformed natural gas in a series of fluid bed reactors and then hot briquetting this DRI into dense, high quality iron briquettes. The Port Hedland HBI project represents a major investment in the chemical processing of Australian minerals to higher value products prior to export to Asian markets. This paper describes the FINMET" process and technical aspects of the high-quality HBI product, and provides an update of the current status of the project.

Jan 1, 1999

The Mount Angelo prospect outcrops as two copper rich gossans, the larger of which is 250 ft long and 70 ftwide. The mineralization is epigenetic and replaces part of a brecciated and disturbed lime tone and calcareou sediment sequence.Magnetic and self potential survey indicated a substantial body of sulphide mineralization, the top of which was approximately 100 ft below the surface.Diamond drilling confirmed this and established the presence of a mineral body of at least 500,000 tons, extending to a depth of 300 ft. Of the 500,000 tons, 200,000 ton are primary copper ore which a ays 2 per cent copper.This mineral body is not economic at present, but could become economic if copper mining is established elsewhere in the district...

Jan 1, 1966

Terramin Australia LimitedÆs Angas Lead and Zinc Mine operates in the unique and picturesque environment of Adelaide Hills, 60 km South East of the Adelaide city centre itself. The mine was granted approval for construction by the South Australian Government in April 2007 and the Process Plant was constructed and commissioned in July 2008. This paper outlines the background to the plant design and the approval process given the close proximity to the local town of Strathalbyn, with a major focus on the commissioning learnings from the Concentrator startup for future reference and a review of the operational performance of the Concentrator throughout the first year of successful production versus design and expectations.

Jan 1, 2009

Significance of the body of iron oxide, which in part overlies as its hanging-wall the rich chalcocite ore-body at Mount Oxide, Queensland, has been variously interpreted by engineers and geologists who have inspected the deposit.Among the interpretations offered is the one that the body represents the residual of an original medium to low grade...

Jan 1, 1939

The widely accepted kinetic model for the gaseous reduction of hematite is critically examined. The formation of the wustite layer during internal reduction cannot be explained in terms of solid-state diffusion. Present evidence indicates the existence of a micropore system in the wustite adjacent to the magnetite with the gas/solid type of reaction occurring not only at the iron/wustite interface but also at the wustite/magnetite interface. During the partial reduction of dense hematite pellets, in a controlled atmosphere, porous magnetite and wustite are formed as products. The mean pore size, as measured by mercury injection, increases with time at constant temperature and with temperature increase over the range 6500C to 950°C. The sizes of the pores indicate that Knudsen diffusion is the principal gaseous transport mechanism across thick layers of magnetite or wustite.The kinetics of the gaseous reduction to iron are consistent with a mixed control mechanism involving the interaction of gaseous diffusion effects with a first order reversible chemical reaction at the iron/wustite interface. Because of the larger pore sizes in the iron layers, ordinary molecular gaseous diffusion must be the principal transport mechanism. The usual experimental methods used for establishing the validity of chemical rate ~ontrol are incapable of differentiating between the mixed control- mechanism and exclusive chemical control.Some implications of mixed control kinetics are developed, including a predicted independence of rate on reducing gas pressure at higher pressures.INTRODUCTIONAn extensive literature review of the reduction of iron oxides has been compiled recently by Themelis and Gauvin (1962). From the large number of papers published and the widely divergent opinions of workers in this field, it appears that a simple unified quantitative analysis of reduction kinetics is not possible. The aim of the present paper is to show that a major cause of confusion is due to the attempts of many workers to interpret experimentally observed reaction rates in terms of a single rate controlling mechanism without due regard to other rate processes which must occur simultaneously.Some of the differences in behaviour reported for particles...

Jan 1, 1964

By Parker A. J, Grimsey E. J

Studies have been carried out on the dead roasting of a copper-iron and a copper-nickel-iron sulfide concentrate, followed by segregation roasting with coal and leaching with either curpric sulfate in aqueous acetonitrile or cupric chloride in brine solution to preferentially solubilize copper. The effect of dead roasting and segregation roasting conditions on the overall leaching of copper and the separation of copper from iron and iron and nickel is reported. An excellent separation of copper from iron and a good separation of copper from iron and nickel can be obtained provided sulfur is removed to 0.5 per cent or less during the dead roast and provided the coal addition and temperature of the segregation roast are near the minima required for the segregation of copper.

Jan 1, 1983

A thermochemical model is developed to study the two-stage smelting reduction process for ironmaking without post-combustion. Steady-state multi-material and heat balance equations are solved simultaneously to study the effect of metallisation, slag basicity, coal rank and heat loss on consumption rates of coal, ore, flux and oxygen and production rate of slag to produce hot metal of a given composition, tapped at a given temperature. The model is applied to the commercial data for a COREX-plant producing a wide range of hot metal compositions, tapped at different temperatures. The computed rates of coal, slag, flux, ore and oxygen were found to be close to the reported ones, but an exact match could not be obtained. It is found that a four per cent change in metallisation brings changes the coal rate by five per cent, flux rate by six per cent, slag rate by eight per cent and oxygen rate by 13 per cent, while a ten per cent change in basicity changes the coal rate by ten per cent, flux rate by 13 per cent and oxygen rate by 22 per cent. Further, it is found that an increase in metallisation decreases the coal rate and export gas. At a given per cent metallisation, the coal rate and the export gas are lowest for anthracite compared to all other types of coal.

Jan 1, 1999

This paper gives a general description of mining operations at the Mount Morgan Open Cut. Certain features such as blast hole diamond drilling, which may be of particular interest, have been described in detail. The paper is covered by the following headings:-1. History2. Ore Reserves and Production Data3. Mining Methodsa. Design and Layout of the Open Cut.b. Overburden and Ore Breaking.c. Loading and Transport of Ore and Overburden.d. Transport of Men and Supplies.e. Survey and Assay.f. Drainage.4. Power and Compressed Air5. Mining Equipmenta. Shovels.b. Mine Transport.c. Dozer Tractors.d. Drill Shop.6. CostsHISTORYIn order to appreciate fully the design of the present Open Cut at Mount Morgan, a brief outline of the Mine's history and past mining methods is necessary. In 1882 the Mount Morgan Syndicate began to mine this large gold-copper orebody by small hill-top quarries...

Jan 1, 1952

By J P. Sykes, A Trench

"The common-held view of the future of copper mining is one of declining quality of mineral resources and increasingly limited long-term development options. This decline, in turn, is viewed as inevitably leading to increasing economic, socio-political and environmental costs. As a result, new technologies and innovations will be required to mitigate cost escalation. The future is therefore typically summarised as a battle of a ‘below-ground’ declining quality asset base pushing costs upward versus ‘above-ground’ technology and innovation driving costs downward. The role that high quality new mineral discoveries could play in mitigating industry cost pressures is typically understated, if considered at all. New high quality discoveries can be mined at lower cost than existing assets and potentially if discovered in the right locations within a more amenable contemporary environmental and socio-political setting. Such deposits, once discovered, would improve the overall quality of the industry asset base, as well as benefitting their owners substantially through higher margins. However, to target new high quality deposits explorers need some understanding of the nature of high quality copper mines in the long-term future. Conventional scientific and economic techniques for analysing the future of copper supply, generally by studying the project pipeline, ignore as yet undiscovered resources and also struggle to fully incorporate the multiple internal and external factors that could impact upon copper mining practices in the future.Scenario analysis is specifically designed to consider multiple factors interacting in the future, and is thus more creative than simply looking at the visible project pipeline. The use of scenarios is therefore potentially capable of providing insight into aspects of the future of copper mining about which little is currently known or that remains considerably uncertain. In this study, the Oxford University Scenarios methodology was employed to analyse different plausible futures for copper mining and the consequent implications for exploration targeting strategies. The scenario analysis highlights two key dimensions or axes that serve to map out potential industry futures: firstly the technical and economic optimisation of the existing industry; and secondly the generation of new prospects or ‘search space’ for the copper industry. These two axes in turn frame four different scenarios for the future of the copper mining industry. These copper mining scenarios are then compared to the 20 largest existing copper mines and projects, and their owners, to determine if any represent an appropriately robust exploration targeting proxy: none do. The paper therefore concludes that efforts by industry are required to generate mine concepts that would be viable across all scenarios, and thus act also as exploration targeting proxies. In the interim, companies will have to seek to build portfolios that create an overall robust asset base, out of individually less robust assets. Failure to do this implies that consequential, irreversible strategic decisions lie ahead for the copper mining industry, which may be a threat to both incumbents and the very industry itself. This situation makes strategic exploration targeting in the copper industry very difficult.CITATION:Sykes, J P and Trench, A, 2016. Using scenarios to investigate the long-term future of copper mining and guide exploration targeting strategies, in Proceedings International Mine Management Conference, pp 265-290 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Jun 22, 2016

By Grynberg H, Lindon P, Wardrop J

The Gippsland Basin is unique in Australia in that it is a major resource based industry centre within a sensitive and special environmental context supplying Melbourne, a major urban/industrial environment with most of its energy 'on-line'. The environmental effects of the supply systems are generally local and mostly affect only those who are directly or indirectly dependent on the upstream systems. The major urban metropolis which is served remains largely unaware of the environmental impacts of the system upon which it is dependent, except when specific attention is drawn to them as in the case of the Latrobe Valley Outfall, algal blooms in the Gippsland Lakes, etc. This paper discusses the environmental context within which the energy industries operate, the environmental legislative framework which applies, the likely environmental impacts and some solutions. The energy resources of the Gippsland Basin occur in an area where the physical environment exhibits a wide variety of inherent energy states in its physical and biological regimes. The off-shore regions of the oil and gas platforms has to be able to withstand the wind and wave energy generated in a shallow sea in a confined waterway lying athwart the main current and climatic stream. The coastline includes the delicately balanced quiescent environments of Corner Inlet with its 'wilderness' tourism industry and the powerful surf and long shore drift and dunes of Ninety Mile Beach.

Jan 1, 1992

The object of this paper is to give a description of the new office and changehouse building and equipment at the Zinc Corporation Limited, the office section of which has now been in full use for approximately three years, and the changehouse section for approximately two years. As the expectations of the design have been fully realized, it is thought that this description will be of interest to members and possibly of some use to others faced with similar problems.GENERALIn the centralization of the surface plant around the new main shaft the combined office and changehouse building forms a prominent feature, being located between the shaft and the mill and facing the workshops on the northern side.The scheme for housing all employees in one building was proposed by the Manager, Mr. A. J. Keast, who was familiar with a similar successful structure built at the McIntyre Porcupine Mines Ltd. in Ontario, Canada.The principal features of this building were adopted as a basis for design, and the present layout evolved to suit the particular requirements of this mine.Some of the advantages of the design are:(a) Economy in first cost and space occupied when compared with plants having separate office and changehouse buildings.(b) Easier and more constant supervision of employees and of the plant by the senior staff members.(c) Close contact between officials of all departments.(d) Close covered connection between changehouse and shaft.(e) Avoidance of duplication of ,essential services such as electric power, water, heating plant, sewerage, etc.The Managing Director, Mr. W. S. Robinson, further instructed that the following requirements be adhered to in the new building:(a) Ample accommodation to be provided for office staff and other employees.(b) Special attention to be paid to lighting, both natural and artificial.(c) Working temperatures to be controlled to facilitate comfort and efficiency.(d) The buildings and equipment' to be of a permanent nature with furnishings and fittings of modern design.

Jan 1, 1941

Lignite deposits of Central Otago Miocene Dunstan Formation accumulated on a broad alluvial plain and on deltas that flanked a large freshwater lake. The regional subsurface distribution and configuration of the lignite-bearing strata are identified within the context of depositional systems and placed into a genetically defined stratigraphic framework. The stratigraphic and depositional models constructed, should form an integral part of the geological assessment process to guide future regional or mine based lignite drilling programmes. Further testing and evaluation of the commercialy important lignite deposits in the Blackstone and Roxburgh Coalfields are required to adequately characterise the lignites and their geological setting, particularly to select methods of mining and wise uses of the lignite.

Jan 1, 1992

By Davies S. G, Mackey L. C

The oxidation of iron and nickel sulphide concentrates, and the dominant sulphide minerals which comprise them, has been studied under ignition conditions using thermogravimetry (fG). The concentrates were derived from various minesites and they showed differing tendencies to ignite. Ignition temperatures ranged from 416 to 488°C and the extents of reaction, measured at 500°C, varied from 64 to 88 percent. The reactivity of the least reactivematerial was improved significantly by grinding. Particles <63/lm showed 85 percent oxidation compared with 55 - 65 percent for particles >63/lm.Examination of the individual sulphide minerals revealed that these materials also have significantly different degrees ofreactivity and are subject to particle size effects. For particles <45/lm, the ignition temperatures were as follows:ò pyrite and violarite 380 - 385°C; pentlandite 425 - 430°C; and pyrrhotite 470 - 475°;ò for particles >90 /lm, the ignition values were: pyrite 395 - 400°C;ò violarite 430 - 435°C; pyrrhotite 540 - 545°C; and pentlandite 560 - 565°C.Using the data on the individual minerals it was possible to rationalise the differing degrees of reactivity of the concentrates. The role of the most reactive constituent in initiating the ignition reaction has also been discussed.Finally, the results of this work were found to compare. favourably with the behaviour ofthe concentrates in industrial and pilot-scale flash smelters.

Jan 1, 1989

THE object of the present paper is to give a brief description of the metallurgical process followed by the Grand Junction Co, and the results obtained therefrom. All figures quoted are from the actual working of the plant over a period of six months from January to June, 1910. The short ton of 2000 lb. is used by the company. Its gold is valued at 84s. per oz. fine, silver at 2s. per oz. fine. The ore consists essentially of a gangue of quartz and calcite, with 8 to 10%sulphide-pyrite, sphalerite, galena, chalcopyrite, and traces of arsenic and antimony. The colmtry-rock is a highlyaltered dacite. Small stringers of highly-mineralized ore penetrate the footwall of some of the lodes, forming a valuable stockwerk up to 3 ft. in thickness. In stoping, this is mined with the well defined lode, thus bringing into the mill at times a considerable quantity of hard country-rock. The gold exists in an exceedingly fine state of division, consequently rendering it necessary to grind very fine to obtain a satisfactory extraction.

Jan 1, 1912

A review is made of the limited published experience of the effects of cemented fill in flotation.A general approach is adopted in listing and discussing possible sources of, and reasons for, ore contamination by cemented fill, together with basic, fundamental approaches to minimizing this contamination. These approaches involve basic mining design, effect of fill placement density, optimization of curing time and of cement content, variation of fill particle grading, use of flocculants and of pozzolans, fill placement and dewatering, and or blasting and handling practice.

Jan 1, 1974

(This paper reviews the reasons for and the principles followed in designing and constructing complete new surface works at the mine of the Zinc Corporation Limited, Broken Hill, New South Wales, and describes the layout, plant, buildings and services.)The Zinc Corporation mine produces high grade lead, silver and zinc sulphide ore. Lead and zinc concentrates are sent by rail to Port Pirie, where the lead is smelted and the zinc concentrate is shipped to Tasmania, England and other overseas countries.Some time ago consideration was given to the advisability of sinking an additional shaft. For some years the old main shaft had been working at full capacity and developments underground had indicated that the mine would eventually be capable of an output greater than that which could be handled through the shaft. It was therefore decided to sink a new main shaft and the site chosen was in footwall country 900 feet south of the old main shaft. The reason for the move south was so that the new shaft would be opposite the centre of gravity of the ore-bodies at depth. The size of the new shaft is 27 ft. ,6 in. x 15 ft., and the work was put in hand early in 1936.It was intended to haul the whole mine output through this shaft, which was 1,600 feet from the mill then operating. An extensive conveyor system thus became necessary unless a new mill was built near the shaft. A careful study of the situation was made by the management and consideration was given to requirements for expansion, the condition of...

Jan 1, 1940