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By William Brundan

INTRODUCTION The Srisailam Left Bank Canal (SLBC) Tunnel Scheme is part of the Alimineti Madhava Reddy Project in Andhra Pradesh, South India. This scheme has been planned since 1983 and will provide irrigation facilities to drought-ridden areas in Andhra Pradesh. Water will be transferred from the Srisailam Reservoir during the monsoon months to 0.3 million acres of farmland and will also provide drinking water to villages en-route. The paper will address the design and onsite assembly of the Robbins Double Shield TBMs for Tunnel-1 of the SLBC tunnel scheme from planning to start-up of the machines. Also, it will provide a current status of the project and describe the advantages of a site assembly. Problems encountered to date and the solutions adopted will also be described. The project comprises over 50 km of tunnels and involves construction of the world?s longest tunnel without intermediate access. The TBM tunnels at 43.9 km in length and 10.0 m diameter will cross the Amrabad plateau, containing a wild life sanctuary and India?s largest tiger reserve, the Rajiv Gandhi. Jaiprakash elected to excavate the tunnel using two tunnel boring machines, rather than by drill and blast, in order to alleviate surface disturbances to environment and the tiger reserve, wild life sanctuary, and protected forestry areas. The Project was awarded to the Main Contractor Jaiprakash Associates Ltd with The Robbins Company as the Tunnel Boring Machine (TBM) supplier in August 2005. The Robbins Company supplied the TBMs along with two continuous conveyor systems and all spares and consumables to complete the tunnel excavation.

By A. M. Gaudin

This year the American Institute of Mining, Metallurgical and Petroleum Engineers has chosen to give me its Robert H. Richards Award, a distinction which is widely regarded as the highest honor in the field of mineral engineering. I am deeply moved by this tribute, which suggests not only regard for my service to the profession but also the affectionate esteem of my fellow mineral engineers. You have made me happy at the prospect of the permanent association of my name with that of Robert Hallowell Richards and of the distinguished recipients of the award, Arthur Fay Taggart, Frank R. Milliken, John F. Myers, Edward William Englemann, C. Harry Benedict, Edward W. Davis and Arthur W. Fahrenwald. I wish to thank you all for an honor so generously bestowed. Professor Richards is known to us all as a legendary figure, and we can read about him in the Richards Memorial Volume of our Transactions. Some of us have even had the good fortune of knowing him. I count myself among those lucky few. In its intangible attributes the Award recalls those things for which Professor Richards stood: for Science in Art, for thoroughness, for meticulous accuracy, for bold imaginativeness, most of all for professional integrity. Now, as in his day, these attributes are central to an engineer's creed. They are appropriately needed in a formulation of a definition of the mineral engineering profession.

Jan 6, 1957

By G. Danko, R. Tiwari, J. Knowles

Many excavation and loading tasks require equipment operators to simultaneously coordinate the motion of multiple machine links, in order to achieve complex tool trajectories. Efficiency, ore selectivity, and machine wear, are all affected by the skill level and attentiveness of the operator. A software-based kinematics reconfiguration system designed to assist operators with various tasks has been implemented on a small experimental excavator using our new differential control architecture. Kinematics transformation and feedback control algorithms are being developed and tested using computer simulation, and the results implemented on the experimental excavator. Several task-specific kinematics transformations, including a virtual revolute-to-Cartesian machine reconfiguration and computer-assisted bucket steering and stabilization have been successfully tested. Progress, challenges, results, expected benefits, and planned work are described.

Jan 1, 2006

By Keith S. McIntosh

The fire assay process for the quantitative recovery of platinum group elements (PGE?s) prior to subsequent analysis traditionally is a time-consuming process. Samples derive from various ore types and contain PGE?s at the ppm or ppb levels, making concentration of the elements mandatory before assaying. Traditionally sample turn-around times are of the order of 24 hours. The whole sequence of sample preparation, fire assay and subsequent analysis of PGE?s have been automated by Anglo Platinum. Some of the major challenges on the road to automation will be discussed and the novel solutions that were implemented. The engineered solution included robotic automation of the whole sequence, from sample preparation, up to the final element by element assay. The final system allowed for rapid (less than one hour) and accurate analysis of PGE?s even in streams containing very low levels, such as flotation tailing streams and drill core samples.

Jan 1, 2006

By G Baiden

The removal of rock blockages in mining operations has long been a risky undertaking, especially in high overhead conditions. Moreover, the assessment of where to put charges and the placement of them has been difficult due to the lack of visibility and safe access to the area. Traditionally, wedging long poles with explosives on them to keep the operator at a relatively safe distance has been the tried and true method of attempting to remove the blockages. Unfortunately, this is not a perfect system as it usually takes several attempts to remove the blockage. Each successive attempt results in even more dangerous conditions for workers and/or damage to the mine due to the successively larger amounts of explosives used until the hang-up finally comes down.Over the years, different ideas have been proposed to improve this process and reduce the inherent safety risks. Some of the technologies that have been trialled include projectiles fired at the hang-up; large, cumbersome arms; and massive amounts of explosives, each of which come with their own inherent safety risks that result in dangerous situations for miners and the mine.After gaining a thorough understanding of the process, Penguin Automated Systems Inc has developed a robotic system that is capable of working in a rock blockage safely. The idea combines the latest in telerobotics technology with 3D scanning and underground geospatial positioning. The hang-up removal is performed by scanning the inside of the hang-up to rapidly develop a geospatially placed 3D model for the operator to use. The 3D model is detailed enough that the operator can attempt to pick the ‘keystone’. A blasting engineer or the operator can then determine the exact position where the explosive charge should be placed in the 3D model and thus at the actual hang-up. The operator, controlling the robotic arm, uses the 3D virtual reality model of the robot system and the actual drawpoint information model to display the location information, the arm can then reach into the hang-up to position the charge using the kinematic model of the robot system. The 3D model is used to provide views inside the hang-up so that the operator can move the arm safely and precisely. This process allows the operator to place the charge (using the 3D representation of the drawpoint) from a long distance away. As the process continues, the end of the arm drills the rock and precisely loads the explosives. The robot then returns the blasting cable to the command station, which is located in a truck at a safe distance from the blockage.This paper will review the development of the system and present the results to date.CITATION:Baiden, G, 2016. Robotic hang-up assessment and removal of rock blockages in mining operations using virtual reality for safety, in Proceedings Seventh International Conference and Exhibition on Mass Mining (MassMin 2016), pp 745–754 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2016

By Unal Artan

It is well known in the robotics community that the ability to determine the position of vehicles in real time is a key enabling technology required for automation, traffic management, and to ensure safety in the presence of multiple vehicles. Because of this, the introduction of global positioning systems (GPS) has had a remarkable impact on the surface mining industry, enabling real-time tracking of mobile assets, improved safety, and production optimization. Unfortunately, satellite-based GPS is not available underground. This paper reports on the preliminary results of a study to develop a robust method for globally consistent mapping of large-scale underground mine environments. We believe that this may additionally become the first step towards the development of a novel underground positioning technology. Presented are preliminary results from data collected at two underground mines using an Atlas Copco ST14 LHD machine.

Oct 1, 2009

By E. Pardo-Igúzquiza, R. A. Olea

The bootstrap is a computer-intensive resampling method for estimating the uncertainty of complex statistical models. We expand on an application of the bootstrap for inferring semivariogram parameters and their uncertainty. The model fitted to the median of the bootstrap distribution of the experimental semivariogram is proposed as an estimator of the semivariogram. The proposed application is not restricted to normal data and the estimator is resistant to outliers. Improvements are more significant for data-sets with less than 100 observations, which are those for which semivariogram model inference is the most difficult. The application is illustrated by using it to characterize a synthetic random field for which the true semivariogram type and parameters are known.

Jan 1, 2015

By G. K. Mann

Fragmentation analysis of blast or crushed rock material is a time-consuming and costly process. During the last two decades, the mining industry has been investigating image-based analysis systems as an alternative to generate fragmentation results. Many image-based techniques and commercial products have emerged during the last few years, and the mining industry has recently begun using these tools for real-time estimation of size distributions. Some existing systems require manual image editing to add or delete edges (or net) before executing the fragmentation analysis routine. This manual procedure may take hours of time for each image analyzed. Reliable and robust image segmentation should be able to handle a wide range of rock textures and sizes under a variety of lighting conditions. This paper describes a novel software application, which has the capability to autonomously capture images and analyze them to generate the particle size distribution. The system can also process a batch of images captured during a fixed duration of time and produce the overall particle size distribution. The new method has different layers of segmentation modules, which allows the system to operate under a wide range of rock textures and lighting conditions. A new grey-level slicing technique is developed which can perform under a range of illuminating conditions. The Canny-based edge detection technique is used to segment rocks appearing in dark regions.

Jan 1, 2006

A study of drilling data at various stages of development of an orebody show that the semi-variogram, used for calculating the accuracy of block estimates can be ill-defined if too few data are available. The consequencesin this case are to have blocks supposedly more accurately known than is possible at the early drilling stage; such a result being potentially dangerous. However, as the amount of data increases the recalculated, semi-variograms approach the underlying semi-variogram of the deposit and the calculations made using them become more reliable and robust.

Jan 1, 1977

The Coeur Rochester Mine is one of the largest and lowest cost primary silver mines in the United States. In January, the mine surpassed 3.1 kt (100 million oz) of historic silver production. Rochester is owned and operated by Coeur d’Alene Mines, the world’s largest primary silver producer. Rochester is the world’s seventh largest silver mine. It also produces gold — more than 31.1 t (1 million oz) in historic production. Cash operating costs have averaged 8 cents/g ($2.58/oz) of silver since operations began in 1986.

Jan 1, 2004

By Rolland R. Mates

This paper describes the use of post- tensioned rock anchors to reduce the risk of future damage to a residential structure as a result of coal mine subsidence. The project described in this paper was performed by the Office of Surface Mining Reclamation and Enforcement (OSMRE) of the U. S. Department of the Interior. The OSMRE was created to administer Public Law 95-87, the Surface Mining Control and Reclamation Act of 1977. The responsibilities of OSMRE include "reclamation and restoration of land and water resources, adversely affected by past coal mining including prevention, abatement, control of coal mine subsidence. ?('l) Consequently, OSMRE has been addressing mine subsidence problems since its initial subsidence stabilization project in 1979. Stabilization activities have primarily consisted of supporting the overburden material by injecting materials through drilled bore holes into the underground mine voids. Injection of various materials into mine voids, including fly ash mixtures, coal refuse, cement grout, and gravel has proven to be a successful method of reducing mine subsidence-related surface movements, and has been extensively utilized in mitigating mine subsidence problems. However, the cost of drilling for injection can be extremely high in areas where the depth to the coal seam is great.

Jan 1, 1986

By R. Poisel, C. Scavia, Preh A., W. Roth, M. Pirulli

ABSTRACT: Two methodologies for the three-dimensional simulation of the run out of rock avalanches are presented: one based on a granular approach and the other based on a continuum equivalent approach. An evaluation of the possible run out area of the Oselitzenbach landslide (Carnic Alps, Austria) has been carried out applying the two methodologies. The combined use of these two approaches makes it possible a comprehensive assessment of the run out area. RESUME: Deux méthodologies pour la simulation tridimensionnelle de la propagation des avalanches rocheuses sont présentées: la première est basée sur un modèle de type granulaire et la deuxième sur un modèle du continu équivalent. Une évaluation de la propagation éventuelle de l’avalanche de Oselitzenbach (Alpes Carniche, Autriche) a été réalisée en utilisant les deux méthodologies. Les résultats obtenus montrent que la combinaison des deux approches rend possible une analyse plus complète de la phase de propagation. KURZFASSUNG: Für die dreidimensionale Modellierung eines Felsmassensturzes (sturzstrom) werden zwei Methoden, eine granulare und eine kontinuumsmechanische Methode, vorgestellt. Beide Methoden wurden zur Abschätzung der Ausbreitung (runout) der Massenbewegung Oselitzenbach (Karnische Alpen, Österreich) herangezogen. Die kombinierte Anwendung beider Methoden ermöglichte eine umfassende Beurteilung des möglichen Ausbreitungsbereichs.

Jan 1, 2003

By B. J. Buys

Rock bolt integrity is a critical issue for the mining industry because of its influence on the safety of mining operations. Guided ultrasonic wave testing of the defects associated with resin-anchored rock bolts was investigated. Axisymmetrical and three-dimensional finite element models were built, one of a partially encapsulated bolt and the other of a bolt with a simulated local corrosion crack. Experimental bolts were then installed in a testing block and typical responses were compared to finite element models of different defect scenarios. Encouraging results were obtained for the smaller axisymmetrical and three-dimensional finite element models, as well as during the experimental investigation. It is recommended that software with energy-absorbing elements should be utilized to consider higher frequencies and longer bolts. Once the integrity of models such as these has been established, the models could in principle be used to train neural networks for use in commercial equipment to determine the integrity of the installed bolt.

Jan 1, 2009

By W. R. Crank

[Rock bursts are phenomena associated with mining operations, particularly with deep mining, although they occur throughout a wide rump, of depth, from 600 feel downward. The intensity is usually in direct proportion to the depth, varying from a loosening and sloughing off to a violent rupture, giving rise to the term, "explosive rock." The more or less violent breaking of rock in mine working, tins been variously designated as " flaking," "pressure hoists," "strain bursts," "bumps," "quakes," and "air blasts," which indicate opinions as to cause and effect. The term "air blast" lots probably beat most widely used, and naturally so, as a more or less rapid movement of air often accompanying the more violent phenomena of rock failure. Furthermore, there is an implied if not definitely expressed degree of magnitude in the action designited by a given term and in the cause and character of the action. For example. flaking, pressure bursts, and quakes are terms ranged to indicate action of increasing magnitude; and pressure bursts, strain bursts. bumps, and quakes are ranged according to the cause and character of the action.]

Jan 1, 1929

By G. K. Rogers

The portal, which is the near-horizontal, surface point of entry to an underground excavation, can often be an exceedingly difficult area in terms of ground control. Surface and subsurface failures at portals, as discerned during a study involving over 300 case histories, are unfortunately, common. To aid in the engineering evaluation of portals, the Geomechanics Classification System was appended with discontinuity orientation assessment values and support/excavation guidelines. Also, a design model utilizing RMR predicted rock loads in conjunction with half-dome theory is proposed for the most common type of portal failure. Other pertinent comments and recommendations relating to portal stability are included.

Jan 1, 1989

By R. Feenstra

In the course of time, an increasing number of investigations on jet cutting all kinds of material, such as rocks1, 2, 3, metals4, 5, and wood6 have been reported to serve various applications. This paper deals with one particular application of jets, viz deep-well drilling for hydrocarbon exploration and production. A number of papers have been published on this subject 7, 8, 9, some of which refer to jets purposely containing abrasives, termed 'jetted particle drilling'7. Since such abrasives complicate fluid handling considerably and do not appear to be absolutely necessary for making hole we have restricted ourselves to conventional drilling fluids. A large part of our investigation has been performed with the aid of three laboratory-type drilling machines, which permit tests on both micro-bits (12 in) and full-scale bits (62 - 9 5/8 in). In view of the application of jets in deep wells, care has been taken to simulate hydrostatic pressures as they exist in the field on the hole bottom. These have been found to have a major effect on the bit-penetration rate for various drilling fluids. Following experiments with single nozzles, laboratory bits have been designed, improved further and developed for field use. Field runs on 9 5/8 in bits, using conventional equipment and pumps, served to verify the feasibility of the jet drilling concept. Further efforts are evidently needed to evaluate the jet drilling method. It is encouraging that one of these10, a field test programme, is supported by a number of oil companies jointly. Such a combined effort is of paramount importance to evaluate and develop this new method of drilling to its full potential in a reasonable period of time. This paper aims to contribute to that ultimate goal.

Jan 1, 1974

By V. C. Kelessidis

The interaction between rock and drill bit during drilling has been modeled for many years, but a complete understanding of the phenomena occurring has yet to materialize. Successful models will allow the prediction of rate of penetration in a given environment and optimal selection of drill bit and drilling parameters, thus minimizing exploration costs. In most rock-drilling models the value of the unconfined compressive strength of the rock (UCS) is used in the predictive equations, within the concept of specific energy, and the value of UCS is the percentage of the value of the stress applied on the drilling bit in order for the bit to advance. While the exact percentage depends on the model used and it is not known with certainty, good knowledge of UCS is nevertheless required before any decent prediction can be made on rate of penetration. Determination of UCS, normally done via destructive testing, requires not only the availability of sound rock core samples but also expensive testing and significant time for the test, which frequently are not available for routine drillability predictions. Hence, a multitude of methods and techniques has been proposed for estimating UCS from various indirect and/or non-destructive measurements, or combination of measurements with neural networks, such as point load index, block punch index, unit weight, and apparent porosity, water absorption by weight, sonic velocity, and Schmidt hardness. The many proposed approaches are critically reviewed and the results are compared, and what becomes apparent is that after many years, not only in mining but also in oil-well drilling, accurate indirect determination of UCS is still an elusive goal. An equation to predict UCS from sonic velocity data is suggested based on several data sets reported in the literature. Use of the specific energy equation with UCS or sonic data and utilization of drilling data allows an estimation of the efficiency of energy transfer from the bit to the rock and of the friction coefficient. Analysis of data reported in the literature, both from laboratory and field studies, has shown that this approach is sound and enables the determination of energy transfer efficiencies and friction coefficients, which for the cases studied range between 15 and 30% and 0.15 and 0.30 respectively. Thus, the suggested data analysis approach allows drillers to focus on inefficiencies and optimize drilling practices in future campaigns. Keywords Rock drillability, unconfined compressive strength, prediction.

Jan 1, 2011

By D. F. Malan, Y. Jooste

"SynopsisScattered mining was practised on Kusasalethu Mine (previously Elandsrand Gold Mine) prior to 1998, but at deeper mining levels it was no longer feasible, since it would have resulted in unacceptably high stress levels and energy release rates. Longwall mining was not adopted at these depths as the mine required a more flexible mining method owing to the highly variable grade and the presence of geological structures. A mining method was developed that consisted of dip stabilizing pillars for regional support, as well as bracket pillars to clamp geological structures. A strict sequence of extraction was followed and this, together with the particular layout, was called the ‘sequential grid mining method’. This method addressed two key problems, namely negotiating adverse geology and the erratic grade of the Ventersdorp Contact Reef (VCR) orebody. However, a significant drop in production rates resulted in the need for alternatives and improvements to the original mine design. Modifications to the design were proposed in order to increase production rates, and an investigation to consider the rock engineering implications of these modifications was conducted. The study indicated that the modified method, called the ‘multi-raise mining method’, appears to be feasible and might address some of the production problems that were experienced with the original sequential grid design. An analysis of actual seismic data showed no significant differences between the original sequential grid mining and the implemented multi-raise mining. The numerical modelling of the mining layouts showed slightly higher interim energy release rates (ERRs) and average pillar stress (APS) levels during the extraction process. The final values are nevertheless identical to that of the original sequence. The study also investigated the use of a modelled moment method to analyse future seismic trends. The study illustrated that the expected seismic trends will be very similar for the multi-raise method compared to the original sequential grid mining method. This study is nevertheless considered of a preliminary nature and ongoing monitoring and analysis of seismic data at the mine is required to verify the response of the rock mass to the modified sequence and increased extraction rate. In particular, future work needs to investigate the effect of mining rate (advance rates in individual panels as well as volume of mining in particular raise lines) on the level of seismicity."

Jan 1, 2015

By C. Laughton

Construction of a Deep Underground Science and Engineering Laboratory(DUSEL) is proposed under the auspices of the US National Science Foundation(NSF). DUSEL will provide scientists and engineers with a research facility capable of supporting a broad spectrum of fundamental and applied research deep in the earth’s crust. Research partners are physicists, biologists and geoscientists. DUSEL research calls for the construction of a network of shafts, tunnels and caverns that will provide laboratory facilities at depths of up to approximately 2 kilometers. The Project is still in the planning stages but, the initial experimental program is taking shape and conceptual designs have already been developed at two hard rock mine sites. This paper discusses the overall program and key engineering tasks being developed to support the construction of deep, large-span caverns. These caverns will house a new generation of physics experiments. As currently scoped, the experiments call for the excavation of permanent caverns with spans of up to 60 meters, sited at depths in excess of a kilometer.

Jan 1, 2007

By A. H. Swart

Rock engineering is concerned with the design of rock structures generated by mining activities. Therefore, rock engineering designs have major implications for the safe recovery of mineral deposits and operating costs. The paper deals with a few challenges facing rock mechanics engineers operating in the hard rock underground mining environment in South Africa. Finally, examples are included, which may assist rock mechanics engineers in providing better designs, which could ultimately lead to further improvement in safety and lower operating costs.

Jan 1, 2005