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By B. Geelhoed

Gy's formula for the variance of the fundamental sampling error (FSE) is based on a model that assumes independent selections of particles. A generalization of this model, which can theoretically lead to more realistic representation of actual sampling processes, was, for the first time, experimentally verified by repeated sampling from a well-mixed batch consisting of particles of zirconium silicate of two different sizes. The predictions for the sampling variance made in Gy?s theory and in the more general model were compared with the experimentally observed sampling variance. During the experiment performed here, the variance prediction made in the theory of Gy ranges from 0.96 × 10?7(g2/g2) to 0.95 × 10?7(g2/g2), which is approximately a factor 60 lower than the experimentally observed variance (5.76 × 10?6(g2/g2)). The difference between the Gy prediction and the experimentally observed variance cannot be fully explained by the uncertainty in the experimentally obtained variance due to the finite number of degrees of freedom. Therefore, the difference is likely to be a significant effect. This shows that, under the experimental conditions, Gy?s formula for the variance of the FSE probably undervalues the sampling variance, unless an empirical correction factor for grouping and segregation is applied in the theory of Gy. The new theory resulted in a variance prediction of 6.00 × 10?6(g2/g2), which is much closer to the observed variance than the Gy prediction. This indicates that the generalization of Gy?s theory offers an outlook for providing a better variance prediction than the Gy predictor in the case of dependencies between particle selections. The results are discussed. Keywords: sampling, variance, parameter for the dependent selection of particles, Gy, experiment.

Jan 1, 2009

By A. M. Venter, C. W. Siyasiya, N. K. K. Arthur, M. G. Willemse, D. Marais

Although additive manufacturing is fast gaining traction in the industrial world as a reputable manufacturing technique to complement traditional mechanical machining, it still has problems such as porosity and residual stresses in components that give rise to cracking, distortion, and delamination, which are important issues to resolve in structural load-bearing applications. This research project focused on the characterization of the evolution of residual stresses in Ti-6Al-4V extra-low interstitial (ELI) additive-manufactured test samples. Four square thin-walled tubular samples were deposited on the same baseplate, using the direct energy deposition laser printing process, to different build heights. The residual stresses were analysed in the as-printed condition by the neutron diffraction technique and correlated to qualitative predictions obtained using the ANSYS software suite. Good qualitative agreement between the stress measurements and predictions were observed. Both approaches revealed the existence of large tensile stresses along the laser track direction at the sections that were built last, i.e., centre of the top layers of the samples. This in addition leads to large tensile stresses at the outer edges (corners) which would have the effect of separating the samples from the baseplate should the stresses exceed the yield strength of the material. Such extreme conditions did not occur in this study, but the stresses did lead to significant distortion of the baseplate. In general, the microstructures and spatial elemental mapping revealed a strong correlation between the macro-segregation of elemental V and the distribution of the β-phase in the printed parts.

Feb 6, 2023

By J. Rajala

The Kupol mill facility processed a high grade free milling gold/silver ore containing 28.2 g/t Au, 324.8 g/t Ag and approximately 0.5% pyrite during 2008 operation. Gold predominantly occurs a selectrum in the ore and silver is predominantly present in the forms of acanthite, stephanite, pyrargyrite and proustite. Mill start-up was in mid-May 2008 and the mill reached the design throughput of 3 000 tpd in October. The ore was ground to approximately 70%?53 microns. A Knelson Concentrator recovered 9.8% gold and 0.5% silver. The gravity tails reported to a cyanidation circuit that has 14 hours pretreatment and 116 hours leaching. The slurry from cyanidation was then processed by counter current decantation (CCD) thickening to wash and separate the leach residue from the pregnant leach solution. Precious metals are recovered fromthe pregnant solution using the Merrill-Crowe process. The washed CCD leach residue slurry is treated with calcium hypochlorite to destroy cyanide and then sent to the tailings impoundment. Leaching is performed with a new technology called ?CELP? (CANMET Enhanced Leach Process). The Kupol mill overall gold and silver recoveries for 2008 were 95.4% and 85.6% respectively, which were 2.8% and 7.5% higher than targets. Gold and silver extractions in the leach circuit were 94.2% and 84.5% respectively. Leach profiles indicated that gold extraction reached a plateau in the 4th tank while minor silver dissolution occurred in the 5th tank. With the CCD circuit included, total gold and silver extractions increased to 95.4% and 86.6%, respectively. Optimization of the leaching strategy made it possible to reduce sodium cyanide concentration to as low as 410 ppm without compromising precious metals extractions. Silver was effectively leached from the refractory silver minerals because CELP produced more oxidized mineral surface relative to the conventional cyanidation leached mineral surfaces. The average cyanide consumption for 2008 was 1.3 kg/t. The new leaching technology proved to be very robust and performed efficiently even with changes in feed grade and ore mineralogy. Laboratory experiments produced results that were indicative of plant performance. The robustness of the technology and the laboratory test work contributed to the success of the Kupol mill start-up.

Jan 1, 2009

By Timo Niitti, Antti Rinne, Janne Turunen, Klaus Schommarz, Sami Grönstrand

This paper captures the essential steps employed in developing Outotec?s new FloatForceTM mechanism. The development of a flotation mechanism essentially revolves around the efficient transfer of installed power, or capital cost, to optimum flotation performance. Optimum flotation performance will be achieved if a balance between metallurgical results, operating and capital costs is maintained. The development of the FloatForceTM mechanism was done by careful evaluation of each of these three areas. This paper focuses on how experience, CFD and laboratory equipment, pilot and plant tests are used to test and evaluate a new flotation mechanism. Validated variables include mixing profile, power draw and local air hold-up. Metallurgical and mechanical design considerations are not covered in this paper. Besides using the FloatForceTM mechanism in new flotation equipment, the FloatForceTM mechanism can be used in existing flotation cell installations, thus enabling improvements in the mixing profiles, solids suspension and metallurgical performance of operating flotation circuits. Results of several tests carried out in existing plant operations are presented.

Jan 1, 2007

By M. T. G. Davis, J. V. Cleasby, H. J. Wright

Mining practice in the Kimberley Division of De Beers Consolidated Mines Limited by J. V. CLEASBY. B.Sc.. A.R.S.M. (Fellow). H. J. WRIGHT. B.Se.. M.Sc.. (Fellow). And M. T. G. DAVIES. B.Sc. (Visitor) T his paper highlights the changes that are taking place at De Beers Consolidated Mines Limited in mining methods, mechanization, and employment practices. De Beers has four underground mines in Kimberley itself (Dutoitspan, Bultfontein, De Beers, and Wesselton), and two open-cast mines outside Kimberley (Finsch and Koffiefontein). Emphasis is placed on the new method envisaged for Koffiefontein when it becomes an underground mine. The paper also includes notes on chemical drilling and on winding practices.

Jan 12, 1975

By G. L. Gomes-Sebastiao, W. W. de Graaf

"Gomes Sand is a quarry operation that produces sand and aggregate for the construction industry. The quarry is experiencing inconsistencies in the fragmentation and poor pit conditions as a result of poor drilling and blasting practices. This results in excessive downtime in the load and haul and crushing processes.A benchmarking exercise of the blasting practices was conducted to evaluate the effect of the inconsistency on the mining cycle. After changes in the blasting practices the downtime was reduced, which improved the crushing plant utilization by 4.9%. The improved blasting practices and more consistent fragmentation decreased the average number of loads lost each month due to jaw crusher blockages from 9.2% to 3.9% of plant throughput. The change in blasting practices also improved pit conditions. IntroductionGomes Sand is a quarry operation that has been in operation since 2009, producing sand and stone for the construction industry. The quarry was experiencing unacceptable blasting results. The repercussions included uneven pit floors, large amounts of oversize rock (>500 mm), and inconsistent fragmentation.The blast results affected the load and haul operations as well as the efficiency of the crusher. This resulted in downtime in the daily operations, and consequent production and revenue losses.The crusher product should have a top size of 50 mm. A blast fragmentation of <50 mm would improve the downstream operations and the crusher throughput.An investigation into the blasting practices was carried out to assess whether the downstream delays can be eliminated by improving the blast results. The exercise included:* Assessing if the designed blast layout is adhered to on the bench* Observing the quality and control of drilling* Observing the charging procedure of the blast-holes* Benchmarking the fragmentation consistency of the blasted rock using current blast design and practices* Analysing the throughput of the crushing plant* Investigating the power consumption of the crushing plant and determine if a change in blasting practices will affect this* Evaluating the hours spent by the hydraulic hammer on secondary breaking."

Jan 1, 2017

By S. Moolla, R. Lynch, S. Brijraj

A reliable method to locate microseismic evets is an important objective for routine mine seismic monitoring. We developed an algorithm that can automatically and reliably locate an event from a single uniaxial trace. Signals created by microseismic events are recorded as seismograms that consist of direct P- and S-waves as well as the waves reflected off the underground excavations. We take advantage of the extra complexity these reflections introduce as they make the signal more unique. In our investigation we cross-correlated unaltered synthetic seismograms against trial waveforms created from a linear combination of appropriate waveforms from a library of numerically calculated strain Green’s tensors. We use a single uniaxial synthetic seismogram to invert for the source location, six moment tensor components, and frequency. The resulting cost functions are constructed as maximal correlations at each node in the mine grid through the true source x-planes. This function is maximized by differential evolution to simultaneously yield the source parameters. Sensitivity tests such as shifting the mine plans and altering the background velocities of the media are investigated to test the robustness of the method. We contaminate the data with 40% white noise to test the resolution against simulated real recorded seismograms. The method is demonstrated using synthetic data calculated with a realistic underground 3D velocity model.

Jun 10, 2024

By S. Konetschnik, E. Dreyer, A. Filzwieser

"More intense furnace operations require effective cooling in order to achieve low refractory wear and good furnace lifetimes, making cooling technology an important aspect of furnace operations. However, the use of water - today’s standard cooling medium - has some disadvantages, as it can cause problems both during furnace start-up and operation, namely hydration problems, corrosion, and explosions. Apart from these aspects, the energy that is removed by extensive cooling cannot be recovered and is normally lost in the cooling towers.With METTOP’s new patented cooling technology it is possible to overcome the disadvantages of water by using an alternative cooling medium, namely ionic liquids (ILs). The main advantage of ILs is the fact that there is no risk of explosion should this liquid come in contact with molten metal. Furthermore, ILs can be used at higher temperatures than water - up to 200°C. This relatively high cooling medium temperature avoids hydration and corrosion problems and allows recovery of the energy by combining the ILTEC system and the organic Rankine Cycle (ORC) technology, for example.Due to the removal of the explosion risk, much higher safety standards can be achieved, particularly in critical areas such as tap-holes"

Jan 1, 2014

By N. Naude, L. S. Leal Filho, M. P. Tshazi

In this paper, the authors performed experiments in the Denver and Leeds laboratory flotation devices at the University of Pretoria at various particle sizes to evaluate the performance of the devices. Quartz was used in a single mineral system at discrete sizes fractions, -25 μm, +25- 45 μm, +45-75 μm, and +75-106 μm. Hydrodynamic analysis, based on dimensionless power and Reynolds numbers, indicated that the Leeds cell required higher power input to achieve comparable flow conditions. Specifically, the Leeds cell exhibited an average power number of 1.03, whereas the Denver cell averaged 0.77 within the same impeller speed range of 1000 rpm–1500 rpm. For comparative flotation performance, impeller speeds were calibrated, resulting in operating speeds of 1200 rpm for the Denver cell and 1400 rpm for the Leeds cell. The cells performed similarly at two coarser-sized fractions. However, some deviations were observed in the finer particle size range. The -25 μm (fine) fraction initially achieved a recovery of only 15%. An additional reagent dosage was required to enhance the recovery of this fraction significantly. These findings highlighted the influence of particle size on flotation recovery. For all experiments, the Denver laboratory flotation cell outperformed (defined by higher recovery) the Leeds device, while still operating at a lower impeller speed. This advantage can be attributed to its impeller-stator design and air dispersion features, effectively overcoming slurry resistance and resulting in superior flotation performance compared to the Leeds cell.

May 27, 2025

By T. Könighofer

Processing of copper-cobalt orebodies in Africa?s Copper Belt has received much recent attention with various flowsheet options being developed specifically for the refining of cobalt. The upfront leach and copper refining routes are well understood whereas the refining of cobalt is more complex, requiring numerous impurity removal steps to produce high purity metal. This paper describes an investigation into one of the possible processing steps in the refining of cobalt, namely, cobalt solvent extraction. The paper emphasizes the importance of upstream impurity removal to achieve the required cobalt solvent extraction feed composition. 18% (v/v) Cyanex 272 in an aliphatic diluent is used as the organic phase. The pH profiles in the various stages are evaluated in order to obtain a raffinate containing <10 mg/[l] cobalt and with a low magnesium content reporting to the stripping section. The pH profile is also used to minimize the impurity deportment to the cobalt electrolyte. The effect of adding a preneutralization stage before feeding the organic phase to the extraction circuit is investigated. Zinc build-up in the stripping stages is also looked at. It is recommended for the purpose of this study that four extraction stages at an O:A ratio of 1 with a pH profile from 4.9 to 5.7 be employed. The pH is controlled with 40 g/[l] NaOH. A preneutralization stage is required, where the organic phase is contacted with 10 M NaOH. Two scrubbing stages are recommended at an O:A ratio of 40, using the cobalt electrowinning advance electrolyte as the scrub liquor. Three strip stages are to be employed at an O:A ratio of 0.67.

Jan 1, 2009

By L. Marais

The development of a post-mining economy is generally framed as accessible and desirable and something that mining companies, consultants, and the government can, and should, plan for. It is indeed possible. Yet, most mining regions, other than the big metropolitan municipalities, find economic diversification after mining challenging, despite their grand plans, consultant reports, and company intentions. Their efforts blind them to other ideas that are often prerequisites to diversification. This paper highlights some economic and social misconceptions about economic diversification and explains where planning goes wrong. Mistakes typically stem from ignorance and misunderstandings. Planners and policy makers fail to grasp the essential requirements for economic diversification. They underestimate the structural constraints created by mining. They do not see how mine rehabilitation is linked to economic diversification. They generally do not understand the South African space economy or the nature of new economies. The paper also proposes a more careful consideration of those economic aspects that mining cities have control over, such as land use management and infrastructure. The paper further explains how understanding long-term dependencies can help prevent governance failures. The social disruption that accompanies mine decline and closure must be recognised and dealt with. The mines must plan for decline as a way to resuscitate the economy. It concludes with a framework for assessing and developing a post-mining economy.

Apr 25, 2025

By S. Curry

The Objana Cement Plant is located in central Nigeria, approximately 200km south of capital city Abuja (figure 1). It is the second largest cement plant in Africa, and the fifth largest in the world [1]. The selected mining location is unique as it has all the major raw materials (except gypsum) in close proximity. This includes limestone, clay, marl, laterite soil, and laterite iron. [ ] The plant has a capacity of 5 million metric tones per year (~15,000 tones per day). A 135 megawatt gas-fired power plant, with 90 km of natural gas pipeline, was constructed to power the plant. The total project cost is approximately 1.2 billion US dollars. The lifeline of the plant is two overland conveys totalling 7.7km in length. The first 800m conveyor is relatively mundane. The second conveyor however, is unlike any other troughed belt conveyor in the world. It 6.9km length transports 2,400 T/H and operates at 5.0 m/s. Its ?snake? profile consists of 11 vertical cuvees, and four horizontal curves. The last of which is 2,000m in radius, has a length of 2.2km, and is located at the high tension head end of the conveyor. Although these specifications are noteworthy, the unique feature of this system is that it is entirely elevated from head to tail using a triangulated truss gantry structure (figure 2).

Jan 1, 2008

By P. J. Petit

"The complex planning required to achieve any planned production yields multiple and dissociated responses over the life of project (LOP). The customary decision-making process negates the possibilities of developing optimized and integral solutions from operating levels up to business and strategic levels. This results in an inefficient project or overall underperformance of the operation.In the project setting, disconnected trade-offs and improved performance studies become inadequate, because they are site-specific and use only a few comparative parameters. They are often based on a small data-set.Decisions taken to achieve overall objectives require the correct determination and dissemination of key performance indicators (KPIs). The KPIs indicate efficiency in operation, whereby the marginal rate of technical substitution corresponds to the rate of production. It is the necessary condition for optimization. Performance realization for sustainability follows optimization modelling, the latter often being presented with financial results such as business net present value (NPV). It considers techno-financial constraints and provides a strategic and aligned outlook of KPI decisions for an enhanced and integrated outcome.This paper explains a mining case study that is rendered efficient, and through business optimization (BO) short-term and sustainable targets are reached. Business optimization increases the NPV by 14.7%. This is achieved by challenging conventional decision-making associated with maximizing business value by including environmental externalities within the LOP."

Jan 1, 2016

By E. S. van Druten, M. C. Bekker

"The complete and successful closure of a mine in the South African environment remains problematic. Closure remains an elusive mining phase due to unclear roles and responsibilities, inaccurate closure management data, and the inability of stakeholders to conceptualize and integrate closure information into business processes. Currently there are no proven methods available to address the complexities encountered during a closure application, and to date no mine has been granted full closure. Many mines are left abandoned and unrehabilitated, resulting in risk to investors, surrounding communities, and regulators. This investigation aimed to determine, categorize, and rank reasons for unsuccessful mine closures. Focus groups consisting of public and private stakeholders were identified and surveyed through a structured, rank-order questionnaire to determine the relative importance of reasons why achieving formal and final mine closure remains elusive. Various requirements and aspects were identified and listed according to four categories: namely, primary, secondary, process drivers, and information sources. These aspects should be considered in the development of an integrated mine closure model.Background and rationalePrior to 1956, mine closures were not subject to legislative requirements, being merely governed by insufficient environmental regulations under the Mines and Works Act 27 (MWA) (Swart, 2003). In 1981 the Chamber of Mines (COM) published a document titled ‘The rehabilitation of land disturbed by surface coal mining’, which constituted the first notable contribution to environmental protection. This guideline was later referenced in the Minerals Act of 1991, which for the first time laid definite environmental burdens on the Mining Right Holder (MRH). The Minerals Act of 1991 was superseded by the current Mineral and Petroleum Resources Development Act (MPRDA) and the Mineral and Petroleum Resources Development Act Regulations (MPRDAR), which specify a regulatory process for mine closure applications and financial provisions."

Jan 1, 2017

By N. V. Moraka

Mining companies are required by law to improve representation of women on their boards. However, progress in this regard has been slow. Boards of directors play an important role in formulating corporate strategy, risk assessment, and effective governance for sustained financial performance. Although some women have successfully maintained board seats, others have been unable to do so. It is difficult to ascertain whether women are being appointed as tokens to satisfy social pressures, as little is known about the experiences of women board members in mining, which may inform or refute tokenism. In-depth interviews were conducted with 20 women and 16 men across six listed mining companies. Thematic data analysis revealed evidence of tokenism where recruitment to mining boards is compliance-based and is informally driven by influential directors. Adverse boardroom experiences that further confirmed tokenism were reported by women, such as disregarding their contributions, condescending behaviour, and limited influence in decision-making, while other women sought to validate their competence and oppose social exclusion. This study recommends that a strong Board Chair and nominations committee is critical to ensure sustainable recruitment of competent and suitably qualified women; and further foster a culture of inclusivity and valuing gender-diverse boards.

Dec 13, 2023

By C. Liu, F. Ye

"To extend the variety of lump ores that are used in the COREX shaft furnace and to optimize iron ore blending, the original evaluation method for iron ores that was proposed by Voestalpine AG has been improved. Physicochemical and metallurgical properties of iron ores, including Sishen lump ore and CVRD pellets, which are currently used in the COREX process, and three other lump ores, were assessed and compared. Ore matching principles were proposed and five optimized iron ore blending schemes designed and verified by laboratory experiments to prove the effectiveness of the improved evaluation method. The replacement of Sishen lump ore by the alternative L2 and L3 lump ores without varying the proportion of CVRD pellets could improve the degree of reduction and rate of metallization, and decrease the bonding index. Based on the results of laboratory test work and industrial- trials, an ore blending scheme of 60% CVRD, 20% L2, and 20% L3 is recommended for use in the COREX process. IntroductionIn recent years, problems such as environmental pollution and a shortage of coke and coal resources for blast-furnace ironmaking have become increasingly apparent. Based on sustainable developments in the iron- and steelmaking industries, the environmentally friendly COREX smelting-reduction process with low energy consumption was developed and introduced (Zhou and Du, 2013; Song, Lv, and Yin, 2015; Xu et al., 2016; Kurunov, 2010). The evaluation system for lump ore that was proposed by Voestalpine AG recommends that only Sishen lump ore from South Africa be used in the COREX process, because of the stringent physicochemical and metallurgical property requirements. This situation significantly hampers improvements to the technical and economic aspects of the COREX ironmaking process, especially in China (Eberle, Siuka, and Bohm, 2006). No theoretical or technical basis has been provided for the evaluation system, and the assessment approach for iron ores also presents problems that need to be discussed and resolved.The COREX process consists of two reactors: the prereduction shaft furnace and the melting gasifier as shown in Figure 1 (Wu et al., 2017). Pellets and lump ores which are charged to the prereduction shaft should have a good reducibility and metallization with a low degradation index (Li et al., 2016; Wu et al., 2011; Kumar et al., 2009; Kang, Gupta, and Sahajwalla, 2007). The properties and microstructure of the iron ore pellets which are required to achieve a high productivity and a lower fuel rate in the COREX process have been investigated (Umadevi et al., 2011). Some efforts have also been made to investigate the behaviour of lump ores in the COREX shaft furnace, including the disintegration characteristics and the reduction degradation (Umadevi et al., 2011; Zhou et al., 2015; Xu et al., 2013; Li, Feng, and Zou, 2013; Hou et al., 2014). However, few studies have focused on the optimization of ore blending for partial or total substitution of the expensive Sishen lump ore by other, cheaper lump ores to reduce the production cost. The technology for the utilization of blended lump ores in the COREX process is still in its early development stages (Zhou et al., 2017; You et al., 2017)."

May 1, 2019

By L. A. Jagger

The world?s second largest producer of platinum, Impala Platinum Ltd, approved two new twin shaft projects at the end of September 2004, Nos. 16 and 20 Shafts. Both shaft projects are stand-alone entities and are being sunk from surface. Previously Impala had embarked on a strategy of extending the life of its third generation shafts by means declines. No. 16 Shaft is the first of a new fourth generation shaft complex, while No. 20 Shaft is the last of the third generation type shafts in the so-called shallow to intermediate mining zone. This paper details the basic designs of each project and covers the initial implementation. Although both projects are twin shaft systems, the access methods from the shafts to the reef horizon differ. Initiatives implemented to speed up the projects are also briefly covered.

Jan 1, 2006

By J. D. Salter

Most diamonds are liberated from their ores by crushing. Diamond and other coarse grained mineral ores require carefully optimised crushing circuits. Recent advances in computer technology have made possible the on-line capture of crushing plant performance data and, hence, the accurate empirical modelling of the crushing process. Such models are used in simulation studies to determine the optimum operating conditions for a given plant. A system is described which allows operating data from mineral treatment processes to be logged. Up to 16 channels of data may be recorded simultaneously at sampling rates in the kiloHertz range per channel. A data storage and analysis procedure is described which allows the system to make full use of its sampling capabilities.

Jan 1, 1987

By S. T. L. Harrison, J. R. Amaral Filho, M. Smart, J. Broadhurst, J. Weiler

Technosol production from mine waste, following amendment with additional organic residues, to provide healthy and functional topsoil is an advantageous alternative to the long-term dump disposal of mine waste. Minimising the legacy of mine waste and supplying soil for mine site rehabilitation contributes towards more sustainable mining practices. Following the creation of the physicochemical structure of the soil from appropriate mixtures of coal waste with low sulfur content, physical ameliorants and nutrient sources, the inoculation of Technosols with active microbial suspensions may accelerate the decomposition of organic matter present and ensure nutrient availability for plant growth through active nutrient cycling, particularly of nitrogen, sulfur and phosphorous. In this paper, South African ultrafine coal waste was used as the main mineral matrix, and malt residue was used as source of organic matter and nutrients. In order to evaluate the effects of Technosol inoculation, five microbial treatments were used, including the addition of: commercial grade efficient microorganisms (EM Prosoil), anaerobic digested sludge supernatant from treating brewery waste, and ‘tea’ extracts prepared from compost, vermicompost and soil native to the mining area. Growth experiments were carried out using Eragrostis teff, commonly known as teff, a grass typically used for the rehabilitation of mined areas in South Africa. Preliminary results showed that Technosols inoculated with microorganisms performed better in terms of nutrient availability and plant growth. Varied performance was observed as a function of the microbial inoculation applied. This suggests that the inoculation of Technosols with appropriate microorganisms may be recommended to accelerate nutrient availability assisting plant growth during the initial establishing of the Technosols. Technosols continue to show promise as an alternative to both mine waste disposal and the burrowing of topsoils for mine rehabilitation. Keywords: Fabricated soil, mine waste, coal discards, malt residue, nutrient availability, soil microbiology, plant growth

Jan 1, 2020

By T. Vincent, J. Steele, C. Debrunner, M. Whitehorn

This paper presents current work on the development and use of stereovision for underground mining. Information on the calibration of the cameras and the feature-matching algorithm are presented. This system uses an intensity-based approach that evaluated correspondences along the epipolar line. Once features have been identified and their distance from the cameras computed, a three-dimensional map of the muck pile is developed. The approach used here uses a ray-tracing algorithm. This approach provides an uncertainty measure along with the elevation. A discussion of the use of this modelling information in the control of the LHD is included. Keywords: Robotics, automation, LHD, underground mining, vision sensing, task automation, tele-operation

Sep 1, 2001