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By T. Velea

The most widespread methods for producing metallic copper are smelting of copper sulphide concentrates (which generates various types of polluting substances) and the hydrometallurgical route which consists of leaching in sulphate and chloride media (usually employing high temperature, high-pressure and special equipments). This paper presents a process, called VEPE, which consists of oxidizing copper sulphide concentrates in weak alkaline media (Na2C03 orland NaOH solutions), under low pressure and with air sparging. The oxidized concentrate contains less than 0.4% S. Copper is recovered from the oxidized concentrate by the standard leaching-solvent extraction-electrowinning route, with a total efficiency of 98% extraction. The proposed technology could represent a good opportunity to recover copper from sulphide concentrates in a clean, simple and profitable way.

Jan 1, 2007

By F. J. Macias, A. Bruland, F. E. Dahl

"Tunnelling by use of Tunnel Boring Machine (TBM) is gaining a greater presence as a suitable excavation method. Disc cutter consumption has a strong influence on performance and cost when using TBMs and the influence becomes even more relevant in hard rock. Furthermore, good predictions of TBM performance and cost facilitate the control of risk as well as avoiding delays and budget overruns. Since abrasive wear is the most common process affecting cutter consumption, good laboratory assessments are needed. A new abrasivity test method called Rolling Indentation Abrasion Test was developed. The goal of the new test design and procedure is to reproduce wear behaviour on hard rock tunnel boring in a more realistic way than traditionally used methods by introducing wear by rolling contact on intact rock samples. INTRODUCTIONHigh investments are involved in the tunnelling industry, especially in Tunnel Boring Machines (TBMs) projects. Performance predictions and cost estimations are crucial for planning and risk management of TBM projects. Cutter consumption has a large influence in terms of time and cost, and an even greater effect in case of hard rock projects. Many factors are influencing the amount of cutters consumed in hard rock TBMs. Normal TBM operation results mainly in abrasive wear on the cutters and appropriate methods for abrasivity assessment are needed. Rock abrasiveness cannot be considered as an intrinsic property and the complete tribological system should be considered in addition to the geological properties of the rock.In the present paper, a new test method for abrasivity assessment in tunnel boring called Rolling Indentation Abrasion Test (RIAT) is presented. The traditionally used test methods for determination of rock abrasiveness uses sliding or impact contact in order to cause wear while the RIAT introduces rolling contact on intact rock samples. The ambition of the new test device is to have a reliable method to evaluate the cutter wear in hard rock tunnel boring by reproducing wear behaviour on rolling disc cutters in a more realistic way. It has been established by many authors that the abrasion of a cutter ring is proportional to its rolling distance (Rostami, 1997; Bruland, 1998). In the present work, the weight loss of a mini-cutter ring is measured subsequent to testing in order to evaluate wear in the rolling process and could hence be related to cutter ring wear. Indentation of the tools in the intact rock sample is considered as an indication of the surface hardness of the rock or the resistance to indentation by rolling."

Jan 1, 2015

By René G. del Villar, Jules Thibault, René del Villar

"Some key control variables of industrial processes, associated with product quality, often cannot be measured directly or frequently enough to establish adequate control. In such cases, it is possible to use available measurements to provide a prediction for these process variables and use them in a control strategy, thereby giving rise to what is now commonly called a softsensor.In some industrial grinding circuits, the on-line particle size analyzer is shared between various sampling points. Therefore, for a given location, the actual measurement is only available every 10 to 20 minutes, a delay which is unacceptable for automatic control purposes. To alleviate this problem, a softsensor based on an artificial neural network has been investigated. First, the structure of the neural network and different schemes for the training process are analyzed. Then, the performance of the neural network softsensor is compared with other inferential methods such as ARMA models and Kalman filters.IntroductionGRAHM, French acronym of the Research Group on Computer Applications in the Mineral Industry at Laval University, began in 1990 a research project on Knowledge Based Automatic Control (KBAC). This project, sponsored by a consortium of eight mining companies and the federal and provincial governments, seeked to screen advanced (knowledge-based) methods for data processing (filtering, mass balancing, etc) and automatic control (model-based) for their use in the mineral processing operations and the transfer of the project results to the sponsor companies.In parallel to more academic research work, a number of case-studies have been undertaken with the cooperation of partner companies. Among such works, a very successful one has been the design and installation of a new control strategy for one of the Kidd Creek (Falconbridge Ltd.) grinding circuits. This project was related to the evaluation of a number of control strategies and the implementation of one of them, as selected by the plant management, in the concentrator.A total of sixteen control schemes were evaluated on one of the dynamic phenomenological simulators developed at GRAHM, a trademark of this research group [ l]. The calibration of the simulator models was done based on industrial data gathered by GRAHM and Kidd Creek personnel. Then, the simulator was used to test the performance of various PID-based control schemes, designed to achieve the control objectives set by the Kidd Creek personnel. The best scheme proposed called for controlling the cyclone overflow particle size by manipulating the water addition rate to the cyclone feed box and the circulating load by manipulating the circuit ore feed. The particle size analyzer (PSI-200) available for monitoring the product size, was unfortunately shared (multiplexed) among various streams of the plant, which meant a 14 min delay between two consecutive readings for any particular stream. This induced the plant personnel to choose an alternative control strategy, one which controlled the cyclone feed density instead of the cyclone overflow particle size."

Jan 1, 1996

By CIM Standing Committee

The CIM Definition Standards on Mineral Resources and Reserves (CIM Definition Standards) establish definitions and guidance on the definitions for Mineral Resources, Mineral Reserves, and mining studies used in Canada. The Mineral Resource, Mineral Reserve, and mining study definitions are incorporated, by reference, into National Instrument 43-101 – Standards of Disclosure for Mineral Projects (NI 43-101). The CIM Definition Standards can be viewed at mrmr.cim.org. Readers should be aware that reports written by persons issuing technical reports that disclose information about exploration or other mining properties to the public in Canada are governed by a number of securities regulations.

May 10, 2014

By R. L. Guerguerian, Eugene Bercel

"Grinding mill hydrostatic trunnion bearings require an external pumping source to provide and maintain the oil film between the bearing members. In order to guarantee a predetermined minimum film thickness, the lubrication system tends to be oversized. The oil film is ""indirectly"" controlled by flow, pressure and temperature monitors with fixed settings on the conservative side. This can lead to excessive maintenance and abbreviated life for the lubrication system components. A reliable method of monitoring actual film thickness would not only provide greater mill availability, but also minimize maintenance costs.This paper describes the instrumentation installed in Dominion hydrostatic bearings, and presents results of field tests where the output of that instrumentation was recorded under various operating conditions.IntroductionThe trend toward larger and more sophisticated grinding mills has made the operators of these machines increasingly vulnerable to financial loss, as the cost of downtime and repairs has increased directly with machine size. In order to guard against such losses, it is becoming imperative that large, sophisticated grinding mills be equipped with protective instrumentation to monitor some of the critical operating parameters and to identify events and trends which, if they go unnoticed, can lead to excessive maintenance costs and machine downtime. The idea of protective monitoring systems is not new. The operators of certain types of machinery where a high degree of safety is required or where machinery health can deteriorate very rapidly, as in the case of high-speed turbo-machinery, have long been using protective instrumentation on their machines. The increased awareness of the benefits of monitoring machinery conditions and the availability of reliable and relatively low-cost instrumentation of a large range of sophistication is making the practice now widespread. Traditionally, grinding mills have not been considered as high-risk machinery requiring instrumented protection. However, the trend, mentioned earlier, toward employing fewer, but larger capacity, mills increases the risk of significant disruption of production, and therefore measures to minimize the risks are desirable."

Jan 1, 1981

By Y. Vermeulen, J. Simoes, P. Guillo, A. Di Donate

New design techniques have been developed to optimize continuous casting (CC) refractory components. The overall objective is to increase CC productivity as well as steel quality by using optimized refractory from tundish-to-mold. These techniques allow the prediction of steel and refractory chemical interactions and, thus, steel chemistry evolution as well as build up and corrosion occurrence. Specific fluido-dynamic models (CFD) have also been developed to better take into account the physical parameters at the steel/refractory interface and to optimize steel flow control. The CFD model can be coupled with refractory chemical interactions to simulate steel chemical evolution. These two different approaches result in shape and material modifications. They are completed by dedicated thermal stress analysis in order to improve thermal shock resistance. The mechanical FEA evaluations take into account specific mechanical behavior of refractory components as well as high temperature evolution of their properties.

Jan 1, 2004

By F. Charette

The paper reviews the requirements of the instrumentation required to monitor mining excavations in a high stress environment, and the development plan to instrument the D-Bolt in such a fashion as to be able to follow the behaviour of the bolts in relationship to the ground movements and support performance. Recent field observations of D-Bolts under static and dynamic conditions are also presented. Also discussed is the assumed mechanical behaviour of the D-Bolt. D-Bolts are used in two (2) Canadian underground mines operating in high stress environments and tested in three (3) other operations.

Jun 1, 2012

By E. Bratygin, G. Gazaleeva

"The article describes the analysis of methods and criteria of selectivity of optimal ore preparation schemes. Traditional criteria based on study of physical-mechanical properties of ores give the comparison of obtained figures with a reference standard or statistic data and the selection of the ore preparation scheme is made on a basis of a similar scheme from the existing production.Further on estimation is given to different criteria of the crushing selectivity, the new criterion is offered, the definition of which is done by results of an optical microscopy– the estimation of a valuable mineral release degree. The final estimation of the crushing process selectivity L? is performed by a calculation of a ratio of the valuable mineral free grains quantity in a desired size grade of a crushed material to the valuable mineral free grains quantity in a desired size grade of a raw product.Besides, optimality assessment of using the specific crushing unit is preliminary performed according to a maximum crushing degree of a material, however, the priority is given to the maximum selectivity criterion. The check of the proposed criterion was done when comparing the crushing of niobium bearing ores of the Vishnevogorskoye deposit in cone inertial and centrifugal impact crushers. Different operation modes of crushers were also checked. The comparison of the crushing selectivity criterion L? showed that the centrifugal impact crusher (CC) has the value of the selectivity criterion lower than the cone inertial crusher (CIC). For the crusher CC the criterion L? is 0.82 – 0.87 units, whereas for the crusher CIC – 1.43-1.755 units. The best crushing mode for the crusher CIC-300? is as follows: turning angle of debalance is 120°, peripheral speed of a cone rotation – 1,420 rpm, specific energy consumption – 6.99 kW?t/t.INTRODUCTIONIt has been shown that the most efficient techniques of mineral raw materials disintegration are selective crushing enabling to produce liberation of particles at maximum use of destruction techniques by borders of minerals cleavage. These days, such techniques are usually called special disintegration techniques (Jankovic & Valery, 2015), and they are used in 3–4 crushing stages. The selection of optimal crushing techniques is performed based on the following main parameters:- degrees of crushing, calculated based on granulometric features of raw and crushed products;- selectivity criterion defined according to useful mineral release and slime ability degree; and- traditional criteria (Gazaleeva et al., 2015) of choice based on study of physical-mechanicalproperties of ores gives the comparison of obtained figures with a reference standard or statistic data and the selection of the ore preparation scheme is made on a basis of a similar scheme from the existing production."

Jan 1, 2016

By Nicholas Bonderoff, Amily Xu

The evaluation of battery electric vehicles (BEVs) in underground mines involves comprehensive business case analysis beyond just the capital and operating costs of the equipment itself. BEVs demonstrate benefits from an EHS perspective, reduced mine ventilation costs, lower energy operating costs, reduced overall GHG emissions (dependent on the source of electricity), elimination of DPM, lower equipment maintenance costs, and reduced cooling requirements in deep mines. When including batteries and supporting infrastructure, BEV capital costs are approx. 80% greater than that of diesel equipment. The project economics are highly dependent on the cost of electricity and diesel fuel, and these can vary widely depending on the location of the mining operation. Battery charging and swapping methodologies must be evaluated as there are a variety of approaches that can be employed which vary by manufacturer and type of equipment. Careful consideration of the cycle times, charging methodologies, and location of the battery charging infrastructure is necessary. Specific operating conditions must also be taken into consideration. For example, the time for blast gases to clear will be increased by reducing ventilation flow, and the potential impact on production needs to be evaluated. Similarly, the electrical distribution system needs to be evaluated for peak loading conditions when BEVs are charging. Criteria including maintainability, reliability, commercial availability, and performance need to be evaluated. BEVs have fewer components than diesel equipment and this correlates to lower overall maintenance costs, however, BEVs require maintenance personnel with specific skill sets in order to maintain the equipment. Battery lifecycle costs need to be considered as battery replacement incurs significant capital expense. Some manufacturers offer services to offset these capital costs through usage agreements. Recycling and disposal of batteries at the end of their lifecycles also need to be considered. With the increased selection of BEV equipment that will be available in the next 2-4 years, 100% BEV adoption is also possible. We recommend a holistic approach when evaluating BEVs for underground mines. This will ensure that everything is considered in order to evaluate the full impact of BEV implementation.

Jan 1, 2023

By I. S. Laitinen

Outokumpu Technology has recently introduced new technology in both copper electrorefining and electrowinning. This technology includes, among other things, a new permanent cathode (Outokumpu Permanent Cathode) and new busbar technology (Outokumpu Double Contact System). The new technology has already been tested in commercial scale cells. To get a better understanding of the busbar system a multiphysical simulation model of the electrowinning and electrorefining cells was developed. A mathematical model of electrical conduction and heat transfer in a copper electrolysis cell was developed from partial differential equations. The model was expanded to a cell group including seven electrolysis cells connected electrically in series. The model was solved numerically using the finite element method (FEM). Using the model, different intercell busbar systems were simulated. Typical electrical disturbances, like loose contacts between cathodes and the main busbar and short circuits between electrodes, were included in the simulation. The results of the simulation runs with conclusions are presented in this paper.

Jan 1, 2007

"Some of the tools developed for the processing of nickel laterite ore by resin-in-pulp (RIP) may be applicable to the remediation of metalliferous mine drainage (MMD). In both cases, recovery of metal value and production of a stable waste stream appropriate for long term storage is desired. MMD typically has the additional challenge of management of toxic low-value metals. Seen in this light, innovations in RIP reactor configuration, selective elution strategies and novel synthetic ion exchange resins become useful tools for taking on the MMD challenge in a way that maximizes both environmental and economic benefit. INTRODUCTIONAcid mine drainage (AMD) is a common problem in any country with significant past mining activity. When sulphide containing minerals, tailings or slag are exposed to water, oxygen and sulphur oxidizing bacteria, AMD will result. Abundant and reactive iron sulphide minerals leach first, providing acidity and the ferrous/ferric couple that can enhance the oxidation kinetics of other minerals. If this runoff contacts encounters acid consuming carbonates or silicates, the acidity may be neutralized, but certain heavy metals remain in solution and can continue to be an environmental hazard (Gray, 1997). For this reason, the remainder of this paper will refer to the broader term metalliferous mine drainage (MMD) rather than acid mine drainage. In either case, such drainage, containing high heavy metal concentrations and often significant acidity, is toxic to aquatic life and can lead to significant damage to ecosystems and to public watercourses. MMD is a problem most commonly associated with now defunct sulphide mineral mines, but similarly toxic streams can result from many types of waste, such as poorly stabilized leach tailings, slag heaps, and coal flotation tailings (Johnson and Hallberg, 2005; Lee et al., 2002; Sainz et al., 2002; Schüring et al., 1997). In any case, the management and remediation of MMD is an important ongoing problem for the resource industry, particularly for the many mines in Canada closed before the advent of more stringent environmental standards. MMD remediation represents a significant long term expense for the resource industry. Multi-disciplinary efforts to understand and mitigate this problem range from creation of artificial wetlands (Poulin and Lawrence, 1996; Sheoran and Sheoran, 2006) to sophisticated biochemical reactors and precipitation processes (Hatami, 2010). Certain remediation technologies such as ion exchange offer methods to make a saleable product by recovering valuable dissolved metals. This paper will show how these technologies can help defray the cost of remediation, and offer potential to turn a dangerous waste stream into a useful product."

Jan 1, 2012

By Ken McClure, Alex Day

Located North of Williams Lake British Columbia, Gibraltar Mine is the fourth largest open pit Copper mine in North America. Gibraltar commenced Copper concentrate production in 1972 with a mill throughput rate of 30,000 tons per day. A series of expansion projects, including installation of a second SAG mill with variable speed drives in 2013, has increased mill throughput to 85,000 tons per day. Over the past 24 months, Gibraltar Mine in partnership with Spartan Controls has executed several advanced process control programming projects culminating in the implementation of a Continuous Speed Controller (CSC) for the most recently installed SAG mill. This paper covers development and results for the SAG mill speed controller. INTRODUCTION In January 2016, the price of Copper fell below $2.00 USD per pound, the lowest price in 7 years. Gibraltar Mine faced a significant challenge; how to maximize profit in an environment where capital spending was not an option. An opportunity was quickly identified to improve performance through increased automation and advanced control of the grinding processes. Beginning in March 2016, Gibraltar Mine partnered with Spartan Controls to introduce Advanced Process Control (APC) to the grinding circuits. The collaboration between metallurgical and process control engineering disciplines proved to be effective for achieving gains in throughput, reliability and productivity for the mill process. The Gibraltar milling facilities include 2 grinding-flotation plants for concentration of chalcopyrite ore with throughput rates of 58,000 tons per day (Concentrator 1) and 38,000 tons per day (Concentrator 2). Each of the two concentrators has a 34’ diameter SAG mill powered by 2 GE 4800 kW synchronous electric motors. For SAG 1 (in concentrator 1), power is transmitted through 2 Eaton Airflex clutches. For SAG 2 (in concentrator 2), the motors are driven by 2 TMEIC Variable Frequency Drives (VFDs). All programming is done using DeltaV, which Gibraltar uses as its Distributed Control System (DCS) and Human Machine Interface (HMI).

Jan 1, 2019

By H. Ishimoto

It always has been a serious issue to improve safety in mine sites, demolition work sites, and civil engineering work sites. Especially, collision accidents caused by construction equipment damage not only the productivity of operations but also the health and life of workers in those work sites. To solve this problem, a variety of worker auto-detection means are developed so far, but they have not still become widely used in actual worksites. There have been two controversial points in the prior methods. One is that they were not enough in respect of the detection accuracy and certainty, and the other one is that the information of the detection results was not comprehensible to the operator of equipment. In this paper, the functional requirements of the obstacle detection system in earth moving work site is redefined at first, and then, it is proposed to apply a stereo vision to the obstacle detection system for an excavator. The system consists of horizontally arrayed two digital cameras with low distortion lens, an image processing controller, and a monitor for an operator in the cab. Stereo vision calculates the depth image from images of two cameras and detects the presence of obstacles, its distance, direction, and dimensions. Sensed obstacles are informed to the operator in the monitor image. Preliminary experiments are conducted with a stereo vision system mounted on a real equipment in a demonstration site. The result shows that two controversial points of the conventional technologies are improved, and that the applicability of this system is validated.

Aug 1, 2013

By S. M. Moon

Today, underground exploration is spotlighted as an infinitely developable area. For this purpose, many tunneling technologies were created. And until this very day, many techniques are being developed for more efficient underground movement. Although previous technologies have been developed and now being used in various forms like TMB, struck propulsion method and hydraulic propulsion method, it is hard to find a robot type exploring in small scale. But development of small scale underground exploration robot is a promising research subject for its usage in examination of soil, mineral, and subterranean resources, investigation of hazardous regions, and the military. So we developed a robot that can dig and move underground, inspired from the motion of earthworm and mole cricket. Earthworm and mole cricket dig the soil in the front and draw it off backward, so that they can move forward. We developed a mechanism that uses 2 rotating solid of revolution (bits) for pulverizing the firmly united soil in the front and put it inside the body. The bits rotate in the opposite direction of each other. While moving forward, the soil in the front moves along the spiral on the bit and is saved inside the body. The soil saved inside is taken out through an outlet in the back by a ventilation system. The ventilation system on the ground blows through a hosepipe connected to inner part of the robot and the air blows off the soil. The moving mechanism of exploring underground can be classified into 2 parts. One is to fix the blade link on the soil in a form of 4-bar link. The other one is to move forward rotating the whole link. When the blade link system for movement rotates a certain degree, one blade link is fixed, while the other one is folded in. When 2 blade links of different length rotate as it is, different torque is applied on each link. By the law of action and reaction, the link that has larger torque leads the rotation and movement.

Aug 1, 2013

By Andreea Catalina Gluhoi

Oxidation and reduction reactions of N-containing molecules have been studied over different types of gold-based catalysts, Au/MOx/Al2O3 and Au/MIOx/MIIOx/Al2O3 (M, MI, MII=Li, Rb, Mg, Ce, Zr, Mn, Cu) prepared by deposition precipitation with urea. In general, all the catalysts were already active at low temperatures. NH3 oxidation was effectively catalyzed by Au/CuO/Al2O3, a catalyst which also gives the highest yield in N2. NO reduction by H2 performed over gold-based catalysts produced N2O, N2 and NH3 and N2O reduction resulted in the formation of dinitrogen. For all the reactions, large synergistic effects have been obtained by addition of different kind of additives.

Oct 1, 2003

By A. G. Roach

MILLING of Nova Scotia gold ores began in 1862 with arrastras and wooden stamps and has progressed to heavier stamps followed by tables and other forms of concentration for the recovery of the sulphides. Chlorination and cyanide leaching of the concentrates has been practised, and in 1936 the combined amalgamation and all-sliming cyanidation plant of Seal Harbor Gold Mines was built. It has since been found that it is not necessary to cyanide the full tonnage and now only the concentrates are being so treated. From his experience in this enterprise, the writer presents the accompanying flow-sheet and supporting comments. While he has not the temerity to maintain that it is the best or only flow-sheet for Nova Scotia gold ores, he feels that it warrants thoughtful consideration by members of the milling fraternity of the Province. THE ORE The gold in Nova Scotia ores occurs both free and intimately associated with sulphides-chiefly arsenopyrite. Much of the free gold is quite coarse and crystalline. This is especially true when it occurs in white quartz. When in the slate, it is usually in thin plates and scales, frequently coated and discoloured. The values bound up in the sulphides are not amenable to amalgamation and must be recovered by other methods-concentration, followed by smelting or fine grinding and cyanidation. While high freight and treatment charges apply on concentrates shipped from the Province to smelters, a considerable quantity has been so disposed of in the past. However, it is hoped that a customs cyanidation plant will soon become available to producers of these auriferous concentrates in Nova Scotia.

Jan 1, 1938

By Alan B. Morrow, William A. Poe

"Minerals processing operations are constantly challenged with improving production rates, yields, energy efficiency and process stability. Advanced Process Control has proven to be an effective tool for improving operations by capturing the full process capabilities consistently. However, the velocity of applying the technology as well as the sustainment of these significant benefits has been hampered by the usability of the software and adaptability of the applications.Some of the new technology developments that improve the usability and adaptability of advanced process control include:• modern and intuitive user interfaces,• customizable models to support unique process behavior,• fast and flexible OPC connection tools,• automated model building,• integration with first principles dynamic models and• improved performance monitoring.This paper will briefly discuss the new technology developments that have improved the usability and adaptability of advanced process control and how this can affect minerals processing operations.In today’s environment, Minerals Processing plant managers continuously face new challenges and requirements including:• higher energy efficiency,• increased run lengths,• reduced product quality variability,• reduced emissions,• higher availability, and• lower operating costsOperating a unit to meet these challenges in real time is not easy for operators and conventional process control systems. However, innovatively using existing technologies in Minerals Processing plants can improve operations on a minute by minute basis and reap significant benefits.Advanced Process Control (APC) can extract the maximum performance benefits from existing equipment while respecting plant operating constraints. Expensive capital projects to upgrade equipment are not always necessary. Advanced Process Control can deliver significant economic benefits by maintaining the plant at its most profitable point as conditions change."

Jan 1, 2016

By O. Bernal

The Sociedad Minera Cerro Verde S.A.A, a subsidiary of Phelps Dodge Mining Company, operates a copper mining facility located in southern Peru. This "mine-forleach" operation currently produces 90,000 mtpy of copper cathode from secondary sulfide ore utilizing crushing, leaching, solvent extraction and electrowinning processes. The leach solution handling and application rates have undergone constant development over the years. This paper discusses the improvements in leach application designed to: 1) satisfy the needs of the "lixiviant request rate", which requires the use of application rates as low as 3.5 L/h/m2 and as high as 15 Llhlm2 with variable rest periods according to the leach kinetics, and 2) alleviate the poor solution distribution on the surface of the leach heaps inherent to drip emitters. Low application rates result in poor surface solution distribution and the formation of upside down cones of dry, non-leached material in the top meter of stacked ore, with heavy jarosite and iron salt precipitation; moreover, ferric iron is lost as insoluble precipitates. On the other hand, high unit flows associated with poor agglomerate quality can lead to uneven solution flow patterns within the heap leading to solution short-circuits, fines migration, and ponding with adverse effects on acid consumption and recovery.

Jan 1, 2007

By Michael R. McPhie

Topics of Discussion 1. The Global Mining Initiative (GMI) and MMSD North America (Brief) 2. Task 2 of MMSD North America ? A Test for Sustainability 3. The Seven Questions and their Application 4. Key Recommendations and Next Steps GMI = Global Mining Initiative Significant international collaborative effort supported by more than 30 of the world?s largest mining/minerals firms which sought to involve all communities of interest. Three major streams of activities: 1. Mining, Minerals and Sustainable Development Project (MMSD) ? 4 regional Process (North America, Southern Africa, South America, Australia) 2. Creation of ICMM (formerly ICME) 3. Major conference in Toronto in May, 2002

May 1, 2002

By V. Polotski

This paper describes a platform for autonomous operations in open pit mining environments. A typical operation consists of: (1) Initial locomotion toward a remote worksite; (2) Pattern navigation within the worksite; (3) Worksite manipulations and (4) Return locomotion to the start location. The platform includes precise localization module based upon the fusion of odometry, inertial and GPS measurements. The guidance module starts from a set of way points specified on a GPSreferenced map and plans and executes the mission. A typical mission includes specified manipulative tasks along the navigation path. During motion execution the on-board system continuously verifies that the path is free of obstacles and that the hardware is not overloaded. Momentary losses of external positioning measurements does not adversely affect the performance, owing to the redundancy in position and heading estimation. A rehearsal phase follows planning and allows the supervisor to examine the kinematic behavior of the platform during motion, thus reducing the need for continuous monitoring during execution and providing protection against potential losses of communication.

May 1, 2003