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By William Gleason

"Komatsu has been on the cutting edge of autonomous mining for the past 30 years and the company remains at the forefront of the technology that is changing from concept to a full-fledged reality.In 1996, Komatsu America Corp. (KAC) purchased a controlling interest in Modular Mining Systems; a move that enabled both companies to expand their product lines. It was through this effort that Modular helped to deploy the first autonomous haulage system (AHS) — the Komatsu FrontRunner system. In January 2008, the first commercial implementation of the FrontRunner system occurred at Codelco’s copper mine in Chile. Since then, Komatsu has put more than 130 haul trucks into seven sites on three continents to haul copper, iron ore and oil sands and its equipment has moved 1.8 Gt (2 billion st) of material with zero lost time incidents attributed to Komatsu’s autonomous trucks. The 1.8 Gt (2 billion st) is the most of any commercial mining autonomous haulage system and there is more to come. In November, Komatsu announced that an additional 150 autonomous haul trucks will be deployed to the Canadian oil sands over the next seven years.Komatsu has continued to pioneer autonomous haulage development, creating a range of autonomous options that includes semiautonomous and teleremote options all the way up to a haulage vehicle that stole the show at the world’s largest mining equipment trade show.In 2016, Komatsu advanced the concept of driverless haul truck to a new level when it displayed its Innovative Autonomous Haulage Vehicle (IAHV) at MINExpo in Las Vegas, NV. The concept vehicle is the first mega class haul truck designed to be fully autonomous, without an operators’ cab included on the vehicle.Unlike other haul trucks, the vehicle was developed exclusively as an unmanned vehicle designed to maximize the advantages of unmanned operation. Among other advancements, it was designed to distribute equal load to the four wheels, both when the vehicle is loaded and unloaded, and adopt four-wheel drive, retarder and steering. Komatsu said it is aiming for high-performance shuttling of this vehicle in both forward and reverse travel directions, thereby eliminating the need for K-turns at loading and unloading sites."

Dec 1, 2018

By A G. L Pratt

The record for autonomous haulage systems in underground mining over the past 15 years is patchy, marked by many trials and attempts, with few examples of sustained operation until relatively recently. The drivers for the introduction of this technology are variously listed as the occupational health and safety of people working in underground mines, reductions in direct operating costs and increases in productivity.This paper reviews the trends for operation of semi-autonomous and autonomous haulage achieved by underground mines and the defining features of the technology currently available. The inclusion of autonomous haulage as part of mining studies and the fundamental conditions for its successful application is discussed in the paper. The components required for an autonomous underground haulage system are outlined and the key aspects that need to support its effective implementation are examined together with their associated opportunities and risks. Special note is made of the critical role people, including executive leadership, have in ensuring the successful introduction of this technology.The paper draws on published case study material, equipment supplier information and research findings. The aim is to offer a high-level insight into what is required for the application of autonomous haulage technology and its successful implementation in underground mines.CITATION:Pratt, A G L, 2016. Autonomous haulage systems in underground mining – what is required for success? In Proceedings International Mine Management Conferenc, pp 35-52 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jun 22, 2016

By R Price

"Technology has the potential to revolutionise industries, work functions or businesses. One such technology in the mining industry is the deployment of automation in a modern autonomous haulage system (AHS). This paper examines a theoretical application of an AHS in a medium scale mine site. The cost-benefit commercial argument is particularly compelling, and the paper outlines metrics and future issues for consideration.Citation:Price, R, 2016. Autonomous Haulage Systems - the Business Case, in Proceedings Ninth AusIMM Open Pit Operators' Conference 2016, pp 11–17 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Nov 15, 2016

By V. Polotski

Initiated and financed by the Canadian Space Agency, Micro-Rover Platform with Tooling Arm (MRPTA) project has targeted the development of a robotic system with remote control and autonomous navigation capabilities for testing a large variety of analogous planetary missions. Although developed for planetary exploration, the navigation system is highly suitable to such areas of application as construction and in mining. Autonomous navigation system is capable of moving the platform to predefined position(s)/orientation(s) while continuously mapping the terrain, assessing its traversability and choosing most appropriate path to follow. Designed according to the JAUS (Joint Architecture for Unmanned Systems) framework, the system consists of several interconnected components. Following components are of particular importance: Pose Estimator (PE), Terrain Evaluator (TE), Map Manager (MP), and Path Planner (PP). The PE uses a minimal sensor configuration consisting of an azimuth gyroscope, inclinometer and wheel odometry. The PE provides reliable pose estimates in spite of pronounced slippage by employing extensive use of fused data. The TE uses a nodding laser scanner which continuously sweeps the area in front of the platform and constructs a ?traversability grid? (TG) of the surrounding area. Multiple TGs are constantly constructed along the platform motion path are combined into a terrain map maintained by the MP. The PP uses this map to compute a motion path Obtained path is executed by the motion controller and remains current until it is contradicted by the most recent map ? at which point it is re-planned. This paper addresses integration issues, lessons learned and also outlines the possible applications for construction and mining.

Aug 1, 2013

By Juliana Parreira

The past decade shows record increases in global demand for minerals and metals with an accompanying significant decline in skilled personnel. Mining companies today are examining new technologies to maximize production, reduce costs, and create safer work conditions to deal with this shortfall. Automation of an open-pit mine haulage system is receiving attention as a beneficial option since it provides more consistent and efficient operation of mining equipment, it removes workers from potential danger, it reduces fuel consumption significantly reducing greenhouse gas (GHG) emissions, and it can help optimize vehicle repairs and equipment replacement because of more-predictable and better-controlled maintenance. This paper describes a simulation model under development using the EXTENDSIM software package to examine scale-up issues and constraints of autonomous vehicles in comparison to a manual system. The software can predict and manage Key Performance Indicators (KPIs), such as productivity, safety, cost, equipment failures, fuel consumption, and tire wear under different road and load conditions. By breaking-down the various systems of an autonomous haulage truck and simulating the overall haulage system using a Monte Carlo approach, the model becomes a flexible and powerful tool to use within a mining organization. Direct comparison to a manuallyrun system can be done to show the cost and operational benefits of automation. Project managers can use this tool to guide decision-making about possible application of autonomous haulage trucks at a specific mine site.

May 1, 2010

By Frank Johnson

Between 2000 and 2006, platinum production from the South African mines expanded from 206 to 307 tonnes (DME, 2007). Most of this additional metal has come from traditional ?narrow? reef stoping, generally taken to mean stoping in working places with a mining height of less than 1,5 metres. It is well known that narrow-reef stoping presents safety, technological and ergonometric challenges (Pickering, 2007). In planning for the expansion, which is still continuing, the platinum mining industry realized that it could not simply continue with traditional methods of narrow-reef mining. Particular issues identified were: ? High labour-intensivity: caused by use of hand-held rock drilling machines, labour-intensive support installation and stope cleaning; ? Dependence on rock-drillers: this occupation is no longer an attractive one and there is a reducing flow of new recruits; ? Safety: most of the work is performed close to the new faces, where there is the greatest exposure to the hazards of falling rock.

Jan 1, 2008

By Peter Kowalczyk

Magnetic surveying and map production is well established in land based mineral exploration. Magnetic data are routinely used to map geology in covered terrains, to estimate the depth to basement in overburden covered areas, and to identify altered zones, mineralization, bedding attitudes, and fault networks both regionally in map view, and through interpretation to depth in 3D. Best practices for magnetic survey methods and magnetic interpretation exist in all areas of land based geophysical survey methodology - mineral exploration, hydrocarbon exploration, geological mapping, archeological mapping, and in military applications. At sea, and particularly under the sea, sophisticated magnetic surveys are being done, but it can be argued that these are primarily in niche applications, for example in naval mine-hunting and UXO applications. Magnetic data is not normally collected on AUVs and ROVs conducting mapping and hydrographic survey operations. OFG has developed physical and mathematical calibration routines so that magnetometers can be mounted directly onto AUV and ROV bodies where significant heading errors and magnetic gradients exist. This simplifies the routine deployment of magnetometers on AUVs and ROVs for mineral exploration and other magnetic survey applications without the need for towed bodies, ungainly mounting frames, or degaussing of the survey equipment. Our experience shows that magnetometers can be operated routinely on AUVs and ROVs and that with careful processing useful maps can be produced routinely at low cost.

Sep 1, 2014

By J. W. Jamieson, J. Escartin, A. Steinführer

Evidence of hydrothermal activity on two Mid-Atlantic Ridge oceanic core complexes (OCCs), at 13º30’N (the Semyenov 1 through 5 fields) and 13º20’N (the Irinovskoe field) (Fig. 1) were studied using CTD casts, dredges, TV-grabs and SP surveys during previous research cruises to these sites (Cherkashev et al., 2013, McLeod et al., 2009). In late 2013, the Semyenov and Irinovskoe fields were revisited, this time with an autonomous underwater vehicle (AUV) and a remotely-operated vehicle (ROV) during the ODEMAR (Oceanic Detachments at the Mid-Atlantic Ridge) cruise on the French research vessel "Pourqoui Pas ?". Here we present the first visual surveys and direct sampling of these vent sites. High-resolution (~2 m) bathymetry of the 13º30’N and 13º20’N OCCs and their associated vent fields was collected during 4 and 5 AUV dives, respectively, using the GEOMAR AUV "ABYSS" (Fig. 1). These surveys were flown between 70 m and 100 m above the seafloor, typically at a constant height to reduce vehicle movement. The AUV was equipped with Eh, turbidity, and temperature sensors in order to detect active hydrothermal venting. Over twenty ROV dives with the ROV "VICTOR 6000" allowed for the visual exploration of the OCCs and collection of 59 hydrothermal rock samples from the vent fields. As a result of these exploration activities, the first robust estimates of the size of the deposits, and the geologic controls on sulfide accumulation at these sites can be determined.

Sep 1, 2014

By Sven Petersen

The southern Mid-Atlantic Ridge (SMAR) is one of the least-explored spreading centers in the world with respect to hydrothermal activity. In the past 8 years research focused mainly on the ridge segments close to Ascension Island, discovering hydrothermal fields as far south as 14°20?S (Haase et al., 2007; German et al., 2008; Tao et al., 2011). However, the vast majority of the SMAR ridge axis has never been thoroughly investigated for hydrothermal activity. In the spring of 2013 we used segment-scale AUV deployments as well as conventional CTD surveys to identify areas of hydrothermal activity along 16 mid-ocean ridge segments between 13° and 33°S, thereby covering close to 5 % of the global ridge axis in a single cruise. During cruise MSM25 of the German research vessel Maria S. Merian, we tested longrange (>100 km lines per dive) AUV deployments of GEOMAR?s AUV ABYSS (a Remus 6000 vehicle) along the spreading axis for their capability to locate active venting in a fast and efficient way on regional surveys. Since the missions covered long distances,

Sep 14, 2011

By Charles A. Lindberg

Mobile cranes on tires are perhaps the most important accessory in truck-haulage pits. They usually are of 20-ton capacity at short radius and with outriggers but have considerable overload capacity. Standard booms are 30 ft but have 10-ft extensions with which they are usually operated. Cranes have two engines, both originally gasoline, but 150-hp Diesel engines have been found more reliable for the propulsion motor, the 100-hp gasoline motors being retained for hoisting. Pro- visions are made for dropping the ballast counter- weight to reduce axle weights to legal limits for highway travel. The weights are carried on a regular truck or are transported on an extra trailer axle behind the crane. Tractors-Probably equalling the cranes in usefulness are the track-laying tractors which are used to prepare roads and other surfaces, to clean up at the shovel, and for dozing on stripping dumps. A new type of tractor mounted on rubber tires has been tried out on the Mesabi Range for the past year and a half. The advantage of this design is its mobility which makes it capable of taking care of the spill at the shovel and then running to the dump to clean up. Alternating between these two jobs, it relieves heavy tractors that can be used to better advantage on heavier work that does not require so much traveling. This tractor can travel at speeds of 12 to 13 mph and is designed to facilitate repair of the expendable parts. Weaknesses have developed in the internal construction which have seriously marred the performance record of this unit, but when used within its capacity it is quite successful.

Jan 1, 1949

By George C. Trevorrow

It is a pleasure to appear on this program and discuss a subject which is of particular interest to me. In my regular duties as Safety Director of Bituminous Coal Operators' Association, I am called on by member companies to discuss matters affecting face ventilation. As a member of the Joint Industry Safety Committee, as I will later describe, I have a part in processing requests for the use of auxiliary fans for face ventilation. The use of auxiliary fans in bituminous coal mines for this purpose came into rather wide use in the late. '20's when conveyor mining was introduced. In this application, the equipment consisted of a chain conveyor with a face chain conveyor parallel to the face on which the coal was loaded by hand and, in turn, was discharged onto the room conveyor and thence to a loading point on the entry at the mouth of the room. Another method was to use a shaker conveyor with a duckbill which was maneuvered across the face of the room from which the coal was loaded and transported by the shaker to the loading point. In either case the equipment did not readily lend itself to driving crosscuts or breakthroughs with the result that rooms were driven to depths of 250 or 300 feet without adequate means of ventilating the face area with the main split of air. It was, therefore, necessary to use other means of ventilating this area as the rooms were being driven and during retreat work if pillars were extracted. Auxiliary fans of the blowing type were utilized for this purpose. They were of very small capacity using small diameter tubing. By the time the room was driven half way to its projected limit ventilation was very poor or practically nonexistent. To compound the problem the fan was usually set up at the mouth or neck of the room and in many cases the intake air to the fan was the return air from the room. It is small wonder, therefore, that there is on record 12 cases where auxiliary fans were given as the cause of explosions. In 9 of these occurrences, arcs or sparks from open-type motors or accessory equipment on these fans were given as the primary ignition source. They fell into such ill repute that in a number of cases they were blamed as the ignition source even though smoking was strongly suspected as the primary cause.

Jan 1, 1967

By Christopher J. Vise

Although production operations at mines, representing the extraction and removal of the mined material, often appear to receive the greatest amount of attention, the emphasis given to auxiliary operations is continually increasing. This is due to the changing economic, social, and environmental climate in which modern mines must operate. Auxiliary operations can best be described as those activities that are not directly related to the extraction and removal of the mined material, but must receive proper attention if recovery is to take place in a safe, efficient, and socially responsible manner. In fact, certain mining auxiliary operations, such as strata control and ventilation, are considered to be of such importance that they warrant separate sections in this Handbook. Judging from a mine-personnel standpoint, it is not uncommon for a mine to hire the same number or more individuals responsible for auxiliary operations as the number assigned to production.

Jan 1, 2008

By D J. Brake

There has been a strong trend over the past decade in hard rock mines towards the use of very high powered auxiliary (or secondary) fans; in many mines, the installed power for the secondary ventilation system now exceeds that of the primary ventilation system. This also reflects the trend to use two-stage auxiliary fans pushing air into a single ‘trunk’ duct that in turn splits into multiple branches with multiple outlets feeding multiple workplaces. This often produces a poor result in terms of face flows due to the high resistance, high leakage and badly managed duct outlets, as well as high fan capital and operating (power) costs, which in turn also results in a higher cost for the underground power reticulation/distribution systems. This paper explores the reasons why this trend exists and what ventilation practitioners can do to utilise less expensive systems that simultaneously deliver better workplace conditions. It includes a case study.CITATION:Brake, D J, 2017. Auxiliary ventilation design – why and how mines waste so much power on inferior systems, in Proceedings Australian Mine Vent Conference 2017, pp 27–34 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 28, 2017

By L. K. Marshall

Last month's engineering fundamentals article discussed some general considerations of underground mine ventilation. This month's article takes a look at auxiliary ventilation-brattice, fans, and ducting-in underground mines. The need for good, efficient auxiliary ventilation increases as mines get deeper and move farther from ventilation shafts. New mining methods and equipment resulted in faster work area advances, liberating more dust, gas, and heat. As a result, worker health and safety requirements in the face area have become more stringent. For all these reasons the safety and efficiency of any underground mine depends heavily on its auxiliary ventilation. The purpose of such ventilation is to supply sufficient quantities of clean air to the face of the drift and to maintain air quality within desired limits until expelled from the mine.

Jan 2, 1982

By F. Calizaya, S. Bhattacharyya

"This study presents the results of a set of sound level measurements carried out in three underground mines where auxiliary fans are used regularly. Sound levels as high as 100 dB(A) by the workings and 115 dB(A) by the fans were measured in these mines. These levels are quite high even for intermittent noise. Ventilation layouts and best practices used to overcome potential problems related to overexposure to fan noise in underground hard-rock mines are presented here. Factors such as fan type, rotational speed, and silencer-duct arrangements and their effects on noise attenuation are discussed. INTRODUCTION Auxiliary fans are used in hard-rock mines extensively. They are used to ventilate development headings, crusher rooms, conveyor transfer points, and underground shops. They are also used in developing long tunnels and ramps. Depending on the flow requirements and space restrictions, single or double stage axial fans with rigid or flexible ducts are used. Usually, they are high pressure (3.75 kPa) fans with flow rates ranging from 7.1 m3/s to 30 m3/s. The input power varies from 15 kW to 113 kW (Mutama, 2004; O’Connor, 2008). Typically, a 113 kW fan can produce sound levels as high a 113 dB(A) (Howes, 2005). Silencers are often omitted for cost reduction purposes or when used, they are not well maintained. Furthermore, silencers provide limited attenuation depending on their length and type. Typically, the sound attenuation ranges from 10 dB(A) for a 1 × D silencer to 14 dB(A) for a 2 × D silencer, where D is the fan diameter. In a mine, the silencer is subject to wear and tear, especially when the silencer is used in harsh environments. The interior lining can get clogged and the acoustic fill can get covered by dust and diesel soot, thus reducing the silencer performance. Periodic cleaning of the interior casing can increase the attenuation capacity of a silencer by 6 to 9 dB(A) (Dabson & Acuña, 2017). However, this requires a special silencer design in which the inner cartridge can be removed, the sound absorbing material replaced, the inner casing cleaned and the whole set retrofitted. A number of techniques can be used to reduce auxiliary fan noise in underground mines. These range from selecting the right fan for the job to installing adequate silencers. The choice depends on the air quantity requirement at the working place, cross-sectional area of the opening, duct diameter, fan type (axial or centrifugal) and local restrictions. Auxiliary ventilation layouts and best practices used to overcome potential problems related to overexposure to fan noise in underground hard rock mines are presented here. Factors such as fan type, rotational speed, duct diameter, and silencer-duct arrangements and their effects on noise attenuation are discussed."

Jan 1, 2019

By Kurt Tischler

This paper presents the field experience of Siemens with regard to Gearless Drives in the mining industry ? We consider the elapsed production hours of Siemens Gearless Drives to be extensive enough to provide a reliable estimation of availability calculated on the basis of data representing repair time, downtime, and operating time. The users of Siemens Gearless Drives confirm an availability of more than 98% after exclusion of some major issues. The paper addresses all of these major issues of Siemens Gearless Drives, describes successfully applied corrective measures, explains the influences on the design of the drives, and lists the downtimes associated with each of these issues.

Jan 1, 2012

By Todd Kennedy, Kurt Tischler

"This paper presents the field experience of Siemens with regard to Gearless Drives in the mining industry … We consider the elapsed production hours of Siemens Gearless Drives to be extensive enough to provide a reliable estimation of availability calculated on the basis of data representing repair time, downtime, and operating time. The users of Siemens Gearless Drives confirm an availability of more than 98% after exclusion of some major issues. The paper addresses all of these major issues of Siemens Gearless Drives, describes successfully applied corrective measures, explains the influences on the design of the drives, and lists the downtimes associated with each of these issues. INTRODUCTIONThe first Siemens Gearless Drive in mining began operation in 1980 and was installed on an iron ore grinding mill. As of September 2011, 40 Siemens Gearless Drives will have accumulated 136,000 machine days of operating time. According to pure rules of statistical analysis, this accumulated operating time may be too low to be used for a sample of field data to provide precise statistical values of availability, however we consider it large enough to provide indicative values of worthwhile consideration. This paper deduces the availability statistics of Siemens Gearless Drives in the mining industry from information received from end users and factors in all major issues that Siemens has experienced with our Gearless Mill drives. This paper does not consider Gearless Drives in other industries such as the cement industry. The cement plants, especially in the northern hemisphere, interrupt production for several months in the winter. This lengthy downtime is used to maintain the complete plant including the mills, their motors and their drives. The mining industry has more stringent and higher production requirements. In the mining industry, production must run 24 hours per day, 365 days a year."

Jan 1, 2012

Excavator output rates given in Makers' catalogues are sometimes based on favourable operating conditions. Mine operators and planners are more interested in the Effective Hourly Output in normal operation (Qe) a plant system can give hour by hour and year after year in a particular application. The number of hours mining plant will be available for normal operation will be less than the annual total of 8760 h. The number of the available hours which can be utilised at Qe will depend largely on the number and types of units in the plant system, the manners in which they are applied and the nature of the deposit in which they work. The emphasis herein is on continuous systems for deep stripping with BWE's as the primary excavator. Examples and suggestions are given for the annual hours at Qe for some BWE systems.

Jan 1, 1981

?Bank Lending to the Mining Sector affected by 2 broad factors since Mid 2008: 1. Economic Downturn (?the Real Economy?) for mining companies directly reflected in lower metal prices (current and forecasted). In the case of gold companies, minimal effect. 2. Financial Crisis (?the Credit Crunch?) as it has affected the lending activities of those banks active in the mining sector.

May 1, 2009

By C. Treworgy, C. Chenoworth

Geologic and technical factors such as coal seam thickness, stripping ratios, roof conditions, partings, faults, and size and geometry of the reserve block greatly impact the availability of Illinois coal for mining. Residential and commercial developments also restrict access to coal reserves in some areas. Despite the collective effects of these factors, large blocks of bituminous coal reserves suitable for efficient, low-cost underground mining remain available in Illinois.

Feb 24, 1997