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By Jamie King

This paper describes the use of dynamic scheduling and discrete event control to provide coordinated control of multiple automated vehicles. In the past decade there have been significant advances in the field of robotics for underground mining. As this trend progresses toward a realization of a completely automated underground mine the need for a central control system, capable of providing coordination for multiple vehicles in a semistructured environment, becomes more evident. In the past year general research into multi-robot coordination has been applied to the underground mining scenario and demonstrated in a scaled model underground mine in a laboratory setting. This system shows significant potential to be adopted into a full-scale implementation for mine wide automation.

May 1, 2001

By T. Norvell, R. Gosine, S. O’Young

"This paper describes the use of dynamic scheduling and discrete event control to provide coordinated control of multiple automated vehicles. This work has been carried out within ongoing research into multi-robot coordination developed around the underground mining scenario. Demonstrations using scaled laboratory models of underground mines illustrate the potential for this technology for full-scale implementation for mine-wide automation. IntroductionIn the past decade, the mining industry has been improving the efficiency of underground mining operations. Robotics and automation have demonstrated the potential to further reduce costs. Tele-operation of underground vehicles from above ground and autonomous navigation have reduced travel delays and allowed for single operator control of multiple vehicles (Bloomquist and Hinton, 2001). Other recent projects include the automation of the digging process as well as the drilling and blasting operations. Infrastructureless guidance systems are also being developed (Bloomquist and Hinton, 2001).Mine-wide automation requires significant developments at two levels: (1) the development of mining robots capable of performing tasks either autonomously or semiautonomously; and (2) the development of methods for automating operations at a systems level. This paper focusses on the latter, and describes a general framework for the coordination of multiple mobile robots in an unstructured or semi-structured environment."

Jan 1, 2003

By Kristopher John Shelswell

The work in this paper describes the theory, development and analysis of a computer model simulating a mine operation moving material using concurrent decline ramp truck haulage and skipping practices. This simulation was designed specifically to assess the performance of the truck haulage component and to expand on the scope and capabilities of traditional TKM fleet calculations. Haulage fleet simulation results were similar to TKM calculations for the lower to moderate production rate cases. However, comparisons of ramp-up and high production rate scenarios indicated that the simulation model was significantly more sensitive to operating practices and factors not accounted for by calculations derived when using a single TKM figure. Given the proper calibration of inputs and logic, the simulation model was additionally capable of providing information associated with general mine operations efficiency. Further benefits of the simulation model over a TKM approach included logistical assessments such as production schedule feasibility, productivity trade-off quantifications for proposed operating practices, and the validation of mine resource utilization scheduling. The simulation model was able to expand on traditional methods to approach planning and logistics by considering factors such as truck queuing, real-time traffic interactions, random events, and competition for resources on mine productivity.

May 1, 2013

By G. Goodall, M. Muinonen, R. Pandher, R. Jabbar, S. J. Muinonen

"The implementation of a new and highly efficient converting practice at the Glencore Sudbury Integrated Nickel Operations Smelter has opened the possibility to further capacity increases by using larger ladles. To quantify the impact of increasing ladle sizes from 200 to 300 ft3, XPS constructed a detailed discrete event simulation using the commercial software package Rockwell Arena®. The challenges associated with implementing a model on an intricate and tightly scheduled process, and the solutions needed to derive meaningful results will be presented. The aisle capacity is predicted to increase by approximately 17 %, with a reduction in furnace tapping demand of 8 %. Arena modeling capabilities and the key factors contributing to the overall capacity increase at the Sudbury INO Smelter will be reviewed and presented.INTRODUCTION The Glencore Sudbury Integrated Nickel Operations (INO) comprises two Ni-Cu-PGM mines, Strathcona Mill, and the Sudbury Smelter. The Smelter has operated continuously since 1929 using different processes to produce nickel-copper Bessemer matte. Feeds to the Sudbury INO Smelter are a blend of concentrate from Strathcona Mill, Raglan concentrate produced at the mine-mill complex in Raglan, Quebec, as well as third party concentrate feeds shipped to Sudbury from around the world. In 2016, the Sudbury INO Smelter produced 75,900 tonnes of nickel and 20,000 tonnes of copper in Bessemer matte. The product matte is shipped to Glencore’s Nikkelverk refinery in Kristiansand, Norway where it is refined to produce nickel and copper cathode. A schematic of the Sudbury INO Smelter’s flowsheet is shown in Figure 1."

Jan 1, 2017

By Bill Dershowitz

Consider a deep gold orebody with grade of 4 g/t (0.11 oz/st). At the time of this writing, with gold prices at historic highs, it could be a good, but not great, prospect. But if it is a vein deposit, and those veins are 200 g/t (5.8 oz/st), it would be significantly more attractive if there was a way to produce directly from those veins, leaving the rest of the rock in place. [Figure 1 The red around each of the four injector wells shows areas of high pressure, where the lixiviant fluid is pumped into the rock mass, with orange and yellow indicating dissipated pressure. The black lines indicate some of the fracture pathways through which the lixiviant, with absorbed metal, flows toward the central recovery well where low pressure is indicated in blue. Lixiviant is pumped out through the recovery well. Image courtesy of Golder Associates.] There is a way to do this, in situ leach (ISL) or solution mining. It has been a viable commercial technology for more than five decades.

Jan 1, 2011

By A L. de Ambrosis, F M. Weir, M Fowler

Traditional kinematic and statistical analyses of geological structure for geotechnical engineering applications, while considered industry standard practice, have some limitations and unrealistic assumptions. An improved approach involves a discrete fracture network (DFN), a numerical model that explicitly represents how defects may be spatially distributed through the rock mass. The DFN technique utilises the structural data in stochastic analyses to give a range of possible models used for visualisation and stability analyses.The early development of the DFN approach was largely associated with modelling fractured hydrocarbon reservoirs and nuclear waste isolation programs. With recent improvements to computational power it has become recognised internationally as a valuable tool for modelling some geomechanical problems encountered when designing excavations in fractured rock masses. For tunnelling or slope stability projects DFN modelling provides visualisation of a rock mass and identification of likely failure mechanisms.This paper presents a suite of DFN modelling undertaken for the design of a tunnel within the Ashfield Shale unit of the Sydney Basin, Australia. The necessary input parameters and derivation of these, along with the importance of both an accurate engineering geology model and validation of the synthetic fracture network are demonstrated. Multiple realisations of the DFN were analysed to provide an indication of the number and volume of unstable blocks for the proposed tunnel geometry, enhancing support design. One fracture network realisation was sliced along multiple sections for use in finite element modelling.CITATION:Weir, F M, de Ambrosis, A L and Fowler, M, 2014. Discrete fracture network modelling for tunnel design in the Sydney Basin, in Proceedings 15th Australasian Tunnelling Conference 2014 , pp 219–226 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 17, 2014

By S Rogers, D Stead, E Eberhardt

The last decade has seen a major increase in use of the discrete fracture network (DFN) approach applied to cave mining problems, often integrated within more complex geomechanical simulations. Because the value of the DFN model directly depends on the quality and quantity of available field data, there is the need to apply dedicated mapping procedures to collect sufficient structural data at the required engineering scale. This paper attempts to address several key questions about DFN modelling; for example: are current methods for fracture mapping suitable for DFN modelling? What are the critical parameters that we need to measure and what do we need to change in the current practice? Particularly at the earlier stages of a cave project, engineers may have to account for the lack of appropriate data, which manifests itself in the form of increased uncertainty and the difficulty to characterise variability in an objective manner using a limited set of data. DFN models could in principle be generated using limited data by assuming statistical distributions for the sampled parameters; however, engineers would need to be aware of the implications that such limited knowledge (and increased uncertainty) would have on stability analysis, fragmentation analysis and mine design. When used correctly, a DFN approach offers practitioners the opportunity to:maximise the use of fracture data collected from mapping of rock exposuresgenerate more realistic synthetic rock mass modelsprovide estimates of natural fragmentation that also account for rock mass variability.CITATION:Elmo, D, Eberhardt, E, Stead, D and Rogers, S, 2016. Discrete fracture network modelling – importance of accounting for data uncertainty and variability, in Proceedings Seventh International Conference and Exhibition on Mass Mining (MassMin 2016), pp 845–852 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2016

By J. Duriez, L. Scholtès, F. V. Donzé

"Fracture propagation process in brittle rock is investigated by means of numerical simulations performed with an adapted formulation of the discrete element method. The progressive failure mechanism is simulated through the breaking of the bonds making up the cohesion between the elements constituting the simulated medium. The use of appropriate contact laws associated to a near neighbor interaction feature provide the model the ability to reproduce fundamental characteristics of brittle rock behavior such as, for example, high values of the tensile to compressive strength ratio. Great attention is given to accurately describe the properties of the pre-existing joints or faults in the model. A specific joint model gives the possibility to define a tailor-made behavior of the discontinuity surfaces without suffering from discretization bias.Compression test simulations are performed on pre-flawed samples and compared to experimental results in order to validate the numerical approach for describing the initiation and propagation of fractures in brittle rock under mode I+II loading. It is shown that the crack mechanical parameters can greatly influence the fracturing pattern, in particular its frictional properties. Overall, the numerical simulations reproduce fairly well the failure patterns that are obtained experimentally.The discrete model is then used to study mode I+III loading to give an insight into fracturing problems occurring at the scale of the continental crust. The ability of the model to support mechanically the physical modelings performed with wet clay or sandbox is shown. As an example, the model is used to track the development of a twist crack system (wrench fault) through the nucleation and coalescence of microcracks."

Jan 1, 2015

By K. J. Shelswell

This work describes the design, analysis, and comparison of discrete simulation and static spreadsheet models developed to compare the oreflow efficiency of two conveyor-based material handling systems; one approach with a conveyor stream in series and one with parallel conveyor streams. Analysis and comparison indicated that daily rates were significantly affected by random conveyor failures in both designs. The compound effect of random failures limited the effectiveness of long belt assemblies in series, while the parallel conveyor stream design partially alleviated this constraint. The static spreadsheet model predicted a lower average daily oreflow rate for the series conveyor stream design and a higher average daily oreflow rate for the design with parallel conveyor streams when compared to the discrete simulation results. These discrepancies were the product of model sensitivity to operational factors incorporated in the system and provided the opportunity to further use the discrete simulation models for trade-off comparisons and sensitivity breakdowns of mine operating practices and material handling system efficiencies in both the series and parallel belt stream designs

Feb 23, 2014

By J P. van Dijk, M Munro

Discrete vein modelling presents an innovative geology driven 3D modelling method for quantification of vein hosted mineral deposits, with far reaching potential for critical mineral supply and low impact resource extraction. By integrating key geological drivers with advanced discrete fracture network modelling, the DMX protocol (launched in 2019) converges to a more realistic representation of complex vein systems in three-dimensional space. The approach insights greater geologic reasoning in distributing mineral grades where vein boundaries are already defined. This presents a viable alternative to existing modelling and estimation methods and has important implications for mineral resource estimation and reporting. Further implications are discussed, where the enhanced understanding of complex orebody characteristics can potentially be used in optimising mining and mineral processing, supporting more sustainable and efficient mining practices.

Sep 1, 2024

By Javad Sattarvand, Amin Moniri-Morad

Predicting equipment failure behavior plays a critical role in providing a safe operation. Although various reliability evaluation methods are available for estimating failure behavior profiles, these approaches are based on mathematical formulation, leading to actual operation simplification and improper estimation of failure trends. This study proposes a discrete-event simulation (DES) approach to model fleet failure behavior. This approach can model the maintenance strategies in multi-component systems with minimum simplifications. In this regard, the first step was to collect a historical failure time dataset (e.g., the time between failures). Then, the DES model is established to predict the severity of failure events and design maintenance strategy considering actual operation circumstances. Afterward, the maintainability analysis was performed to estimate equipment downtime and availability. The achieved results showed that the system availability was about 85%. Also, the findings demonstrated that the DES could efficiently predict the equipment failure behavior using various stochastic events.

Jun 25, 2023

By K. H. Concannon, K. I. Hindle

"The use of simulation modeling in the primary metals industry (including mining, smelting, and metals processing) is expanding as significant cost-benefits can be realized by companies employing capital intensive processes. The economic scale and complexity of operations found in this industry is well-suited to applications using this ""what-if' computer modeling technique, ranging from proof-of-concept projects to testing facility design or configuration, and determining resource requirements. More recently this technique is being used to support on-going planning and scheduling for operations using the simulation as the engine to derive the best schedule. With increased computer processing capability, deterministic models are now being developed to capture the workings of a production system or conversion process, allowing real-time monitoring and scheduling of these operations. This paper presents a sample of some recent discrete-event simulation modeling applications that demonstrate the capability and benefits of this technique in the primary metals industry. These include the use of simulation to support the long-range planning of underground mining operations; the modeling of a metals supply chain network that employs a multi-modal distribution system; the scheduling of a metals coil finishing process using a deterministic simulation model; and a more detailed description of the use of simulation to model furnace and converter aisle activities within a smelter operation in Northern Canada."

Jan 1, 2007

By Greg Yuriy

Over the past two decades, Vale Canada has used discrete-event simulation in a key role to support many underground mining studies. Traditionally, general purpose simulation software was developed for manufacturing and service applications. Not until recently have Mine Designers and Simulation Specialists been able to model the dynamics of underground mining scenarios without extensive manipulation of the inherent tools and entities contained within these simulation environments. This paper discusses Vale Canada?s past experiences with a variety of simulation software, describing model development methods and highlighting some of the lessons learned. The paper concludes with a review of recently considered software and provides a framework of desired attributes/functions for modeling mining scenarios.

Aug 1, 2013

By Andrea Koschinsky, Akira Usui, Michael Bau, Katja Schmidt, James Hein, Thomas Kuhn

Marine ferro-manganese (Fe-Mn) crusts and nodules are metal-rich chemical sediments that are archives of paleoceanographic proxies and potential metal resources and targets of deep-sea mining. Traditionally, crusts and nodules are subdivided into hydrogenetic, diagenetic, and hydrothermal types. While hydrogenetic Fe-Mn crusts are a potential resource for Co, Te, Pt, and REY, nodules are enriched in Cu, Ni, Mo, and Li, and hydrothermal deposits may be enriched in individual metals such as Mo, Ba, and Li, depending on the temperature and composition of the hydrothermal fluid. The different types of marine oxidic Fe-Mn precipitates, therefore, have different economic potential. Hence, a robust classification is not only helpful in the general geochemical characterization of such precipitates (and as such is a useful teaching tool, for example), but may also simplify the evaluation of their importance as a potential metal resource, which helps to prioritize exploration targets for deep-sea mining.

Sep 1, 2014

By M Shaffer, D C. Grant, D J. Goudie, P Sylvester, C Voisey

Scanning electron microscope–Mineral Liberation Analyser SEM-MLA can be used to discriminate between hematite/magnetite in iron ores, but achieving backscattered electron (BSE) segmentation between the two minerals is difficult for particles =75 µm using typical preparation and analysis methods for the MLA based on a tungsten filament SEM (Quanta 400) with 25 kV high voltage. Preparing iron ore sample mounts using a slow-speed polishing method, and conducting the experiment on a field emission gun SEM-MLA (Quanta 650) with the high voltage (HV) setting lowered to 15 kV reduces instrument noise and results in very clean BSE images and segmentation. This method requires new X-ray standards to be acquired for each mineral identity at 15 kV because of major changes in the spectra at lower kV. However, once these X-rays are added to the mineral reference list, effective segmentation can be achieved and a proper analysis obtained.CITATION:Grant, D C, Goudie, D J, Voisey, C, Shaffer, M and Sylvester, P, 2017. Discriminating hematite/magnetite via scanning electron microscope–mineral liberation analyser in the - mesh size fraction of iron ores, in Proceedings Iron Ore 2017, pp 541–548 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 24, 2017

By Kristine L. Pankow, Keith D. Koper, Michael K. McCarter, Jared R. Stein

"The Wasatch Plateau region of central Utah contains a number of active underground coal mines in an area of well-documented natural seismicity. As a result, there are several hundred seismic events recorded in this region every year that may or may not be attributed directly to mining activity. Previous studies have linked the majority of this seismicity to mining activity through various means, but have not attempted to develop a method for categorizing individual events within a seismicity catalog. This study uses both relative relocation and waveform cross-correlation to separate events based on hypocentral depth and waveform similarity, respectively, in the area surrounding a single longwall coal mine within the Wasatch Plateau. We conclude that relative relocation can help with depth discrimination, but there are some unavoidable limitations caused by sparse seismic network coverage. The cross-correlation technique is more promising, with the ability to group events by waveform similarity and track mining progress over both space and time. With cross-correlation based clustering, we confirm that the vast majority (97.6%) of events in the study area are directly related to mining activity, but that a small population of natural seismicity is present as well. Eliminating this natural seismicity from the catalog of seismic events, leaving only those events related to mining, can give operators valuable information about the changing conditions as mining progresses and eliminate concern over events unrelated to mining activity.INTRODUCTIONA number of underground coal mines are located in the Wasatch Plateau region of central Utah, and have been in operation since the late 1800s. This activity has resulted in a well-known history of mining induced seismicity (MIS) (Wong, 1985). Additionally, this area is situated near the border of the Basin and Range and Colorado Plateau physiographic provinces, where naturally occurring tectonic earthquakes also occur (Arabasz et al, 1980). Seismicity separating these physiographic provinces is part of a larger band of seismic activity known as the Intermountain Seismic Belt (ISB) that runs from Montana to Arizona and cuts through the western boundary of the central Utah coalfields (Smith and Arabasz, 1991) (Figure 1)."

Jan 1, 2015

By Guangyao Si, Ismet Canbulat, Xun Luo, Yi Duan

Routine analyses of seismicity and event locations are essential for coal burst risk management, especially in the presence of unfavorable and complex geology. In an Australian longwall coal mine, a small-scale seismic monitoring network was installed to monitor a section of a major dyke intersected by the roadway, which was classified as a coal burst prone zone. The Deep Convolutional Neural Network (DCNN) technique was adopted for automatically discriminating seismic events to assess seismicity in this zone. The discriminated seismic events were located with the Shortest Path Method based on the Boundary Discretization Scheme (BDS-SPM) for temporal-spatial seismic event distribution analysis. The results demonstrate that the seismic events are discriminated with an average accuracy of 94%. Moreover, the seismic events are more accurately located using the BDS-SPM with a 3D heterogeneous velocity model compared with results obtained with a homogeneous velocity model. The temporal and spatial variances in seismic activities identify that the rock fractures in the dyke zone are closely related to the longwall mining process and a local dyke has a controlling influence on the stress concentration in its vicinity.

Apr 26, 2022

By Sherwin F. Kelly

THE present lull in engineering activities presents an advantageous moment for inquiring into the position now occupied by geophysics in its various fields of application. The recent over-expansion in all lines of work resulted in an uncritical employment of these methods of exploration which was bound to have its harmful reaction. The pendulum has now swung back, producing a decidedly hypercritical attitude toward the new science that had been recently welcomed so joyfully as the panacea for prospecting troubles. The severe retrenchment in exploration has forced upon us a period of waiting and, it is to be hoped, of profitable contemplation. This can well be employed in trying to pass a reasoned judgment on what position geophysics should occupy in the new geological exploration programs that will inevitably ac- company the looked-for industrial recovery.

Jan 1, 1931

[Contents AH-Metal Mining and Industrial Minerals Pipeline Transportation of Phosphate. (Paper by I. S. Tillotson, R. B. Burt, and J. A. Barr, Transactions AIME, 193, 273; Mining Engineering. March 1952. Discussion by Howard Howie.) 1066 B-Minerals Beneficiation The Effect of Zinc Deleading Operations on Lead-Zinc Selectivity at the Parral and Santa Barbara Mines. (Paper by C. L. Boeke an G. C. Gunther, Transactions AIME, 193, 495; Mining Engineering. May 1952. Discussion by I. M. Symonds, L. H. Lange, Norman Weiss, H. S. Wildman, C. F. Zeuch, E. H. Crabtree.) 1067 Jaw Crusher Capacities, Blake and Single-Toggle or Overhead Eccentric Types. (Paper by D. H. Gieskieng, Transactions AIME, 190, 971; Mining Engineering. November 1951. Author s supplement.) 1069 Screened Ore Use for Fine Grinding at Lake Shore Mines. (Paper by Bunting S. Crocker, Transactions AIME, 193, 499; Mining Engineering. May 1952. Discussion by Fred C. Bond, J. Myers, Norman Weiss, Harlowe Hardinge, Oscar Johnson, L. E. Djingheuzian.) 1069 The Third Theory of Comminution. (Paper by Fred C. Bond, Transactions AIME, 193, 484; Mining Engineering. May 1952. Discussion by Milton C. Shaw and Donald R. Walker; R. J. Russell.)1071 Flotation Rates and Flotation Efficiency.t (Paper by Nathaniel Arbiter, Transactions AIME, 190, 791; Mining Engineering. September 1951. Discussion by Gregoire Gutzeit and Porter Clements.) 1074]

Jan 1, 1952

By R. T. Rudd

DISCUSSION R. T. RUDD I have the following comments on Mr Bosman's paper. Before giving the company permission to discharge neutralized mine drainage containing 1800 mg/l of dissolved solids into a public stream, my Department had to consider the matter from both the legal and the practical viewpoint.

Jan 4, 1974