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A discussion on simulation tools to aid the development of robotics platforms is presented. The focus of the work is towards mining robotics platforms where operations are typically in unstructured, unpredictable environments and a high degree of dependability in their operations is required. It is argued that a test-based development approach leads to more robust solutions and faster development cycles than traditional single-track field-only development and that the key enabling technology for this development paradigm is the judicious use of simulation tools. The future direction of simulation for use in online applications such as active planning and as a means to assist tele-operation in high latency communication applications is also brief y considered together with the requirements for a useful simulation environment in terms of the simulator architecture. Finally, a case study is presented on the application of the discussed methodologies to an unmanned ground vehicle (UGV) for earth-moving tasks, which is being developed in an accelerated time frame with a transient development team.

Dec 6, 2010

Owing to the increased consumption of sulphuric acid; Australian manufacturers have, from time to time, been seeking for a satisfactory source of sulphur that would make them independent of foreign supplies.Some years ago a considerable amount of acid was obtained from the roasting of Spanish pyrites. This ore, in 1913 or thereabouts, cost 16s. per ton f.o.b. Huelva, and freight to the eastern seaboard of Australia was about 20s. per ton. As the ore contained 48% to 50% of available sulphur, it was costing roughly 9d. or 10d. per unit, and, in addition, the cinder, after roasting, was a product of considerable value to smelters, containing as it did a high percentage of iron suitable for fluxing, and appreciable values in silver and gold.

Jan 1, 1925

Gas well tests were performed on 17 wells in the Roma area. The procedure used in the test programme incorporates an initial isochronal test followed by what is described as the "two flow drawdown" technique. The second flow of the two flow drawdown test was conducted for sufficient time to allow transient investigation of the surrounding reservoir. This combination of tests allows the evaluation of stabilized production capacity in addition to the determination ,of several important reservoir characteristics.It also provides a qualitative indication of reserves, by reflecting the presence or absence of reservoir boundaries within the drainage area affected during the test.

Jan 1, 1968

Cadmium occurs in the Broken Hill Lode essentially as a camouflaged element, substituting diadochically for zinc in the sphalerite.Analyses of a series of zinc concentrate flotation products, prepared from samples of ore taken at intervals throughout the developed lengths of the several orebodies forming the lode, have revealed a pattern in the distribution of cadmium relative to zinc. This pattern appears to reflect the temperature and order of deposition of the several orebodies, and the direction of movement of the mineralizing solutions.INTRODUCTIONThis investigation into the distribution of cadmium in the several orebodies of the Broken Hill lode was undertaken by the Mineragraphic Section. of C.S.I.R.O. in conjunction with the Broken Hill Geological Research Committee, as part of a study of Broken Hill mineralization.It arose from the examination of cadmium and zinc assays supplied by Mr. T. A. Read, Chief Metallurgist of the Broken Hill South Ltd.; of experimental zinc concentrates prepared from localized samples of the No, 2 and No. 3 orebodies in the Broken Hill South Mine. These assays suggested that the two orebodies were characterized by distinctive ZnjCd ratios.In view of the possible sigmficanc'e of such a difference, comparable data were sought from each of the other mines. The necessary samples of ore were collected by the geological staffs of the several mines. The preparation of separate zinc concentrates and lead concentrates from these samples, and their assaying, was conducted by Mr. Evan Hardy, for the North Broken Hill Mine, and its assodated leases, and by Mr. D., Swan, under the direction of Dr. J. C. Nixon, for the Zinc Corporation and New Broken Hill Consolidated Mines. Additional tests on the Broken Hill South Mine were made by Mr. C. W. Reilly, under the direction of Mr. T. A. Read. The samples were...

Jan 1, 1955

By da Silva C A, Tenorio J. A S, de Assis R M, de Oliveira J R

For Fe-Mn alloy production, two reactions are responsible for this process: the MnO reduction in the slag and the carbon dissolution in the bath. The smelting-reduction process has been studied as alternative route to be used to produce alloy so as steel. This technical paper presents some initial studies to be used to determine the main ways that one can have for the mechanisms for this reaction. The limited factors like mass transport or chemical reaction were analysed. The Mn content in the bath were varied and it was concluded that by increasing the former, dissolution of Mn into the bath was increased, so as a reduction of MnO in the slag. For carbon dissolution, it was used a experiment with a stationary bar, this one was added into the bath, after ten minutes probes were catched, by temperature 1600¦C, for the dissolution of MnO, one graphite crucible was employed, after 45 min the slag and alloy were analysed. After the experimental part, some curves were plotted against time, based on these graphics, and kinetic analysis was made.

Jan 1, 1999

By A B. Phillips

This paper details the approach adopted to upgrade the current metallurgical facilities at both the Driefontein and Kloof Gold Mines in the Republic of South Africa. Goldfields Ltd operates eight metallurgical plants within South Africa of which three have recently been upgraded to replace the older technology previously installed, with modern equipment. This upgrade was undertaken with a view to improving extraction efficiencies and to reduce operating costs. The upgrade was undertaken in a phased approach with the first phase focused on the replacement of the filtration/zinc precipitation processes with modern pumpcell carbon-in-pulp technology. Included in this upgrade phase was the installation of an automated hands-free electrowinning cell, which represents the first commercial application of its kind in the industry. The second phase of the upgrade entailed replacement of the multiple comminution stages previously installed with large SAG and SAG/Ball mill combinations. Due to the rapid return on these projects, a fast-track approach was adopted which necessitated the purchase of available good conditioned second-hand mills from both within South Africa as well as in Australia. Goldfields Ltd is a large mining house with gold mining operations in South Africa, Australia and Ghana. A well advanced PGM exploration project is underway in Finland- Arctic Platinum.

Jan 1, 2003

By Lamont G

The significance of blasthole stemming in determining blasting efficiency has been extensively studied for small diameter holes using gelignite explosives. Recent developments in blasting technology with the use of large diameter holes and low cost blasting agents have not included studies of the effectiveness of different types of stemming materials. A review of previous measurement techniques and the relevance of these earlier results to present stemming practice is presented in this paper. A survey of operating mines in Australia provided information for this analysis. The value of stemming in reducing blast noise and improving blasting efficiency is generally accepted but the use of bulk-loaded explosives in underground operations has resulted in the practice of eliminating the use of stemming material.In surface operations drill cuttings are used for stemming on the basis of availability rather than efficiency in providing resistance to movement. The development of laboratory testing techniques, based on noise level and borehole pressure measurements, to evaluate the relative efficiency of different types of stemming materials is described. The results of an extensive series of tests with ANFO explosive showed similar trends tothose obtained from earlier published results with gelignite type explosives. Conclusive quantitative results on the relative effectiveness of different stemming materials will require minor modifications to the existingequipment. Observations and the results of pressure measurements indicated the presence of shock wave effects which caused the ejection of the top section of the stemming column when using coarsely fragmented material.

Jan 1, 1979

By Secis R

Northparkes Mines is located 27 km northwest of Parkes in central west New South Wales. The E26 deposit is the largest of all defined to-date in the area, containing over 50 per cent of Northparkes' resources and reserves. The combination of orebody geometry and geotechnical characteristics provide ideal conditions for the block cave method of mining of the first lift of the E26 deposit. Although this method of underground mining has been used for decades in other countries, E26 is the first example of its use in Australia. Copper-gold mineralisation at Northparkes is related to quartz monzonite porphyries that have intruded coeval Ordovician volcanics. Sulphide mineralisation (dominantly bornite and chalcopyrite) occurs principally within quartz veins associated with the porphyry intrusions. Veining and mineralisation occurs within both the porphyries and volcanics. To optimise the recovery of a resource within a block cave mine, a good understanding of the rock mass and ore flow characteristics is essential. These have a significant effect on the fragmentation size and range and on parameters such as the drawzone spacing, height of interaction zone and dilution entry. As ore within a cave column moves and mixes when material is extracted from below and beside it, the total reserve extracted is unique for a particular draw strategy/production history. Until recently, reserve estimates and production schedules were based on the application of a uniform dilution factor to the tabulated resource. However, given the complicated flow and mixing within the cave column, such a simplistic approach can produce erroneous results. Northparkes Mines purchased and sponsored the upgrading of a commercially available software package specifically developed for modelling removal of resource blocks under caving conditions. This Gemcom software package, PC-BC, has been used for mine planning, reserve reporting and production scheduling. Blocks within it resource block model are converted into a mineable reserve taking into account mixing and dilution during depletion of drawcolumns (by horizontal and vertical redistribution of insitu tonnage and metal). As PC-BC gives individual drawpoint reserves, it can be used during the planning stage to determine whether or not a drawpoint is economic. For E26 Lift I an optimal layout containing 130 drawpoints has been developed based on a nominal 14 m x 14 m drawpoint spacing and a 0.8 per cent equivalent copper (eCu) cut-off grade. Annual production schedules for the depletion of material above this layout are based on: I higher tonnage removal from higher grade drawpoints in the early years of production; and 2 drawpoint production rates proportional to the total tonnage of orr remaining in the drawcolumn up to the optimal height of draw tier subsequent years. The reserve is tabulated from the combined annual production schedules over the life of the lift. The pre-mining reserve for Lift I of E26 is 26.6 Mt at 1.43 per cent copper and 0.39 g/t gold, of which approximately 23.4 Mt will be extracted under caving conditions. By scaling down the annual production schedule, weekly drawpoint tonnage calls can be given for short-tern production scheduling.

Jan 1, 1997

The profitability of gold placer mining operations is determined by more factors than many placer miners recognise until too late. This study is based upon field trips to examine the efficiency of mining and transportation of gravels to a wash plant by bulldozer and truck. At the examined open pit mining operations gravels were washed using water canons, derockers or scrubber trommels. The objective of this study was to determine the relationship between unit costs and power requirements for gravel mining and processing. The author conducted a number of time and motion studies at four open pit gold mines, including the Maly Patom Creek, the Nizhny Patom, the Taimendra Creek and the Kadali-Makit in the Bodaibo District, Irkutsk Region and collected and processed field data. As a part of the study significant correlations were determined and empiric regression equations derived between: power requirements (Ep) and unit cost (Cp) for gravel processing; and total power requirements (Et) and total unit cost (Ct) for gravel mining, transportation and processing. Based on the results of the study it was proposed to modify the current mining procedure methods and to replace water cannons at the Maly Patom Creek with a PPM-5 derocker. Introduction of the proposed technology resulted in 2004 in US$385 000 mining cost reduction at the Maly Patom Creek over a short-time Siberian mining season.

Jan 1, 2007

This investigation was planned to determine:1. The precipitation-hardening properties of the copper-nickel-phosphorus alloys; and2. The influence of arsenic and bismuth, singly and together, on the mechanical properties of these alloys.It was carried out in conjunction with an investigation, previously published in these Prooeedings on "The Influence of Various Elements on the Mechanical Properties of Copper containing a small percentage of Bismuth," and also formed part of a study of the influence of bismuth, nickel and phosphorus on the properties of commercial arsenical-copper.The first part of the present investigation arose out of a discovery some years ago of precipitation-hardening in phosphorus-deoxidized coppernickel boiler tubes, containing approximately 2% nickel and 0·03% phosphorus, supplied to an Australian Railways Department. At that time there was little information available on precipitation-hardening in copperrich copper-nickel-phosphorus alloys, but at the end of 1935 a short paper on the subject was published by E. C. Rollason and T. G. Bamford(2) and at the beginning of 1940 a comprehensive account was published by D. K. Crampton, H. L. Burghoff and J. T. Stacy.(3) Although the investigation carried, out independently by the present author was not as comprehensive as that of Crampton, Burghoff and Stacy, the results are in agreement with those of the American as well as of the British authors; hence, only a summary of this aspect of the work is needed here to establish a basis for a study of the influence of bismuth and arsenic.PREPARATION OF TEST PIECESAll alloys were melted under charcoal in plumbago crucibles in an oil-fired furnace and were poured out of contact with air into oil-dressed moulds to give billets either 7· 5 in. long X 0.83 in. diam. X 1·3 lb. weight or 12 in. long X 1·125 in. diam. X 3·3 lb. weight depending on requirements (the larger size was used, for example, in establishing the annealing characteristics of the precipitation-hardening alloys). The raw materials were electrolytic copper of the composition described in the previous paper(I) 6% copper-arsenic, 14% copper-phosphorus, 1:7% copper-bismuth, and Mond nickel in the form of "shot." The method of producing test pieces from these billets and the annealing treatments ana tests to which the pieces were subjected have been described in the previous paper.

Jan 1, 1944

By J V. Lawless

Mineralisation processes in epithermal deposits in the North Island of New Zealand are best illustrated by considering the two most productive deposits: Waihi and the Thames Bonanza Zone (TBZ), which have different mineralogies and ore shoots geometries. These two deposits can be taken as typical of certain styles of epithermal deposits worldwide, and recognition of their differences can be used to develop mineralisation models of predictive value. Waihi, the major economic producer in the Coromandel Volcanic Zone (CVZ), has laterally near-continuous ore shoots over a vertical interval of 600 m which consist of quartz, chalcedony, pyrite, base metal sulphides and electrum. They are found in the foot wall of earlier quartz veins which contain quartz pseudomorphs after platy calcite and adularia. The Thames Bonanza Zone which was the second biggest producer in the CVZ has discrete near-vertical ore shoots over 300 m vertically, which consist of quartz, pyrite, base metal sulphides, electrum and in their upper parts barite, that are enclosed in veins of quartz.   The gold mineralisation in both deposits is considered to be a co-precipitate with pyrite, with that at Waihi produced by prolonged boiling in an upflow of a hydrothermal system. That at the TBZ was produced by mixing a deep water primed for gold deposition by prior limited boiling, with an oxidised condensate of the steam released by the boiling, in an outflow proximal to the system's upflow.

Jan 1, 1997

By S E. Munro, P D. Munro

The commonly traded base metals concentrates of copper, lead, tin and zinc are sold by miners to custom smelters using contracts whose terms were generally established at the beginning of the 20th century or even earlier. Technical clauses in these concentrates for items such as payable metals and penalty elements do not reflect current realities of extractive metallurgical technologies and hygiene/environmental issues.It is an axiom that the miners and smelters have a symbiotic relationship. While the existing antique and arcane commercial arrangements serve the purpose of transferring money from the buyer to the seller, they are not likely to result in the industry achieving better overall technical and economic outcomes. By examining the cases for copper concentrates and zinc concentrates in particular, it will be shown that the practical application of these antiquated technical clauses does not drive the miners to produce the better quality concentrates that should be desired by the smelters. This is despite development of mineral beneficiation and hydrometallurgical technologies that would allow the miners to make better products.The adage that any extractive metallurgical problem in the smelter is cheaper to solve in the concentrator still generally holds.While nickel concentrates are only touched on lightly in this discussion because sales terms are more opaque than those for the other base metals, it is expected that the same conclusions will apply.CITATION:Munro, P D and Munro, S E, 2015. Base metals concentrate sales contracts – change Pavlov and the dog, in Proceedings MetPlant 2015, pp 46–60 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 7, 2015

The Barmac autogenous crushing mill is one of the most successful new comminution technologies to become available to the mining and industrial minerals industries in this decade.   The Barmac autogenous crushing mill is an innovative Vertical Shaft Impactor which operates in essence like a high intensity dry ore centrifugal pump with the reduction occurring primarily as a result of high velocity rock to rock impact in a fully rock lined crushing chamber.   With applications in a wide range of mining and industrial minerals operations the Barmac autogenous crushing mill presents an opportunity to enhance reduction and liberation whilst providing many cost savings and production increases in new and existing plants.   This paper briefly describes the operation of the Barmac autogenous crushing mill and reviews its benefits.

Jan 1, 1990

As it is my opinion that deep alluvial mining in Victoria and in the Murray Flats in New South Wales is practically in its infancy, and considering that we, the old school of alluvial miners, who have thirty or forty years' experience to guide us, must in the natural order of things hand over the management of our mine, to the younger and less experienced' generation of miners, I thought that as our Association has been formed for the purpose of disseminating information and the exchange of ideas, a few notes on the practical working of alluvial mines might be of some service to aspirants for the position of mining manager.The greatest difficulty the alluvial miner has to contend against is the immense quantity of water contained in the drifts overlying the wash in the gutters or ancient river beds, and to cope with this water successfully and economically is the point to be aimed at by our mining managers; and if they thoroughly understand this part of their business in all its details, they will not only win kudos for themselves, but will be the means of saving large sums of money to the companies they represent, and, in many instances, will make a success of a venture which otherwise might be stopped for want of funds before it is properly proved. At the present time, although we have had over forty years' experience indraining the deep leads of the colony, I regret to say that a large amount of ignorance still prevails amongst both directors and managers.

Jan 1, 1901

THOUGH the literature on the chamber process is considerable, it mostly refers to European conditions. Owing to the demand for acid for flotation and leaching at the mine, it may be necessary to work the process under other conditions. Consequently, some results obtained during the chlorination days at Mount Morgan, within the Tropic of Capricorn, may be useful for reference when working in a similar climate. Though the chambers must be protected against tropical storms, thorough ventilation should be provided, with plenty of space between the chambers, which are almost invariably crowded together. Not only does the space assist in the cooling of the chambers, but it is very desirable during repairs, when lead andtimber have to be hoisted up. The connecting flues between the chambers, which are fairly efficient mixers and condensers, should be round, supported from above, and with the least possible timber about them. Their position and arrangement deserve careful attention. Lattice work will be sufficient protection for the sides of the chambers, and the roof should be high and well ventilated. The Mount Morgan plant, crowded and not well situated, consisted of seven chambers (four over 50 ft. in length), one Glover tower 7 ft. 2 in sq. x 20 ft. high, one Gay Lussac 9 ft. sq. x 30 ft. higb, also one 5 ft. diam. x 25 ft. high. There was one pipe column 4: ft. sq. x 14 ft. 6 in. high. The chambers were run as one unit, and were much lower than those usually constructed in Europe-less than 15 ft. high. Provided that suitable timber can be obtained, 20 ft. is quite low enough. It should be quite satisfactory to use round poles for the studs, and so admit more air space between studs andlead.

Jan 1, 1920

By S Yuen, T Rana, S Khan

Many open pit mines require dewatering or need aquifer depressurisation systems to manage mine water inflow and/or mine floor stability. In many instances these mining operations impact on regional groundwater resources and therefore access to these resources by other users.As such potential exists for mine development to be hindered or even blocked by groundwater legislation that aims to prevent declining groundwater levels and demonstrate equitable use of a regional groundwater resource.There is a need to manage aquifer systems during and after the mining operations, and in some cases stresses on the aquifers and associated ecosystems may be elastic and can be managed with minimum impacts or reversed once the mine ceases to operate.This paper uses the Gippsland sedimentary basin, with a history of declining groundwater levels and mining and petroleum production, as a case study to pose the question: Should period of mining operation, aquiferÆs storage capacity and its ability to recharge be concurrently considered when granting groundwater abstraction and mining licenses for prospective mine development?It further examines that by utilising an aquiferÆs storage capacity and demonstrating an understanding of aquifer system hydrodynamics during and beyond the life of the mine (time), the approval process for groundwater abstraction and associated cost of statutory monitoring may be made less onerous.

Jan 1, 2009

By J Hall, A Gallardo, M Strizek

Mineralogy and coproponents Sino Iron, International Minerals and Austeel are in the process of developing four world class magnetite iron ore mines with multiple open pits along a 25 km strike length of Brockman Iron Formation to the south of Cape Preston on the West Pilbara coast. The close proximity of the proposed pits raises some challenging project approvals and environmental management issues relating to the impacts of dewatering at individual projects and the cumulative impacts of progressive development on local and regional groundwater resources, which includes a large fresh water aquifer system in the Fortescue River alluvium.This paper presents an outline of the hydro-environmental impact assessment process adopted and the key result that the cumulative impacts of dewatering at all four projects on the local brackish groundwater system in the basement rocks is only marginally more than the impact of any one project on its own, and that the impact on the Fortescue River alluvium aquifer is negligible. The paper also presents an outline of the proposed integrated water management approach that will involve coordinated monitoring, ongoing impact assessment and management, and reporting programs for all projects.

Jan 1, 2009

The paper outlines the development of a solvent extraction process for the recovery of scandium, yttrium, thorium, and heavy lanthanides from waste sulphate liquor at the Port Pirie uranium treatment plant. A summary is given of known solvents for these elements, including the recently developed alkyl-phosphoric acid esters which are applicable to sulphate solutions.A kerosene solution of di- (2'-ethylhexyl) phosphoric acid (EHPA) has been suggested by some workers as a suitable solvent for fractionation of the lanthanides. Experimental work with this solvent showed that it could be used for initial recovery of the above elements from low concentrations in the complex sulphate liquor. In particular, scandium could be recovered as a high grade product by extraction with 0·lM EHPA, followed by a purification strip with 9N sulphuric acid, and final stripping of scandium with sodium hydroxide solution.To enable alkaline stripping to be used successfully, the kerosene solution of the reagent was modified by the addition of a small proportion of nonanol. Experimental work included laboratory scale batch tests and small pilot scale continuous tests.A proposed extension of the process for the separate recovery of individual heavy lanthanides, yttrium, and thorium is described.INTRODUCTIONAt the Port Pirie uranium treatment plant of the South Australian Government, large volumes of "barren liquor", free from 'uranium, are at present run to waste. This "barren liquor" results from sulphuric acid leaching of Radium,Hill uranium concentrate, followed by separation of solid residues and removal of uranium from the clear solution by ion exchange. The mineral davidite, from which the uranium is derived, contains other potentially valuable components, notably vanadium, chromium, thorium, yttrium, scandium, and the lanthanides. These constituents are...

Jan 1, 1961

By A Maldonado, A Robert, K G. Mercer

The Hamersley Group in the Pilbara, Western Australia, consist of interlayered banded iron formation (BIF) and shale host rock formations within which a large number of open pit iron ore mines have been established. The slope stability of most of the mining excavations developed within these formations is controlled by the relatively low shear strength of the shale groups and shale bands, which are the weakest rock types. Shale formations range from fresh to highly weathered and are generally highly fissile when fresh, and clayey when weathered. An accurate understanding of the shear strength of these materials across the entire weathering continuum is therefore a key importance for assessing the slope stability of these mines.Historically defect laboratory testing results for the Pilbara mines have been analysed mechanically using direct shear testing (DST) to measure a number of geotechnical characteristics of the rock bedding and defects. This paper sets out the current practice in the industry in terms of the laboratory testing and presents a possible application of hyperspectral data to empirically correlate the shear strength of shale bedding with the relative mineralogy abundance on the bedding surface. This was achieved by creating both hyperspectral and geotechnical data sets for the same samples.In the study the shale samples were separated into three distinct assemblages: iron oxide + kaolinite, iron oxide + white mica + kaolinite, white mica + kaolinite, which had 40, nine and two samples respectively. Analysing these assemblages alongside DST data showed that samples with white mica had reduced non-variable shear strength, whereas samples with iron oxide + kaolinite had an overall higher shear strength but with a greater variance. It is inferred that the reduced shear strength in the white mica samples is due to the sheet (or plate) like structure of the mineral, giving it a weak stress plane. Confidence in the trends observed can be reinforced by expanding the data set in future works. The investigation also includes a discussion on weathering grade and addresses the question as to whether mineralogy abundances influence these characteristics in Hamersley shales.CITATION:Maldonado, A, Mercer, K G and Robert, A, 2017. The relationship between mineralogy and shear strength of Pilbara Hamersley Group shales across the weathering spectrum, in Proceedings Iron Ore 2017, pp 423–430 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 24, 2017

A detailed study of the capital investment and production cost for copper electrowinning plants shows that significant savings in both can be achieved by increasing the current density. From the economic analysis it is determined that the optimum current density which will result in lowest capital investment and lowest operating cost is between 60 A/sq. ft. and 70 A/sq. ft., or at least three times as high as the Conventionally employed current density. The specific investment, expressed as $/ton-year, is found to be a function of both the current density and plant capacity and has a minimum value at the optimum current density. Empirical equations are developed for the purpose of estimating the capital investment and operating cost for plants of any production capacity operating at any current density.

Jan 1, 1972