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By Gary M. Bone

The autonomous control of vehicles interacting forcibly with their environment, such as dozers and tractors, is an unsolved and challenging problem. Forces and motions are inherently coupled between the tool and the means of vehicle propulsion. Furthermore, they are often operated within uncertain and unstructured environments, such as those encountered in underground mining. There is a growing industrial interest in the development of robotic vehicles to improve productivity, efficiency and safety in mining and construction. This paper focuses on the modeling and control of autonomous robotic dozing for a material removal operation. A dozing process model has been developed based on observations of both a fullscale dozer and a scaled-down version. The model characterizes the dynamic interactions between the blade position, material accumulation on the blade, material distribution in the environment, and the motions of the dozer. The dozing control objective is to remove the loose material as rapidly as possible by driving forwards at full power while automatically raising/lowering the blade in response to sensor measurements. Two different controllers were developed to meet this objective. The first controller is based on a set of heuristic rules, and the second is an optimal controller based on the dynamic model. An instrumented scaled-down robotic dozer and dozing environment, designed to emulate the full-scale operation, are used to implement the controllers and compare their performances over multiple dozing passes. Experimental results are presented showing that the model-based controller increased the material removal rate by 33% compared to the rule-based controller. Lastly, technologies for full-scale implementation are discussed, followed by proposed future work and conclusions.

Aug 1, 2013

By R. Bruce Graham

"For the purpose of this paper, the Chibougamau area is taken as lying between lats. 49°20’ and 50°10’ N;-longs. 73°45’ and 75°30’ W. It comprises an area of some 4,000 square miles and is centred 300 miles north of Montreal.The first recorded report of metal deposits in Chibougamau was that of James Richardson in 1870-71 (I). In 1903 discoveries of asbestos, copper, iron, and gold made by Peter McKenzie stimulated considerable activity in the district. By 1909 interest had become so marked that considerable pressure was brought to bear on the Quebec Government to build a rail-way into the region. It was finally decided to have an authoritative opinion on its economic possibilities, and the Chibougamau Commission was appointed for this purpose (2). They examined the district in 1910 and concluded that at that time a railway was not warranted. Nevertheless, the district continued to be prospected and from time to· time gold and copper discoveries were made. Thus the Merrill Island deposit was discovered in 1920, the Campbell Chibougamau Cedar Bay deposit in 1922, Obalski in 1928, Opemiska Copper in 1929, and Norbeau in 1930.Difficulty of transportation was a severe detriment to the development of the region. Consequently the Quebec Department of Mines completed a road into Chibougamau in 1949. Further activity was encouraged. The Chibougamau Explorers, Quebec Chibougamau Goldfields, and Kayrand deposits were found in 1950. ** The copper-siderite zones on Copper Cliff ground were found in 1952 and 1953. Opemiska Copper, Campbell Chibougamau Mines, and Chibougamau Explorers were encouraged to prepare for production following favourable exploration results."

Jan 1, 1949

By F. Hassani, J. Peck, D. J. Lucifora

The performance of a rotary blasthole drill is heavily dependent on the material being drilled. This material is a microcosm of the in-situ geology that makes up the surface mine in which the rotary blasthole drill is deployed. The performance metrics that are influenced by the in-situ geology are penetration rate (distance drilled per unit time), rotary torque and to a lesser extent rotary speed and vibration. For simulation and testing purposes it is useful to have a validated plant model based upon the application of study. Once validated, a plant model can be used to perform simulation based testing as a supplement and possibly in place of more expensive and logistically complex field testing. Previous studies in the field of rock mechanics have supplied proven models that relate the performance of a rotary blasthole drill to the material being drilled for a given rock type with a given drill bit. In this study, field based experiments were conducted in an active surface mine on a working rotary blasthole drill and the corresponding monitoring while drilling (MWD) data was recorded. Data analysis was then performed on the collected field data. The techniques used successfully fit the collected MWD data to the previously proven rock mechanic models. This paper explores the theory relating rotary blasthole drill performance to the material being drilled, illustrates the required data collection and data analysis techniques, and demonstrates the ability of these techniques and the known rock mechanic models to provide a simulated plant model for the drilling process that can then be validated. This validation is also discussed.

Jan 1, 2015

The mixer that is commonly encountered in hydro metallurgical operations consists of a single turbine and tank combination. However, it would be advantageous to examine some common solvent extraction mixing systems in the light of the fundamentals of chemical reactor design. The basic concepts of reactor design are commonly used in the chemical industry, and it should not be too difficult to apply them to solvent extraction. The factors that affect the engineering design of a reactor are: the reacting system; the type of reaction; and the configuration of the reactor. The reaction system in solvent extraction consists of a heterogeneous liquid phase, involving two immiscible liquids. It is essential f or the process that the reactor product can be separated efficiently in the subsequent settler. The type of reaction in solvent extraction system may be quite complex, and the picture is complicated by the presence of competing and side reactions. The reactors themselves have been generally continuous stirred tanks, and the nature of the mixer-settler makes it unlikely that the pumping mixer can be dispensed with. However, it appears that there should be some definite advantages to a system of stirred reactors in series. The kinetic experiments which are carried out should have the definition of optimum reaction conditions as one of their goals. The data obtained from these experiments must also be applicable to the design of reaction equipment. Reactor selection and design is often a unique problem for each chemical process, and does not lend itself to a systematic general approach. However, the application of chemical and physical principles to mixer design in solvent extraction should result in practical, more efficient plants.

Jan 1, 1979

Kahama Mining Corporation Limited (KMCL), a wholly owned subsidiary of Barrick Gold Corporation, operates the Bulyanhulu gold mine. The operation has been in commercial production since April 2001 and is the first modern underground mine to be developed on the Lake Victoria goldfield in Tanzania. Bulyanhulu is located in a major mineralised system along an emerging gold trend. This area, the Lake Victoria Greenstone belt, has been the focus of significant exploration and development programs since 1994, with over 34 million ounces of gold having been discovered and four new mines commissioned. The Bulyanhulu project has accounted for just over a third of the gold resources discovered during this period. From an initial exploration program, which outlined a resource of 1.37 million ounces of gold, Bulyanhulu now hosts a reserve of some 12 million ounces in a resource base, the limits of which are, as yet, undefined. The Bulyanhulu property is located approximately 56 km south of Lake Victoria, in northwestern Tanzania, eastern Africa. A Mining Licence issued by the Government of Tanzania on July 23, 1999 grants to KMCL the exclusive right to mine a concession area covering 51.48 km2. The property is reached via a 75-km road from the main road to Dar es Salaam. The nearest towns are Mwanza to the north on Lake Victoria, 155 km by road and ferry, Kahama, 86 km by road to the south and Isaka, 126 km by road. Isaka is on the rail line between Mwanza and Dar es Salaam and has facilities to receive heavy equipment, and a fuel depot. A gravel airstrip, 1,700 m long has been constructed at the property.

May 1, 2003

By H. J. Chalmers

"Since the advent of large volume flotation machines, Cominco Ltd. has actively studied possible application of such machines to their various milling operations. A number of installations have been made and more are on the drawing board. This paper gives a description of these units, information as to choice of equipment, and information as to operating experience. Mechanical and operating details of six installations are summarized. Three different types of machines are discussed.Pine PointThe original Pine Point zinc flotation circuit comprised conventional roughing with two stages of cleaning. Over the years with increase in feed tonnage there have developed two adverse conditions; namely, a reduction in zinc concentrate grade coupled with an increase in MgO in the concentrate. This resulted in higher freight payments along with more severe smelter penalties. An intensive test program, in 1971, showed that the concentrate grade could be raised by 1.5 units of zinc along with a reduction in MgO from 0.8% to 0.47.. Subsequently this was done by adding two additional stages of cleaning using 16 cells of Denver 200-V's. The project was completed in January 1973 at a cost of $510,000 to give an estimated annual savings of about $390,000.Selection of the Denver Model 200-V was based on minimum floor space requirement, availability, and favourable operational and maintenance experience with Denver 100’s. As it happens it was possible to ""shoe-horn"" the 16 cells into place with a minimum of plant alteration. Some problems have been encountered with a tendency to ""sand up"" at high pH, particularly at the corners. Otherwise operational service has been very good."

Jan 1, 1974

By K. Sasaki

Ventilation measurements were carried out in a shallow underground-quarry space with relatively large internal volume of 14,600 m3 in order to evaluate its effective ventilation characteristics. Based on air velocity measurements with an ultrasonic anemometer in the exhaust airway connected to the space, it was found that the space was ventilated by natural ventilation airflow with intermittent changes in direction. It was difficult to measure the ventilation flow with typical methods of flow measurement provided from the intake portal and throughout the mine, because the cross-sectional area and volume of the openings were too large and the flow was variable. In the present study, a tracer gas method was applied to evaluate the effective ventilation airflow rate in the space. A photo-acoustic infra-red gas monitor, highly sensitive to SF6 gas used as a tracer gas, was set in the space to determine air exchange rates from gas concentration-time decay curves. The seasonal variations of airflow and thermal environment in the space were investigated through 13 sets of measurements taken over 15 months. Airborne rock dust concentrations were also measured at same time in the opening. The correlations between the effective ventilation airflow rate, thermal environment and dust concentrations in the opening space were analyzed and are discussed based on the presented measurements taken during year. It is concluded that seasonal variations in effective ventilation flow and the dust concentration are mainly due to differences in air temperature in the space, as affected by the rock?s surface temperature and atmospheric temperature. In summertime, the air temperature and associated air density difference generated lower natural ventilation flows resulting in higher dust concentrations.

Aug 1, 2013

By R. Siwik, N. K. Davé

"The national reactive tailings (RATS) program is a co-operative industry-government effort to develop practical techniques for closure of reactive tailings areas. This paper summarizes the RATS program objectives and areas of research, and details the Noranda/CANMET project on the Waite Amulet tailings.Geophysical and biohydrogeochemical investigations were carried out at an inactive copper-zinc mine tailings site, Waite Amulet, in Noranda, Quebec. Geophysical investigations consisted of seismic, electromagnetic conductivity and electrical resistivity surveys to determine the thickness of the layers above bedrock and to map conductivity variations within the tailings and the immediate outlying area. Biohydrogeochemical investigations consisted of installing multilevel piezometer nests to determine groundwater flow patterns and porewater chemistry, obtaining solid core samples and characterizing for physical, chemical and mineralogical parameters, and iron oxidizing and sulphate reducing bacterial counts.The geophysical survey indicated a bedrock ridge extending under the tailings from the northeastern outcrop which may act as a porewater boundary layer. The survey also indicated a 2 to 20 m clay layer underlying the main tailings dam. Preliminary results of the saturated zone porewater chemistry have indicated three major zones of high electrical conductivity varying between 1,000 to 12,000 µs and pH between 3.4 to 8. Lower pH and high metal and sulphate concentrations were obtained in a shallow zone near the water table. With depth, the concentration of metal and sulphate ions decreased and pH increased below the water table. The underlying clay layer is relatively impervious -and most of the seepage from the tailings is probably exiting from the sides of the impoundment dam."

Jan 1, 1987

By Ros Taplin

Realizing the potential of cutting greenhouse gases (GHGs) associated with mining, a variety of approaches has been proposed for their mitigation. The Clean Development Mechanism (CDM) under the Kyoto Protocol to the UN Framework Convention on Climate Change (UNFCCC) has been a key mechanism to assist in implementation of mitigation measures. The objectives of CDM are not only to assist Annex I countries in meeting their GHG emissions reduction targets with cost-effective reduction but also to achieve sustainable development in non-Annex I countries. However, apart from China, India, Brazil and Mexico, many developing countries are still in the stages of formulation or realizing CDM strategies. Projects associated with methane capture and flaring are the fourth most prevalent type of CDM project internationally. This research primarily has addressed emissions abatement and sustainable development aims and effectiveness of registered CDM projects associated with coal mining in China. The paper reviews 30 currently registered CDM projects in China on the UNFCCC database and six other non- Chinese projects. Systematic evaluation involving content analysis of documentary evidence regarding coal mining CDM projects is presented in relation to firstly, quantitative reduction of GHG emissions and secondly, sustainable development outcomes. The projects have been assessed via a set sustainability criteria. Overall it was found that sustainable development goals are only briefly referred to in Project Design Documents, Letter of Approvals and validation documents. Varying types of sustainability initiatives have been implemented with weak to strong indications of effectiveness. This has implications for the future effectiveness of CDM projects in the mining sector, the proposed new market mechanism under UNFCCC, and for assessment of projects under mechanisms established outside the UNFCCC.

Aug 1, 2013

By Robert B. Parsons

"Two recent decisions by the Canadian courts could reduce the taxes paid by many profitable mines in Canada. At a time when the mining sector is hurting from an ever increasing tax burden and soft prices, the results of two cases are welcome news. Mining companies are well advised to check prior years' tax returns in the context of these developments. IntroductionSince 1976, the income tax legislation has provided a reduced rate of tax for taxpayers engaged in the mining of mineral resources, through the mechanism of the ""resource allowance"". The deduction given for the resource allowance effectively reduces the federal rate of tax by one quarter on resource profits. In general terms, ""resource profits"" are defined to include a taxpayer's income from: the production and processing in Canada of ore to any stage that is not beyond the prime metal stage (or the pellet stage or its equivalent in the case of iron ore); and, royalties computed with reference to the amount of value of production from mining operations in Canada.In computing income from these sources, the taxpayer must deduct expenses that may reasonably be regarded as applicable to those sources, with the exception of expenditures for Canadian exploration and development or financing costs.As a result of the mechanics of the calculation of the resource allowance, one quickly realizes that the lower the expenses deducted from the resource profits, the higher the resource profits and consequently the higher the 25% resource allowance. The impact of the recent court cases is to narrow the range of expenses which are required to be deducted in the determination of the resource profits.The two cases are outlined below."

Jan 1, 1991

By Audrey Wagenaar

Introduction ?? Rising public pressures are being placed on companies worldwide to protect the environment and the health and safety of their workers and local communities. ?? International bodies and shareholders want to make sure developments and companies can meet internationally acceptable standards for EHS. In 2005, Golder Associates was asked by the IFC to conduct a comprehensive review and update for their Environmental Health & Safety Guidelines including the mining sector.

May 1, 2008

By Pascal Lesagel

Life Cycle Assessment (LCA) is a holistic environmental assessment tool that allows the compilation and evaluation of the inputs, outputs, and potential environmental impacts of a product or service throughout its life cycle, from cradle to grave (i.e., from resource extraction and transformation to final disposal, including production and use stages). The relevance of LCA for the mining industry is twofold. First, the mining industry has a role in providing the LCA community the data that allows subsequent evaluations of the life cycle environmental impacts of primary materials such as metals, as well as the environmental comparison of the downstream products of the mining industry with other competing materials for specific uses. Second, the mining industry can use LCA in order to evaluate the environmental impacts of its activities, identify their environmental hotspots and compare the impacts of available technical options. For example, the environmental impacts of different extractive and processing technology can be compared through the use of LCA. This latter use of LCA by the mining industry is less common. This paper discusses the use of LCA to compare sulphidic tailings management options. The paper also presents some of the LCA research challenges that still have to be addressed to increase the relevance of LCA results for the specific context of mining activities.

Nov 1, 2008

By B. D. Thompson

Many mines adopt necessarily conservative backfilling strategies due to a lack of understanding of their backfill behaviour. In the past five years, extensive instrumentation campaigns have focused on measuring in-situ cemented paste backfill behaviour. These tests have resulted in optimised backfilling efficiency through elimination or reduction of cure periods where; i) controls on backfill behaviour are understood, and ii) barricade pressures are demonstrated to be within a safe range using routine monitoring as a required QA/QC procedure. Recently, this work has been extended to consider hydraulic backfill operations. Two stopes have been instrumented at Vale?s Coleman and Garson Ramp mines. The instrumentation and deployment methods are discussed, and representative total earth pressure, pore pressure, and temperature data are presented. In one case, pressures in the stope are relatively low as drainage causes strength gain in the fill and so pressures are arched. In a second example, again, drainage causes strength gain in the fill, but increasing temperatures correlate with pressure increases even during downtimes in filling. These pressure increases are thought to be caused by thermal expansion of the backfill in confined locations. Generally, the instrumentation approach has proven successful in measuring hydraulic backfill behaviour and offers good potential for incorporation into a procedure to safely maximise backfilling efficiency through routine barricade pressure monitoring, when combined with safeguards to ensure adequate fill drainage.

Aug 1, 2013

By J. Mullins

Coal was first banked by the Dominion Coal Company, Limited, in 1898, near No. 2 Colliery, the same site as is presently used for that purpose. Though today there are banks at Glace Bay, Sydney, and Sydney Mines, these notes, except when otherwise desirable, will be confined to describing the practice as developed at the No. 2 Banking Station, Glace Bay, as being typical of methods obtaining at all sites. Storing The manner in which the coal was piled is illustrated diagrammatically in the accompanying sketch. A train of coal was brought on the main trestle, which extended the full length of the banking ground at a height of 22 to 39 feet above the natural surface, and dumped into bins which were integral with the trestle work. Chutes from these bins permitted the coal to be fed into 3-ton cars, which were horse drawn laterally on narrow gauge tracks laid about 10 ft. centres, to a maximum distance of 400ft. from the trestle. These cars were end-dump and as the pile extended laterally the narrow gauge tracks were lengthened by shorter or longer filling pieces, so that their ends were always kept at the brow of the bank. Much coal, however, had to be dumped directly on the tracks and hand trimmed to fill the valleys, and level off, between the tracks.

Jan 1, 1931

By R. S. Douglas

Introduction The mine at Copper Mountain of the Granby Consolidated Mining, Smelting and Power Company was one of the pioneers in the use of blast-hole diamond drilling for ore breakage. This method of mining has now been brought to a high degree of perfection. The system in use has?been described in a previously published paper which has become an important part of the literature o the blast-hole drilling method. At the time of the establishment of the system at Copper Mountain, standardized loading and drilling procedures were set up. These procedures were based partly on the results of experiment and partly upon the judgment of men experienced in breaking rock in the mine. The success of the method has been proof of their adequacy. With the progress of scoping in the mine, the diamond drill method of breaking was applied to other ore blocks where different conditions obtained. It was found necessary to make adjustments in the standard procedures to get the best results under the new conditions. The following paper attempts to express, in terms of mathematics, the relations of the variable factors. Until recently, estimations of drilling required were based upon the tonnage to be broken and the proposed rate of explosive loading. A revised method of estimating is outlined below which is direct and which involves no unrelated variable factors.

Jan 1, 1947

By Richard E. J. Putman

THE MINERALS INDUSTRY has always been a heavy user of energy in most of its unit operations: power in the mining, comminution, flotation and electro-winning processes; fuel in its smelting and other metallurgical processes; and, of course, fuel in the on-site generation of power and steam. Many of the techniques for using computers to perform energy management and conservation tasks have been known for some time, but they have not been widely implemented because the return on investment has hitherto been insufficient. Recent trends, however, have not only caused the dollar return to rise due to higher purchased energy costs, but the cost of the investment to fall. One trend has been the generally lower cost of computer control systems themselves, due to vendors having adopted the newer, lower-cost and more reliable electronic component technologies now becoming universally available. The second trend is the development of low-cost, but high-speed, remote multiplexing devices, which have reduced considerably the expense of bringing data from points scattered over a wide area, which is typically the case when applying energy management systems to a minerals processing plant. By taking advantage of these and related developments, computer control systems can now have a rewarding impact on plant energy management and conservation practices, and recent advances in application technology have opened up new and additional opportunities for energy cost reduction and control.

Jan 1, 1978

By G. J. Hamilton

"THE Royalite-Canada Southern Coleville No. 1 gas strike of August 15th, 1951, and the closely following low gravity black-oil strike of August 23rd, were the first of a series of recent oil and gas discoveries in western Saskatchewan. They are in what is now known as the Coleville field, 25 miles north and west of Kindersley and 30 miles east of the Alberta-Saskatchewan border (Figure 1).Gas flows have been recorded in the Viking sand at daily rates of between 5 and 10 million cubic feet, and black oil of 15° A.P.I. gravity is produced from Mississippian sediments of Banff age at a daily rate .of 50 to 100 barrels on pump.Development drilling was carried on during the winter months, with very little attempt at step-out exploratory ventures. This year, however, a step-out programme to the northeast (Figure 2) is •being carried on in order to determine the position of a possible truncation of Mississippian sediments in that direction. Section 30 of the Coleville area has been fully developed on a 20-acre wellsite basis, and structural information is restricted to local rather than regional interpretation. No attempt will be made in this paper to interpret the Coleville area with respect to the regional geology in any but a general manner."

Jan 1, 1952

By Angus W. Davis

The case of the P. G. E. railway is a peculiar one. Traversing, as it does, to a large extent, a mineralized country there are as yet no producing mines along its route although I am convinced that mines will be developed in the region tributary to the railway. The Fitzimmons group of claims, a copper property near Mons station, 37 miles from Squamish is now (unless recently relinquished) under bond to the Granby Company. On Cadwallader creek, in the upper Bridge river country, certain gold properties, referred to later, are being developed. Prospectors are fairly active in the Pemberton meadows area. There are also a large number in the Bridge river, Gun creek, and Whitewater districts. East of Marguerite station some development work is being prosecuted on some copper claims located there. In addition here and there throughout the entire route of the railway prospecting is being undertaken. At Hat creek, 15 miles from Pavilion station there is an enormous deposit of lignite. It is by no means certain that this coal can be profitably mined and hauled to the railway, but as a cheap fuel it offers possibilities in the recovery of by-products by destructive distillation. Logical procedure would ? indicate the expenditure of considerable money on development and, if results justify, the construction of a spur from the main line to the deposit.

Jan 1, 1925

By A. Lemay, G. Morin, C. Desmeules

"Incorporated in 1976, Sidbec Normines was mandated to exploit a deposit of specular hematite at Fire Lake. A combined effort of three companies, Sidbec, which holds 50. 1 % of the actions, British Steel Corporation another 41.67 % and finally Quebec Cartier Mining, a subsiduary of U.S. Steel Corporation, with still another 8.23 %.The deposit is located 60 miles north of the town of Gagnon. The extracted ore is crushed, in a giratory crusher, to-8 11 chunks, and from there, it is transported, by rail, to a concentrator at Lac Jeannine.A concentrate containing 65.5 % Fe and 5.5 % Sio2 is produced, using conventional methods like autogeneous mil ls and spirals. The concentrate is then transported by rail to the Port Cartier installations.The installations in Port Cartier include a secondary concentrator, a pellet plant, and stockpiling facilities for pellets and concentrate. The pellet plant has two product lines in paralel, producing a total designed tonnage of 6 millions tons of iron ore pellets, of which 3mi11ions tons are used in direct reduction furnaces.The secondary concentrator is designed to remove a portion of the silica contained in the ore, usually less than 2 % Si02 should remain from the original 5.5 % Si02 in order to produce iron ore pellets which are well suited for use in direct reduction and electric furnaces."

Jan 1, 1981

By D. A. Livingstone

"INTRODUCTORY REMARKS BY PANEL CHAIRMAN - D. A. LIVINGSTONEThe mining industry has progressed significantly from the dusty mines and mills of decades past to the modern processing complexes of today, and improved technology has made great strides in eliminating debilitating lung discuss. More recently, the public's environmental awareness is also working to enforce more stringent regulations and controls in tl1e matter of dust in working places.There are numerous excellent texts and handbooks outlining the principles of collection of dust produced in the various unit operations entailed in the crushing, screening and the transport of ore. However, it is painfully obvious that dust emanating from belt return idlers and scrapers, take-up pulleys, skirting, larger and deeper chutes, clean-up operations, etc., which I choose to refer to as fugitive dust, presents some seemingly unmanageable difficulties, or at least difficulties inordinately costly to correct. Possibly static electricity is adding to the difficulties. In my view, these problems are magnified in many of our B. C. operations where ore from open pit mines in cold climates is frequently crushed in unheated buildings, thereby precluding the simple and obvious use of water sprays for dust suppression.It is hoped that the presentations and discussion which follow will emphasize some of these unusual problerr.s and suggest corrective measures, either tried or planned."

Jan 1, 1976