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Constraints on the mineral industry are best treated as issues that have to be understood and managed in partnership rather than in conflict with communities. TheZapopan development at Mt Todd in Australia and the Martha Hill development at Waihi in New Zealand are but two of many recent successful examples at the local level.   However, at the national level, the issues are more complex and more difficult to resolve because the most influential stakeholders are now the urban electorates and governments defer to their perceptions when making decisions and policy. In the developed countries, government policies for the development of mineral resources have been progressively eroded since the early 1970s. At the same time policies for the environment and for native land rights have generally been carried out in a way that has reduced access to minerals and increased the cost and risks for prospectors and developers (Hancock, 1995). Since the end of the Cold War, the lesser developed countries (LDCs) have introduced policies to attract investment in their mineral resources that remained undeveloped under previous unstable or hostile regimes. The increased attraction of these LDCs and the decreased attraction of the developed countries has caused many Australian and North American companies to outlay increasing proportions of their budgets and capital investment in the LDCs.   Significantly, LDC policies for environment protection do not discourage exploration and mine development, Surveys of the relative appeal of the LDCs and the traditional mining countries of the developed world, rate Chile, Argentina and Indonesia ahead of Australia and Canada in terms of risk, delays and ease of doing business (Australian Mining Monthly, February 1994).

Jan 1, 1995

By F Pirajno

"An EXTENDED ABSTRACT is available for download. A full-length paper was not prepared for this presentation. China’s mineral deposits are the result of metallogenic processes associated with the geodynamic evolution of tectonic plates and eventual amalgamation into their modern configuration. The principal tectonic provinces of China comprise the North China Craton, Yangtze Craton, Cathaysia Craton, Tarim block, Altay-Tianshan-Hinggan orogens (part of the Central Asian Orogenic Bel), Central China orogens, Songpan-Ganze orogen and Alpine-Himalayan fold belts, which are part of the huge Tethysides. These tectonic elements are testimony to a complex geological history spanning more than 3000 million years. This contribution will focus on selected areas of the Altay-Tianshan, the fold belts surrounding the North China Craton and Yangtze Craton and the mineral systems along the Ailaoshan-Red River fault zone. Mineral deposits in these provinces include gold, copper, molybdenum, tin, antimony, nickel, platinum group elements, lead and zinc.CITATION:Pirajno, F, 2015. Metallogeny and related tectonic settings in China , in Proceedings PACRIM 2015 Congress, pp 17–24 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Mar 18, 2015

By A B. Christie

Known epithermal deposits in the Coromandel region belong to the low-sulphidation type, represented by three subtypes: (1) andesite-hosted epithermal Au-Ag, (2) rhyolite-hosted epithermal Au-Ag, and (3) andesite-hosted polymetallic veins. Paleo-depths for a range ofdeposits are estimated using various features including: paleo-surface indicators (e.g. sinters), hydrostatic pressures estimated from homogenisation temperature measurements on fluid inclusions, and alteration mineralogy. Paleo-depth estimates to the base of the ore zone for the rhyolite-hosted Coromandel deposits are in the range 200 to 500 m. Andesite-hosted Au-Ag deposits have more variable paleo-depths, and are deeper (up to 950 m) in those deposits with base metals at depth. The majority of Coromandel Au-Ag deposits have limited depth extents (<200 m) of economic grade mineralisation, although Waihi and Karangahake are notable exceptions with depth extents of 575 m and 700 m respectively. Limited depth extents of economic ore are a feature of epithermal systems worldwide and are commonly attributed to gold deposition from boiling fluids. Under hydrostatic conditions in epithermal/geothermal systems, boiling in an up-flowing hydrothermal fluid is controlled by the boiling point for depth (BPD) curve. From fluid inclusion studies of many low-sulphidation epithermal systems, deposition of electrum in economic concentrations appears to be confined to a temperature window of 260 to 180¦C. This means that for dilute, gas-poor fluids that follow the BPD curve, gold deposition is limited to a vertical depth zone of about 400 m, with its upper boundary at about 100 m below the ground surface. The greater depth extent at Waihi and Karangahake, can be explained by mixing of/a deep, hot (300¦C) fluid with cooler (c. 200¦C) heated ground waters. This has the effect of lowering the 260¦C isotherm by up to 300 m, thereby increasing the depth range of economic grade gold deposition within the 260 to 180¦Cwindow of electrum deposition.

Jan 1, 2000

By B Mead, N D. Pascoe

The Grasberg block cave rail haulage system will be located in the Grasberg mining district on the island of Papua, Indonesia at an elevation of almost 3000 m above sea level. It will transport 160 000 t of ore per day from multiple chute galleries to the underground crushing systems. The design entails approximately 23 km of rail (ballasted and embedded track), over 120 ore chutes to deliver ore to the muck cars and three unloading stations to deliver ore to the crushers. The rail haulage system is a closed-loop system entirely within the underground mining complex.The GBC rail haulage project will be a substantial operation. Trains consist of 11–12 bottom-dump 20 m3 muck cars driven by a 40 t electric locomotive, about 400 t per trainload. Approximately 12 trains and one spare are required to maintain full production at 160 000 t/d. All rail installations will be 1435 mm (standard) gauge with AS60 steel.The rail system is designed to operate in full automated mode, including chute loading, hauling and dumping. The operation will be controlled from a surface control room.The rail haulage project has been divided into five stages, which will be brought online over the course of ten years. Current development and construction are focused on Stage 1 for initial production that will occur beginning in late 2017. This stage includes 24 chutes in three chute galleries, one unloading station, workshop areas and almost 7 km of track (3 km of embedded and 4 km of ballast).This paper describes the key components of the rail haulage system and reports on the current status of development and construction of the system. This paper also overviews the challenges, successes, issues and risks of this project in areas such as scheduling, development, construction and operation.CITATION:Pascoe, N D, Mead, B and Vega, H, 2016. Grasberg block cave haulage project – design and construction update, in Proceedings Seventh International Conference and Exhibition on Mass Mining (MassMin 2016), pp 585–598 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2016

The range of environments which control the level of ground support required vary greatly in terms of rock type, rock structure and the mining method used. At the operating mines visited during this review the level of ground support was such that incidence of rock-fall- related accidents were rare. It was also found that methods existed to support most of the conditions encountered. The main problem areas were weak rock, major geological structures, areas of heavy jointing, high development density and areas affected by high mining-induced stresses and blasting. With stope support the level of success was much lower than that achieved in development; the larger spans and more rapid changes in geometry of open stopes compared with cut and fill stoping (where cables were originally used) led to significant problems. Before a useable design method for cable support of stope walls and pillars can be obtained the precise failure mode of the walls and pillars, and the interaction of the support and the rock mass must be investigated.

Jan 1, 1982

By S C. Dominy

Various styles of gold mineralisation pose problems during sampling because of their complex gold grade distribution and presence of coarse gold. Effective sampling and sample preparation forms the basis of resource estimates. The design of a sampling and assaying protocol must be based on a thorough understanding of the mineralisation in question, which should include consideration of gold particle size and mass distribution. The proportion of coarse gold within samples has a profound effect on the requirements for sample preparation and assaying. Choice of preparation procedure and assay type is of critical importance if sampling errors are to be minimised. Traditional fire assays, using small charge sizes, often understate assays gained from large charge sizes and techniques such as screen fire assay and LeachWELL. Proper application of the Theory of Sampling reduces errors during collection, preparation and assaying. A quality control/quality assurance program must be implemented and critically assessed. A case study from the Ballarat mine is presented, which is characterised by substantial quantities of coarse-gold hosted in quartz veins. Diamond core drilling is the key input into resource delineation. A number of different sampling and assay options have been trialled over the recent project history. The current sampling protocol utilises whole drill core, using LeachWELL assays after logging and photography.CITATION:Dominy, S C, 2017. Sampling coarse gold-bearing mineralisation – developing effective protocols and a case study from the Ballarat mine, Australia, in Proceedings Eighth World Conference on Sampling and Blending , pp 71–84 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2017

By G Boyd

The Nokomai Gold Mining Project commenced production in January 1992. The Project continues a history of mining in theNokomai Valley which extended from 1863 to 1942. L & M Mining Limited have held interests in the valley since 1980. In 1990 the Nokomai Joint Venture was formed with the Hore family, the owners of Nokomai Station, to mine a large alluvial gold resource in the valley. The mine is located adjacent to the Mataura Brown Trout fishery and required extensive environmental studies prior to granting of permits. The mine is budgeted to work for 20 months, processing 460 000 m3 of wash material. During this period, contract miners, Downer Mining Limited, will move in excess of seven million cubic metres of overburden from the deposit.

Jan 1, 1992

By M D. Hannington

On the southern flank ofLihir Island, a group of three volcanic cones were discovered at water depths from 1000 - 1500 m. The volcanoes are located in a narrow zone of recent seismic activity and elevated heat flow (up to 100 mW/m2). The recovered rocks consist of fresh alkali-olivine basalts, clinopyroxene-rich basalts, and porphyritic phlogopite basalts. One of the volcanoes has a recently erupted ejecta blanket (recovery of warm ash!), containing a suite of abundant mafic to ultramafic xenoliths. These xenoliths appear to represent a unique cross-section of subduction-modified mantle material sampled by volatile-rich primary fore-arc magma during its ascent to the seafloor. The most spectacular finding was the discovery of an active hydrothermal system with associated vent fauna and mineralization at Edison Seamount, and the recovery of unusually gold-rich (up to 43 ppm Au) hydrothermal precipitates in 1050 m water depth at the top of Conical Seamount, only 25 km south of the world-class epithermal Ladolam gold deposit on Lihir. The discovery of submarine hydrothermal vents associated with highly alkaline, quartz-undersaturated fore-arc volcanics represents a significant departure from similar hydrothermal systems on the mid-ocean ridges and in back-arc basins. The high gold grades in hydrothermal precipitates at Conical Seamount may indicate the first documented example of a shallow-marine epithermal system analogous to those known on land, and has important implications' for the gold potential of submarine arc environments.

Jan 1, 1995

Preliminary work being undertaken on the optimisation of decision strategies for an open-pit metalliferous deposit is presented. The Optimal Control method has been selected rather than the easier to implement Dynamic Programming method of optimisation since a fundamental criteria of Dynamic Programming is violated. Essentially a system of state equations and decision variables is developed for the operation under consideration.

Jan 1, 1984

By D Craw, G Eis

Late Cretaceous Blue Spur Conglomerate preserved as isolated remnants at Gabriels Gully, Weatherstones, Forsyth, Waitahuna Gully and Adams Flat was deposited during the intiation and early stages of extensional movement on the Tuapeka Fault zone at each locality. The deposits represent successive courses of a single fluvial system flowing across the Tuapeka Fault zone from the up-thrown (northeast) block. Each course, beginning with the channel at Gabriels Gully, was abandoned as a result of uplift-induced defeated antecedence in favour of a new course farther to the southeast around the southeast-propagating tip of the Tuapeka Fault zone. Schist and quartz in the conglomerate was derived ultimately from schistose rocks northeast of the Tuapeka Fault zone. Caples Terrane greywacke detritus in the middle and upper beds of the conglomerate was probably recycled from pre-existing sedimentary cover on the up-thrown block, following initiation of uplift on the Tuapeka Fault zone at each locality. Most of the gold is derived from vein sources in Otago Schist rocks to the north, and/or associated placers. Hydrothermal veins at Waipori, Hindon, Barewood, and Macraes are the most likely primary sources. There is no evidence to support previous interpretations of deposition by river systems flowing from the southwest, or axially along the Tuapeka Fault zone from northwest to southeast. High gold grades within Blue Spur Conglomerate should have a linear trend more or less similar to the orientation of the host channels, but are likely to drop off rapidly to the southwest. Extensions of the conglomerate-filled channels are unlikely to be preserved, but there is a strong probability that younger placers recycled from the former channels exist.

Jan 1, 1999

By A C. Edwards

The Mongol-Okhotsk belt consists of detached fragments of the Circum Pacific fold belt which have been trapped within the Mongol-Okhotsk fold belt. In its western part, the structures of the belt form an east-facing loop that is not connected with the other orogenic structures of Central Asia. In the eastern part of the belt (the Mongol-Okhotsk suture zone) the terranes form a zone between the Siberian craton to the north and the Bureya composite terrane to the south, that is linked with the Circum Pacific belt. The accretionary terranes, together with their Precambrian backstops, form a series of consistently-stacked, paired units that are bounded by northwest and north trending sinistral strike-slip faults. The ages of the rocks forming these accretionary complexes vary from Late Precambrian - Carboniferous in the west to Cambrian - Jurassic in the east. The terranes developed due to a progressive westward stacking of the accretionary complexes during the process of accretionary growth. The magmatic rocks young eastward indicating that migration of the magmatic front of the arc followed the eastward growth of the accretionary complexes. The accretionary terranes may be differentiated by their Paleozoic lithological assemblages. Only the Selemdzha, Niman, and Kerbi terranes located in the eastern part of the Mongol-Okhotsk suture zone contain significant amounts of black shale, and it is these terranes that host the bulk of the hardrock and placer gold mineralisation that is present within the suture zone. Gold mineralisation is present both as vein style and disseminated mineralisation within structural duplexes.

Jan 1, 1999

By D Syme

In the middle of 2000, BHP Billiton implemented a Six Sigma Plus business improvement program known as Operating Excellence. It was developed based on a business bottom line initiative to deliver 35 - 40c/share and was one of the BHP Billiton strategies to deliver $2 earnings per share and a longer term $40 share price (BHP share price). Cannington is a silver, lead and zinc mine owned and operated by BHP Billiton. Through implementing Six Sigma Plus Cannington wanted to:have in-house capabilities to change and improve; tailor for the needs of each business unit and department; have æSharing of its KnowledgeÆ as a tool for improvement and have a competitive edge across Cannington û to be better than our competitors; learn from and leverage off the successes of improved safety and prior business improvement efforts; and ensure networking and sharing of information have common measurement systems across all assets. As with most business improvement programs û Six Sigma Plus was met with some degree of skepticism, especially given the amount of resources involved. After 18 months, much of this skepticism has been replaced with enthusiasm as peopleÆs understanding and acceptance of its fundamental concepts are being realised. The idea behind Six Sigma Plus is that it combines sound technical solutions with high acceptance by those who need to work with or implement the change. The future vision for Six Sigma Plus is that it become part of what we do at Cannington û just like safety and environment û so that Six Sigma tools and methodologies are used in our every day work.

Jan 1, 2002

Atlas Copco Construction and Mining Australia identified a number of issues in regard to the skill levels, labour turnover and productivity of our service technicians. In 1994 we were experiencing a labour turnover rate of 42 per cent per annum amongst our technicians. Exit interviews were held with each individual and one of the major areas of dissatisfaction was the degree of product training provided on our equipment, compared to what is required to be competent across the range of our products. These tradespersons were prepared to accept the reduced remuneration that an OEM offers, for the benefit of comprehensive, professional training that, in theory, could be provided. The truth is that we were achieving approximately 40 per cent of our target for training hours because of the demands of field service, pre-deliveries, etc. So, the summary was the same as the industry was experiencing at that time because of skilled labour shortages, production demands, etc people were employed and thrown in at the deep end. A recipe for failure that will be successful every time.

Jan 1, 1998

For tax purposes a mining company is a New Zealand company whose principal source of income is from the business of mining, or exploring for certain specified minerals in New Zealand. New Zealand tax law distinguishes between a non-resident mining operator and a mining company, with the only major difference in tax treatment being the corporate tax rates. New Zealand mining companies are taxed at 28 per cent, whereas non-resident mining operators are taxed at 33 per cent of taxable income. These provisions also apply to the petroleum mining industry. Individuals who carry on the business of mining are also specifically defined in the Act. They are termed as 'resident mining operators'. Non-resident mining operators are non-residents of New Zealand who carry on mining ventures as a business in New Zealand. Mining ventures are defined as the exploring, searching and mining of specified minerals, including development work carried out for profits. Similar provisions apply to the petroleum mining sector. Specified minerals are defined in the Income Tax Act 1976 ('the Act') and while no useful purpose is obtained by listing them in the paper, they include a larger number of industrial and commercial minerals. The Minister of Finance is also empowered to add to the list by publishing his determination in the Gazette.

Jan 1, 1988

In understanding the consequence of existing law, and the likely implications of its reform, it is necessary to comprehend the logic of the situation that the law provides individual decision makers and how that situation would be adjusted by reform. In particular, the way in which natural resources, including minerals, are used and managed is influenced by the definition and structure of property rights that the law provides. Property rights are enforceable claims to use or to benefit from resources. An example is a mining licence that allows its holder to extract minerals in a specified area. Property rights establish the structure of incentives, opportunities and constraints within which resource use decisions are made, ie the logic of the situation, and hence influence the use and management of resources. The extent and type of mining in New Zealand, for example, reflects the rights that miners have to extract minerals, and their rights to benefit from mining as against their duties to compensate landowners and pay royalties. This paper describes the characteristics of minerals that are relevant to the definition of property rights, analyses the implications of alternative property right arrangements and describes the existing situation.

Jan 1, 1988

By A Liu, T Ren

Gas explosion in underground coal workings can pose a serious threat to the safety of mine workers and the entire mine operations. Gas explosion is a very complex thermal-chain reaction in a confined underground environment. Based on combustion and explosion theory, three dimensional (3D) computational models were developed to simulate mine gas explosion flame and overpressure wave propagation in a single entry gateroad in underground coalmines. Six different explosion scenarios were modelled and compared with large scale experimental results and AutoReaGas simulations. Model validations show that the use of shear-stress transport (SST) k-? model together with eddy-dissipation model (EDM) produces good agreement with both experimental and AutoReagas simulation results. Modelling results demonstrated that the changes of temperature versus time can be divided into four stages, ie the initial condition stage, and periods of warm-up, active burning, and burnt-out. Assuming a limited volume of methane is involved in the explosion, the maximum temperature decreases as the distance increases from the explosion point, with the highest temperature reaching about 2460 K. Modelling results show that the evolution of the explosion flame shape experiences four typical stages, ie spherical flame, finger-shape flame, flame with the skirt touching the side walls (ribs) and tulip flame, which are similar to the pattern of a duct explosion. The pressure in the gateroad remains the same as the initial value before the arrival of the explosion wave and then increases rapidly to the maximum value. Modelling results from this study will be used for the design of explosion arresting devices and mine seals in underground coalmines.CITATION:Liu, A and Ren, T, 2017. Computational simulation of gas explosion and its propagation in single entry gateroad, in Proceedings Australian Mine Vent Conference 2017, pp 181–188 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 28, 2017

Australia has a long history of underground mining. Even withadvances in open cut mining equipment, techniques andeconomics, many orebodies are still best mined by undergroundmeans. In addition, modern exploration tools are æuncoveringÆorebodies that are at increasing depths. South African mines arecurrently producing from below 3 km, and developing down to5 km depths û it is likely that Australian mines will also becomemuch deeper over the next 20 years. One of the most significanttechnical challenges in deep mines is the problem of heat.Community expectations and legislated standards continue todrive operations towards improving the working conditions inmines. The hazards and costs associated with chronic hotworking conditions (heat illness, poor safety, poor productivity,higher operating costs and poor morale) are also becomingincreasingly recognised (Brake, Donoghue and Bates, 1998). Theexposure of miners to many other occupational hazards has beenreduced over the past 50 years. However, despite air-conditionedcabins greatly reducing the heat stress on mobile plant operators,there are still many Australian mine workers subject to levels ofthermal stress that existed a century ago. There are severalreasons for this, including a frequently-poor understanding of thephysiology of working in heat by mine management, no agreedmining code of practice for working in heat, the lack of a robust,practical-sized instrument to measure heat stress, the costpressures on the industry and, to some extent, deep-seatedtraditional management and worker practices. Howeversignificant progress has been made in many of these areas (Brakeand Bates, in press), with the net result that there is likely to be a trend towards installation of refrigeration of some form in manyAustralian mines in the future. This will add directly to the costof operation, but will also have direct and indirect benefits,including cost benefits. It should also be noted that Australia isnot at the forefront of adopting practices to manage temperaturesin the workplace: South African metal mines usually haverefrigerated cooling, and Canadian mines spend large sums onheating, with heating costs (averaged over a full year) of up to$A1 per tonne mined (Bandopadhyay et al, 1997). The history of mine refrigeration dates back to 1919 when thefirst plant was installed at Morro Velho, Brazil. By 1965, the totalinstalled capacity (worldwide) reached about 100 MW(R)i. Since 1965 the growth in mine refrigeration capacity has beenexponential, with a doubling every six or seven years (Howes andNixon, 1997). South Africa is by far the largest user of minerefrigeration, with over 300 refrigeration machines installed. This paper discusses the key design issues associated with theapplication of refrigeration in underground metal or coal mines.Whilst the emphasis is on large, surface plants, small, surface orunderground refrigeration plants can also be very effective in thecorrect application and many of the principles of design andoperation are the same.

Jan 1, 2001

By R P. Langford, T A. Moore

Indonesia over the last 15 years has experienced a surge in coal exploration, which has led to the development of a major export industry. This coal exploration has improved the understanding of the geology of the Indonesian coal deposits. The main economic coal deposits are of Eocene and Miocene to Pliocene age, which mainly occur in Kalimantan and Sumatra and were formed from peat deposits in an equatorial paleoclimate similar to that prevailing today. Some of these peats were domed peats, which grew above the normal water tables, under a climate of year-round rainfall; these peats grew above the level at which waterborne mineral matter can enter the system, resulting in low ash and sulphur, and locally very thick coal. It is believed that such peats have formed the unusually thick, low ash, and low sulphur Miocene coals of Indonesia. Coal deposits of Eocene age are typically characterised by thinner seams, with relatively higher contents of ash and sulphur. The Miocene coals and Eocene coals both appear to have formed in lacustrine, coastal plain or deltaic depositional environments, similar to the modern peat-forming environments of eastern Sumatra and parts of Kalimantan. The Eocene coals formed mainly in extensional tectonic settings. Miocene - Pliocene coal deposits formed in a range of tectonic settings; the most significant, for large economic coal deposits, are the foreland basin setting of the large Neogene coal deposits of South Sumatra.

Jan 1, 1999

At Waiuta near Reefton there is a remarkable vein of quartz <1 m thick which, apart from small offsets on late-stage faults, is a sheet like body essentially continuous down-dip and along-strike for> 1 km. The vein strikes NNE and dips steeply west (032/78¦W). From 1906-1951 the Blackwater mine produced 740,404 ounces of gold from the vein, called the æBirthday ReefÆ, which was one third of the total production from Reefton Goldfield and the fourth largest gold mine in New Zealand. Within the mine the vein is disrupted into a series of northeast-plunging shoots by late-stage faults. Similar faults, but with larger displacements, were thought in the past to truncate the vein at the northern and southern ends of the mine. The implication of this fault dissection model is that offset remnants of the vein await discovery. This study investigated the geometry of the vein and its relationship to host-rock structures and late-stage faults. A new model considers folding and lithological variation in the host-rocks to be fundamental in controlling the scale and geometry of veining, but does not rule out the possibility of some late-stage fault dissection. The Birthday Reef truncates 200-400 m wavelength folds in Greenland Group host-rocks at c.10¦ angle, that results in variation in the structural properties of host-rocks along strike every ~1350-2500 m. The spacing of fold hinges in the wall-rock veins is equivalent to the strike length of historic mining, implying that the Birthday Reef is probably hosted in a single limb of a fold. Similar relationships between mineralisation and host-rock folds appear to be present elsewhere in the Reefton Goldfield (e.g. Capleston and Murray Creek group of mines). Exploration targets are located one fold wavelength (c.1350-2500 m) further along strike from the Blackwater mine and relatively barren rock is expected in between the mine and target areas. Refining the location of folds and different host rock lithologies, using geophysical data and quality geological mapping, is the key to reducing exploration risks and discovering further resources.

Jan 1, 2000

Automation in underground mining enhances safety and leads to economic efficiency. In the past many efforts have been made on the automation of longwall shearer operation. With respect to the ultimate goal of automation, ie self controlled operation, coal bed boundary detection is one of the key problems. For longwall human labor is necessary in order to detect the exact position of the coal seam to be excavated. The authors present a sensor concept based on infrared technology and pattern recognition which will solve this problem. The very harsh underground conditions set high demands on the implemented sensors. The combination of infrared sensors and powerful processing algorithms is part of the innovative concept for automation of the new Eickhoff Bergbautechnik GmbH SL 750 shearer loader. The multi-sensor automation system EiControlPlus which is designed for the complete detection of the machine environment fills in the gap in the coal-excavation automation by building a recognition system that turns the shearer loader into an 'intelligent machine' which is capable of detecting the correct position of the seam to be excavated and thus enables human-free coal mining.

Dec 6, 2010