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By K H. Esbensen

The Theory of Sampling (TOS) has made remarkable strides and has witnessed a suite of achievements over its ~65-year history; especially in the last 15 years, since organised work began for the erstwhile fragmented sampling community (2003). Theory and practice have been very well exposed and disseminated, as witnessed in the successful series of the World Conference on Sampling and Blending (WCSB) events and other dedicated sampling and mining conferences in Australia and South Africa. At this WCSB8 occasion we fittingly devote a section of our conference to celebrate the life and monumental achievement of Pierre Gy, the originator of the Theory of Sampling; a special issue of TOS Forum was recently published to the same purpose. But TOS is most emphatically not a finished work.Here I try to look into the future with a personal view: TOS – what’s next? Commensurate with this objective there is offered some out-of-the-box thinking. The purpose is to try to zoom in on probable additional future aspects of TOS and its application compared to the first 15 years of our common journey. There are bound to be lacunae here-and-there across the vast application horizon delineated, which is as it should be, as this lecture is meant to initiate a broad(er) debate – and readers may agree with all, parts, or none of the topics presented. All is well that furthers this debate.CITATION:Esbensen, K H, 2017. Theory of Sampling – what’s next?, in Proceedings Eighth World Conference on Sampling and Blending , pp 29–38 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2017

Rhyolitic rocks are volumetrically significant in the eastern part of the Coromandel gold province, yet deposits hosted by rhyolite (Kapowai, Broken Hills, Neavesville, Wharekirauponga and Waihi Beach) are generally low grade and subeconomic, especially compared with andesite-hosted deposits. In contrast, rhyolitic volcanic centres in Nevada host a number of economically significant epithermal gold deposits such as Round Mountain, Sleeper and Bullfrog. The Nevada deposits are associated with 27-20 Ma continental arc volcanics dominated by ignimbrites (eg Round Mountain), or younger 17-9 Ma bimodal rhyolite-basalt volcanism related to extensional basin-and-range tectonics (eg Sleeper). The Round Mountain deposit is localised on a caldera boundary fault and the mineralisation was deposited soon after eruption of the host rhyodacitic ignimbrite. In other Nevada deposits, hydrothermal systems are linked to the closing stages of flow-dome complexes and mineralisation is localised along normal faults associated with extensional basin-and-range tectonism. The style and composition of the mineralisation is similar in both the Coromandel and Nevada deposits and consists of sheeted and stockwork quartz veins, containing electrum as the main ore mineral and only minor sulphides (mainly pyrite) Likewise, the vein minerals were deposited from low salinity hydrothermal fluids in the temperature range of 200-270¦C. Both the Neavesville and Round Mountain deposits are geochemically anomalous in molybdenum. The deep oxidation of the Nevada gold deposits, dry climate and low level of competing land uses combine to make it economic to mine and process very low grade ore (0.2 - 2.0 g/t Au) by heap-leaching with cyanide solutions in most areas of Nevada. Although extensive low grade gold mineralisation is known at deposits such as Wharekirauponga and Neavesville, it is sub-economic because of shallow oxidation and land use conditions that are unfavourable for open pit mining and heap leaching.

Jan 1, 1996

The 8 ft by 91/2 ft drive which joined No. 7 Shaft with Browne Shaft on the 1,480 ft level was extended from both ends and met at a point approximately 12,000 ft from No. 7 (2,000 ft from Browne).The surveying required for this 2 1/2 mile haulage drive called for greater accuracy than was obtainable from South Mine standard methods. Procedures and devices from published information were tried and modified as required to suit local conditions. Several new methods were applied and improved as the drive advanced. The control of angular, linear and level measurements was perhaps considerably in excess of the requirements, but this was offset by abnormally large discrepancies resulting from shaft plumbing. The accuracy of the final breakthrough, although not to the standard desired, was sufficient to complete the connection without inconvenience and added cost.INTRODUCTIONThe acquisition of the Browne Shaft leases in January 1962 presented the management of Broken Hill South Limited with the problem of transporting ore from these leases to its mill. It was eventually decided that diesel locomotivehaulage through a 2t mile drive on the 1,480 ft level between the two mines was the best solution. The drive was advanced from both ends after Browne Shaft was deepened by 80 ft to reach the 1,480 ft level horizon. Each end advancedabout 15 ft/day with the miners working three 7 hr shifts. Blasting was restricted to the end of the shift.The survey work involved five shaft plumbings and 78 theodolite stations in a traverse, underground and surface,of more than 5 miles. Because of the exceptional length of the drive, an unusually high degree of reliability was required.The aim was for a maximum error at breakthrough of 1 ft 1 in 30,000, and to secure this, precise methods of linear measurement were necessary. Shaft plumbing in particular posed special difficulties.

Jan 1, 1965

Delivered at the University of Sydney, on June 4th, 1954.THE TORCH WE HOLDLast year Our Institute celebrated its Diamond Jubilee, coincident with the holding of the Fifth Empire Mining and Metallurigcal Congress in Australia and New Zealand. We can be proud of our growth over the 61 years since the inaugural meeting in Adelaide in April, 1893, which followed suggestions from a provisional committee of mining men, formed in 1892 in Broken Hill.We can also be proud of our technical achievements in the fields of economic geology, mining and metallurgy.Should we be content with the growth of our mining and metallurgical industries over these years? My answer is in the negative. The discovery of new mineral deposits is essential for the continuance and development of the industries we represent.Let me review the background and trends of our industry in an attempt to emphasise the changing factors influencing the search for minerals and their exploitation.Australia was blessed with the discovery of coal in New South Wales in 1796; copper in South Australia at Kapunda, Burra, Wallaroo and Moonta in the eighteen-forties; gold in Victoria and Eastern Australia in the 'fifties; tin at Mount Bischoff, Tasmania, and gold at Charters Towers, Queensland, in the 'seventies; lead-silver at Broken Hill, New South Wales; gold and copper at Mount Morgan, Queensland, and copper at Mount Lyell, Tasmania, in the 'eighties; and gold at Kalgoorlie, Western Australia, and zinc-lead atRosebery, Tasmania, in the 'nineties. As well, the iron ore deposits of the Middleback Ranges, South Australia, and Yampi Sound, Western Australia, were known before...

Jan 1, 1954

J. H. Lord (Geological Survey of Western Australia): During the last few days in Kalgoorlie here we have heard on various occasions of the great job the mining engineers have done persisting against rising costs and increasing salaries without a rise in the price of gold. I think it has been somewhat overlooked that it has been difficult to find additional ore as well. I consider that geologists also should be commended on their action in persisting to search for more orebodies. This goes on in any mining community, but in Kalgoorlie in particular, I believe, over the last few years that it has been more difficult all the time to find additional orebodies and the Companies are calling for higher grades to offset the economic condition. I feel that this paper by Mr. Finucane shows that the geologists have persevered on an idea and discovered that they can find additional orebodies in the calc schist where previously it was thought that these did not occur. This has added many tons to the ore reserves, and although it is not very significant at the moment, the significance will probably improve as more work is done.The whole thing has shown us the importance of economic geology. Mr Finucane has had many years of experience here and he has given us a very able exposition of the economics of ore finding, and there are not many questions that one could pose to him, because most of the information he presented is obviously fact borne out by drilling, underground development and lining up the ore channels. He did briefly touch on ore shoots-the Oroya shoot and several others. It would be very good if we could, and I feel sure...

Jan 1, 1965

Previous methods for measuring the flow of solids in Jnrdraulic conveying have not considered the important effects of slip velocity and particle concentration. In this paper an extension of the method proposed byShirato et al. (J. Chem. Engng. 'Japan, 1: 164-167) for determining mass flow in a vertical conduit is outlined.The present method consists of measuring' the volumetric flow of the slurry (by a magnetic flow meter for instance) and the density of the slurry in two pipe sections of different diameters. Effects of variation of slip withparticle concentration, not previously considered, are allowed.Problems involved in estimating the density of a slurry from differential pressure measurement are discussed.The major problem is the uncertainties in estimating frictional losses due to the wall in two-phase flows. The greater reliability of a more "direct" technique, such as by 'Y-ray absorption, for measuring solid concentration is emphasized.

Jan 1, 1971

The theme of this Conference is 'The Future of Mining in New Zealand' to be addressed at a time of deepening economic concern. To ensure the assessment and development of our mineral resources in a competitive, safe and environmentally acceptable way a modest supply of a rare commodity û the professional mining engineer û must be assured. This paper briefly' reviews the history of mining education in New Zealand, discusses relevant overseas academic concerns and actions and discusses recent local trends which have led to a most serious recruitment position in the Department of Mining Engineering at the University of Auckland. Conclusions are drawn and proposals made which may remedy this situation which could have serious economic and sociological consequences for New Zealand.

Jan 1, 1991

By A Goldstone, T Maton

The Golden Cross Mine is located on the North Island of New Zealand, at the base of the Coromandel Peninsula, approximately 8 km northwest of Waihi. The project is operated as a Joint Venture with Coeur Gold New Zealand holding 800/0 and Viking Mining Limited with a 20% interest. The past open-pit and underground gold and silver producer has been in the reclamation phase of the operation for approximately 2.5 years and is now nearing completion. Although rehabilitation of the site is a regulatory requirement, the Closure Plan has been enhanced by the ongoing commitment of the Joint Venture to establish a sustainable land use for the site by commissioning engineered facilities designed to last for perpetuity. The Joint Venture identified six significant design features that were key to successful rehabilitation. These were the controlled placement of acid generating waste rock into engineered disposal sites; the design and placement of sealing layers over the waste rock disposal sites; the design and construction of diversion drains; the establishment and management of vegetation to protect the oxygen diffusion layer; a partial capping of the tailings to accelerate consolidation adjacent to the tailings dam embankment, and the implementation of a cyanide recovery circuit to recycle cyanide from the tailings prior to disposal. Another key to success for the project involved genuine consultation with all parties participating in the planning, evaluation, and consenting of the closure process at Golden Cross. The local and regulatory community has been widely represented in the Joint Venture's operating and closure plans throughout the history of the mine. Participants include: Regional and District Councillors and staff members, professional peer reviewers, environmental groups, local residents of the valley, and Iwi. This overall commitment to the project has resulted in a world-class rehabilitation program for the first modern metal-mine closure in New Zealand and we believe that collectively, the work done at Golden Cross is helping to set a standard for the success of future programs within the extractive industry.

Jan 1, 2000

By Met M. E

In choosing the subject for my address to you this evening I was actuated by the knowledge that in the past Australian metallurgical problems have been solved by the introduction of extremely interesting processes. Frequently such processes originated in this country, or at least were first adopted here on a large scale.Chronologically there comes to mind the application of chlorination to the Mount Morgan ores from 1888 onwards.Then the application of pyritic smelting to the Mount Lyell ore body in 1896, followed closely by the successful flotation of zinc blendÇ! at Broken Hill, about 1900, and the treatment of the refractory Kalgoorlie gold ores by roasting and cyaniding. With the development of the differential flotation process at Broken Hill came the production of a slime lead concentrate carrying zinc which necessitated the use of a high zinc slag in the lead smelting process. Although previously considered impossible, the necessarytechnique was successfully evolved at Port Pirie resulting in the accumulation of large tonnages of zinc-bearing slag as potential sources of that metal. The past twenty years have witnessed:-(a) The establishment of a flourishing iron and steel industry, with its attendant coking and by-product plant at two centres in New South Wales, namely, Newcastle and Port Kembla.(b) The establishment of an electrolytic zinc process at Risdon in Tasmania.*Presidential Address, Melbourne, 20th August, 1936.

Jan 1, 1936

In recent years it has been more and more recognised that applied geology can be of service to the mining industry, and many mining companies overseas now have permanent geological staff as part of the operating organisation.Most of these companies insist that the geological department must pay for itself by the savings it can make in operating cost, and the growing use of the geologist is proof that such savings are made.The geological problems in every district are different, and a description of the problems and method of attack in a specified district is a useful addition to the literature of mining geology. Very few contributions, from the standpoint of the mining company geologist, have appeared in the Australian literature so that, although the operations of Bendigo Mines Limited are still in the development stage, and its geological work newly established, a description of the routine geological work at Bendigo should beof interest.Although most Bendigo mining companies have not employed permanent geologists, they have utilised geological guidance wherever possible, and a great body of data has grown up. Acknowledgment is made here to the valuable work of the Geological Survey of Victoria, especially the writings of E. J. Dunn, H. Herman, and H. S. Whitelaw, and the maps of Caleb Thomas and H. S. Whitelaw; and also to the work of independent investigators, notably Chief Geologist, Bendigo Mines Ltd.

Jan 1, 1936

LANDSAT imagery has renewed interest in linear features first recognised by E. S. Hills in a physiographic model of Australia. Certain of these lineaments are aligned with structures which control mineralisation.Lineament guidelines are potentially useful in many poorlyexposed areas if they can be recognised early enough in exploration and drilling programs leading to mine development.A case history based on the Charters Towers Gold Field indicates that lineament guidelines can be established early enough to guide development ofnew mines. The position of the Charters Towers Lineament was known as early as 1956. Subsequently, more detailed publications identified and classified associated lineaments which provide intersections correlated with gold occurrences. The discovery of a significant orebody at one of the most prominent lineament intersections came in 1975. Mine drilling has confirmed the influence ofintersecting structural trends indicated by lineaments but not by previous regional mapping.Recent gold discoveries south of Charters Towers lie in a grid of prominent lineaments. The development of mines about Charters Towers will provide additional understanding of relationships between centres of mineralisation and lineament intersections. This understanding may in future be sufficient to encourage exploration for a new generation of concealed gold deposits in northeastern Queensland.

Jan 1, 1986

Possibilities and Working of the Specific Agglomeration of Fibrous Materials and Residues Plant based fibrous materials are becoming of increasing interest in a multitude of industrial applications. Main advantages are the specific lower energy demand and virtually closed CO2 cycle, excellent mechanical properties based on low density as well as a high level of recyclables. In contrast, processing and handling of such materials is associated with a number of challenges. These challenges are mainly related to specific morphological characteristics in correlation to fibre length and structure (branching and splices). Specific problems in further processing steps including transport, dosage or storage for natural fibre compounding, result from form-locking bonds leading to burling, clusters or plaits. Technologies of fibre processing are well known, but other than textile based technologies they generally result in intermediate goods which do not allow direct industrial application. The investigation to be presented is based on results of recent research activities and shows two possible technical solutions of innovative fibre agglomeration procedures. These methods allow the conversion of middle to long fibres into a form, which eases further processing and dosage significantly and therefore allows free flowing too. The procedures are based on the working principles of rolling and winding technology. Within the work, both of the patented methods and their respected lab-scaled devices will be described. Further, results will be shown for an up-scaled rolling agglomeration unit applying the developed principle and consisting of multiple process zones. Possible variations of the resulting product characteristics and the impact of different process parameters will be discussed based on the trials with natural fibre (hemp and flax) agglomeration. As a main outcome of the research, product qualities can be supplied according to the requirements of the specific application in correlation to agglomerate strength, porosity or form. In conclusion, recent developments for specific methods of characterization will be depicted.

Sep 13, 2010

By A N. Kasnanto, D A. Sims, J Pocoe, B Pulungan

In this case study we compare the sampling quality of diamond drilling (DD) and reverse circulation (RC) drilling at the high sulfidation Purnama gold–silver (Au-Ag) deposit located in northern Sumatra, Indonesia.There was a systematic bias of 23 per cent gold metal under-call in the diamond drilling based Ore Reserve estimate compared to the mill reconciliation over three years of production. The RC based Grade Control data and mill production data were in much closer accord. Investigation led to quantification of the significantly reduced sampling imprecision (or improved precision) of RC drilling samples relative to diamond drilling samples and the determination of a grade bias between the drill types caused by sample volume and metal distribution in the mineralisation. An infill RC drilling program was undertaken to improve data density across the pit for inclusion in the Mineral Resource estimate. This subsequently increased Au metal in the estimate by 16 per cent.The sampling imprecision of primary diamond drill sampling is rarely tested. Duplicate sampling can be used to quantify sampling imprecision at each stage of subsampling. In diamond drilling it is tested at the primary sampling stage via second half core sampling, while RC sampling is tested with field duplicate sampling at the rig. Duplicate data can be compared in a number of ways to determine imprecision including Thompson-Howarth plots which quantify imprecision to allow comparison between different methods and protocols. Comparing sampling imprecision between data sets and data types allows determination of optimum drilling and sampling protocols and can reflect upon the underlying validity of Mineral Resource input data and estimation outputs.CITATION:Sims, D A, Pocoe, J, Kasnanto, A N and Pulungan, B, 2017. Why combine reverse circulation and diamond drilling in Mineral Resource estimation at Purnama?, in Proceedings Tenth International Mining Geology Conference 2017, pp 413–422 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 20, 2017

By A Watson

We tend to overestimate the volume of water used to process ore and the evaporation from tailings and heap leach stockpiles. During mine operation, a significant portion of the water collected from onsite water management systems is consumed and recycled by ore processing and lesser portion discharged to the environment. When mining and processing cease, however, the mine site water balance is altered and the real effort and cost associated with managing and disposing of excess mine-influenced water becomes evident. As these flows can no longer be recycled and may not be suitable for discharge to the environment, the cost of dealing with them can comprise a significant portion of the post-mining liability. The problem of dealing with large volumes of mine affected water has the potential to become worse in the future due to the established trend of lower grades which require more water per unit of mineral processing. As a result, future mines may be expected to have greater water needs and problems than we experience today.This paper discusses various aspects about how water usage changes when a mine transitions from operation to closure based on observations and numerical simulations of made with site-wide water balance models. The intention is to provide general considerations for mine operations in planning for end of mine life and post-mining care and maintenance.

Jan 1, 2009

Crocidolite deposits in the Hamersley Ranges, NW. of Western Australia, occur over a length of 180 miles and a width of 20' to 30 miles. Their stratigraphic environment and mineralogy is comparable to that of similar deposits of the Cape Belt, South Africa. It is probable that the known exposures' represent only a small portion of the total extent.Current production is wholly by Australian Blue Asbestos Pty. Ltd. at Wittenoom Gorge and has been in the order of 1,2,000 to 14,000 long t.p.a over the past six years.INTRODUCTIONThe Hamersley Ranges are located in the NW. Division of Western Australia and extend, approximately, from latitudes 21° 30' to 23°S and longitudes 117° to 1200 E. Their mean height above sea level is 2,000 ft, and they rise from 600 to 800 ft above the general level of the tableland which extends SE. from the coastal town of Roebourne.Mt. Bruce, the highest peak, is 4,024 ft above sea level. The ranges are intersected by numerous north-flowing streams, which are dry during the greater part of the year. These streams have carved deep gorges, and it is in these that the principal deposits of crocidolite outcrop.The presence of the mineral was first recorded in 1917, but the deposits remained untouched until 1937 when strong market demand for crocidolite resulted in considerable prospecting and mining activity, particularly in Yampire, Wittenoom and Dale's Gorges. It was established also that the blue asbestos belt extended from Willi Wolli Springs NW. to Millstream station, Le., over a length of 180 miles and a width of 20 to 30 miles. A number of attempts were made to develop and treat the Yampire and Wittenoom...

Jan 1, 1964

By Read T. A

PART 1The quantity of dust present and the methods used for suppression of dust in metalliferous mines has, in recent years, received considerable attention from mining engmeers in various parts of the world. Shortly after the publication of the General Report of the Miners' Phthisis Prevention Committee, South Africa, in 1916, the officers of the Broken Hill South Limited started investigations into the conditions of the dustiness of the air in the underground workings. As the methods used are not generally known in Australia, the writers are of the opinion that the present is an opportune time to place them before members of the Institute. A large amount of the subject matter of this paper has been drawn from the 1916 and 1919 reports of the Miners' Phthisis Prevention Committee, South Africa, the paper of Mr. Innes published in "The Chemical, Metallurgical and Mining Society of South Mrica"; also various articles appearing in the Journal of Industrial Hygiene, and the American Journal of Public Health. A great deal of research work into the cause, prevention and estimation of mine dust has been made by the Miners' Phthisis Prevention Committee of South Africa, and officials of the United States Bureau of Mines. The writers considered it advisable to begin the investigation at the South Mine with apparatus and methods developed by the South African Committee.Through the Australian agent of the Cape Explosives Company, inquiries were made preliminary to procuring the necessary apparatus for the determination of dust, from South Africa. The writers then learned that the older gravimetric method used by the Phthisis Prevention Committee was likely to be superseded by the konimeter...

Jan 1, 1922

By J Watt

The Hidden Valley Gold Project is located in a remote and mountainous area of the Morobe Province approximately 30 km south of the township of Bulolo and approximately 90 km south-southwest of the provincial capital, Lae. The Hidden Valley deposit was discovered in 1984 with the nearby Hamata and Kaveroi deposits discovered in 1987 and 1992 respectively. Reserves (Harmony, 2009) at these three deposits are 42.1 million tonnes of ore containing approximately 2.9 million ounces of gold and 45 million ounces of silver. A further 5.4 million ounces of gold and 84 million ounces of silver are in the resources category. The process plant is designed to treat 4.2 million tonnes per year of gold/silver ore extracted by open cut mining methods. Ore is classified into three ore types according to oxidation state: oxide, transition and primary. The silver to gold grade ratio is high for the Hidden Valley and Kaveroi ores, generally in the range 15 - 20:1, and much lower for Hamata, typically 1 - 2:1: Primary ore is the dominant ore type at Hidden Valley with sulfur grades up to about two per cent sulfur. Oxide and transition ores are more prevalent at the Hamata deposit, but its primary ore has up to five per cent sulfur grades. Variable ore types, particularly in the initial years of operation, high silver to gold ratios and limited plant site area, due to the challenging terrain, present the main processing challenges for this project. This paper describes the operating strategies and process development for the main areas of this circuit, highlighting selections of processes and equipment that achieve cost effective, yet flexible solutions to the treatment of ores from these deposits.

Jan 1, 2009

CHAPTER 1 - GENERALIn the introduction to this chapter a general account is given of the growth of the mining industry in Western Australia from J88G, when the output of gold for the whole State was only £1148, to 1908, when: the output had risen to £6,999,885. In 1903 the output reached £8,770,719.It is quite evident that the discovery of gold in Western Australia was the means of opening up the road to broader industrial expansion, and it is doubted if any other portion of the British Empire more clearly exemplifies the nation-building forces of metalliferous mining than this State.The chapter includes an account of the following situation and history of the field.CHAPTER 2 - GEOLOGYIn this chapter the classification of the rocks of Kalgoorlie, but particularly those on the Golden Mile, is considered. Each rock is described in detail, and microphotos are shown to indicate the most important features in each type. As far as the Golden Mile is concerned, it is held that, notwithstanding the general chemical and more or less dynamical metamorphism which the rocks have suffered, it is possible to divide them into six groups...

Jan 1, 1912

The Bulli Seam, New South Wales, comprises medium to low volatile bituminous coal, generally of coking quality. It is worked over an area embracing 300 square miles.Variations in several factors are found.1. The seam is somewhat disturbed and dissected by various structural features.2. This structure, and present topography, have resulted in depths of cover from very shallow to approaching 2,000 ft in the presently worked areas.3. Wide variations of seam thickness occur.4. Gradations of rank occur from place to place.5. Variations in seam gas content and wide variations in seam gas composition are experienced.6. Variations in coal strength occur.These factors may contribute to the occurrence of stress and gas phenomena in mining exploitation.INTRODUCTIONThe Bulli Seam, the most extensively worked seam in Australia, is the uppermost seam of the Illawarra Coal Measures, which comprise the southern portion of the Sydney Coal Basin. Generally, the rank of the seam and its assemblage of types make it ideal for the production of hard metallurgical coke. The thickness and relatively flat dips render the seam suited to mechanized bord and pillar mining, and this method is used almost without exception. At the north-eastern corner of the field, stress and gas phenomena have occurred during mining.Various data have been assembled on physical, chemical and geological conditions of the seam which may influence the occurrence of stress and gas phenomena. This material is presented in an attempt to explain the location of such phenomena to date, and to enable variations in conditions to be considered when future possibilities are being assessed.

Jan 1, 1963

By G Baiden

The removal of rock blockages in mining operations has long been a risky undertaking, especially in high overhead conditions. Moreover, the assessment of where to put charges and the placement of them has been difficult due to the lack of visibility and safe access to the area. Traditionally, wedging long poles with explosives on them to keep the operator at a relatively safe distance has been the tried and true method of attempting to remove the blockages. Unfortunately, this is not a perfect system as it usually takes several attempts to remove the blockage. Each successive attempt results in even more dangerous conditions for workers and/or damage to the mine due to the successively larger amounts of explosives used until the hang-up finally comes down.Over the years, different ideas have been proposed to improve this process and reduce the inherent safety risks. Some of the technologies that have been trialled include projectiles fired at the hang-up; large, cumbersome arms; and massive amounts of explosives, each of which come with their own inherent safety risks that result in dangerous situations for miners and the mine.After gaining a thorough understanding of the process, Penguin Automated Systems Inc has developed a robotic system that is capable of working in a rock blockage safely. The idea combines the latest in telerobotics technology with 3D scanning and underground geospatial positioning. The hang-up removal is performed by scanning the inside of the hang-up to rapidly develop a geospatially placed 3D model for the operator to use. The 3D model is detailed enough that the operator can attempt to pick the ‘keystone’. A blasting engineer or the operator can then determine the exact position where the explosive charge should be placed in the 3D model and thus at the actual hang-up. The operator, controlling the robotic arm, uses the 3D virtual reality model of the robot system and the actual drawpoint information model to display the location information, the arm can then reach into the hang-up to position the charge using the kinematic model of the robot system. The 3D model is used to provide views inside the hang-up so that the operator can move the arm safely and precisely. This process allows the operator to place the charge (using the 3D representation of the drawpoint) from a long distance away. As the process continues, the end of the arm drills the rock and precisely loads the explosives. The robot then returns the blasting cable to the command station, which is located in a truck at a safe distance from the blockage.This paper will review the development of the system and present the results to date.CITATION:Baiden, G, 2016. Robotic hang-up assessment and removal of rock blockages in mining operations using virtual reality for safety, in Proceedings Seventh International Conference and Exhibition on Mass Mining (MassMin 2016), pp 745–754 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2016