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

Dec 6, 2010

This method determines tellurium at concentrations down to 0·01 p.p.m., with geochemical accuracy. Tellurium is volatilized from the rock at 800°C in the presence of sulphur from decomposing pyrite, condensed, dissolved, and finally determined by atomic absorption in a long tube burner. The distribution of Te is shown near some gold lodes at Kalgoorlie. Lastly, a method of synthesizing Te-free pyrite from sulphur and ferrous sulphate is described.

Jan 1, 1969

By Slawomir Bock

One of the fundamental issues having a great influence on the safety of operations performed in underground mines is the support of workings which should assure their stability in a given geological setting and mining-technical conditions during the life of their use. The process of designing and planning support for roadways may use analytical and empirical, as well as numerical methods. In view of the rapid increase in the data processing capacity of computers and the development of more and more enhanced software for numerical modeling, it seems to be advantageous to use numerical methods in searching for design solutions ? especially in the case of non-typical mining and geological conditions and in cases that need to take into consideration a great number of factors. The assessment of rock mass quality is of basic significance in designing mine supports. Fractures, dividing the rock mass into blocks, have an essential influence on the stability of the rock mass and underground construction. This paper presents examples of the fundamental underground investigations on the rock mass conducted by the Department of Extraction Technologies and Mining Supports of the Central Mining Institute in Poland, such as: penetrometric tests, introscopic examination, laboratory testing of rock samples and ground penetrating radar. Moreover, this contribution also presents examples of applications of three-dimensional numerical modeling for the purposes of stress-strain analysis of the rock mass around mine workings and computer-aided support design by means of FLAC3D (developed by Itasca) and Cosmos/M (developed by Structural Research and Analysis Corporation).

Jan 1, 2009

The Australian metallurgical processing industry has shown great innovation and progressiveness over the past ten years. During the same period, exploration activity, particularly by Australian companies, has increased substantially in Indonesia. Following feasibility studies, the decision was made to establish a metallurgical laboratory and design facility in Indonesia. An Indonesian partner was selected, and legal and corporate matters were determined. The laboratory was established but proved far more difficult than a similar undertaking in Australia. Australian and Indonesian staff were recruited and training programs, including training of Indonesian staff in Australia, were implemented. Difficulties of operating in Indonesia included: ò language difficulties ò _ local pace of life ò culture ò communications. Rewards of the decision to establish the means to present the technology to Indonesia have included: ò a contribution to Australia's export of technology. ò an opportunity to expand Normet's client base. ò the opportunity to learn aspects of a foreign culture. ò the means to establish a sound long term investment. This export of technology from the Australian mining industry to Indonesia is an example of the initiatives and capabilities shown by the Australian mining service industry.

Jan 1, 1989

By Zhiyun Li

Room temperature infrared reflection spectra of 2 n-type homo-epitaxial epifilms have been measured in the work. The effect of the refractive index on the determination of layer thickness using traditional calculation measurement is studied and some improvements have been added to the measurement to improve the accuracy and stability of the measured results. Results of the improved method have great agreement with the results from SEM and both variance and mean relative error decrease an order of magnitude.

Jan 1, 2010

By M. Reuter, U. Boin

The target of the current metallurgical industry is to recycle and utilize all their by-products, so as to close the sustainable production loop. Slags are the important wastes and by-products of metallurgical industry, which have been treated, recycled and used worldwide. The present paper summarizes the current status of utilization of the various slags from ferrous and non-ferrous metal production, as well as waste incineration, and recycling of salt fluxes in secondary metal production. In addition, the environmental issues of the metallurgical slags are addressed. The metallurgical oxide slags have stone-like properties and, thus, their major applications are in civil engineering field. The slags should be recycled, modified and processed in a proper way, by taking the environmental impact into consideration. With the treatment of salt slags for melting aluminium scraps, as an example, the recycling and elution properties of the salt slags are discussed. Our research indicates that the viscosity of the salt flux is increased with addition of non-metallic components, that a certain percentage of fines remain in suspension, which determines the viscosity, affecting the settling of heavier materials. High slag viscosity will lead to more fine aluminium metal entrapped in the salt slag (may also be seen as a high temperature slurry), and thus increase the load of salt slag recycling. Keywords: recycling, environment, metallurgy, slags, fluxes, salts.

Jan 1, 2004

The following paper deals with a method for the" Proximate Analysis" of Chloridized Ores, which are free from arsenic, antimony and lime. When these are present the analysis is rendered far more complicated, and many of the methods which I am about to describe could not be applied. Sufficient scope is therefore offered for discussing the analysis, when these metals are present, in a separate paper, which I hope to contribute at a future date.I am fully aware that this method is far from being perfect. No doubt many, modifications and improvements will suggest themselves to my readers, and I trust that this paper will be the means of giving a certain impetus to the study of Proximate Analysis which at the present time is practically dormant. For the benefit of my readers who are not initiated into the details of ordinary estimations, I have briefly described well known methods, which, however, will be found fully described in most text-books of analysis. Assuming that the ore contains. sulphates and chlorides of soda and magnesia, sulphates, sulphides, chlorides and oxides of copper, lead, iron, zinc, manganese and silver chloride, the analysis would be conducted as follows. The first compounds to estimate are the chlorides and sulphates of soda and magnesia.

Jan 1, 1901

The Sams Creek gold deposit near Takaka in northwest Nelson was discovered in 1974 by CRA Exploration (CRAE) geologists. CRAE recognised the potential of the area and subsequently undertook a comprehensive exploration programme of geological mapping, soil and rock-chip sampling, geophysical surveys and diamond drilling. Exploration defined sporadic gold mineralisation contained entirely within a deformed and hydrothermally altered, peralkaline granite porphyry dyke with a seven kilometre strike length, and up to 60 m thickness. Rock chip samples indicated extensive and economically significant gold grades over approximately one kilometre strike of the dyke at Main Zone prospect. CRAE completed 30 diamond drill holes at this prospect and defined a limited resource. Oceana Gold Limited recommenced active exploration at the Sams Creek Project in late 2002, focusing on improving the geological understanding and known resource at Main Zone. Completion of 1041 m diamond drilling successfully increased the estimated resource to 10.7 Mt @ 2.12 g/t Au containing 729 000 oz at a 0.7 g/t cut off. A further campaign of 1560 m diamond drilling was undertaken in 2003 - 2004 to extend the resource and test the continuity of high grade mineralised zones. Deeper intersections of the porphyry dyke indicated geometrical complexity and grade variability similar to that observed at shallow levels. Recent research suggests that Sams Creek can be geologically classified as a variant of intrusion-related gold systems, and therefore comparable to some other, very large gold deposits. However, due to the rugged terrain and dyke geometry, surface drilling is reaching the limits of viability at Main Zone. If infill drilling continues to be successful then an underground decline may be developed to facilitate further exploration. Potential also exists along strike, where other significant gold anomalies are known but largely untested by drilling.

Jan 1, 2004

By Lewis PJ, Halfpenny R, Craighead GA

Exploration drilling by Joint Venture partners CRA Exploration Pty Ltd and Elders Mining PNG Pty Ltd has discovered a signif- icant copper and gold deposit at the Wafi River prospect, 60km WSW of Lae in Papua New Guinea. An indicated resource of 18Mt at 2.5g/t Au using a lg/t cutoff has been delineated in Zone A. No estimate has been determined for the separate copper occurr- ence at Rafferty's Zone but the copper will be significant to the project. Metallurgical studies on the gold indicate that the primary ore is refractory to direct cyanidation giving a highly variable and inadequate response. All conventional refractory ore oxidation techniques perform well on both ore and pyrite concentrate and oxidation occurs rapidly. No metallurgical studies on the copper mineralisation have been undertaken. Hypogene covellite and chalcocite copper mineralisation is associated with an intensely quartz-stockworked, and quartz and alunite-altered intrusive. Economically significant gold mineralisation occurs in distal subhorizontal lenses, within a sedimentary host, that plunge toward the intrusive. These lenses are sandwiched between overlying quartz and alunite-altered zones and underlying quartz and smectite zones in a mixed zone of quartz, dickite, kaolinite and illite alteration. The alteration and mineralisation is classified as a high sulphidation, epithermal style resulting from the influx of hot, acid magmatic fluids. Preliminary land ownership, road access, power supply and mine infrastructure studies are in progress. The project is currently at an advanced exploration stage.

Jan 1, 1991

Open pit mine plans define the complex strategy of displacement of ore and waste over the mine life. Various mixed integer linear programming (MILP) formulations have been used for production scheduling of open pit mines. The main problem with these models is the inability to solve real size mining problems. We present a mixed integer linear programming formulation for the open pit long-term production scheduling problem. To reduce the number of binary integer variables in the formulation, we aggregate blocks into larger units referred to as mining-cuts. We present a semi-supervised clustering algorithm which aggregates smaller blocks based on rock types and grade ranges into mining-cuts without introducing an error in the grade estimated values. The cluster-based aggregation algorithm is fully integrated into an MILP mine production scheduling prototype software. We have implemented, verified, and validated our models. The efficiency of the new platform is evaluated through iron ore mine case study.

Dec 6, 2010

The mechanization of the coal industry in New South Wales involved the introduction of large face and transport machines. The trend is towards still higher capacity units with .greater horsepower and it became apparent that a potential risk of damage to the hearing of workmen existed. In order to assess whether the sound levels were SUfficiently high to impair the hearing of workmen a sound level survey of all major operations in the industry was carried out by the Mining Engineering Division of the Joint Coal Board.The results indicated ·that the operations could be classified into three categories of risk, probably hazardous, of doubtful hazard due to the intermittency of the operations, and of low hazard.Legislation has subsequently been enacted requiring the wearing of hearing preservation aids in some of the probable risk operations.

Jan 1, 1974

By Reid K. J, Restarick C. J

The breakage and flow characteristics of quartz, ground as a minor constituent with calcite in a continuous wet ball mill, have been determined by carefully controlled grinding tests.A mathematical model, combining the simple functions which describe these characteristics, has been used to predict both steady state and non steady state results.The calculated results are compared with experimental data.

Jan 1, 1966

By Moresby J. F

Segregation roasting was used to recover more than 85 per cent of copper from crushed, minus 14 mesh refractory furnace-lining bricks. A plus 14 mesh fraction: which was high in copper, could be recycled directly to the smelter, giving an overall recovery of approximately 90 per cent. An oxidation roast at about 700°C was necessary, before segregation roasting, to convert copper sulphides and copper metal to sulphates and oxides. Withsegregatron temperatures in the range 600°-650°C the quantities of solid carbon and NaCI required are 2-5 per cent and 1 per cent respectively. P.V.C. coating from scrap copper wire can be used instead of NaCl as asource of hydrogen chloride for the segregation reaction.

Jan 1, 1978

By Lewis Martin

Spokane Research Center personnel are currently conducting research on cable bolts to assess their material and support properties, to provide design criteria for roof control systems under various types of underground mining conditions, and to provide background data for computer models of cable bolt supports. Laboratory studies of cable bolts made of conventional steel cables with Garford bulbs and collars resulted in recommendations on characteristics such as embedment length, hole diameter, cable bolt diameter, and configuration of cables. A completed series of laboratory tests has determined the minimum embedment length of resin required for resin-grouted, cable bolt ground support.

Jan 1, 1996

By McLennan R. G

The principle of personal safety is as old as the human race. The application of this principle to industry is of much more recent origin, and may be said to be almost exclusively the product of the twentieth century. The enormous strides in technique and production mode prior to the turn of the century had been achieved without any real regard for the crippled human by-products of that expansive era. It was accepted that. accidents were inevitable and formed part of the price that must be paid for production. It was not until 1885 that the first Workmen's Compensation Act was passed in Germany making the employer financially liable for injuries suffered on his plant.With awakening social conscience came the first organised efforts to reduce accidents in industry. Early 19th century literature dealing with the development of powerdriven machinery and the growth of industry in Europe contains many references to the unsafe and unhealthy working conditions that accompanied the change-over from the home workshop to the industrial plant. By the year 1900, there were in Germany - and a little later in England governmental regulations dealing with the guarding of hazardous machinery. American industry, now the acknowledged leader in industrial safety, admits freely that when an organised safety movement commenced in that country, there was already a considerable amount of information available to them from European experience. The steel industry was well to the fore in this work, and in...

Jan 1, 1957

By Clarke P. E

At the end of the recent war, reports became available from Europe of the use of tungsten-carbide inserts in percussion rockdrill bits. These bits were used with small size rockdrills, so that the only advantage gained from the use of the harder, abrasion resistant, tungsten-carbide appears to have been the greater life of the bit. Larger machines, such as used in Australia in conventional practice, had to be discarded to protect the relatively brittle tungstencarbide inserts and the vulnerable bonding with the bit body.As it had been found in machine shop practice that some grades of tungsten-carbide had been produced with considerably improved toughness, it was decided by Gold Mines of Australia Ltd. that drilling practice with tungstencarbide bits warranted detailed examination under Australian conditions, and that drilling tests should be undertaken at Morning Star (G.M.A.) Mines N.L., for which it acts as General Manager and Consultant.These investigations progressed through three stages:1. Preliminary Investigations and Tests.When the investigations were initiated no commercial bits were available in Australia, and manufacture was commenced with improvised equipment from virtual scratch. These early tests indicated that the use of 3 in. bore rockdrills in conjunction with tungsten-carbide insert bits was a 'possibility, and that it was unlikely that a small bore...

Jan 1, 1950

This paper is a collection of thoughts and frameworks. It addresses a simple question: æIf we are to believe the large number of people and institutions indicating that humans are destroying the Earth and that the end is nigh, why do we bother trying to be sustainable?Æ The paper lays out evidence for the existence of multiple hazards to global society. The existence of a hazard alone is insufficient to make an assessment of risk. Risk estimates are required to support decision-making. An approach to assessing risk is provided and some limited data are presented. A new ædefinitionÆ or statement of what sustainability (in a broad sense) might have become is then given. A decision framework for guiding decision- making about the risks is developed. This framework includes a definition of leadership with inherent implications for what determines whether a leadership position by title is actually leading. The paper concludes by offering a view of minerals industry sustainability and considerations around maturity in the current economic situation. It is hoped that by placing this collection of frameworks around sustainability, a supporting structure emerges that will facilitate action. It is proposed that action taken in this way will be more effective than reaction to regulation or even social license to operate imperatives because it is driven by a more holistic view of the challenges and the potential roles of individuals û all of whom are potential leaders at some scale of action.

Jan 1, 2009

By D. F. Hewett

CONTENTS PAGE Introduction 1 Geologic features of eastern Oregon 2 Geology of the Sumpter quadrangle 2 Rocks older than the ore deposits 3 Rocks younger than the ore deposits 8 Lodes of the Sumpter quadrangle 8 Areal distribution 8 Geologic distribution 9 Major features of the veins 9 Mineralogy and texture of the veins 13 Ore deposits zonally disposed around the Bald Mountain batholith . . . . 13 Summary of mineralogy and texture 32 Zonal relations 33 Ore deposits zonally disposed around Greenhorn Mountain batholith . . . 36 Zonal relations 37 Relation of textural features to zonal arrangement of veins 37 Summary of zonal relations 38 Comparison with similar districts 39 Outlook for the district 40 INTRODUCTION IN an earlier report on the Sumpter quadrangle1 it was briefly stated that the quartz lodes of that region might be separated into several groups or belts on the basis of the kind and abundance of the minerals of which they are composed, and that these belts were disposed as areal zones around the principal intrusive mass of the region. When the opportunity to revisit the region was offered in 1929, as a result of a cooperative agreement between the State Mining Board of Oregon and the United States Geological Survey, it seemed advisable to pay particular attention to this feature of the lodes, in the hope that if the idea of zonal relations was confirmed it might serve as a guide in exploitation.

Jan 1, 1931

By Andrew Peterson

The Maine Department of Transportation offered this challenging design-build project for a new, 12-span, bridge over the Kennebec River in Bath, Maine. This structure would be built to replace the existing Carlton Bridge connecting the village of Bath, Maine to neighboring Woolwich, Maine. The design build team of Flatiron Structures, Inc., and Figg Engineers, Inc., elected to design and build a segmental concrete bridge. Site conditions dictated that this bridge would be supported primarily on deep foundations. Case Foundation Company joined the project team in the winter of 1997 to install twenty-two, eight foot diameter drilled shafts. The drilled shafts were designed with 8' diameter, permanently cased shaft sections and 7.5' diameter rock sockets. Shaft lengths ranged from 20' long near the river's edge to 100' deep in the middle of the river. Rock socket lengths ranged from 12' to 30' deep. Two Osterberg Cell load tests were conducted on production drilled shafts. Figg Engineers utilized the results of the load tests to "fine-tune" the rock socket design during construction of the drilled shafts. Construction of the drilled shafts proved to be very challenging and called on every member of the design-build team to work together throughout the project. One of the most challenging aspects of this project was in the installation of the 8' diameter permanent casing and drilling of the rock sockets. Early in the project, it became apparent that the top of bedrock was broken and unstable. This condition limited the advancement of the permanent casing and the affect of a "seal" at the top of rock socket. As a result, as the rock socket was advanced, loose material spilled into the hole and stopped progress of the socket. In order to resolve this problem, the design-build team developed a redesigned drilled shaft which included the installation of a steel sleeve to seal off the unstable rock formation. Following installation of the sleeve, the rock socket diameter was reduced to 7' diameter and advanced additional length to achieve required design capacity. All drilled shafts were installed with equipment supported on floating barges. Water access, along with the long shaft lengths and very hard bedrock required the use of cranes and drilling equipment that far exceeded the requirements of typical drilled shaft projects. This paper will discuss the relationship between design, construction, and equipment utilization on this challenging design-build project. [ ]

Jan 1, 1999

By D. Arentsen

Changing environmental laws, new operating requirements and the increasing accuracy with which the bearing capacity of driven piles can be calculated have all led to the development of hydraulic piling hammers, some very primitive, others very advanced. Users find it difficult to decide which model is the most suitable, because the specifications are neither uniform nor unamiguous. There are no standard specifications and, moreover, the majority of hammers are suitable only for a limited range of applications. For the user, however, it is important to choose a hammer which will meet future as well as current requirements and will not quickly become obsolete or be unsuitable for a particular job.

Jan 1, 1987