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By Thierry Bernard

New technology to automatically design a blast based on autonomous drone. The process of flying a drone, calculating the 3D cloud of points, generating the critical face profiles and placing holes automatically according to burden specification becomes fully automatic. A nice time saving with more efficiency

Feb 1, 2020

By F. Sundqvist, B. Skawina, J. Greberg, A. Salama, M. Astrand, P. Ekbeck

Today’s mining operations require fast reporting and rapid rescheduling based on updated information. An automatic mine scheduling system could not only quickly reschedule but also propose alternative solutions. To avoid the financial and physical risks associated with testing such a system directly in operation, it could be first evaluated via discrete event simulation models. This would offer a safe environment to evaluate different operating rules and algorithms. In this study, this is achieved by integrating automatic scheduling software with a discrete event simulation model.

Jun 1, 2021

By CK Tsang, Jack Muir, Dharman Gersch, Joshua Barry

Correct face pressure is critical to safe operation of a closed face TBM. If inadequate face pressure is applied, this will lead to excessive ground movement, and may result in collapse of the tunnel face. Face pressure calculations are performed manually every few meters along the tunnel alignment. With the application of a 3D ground model, ground profile information can be extracted for automatic computation. This will significantly improve the efficiency and accuracy and is adaptable to changes in design parameters. This paper will discuss the development of automatic computation techniques in extracting information from a 3D ground model.

Jun 13, 2021

This paper presents a review of computer techniques for the automatic contouring of geological and geophysical data with output as interactive display on graph plotters or graphics terminals and passive display on automatic drafting tables. The advantages of the method of fitting a triangulated surface to randomly distributed data using an advancing front algorithm are described, as well as the technique for determining interpolated values for the production of contour line segments and a contour smoothing algorithm. This contouring method is employed by the Geological Survey of Queensland and is implemented as an interactive system. An alternative method ideally suited to randomly distributed data involves the use of piecewise parametric cubic splines. This method which is ideal for sharp variations in magnitude and areal extent typical of geophysical anomalies is discussed. The mathematics of surface interpolation using non-parametric splines and an explicit piecewise surface fitting technique are discussed. Curve tracing techniques which are suitable for automatic contouring are also presented and the inherent advantages of interactive contouring using on-line plotters and graphics terminals for previewing of displays are described.

Jan 1, 1977

By D. M. Doyle

"The Strathcona Concentrator operations, the application of control systems in the crushing, flotation and tailing fill sections, and current and future computer control concepts are described in this paper.The computer has been used for reporting and monitoring roles and operating the on-stream analyzer since start up of the mill in 1968, while over the past twenty months, it has been used for process control. The systems which have been developed include:1. The blending of pentlandite concentrate with pyrrhotite concentrate to produce a special product of constant nickel analysis.2. The blending of cement with tailing fill to produce backfill of consistent cement content.3. The supervisory control of xanthate, frother and pH to the flotation circuits to maintain the nickel copper concentrate grade within narrow limits.IntroductionThe Strathcona Concentrator is currently treating 7,200 tons per day of an ore which contains nickel associated with the minerals pentlandite (28 -32% Ni) and pyrrhotite (0.3 -1.0% Ni). The ratio of the nickel minerals varies from 4 to 15 parts of pyrrhotite to 1 part of pentlandite over the orebody. The production of a high grade concentrate re4uires the separation of this small quantity of .oentlandite from the much greater proportion of pyrrhotite and gangue and is complicated by the presence of two pyrrhotite minerals differing in nickel content, floatability and magnetic susceptibility."

Jan 1, 1974

By F. E. du Plessis, P. De Waal

Through the development of innovative in-line mineral quantification sensors, the possibility has arisen to apply modern control theory to implement automatic process control for electrostatic high tension (“HT”) roll separators. A pilot-scale set-up was constructed to enable continuous tests to be carried out. A typical dry mill feed was continuously pre-heated and separated with a modern lab scale HT roll machine. The mineralogy as well as mass-flow of the non-conductor stream was quantified in-line, and the combined streams were re-circulated in an endless loop by a combination of vibration feeders and a bucket elevator. A fractional factorial experiment was executed to determine the most significant control parameters of the HT roll separator. Then a multi-input, multi-output dynamic model of the HT electrostatic separator was extracted by the application of standard system identification techniques for automatic control. The most important control variable to ensure a stable product grade could be identified. This allowed a robust single-input, single-output controller to be implemented. The process variable and set-point was mineral grade and the control variable was electrode voltage. Roll speed was manually adjusted while the mineral grade was kept on set-point by the control system. The roll speed, where maximum mass flow and therefore maximum yield was produced on-grade, could therefore be rapidly determined. Atmosphere humidity and ore temperature served as disturbances. Some other adjustable parameters were kept constant during the experiments, namely feed mineralogy, splitter settings and feed rate. Delivery of maximum yield, with a controlled grade, can improve production while reducing the burden of complex manual tuning. Manual tuning previously involved coping with multiple parameters with uncertain cross coupling influences on the end result. Even the end result was typically only known after completion of mineral assays. Automatic grade stabilisation and yield optimisation for a HT roll separator bank requires in-line measurement of mineralogy and mass flow, as well as the implementation of a robust process control system.

Jan 1, 2005

By S. Caron, M. Bourassa, J. Châteauneuf, L. Tardif

"Since many years, the Yvan-Vézina gold plant custom mills and processes different ore types that show different behaviors. Because of this, cyanidation control is more complex than for a typical milling operation. In 1992, a Cyancor™ on-line « free cyanide » analyzer has been installed for monitoring and optimizing cyanidation. This implementation significantly reduced cyanide consumption for the overall cyanidation process. In order to further reduce cyanide costs, an automatic control strategy has been implemented to decrease fluctuations of« free cyanide » from their set points.This paper outlines the major steps of the project: process control audit, control strategy development, implementation and running-in period. Control strategy features include data filtering modules, adaptive PID algorithm and set points management modules are also presented. Finally, the strategy efficiency is illustrated with load-disturbance responses.IntroductionLocated in northwestern Quebec, the Yvan-Vézina plant has an average capacity of 1300 t/d using carbon-in-pulp technology. In 1991, the Yvan-Vézina gold plant was processing three types of ores (Beauchemin, Mouska and Silidor mines) and a pyrite concentrate (Beliveau mine). A cyanide reduction program was then undertaken to reduce « free cyanide» fluctuations <6>. To reach this objective, the optimum cyanide concentration was determined for each ore, a continuous monitoring method with the Cyancor™ on-line analyzer was developed and a tighter control of cyanide addition was applied. These modifications to the leaching practice significantly reduced cyanide consumption.After a while, it was observed that regulation of « free cyanide » concentrations could still be improved by the use of an automatic control strategy. Yvan-Vézina and CRM began collaborating in 1995 to develop and implement such a strategy. Results show that main disturbances of the circuit (e.g. ore mineralogy and pulp feed rate) can be significantly overcome in order to reduce their effects on the leaching operation."

Jan 1, 1998

By W. TRINKS

RAPID progress has been made in the automatic control of open-hearth furnaces in the past few years and many firms today\supply such control apparatus. It is somewhat surprising that so little was heard about open-hearth control up to about, 1928, and that thereafter the practice of automatically controlling open-hearth furnaces spread very rapidly. Before discussing the reasons for this it may be advisable to list the quantities that can be controlled. One of the easiest quantities to be controlled in the open-hearth furnace is pressure. The reasons for controlling it are plain. If there is excess pressure in the furnace, products of combustion leak out around .the .door and through all the cracks in the brick-work. The stability of the piers between the doors is seriously endangered, and front wall repairs become frequent. Furthermore, hot gases are lost that might be usefully employed in heating the checkerwork. If there is a slight vacuum in the furnace, cold air entering through the doors and cracks cools the interior, slowing down the reactions and making it impossible to secure the highest degree of preheat from the checkerwork.

Jan 1, 1931

By Stewart W. Daniel

"Increasing labour costs, the trend to larger mills, the processing of lower grade ores and a diminishing sup-ply of well-trained and experienced mill operators contribute to the necessity of automating a grinding circuit. With sophisticated process control techniques, supervision of the mill line is reduced to an occasional inspection by the shift supervisor. Process operating decisions and/or adjustments are quickly and accurately performed by the electronic devices to be described. When the variables in the grinding circuit are stabilized using the sensors and controllers as discussed, the over-all grinding circuit is maintained at its optimum grinding load level, with ample protection against under-and overloading."

Jan 1, 1967

By Toro HCH, Von Borries GH

A brief description of the semi-autogenous grinding (SAG;) facilities of Compania Minera Disputada de Las Condes is given. A data-logging and computer system was connected to the plant inter facing the existing analog control system in a supervisory s, control philosophy. The development of a control straiov,v t,) maintain maximum power of the SAG mill atsubjected to process restrictions is shownThe present control scheme is discussed inalgorithm was designed based on correlations onLween vartaoles. Associated with this, a direct level of control was developed be, on classical control algorithms, process inter-active tuning has been included. Also, an algorithm to prevent overloading of the is discussed. Control scheme tests are presented in comparison t manual operator control under the same conditions. It is shown t the control strategy gives a more stable operation and a higher plant throughput.

Jan 1, 1985

By Loui Geoffroy, Philippe Gaultier, Martin Piotte, Claude Coache, André Drouin

"Automatic driving at high speed of an underground truck was tested at Brunswick mine in September 1995. Modifications to the truck included: a remote interface to control actuators, front and back video cameras to follow a roof mounted optical guide and proportional hydraulic controls on the steering.The mathematical model of the hydraulic system was adjusted using least square regression. The steering data, used in calculating the regression parameters, were acquired from the moving truck. The automatic steering control used three measured variables: lateral deviation, angular deviation and steering angle. Lateral deviations are obtained using the cameras, which are in continuous view of the guide, while steering angles are acquired from an extensiometer placed at the articulation point of the vehicle. Gain scheduling was used to compensate for vehicle speed and available hydraulic flow. Non-linear characteristics of the modeled hydraulic system were offset using open loop compensation.Speeds up to 23 km/h in forward direction and 13 km/h in reverse were achieved deviaduring continuous testing along one of the mine’s production drifts. Proportional steering was essential in achieving high speeds, as it enabled more precise positioning of the vehicle’s steering direction while reducing the abuses on cylinder and cylinder pins via diminished oscillations about the optical guide at high speeds."

Jan 1, 1997

By W. Barbarowicz, H. E. Uhland

AT the Noralyn mine and mill of International Minerals & Chemical Corp. in Bartow, Fla., process instrumentation has been incorporated in three departments-mining, flotation, and preparation. Use of the dragline is the most difficult aspect of the mining operation to control automatically. At the Noralyn mine there are two draglines, a Bucyrus-Erie 1250-B with 29-yd bucket and 235-ft boom and a Bucyrus-Erie 1150-B with 21-yd bucket and 215-ft boom. These are equipped with a minimum number of instruments, but further instrumentation would increase the operator&apos;s efficiency.

Jan 7, 1957

A. SILVERMAN,* Pittsburgh, Pa.-Prof. Richards has described a very interesting process. In addition to the method described, electroplating and a number of other processes have been used. In one, the two metals were heated and united under hydraulic pressure; in a second, the steel was coated with an alloy, brass for example, and the molten copper cast around this. The process that I would like to bring to the attention of the metallurgists present consists simply of pouring molten copper, brass, or cupronickel around a clean red-hot steel billet. &apos;It is covered by the Roth patents. The 8-in. cylindrical billet containing about 70 per cent. steel (core) and 30 per cent. copper is hot drawn or rolled until several inches in diameter and afterward cold drawn or rolled to rod, wire of any desired diameter, or sheet. The wire is used for electrical conduits where conductivity and high tensile strength are required, also for the manufacture of cables and screen cloth. The sheet is employed for the manufacture of spouting, molding, shells, etc. The last application is particularly interesting. In testing rifle cartridges, which usually contain lead-filled copper noses, pine boards 1 in. thick, covered with ¼ -in. rawhide, are placed 1 ft. apart. The value of the cartridge depends on the number of boards penetrated by .the bullet. In government tests made with copper-coated steel noses (15 per cent. copper on either side of the steel) the penetrating power was found to be approximately double that of pure copper noses. The advantage of copper-coated steel over cupronickel lies in the fact that the- former does not require any special heat treatment during the punching. Rifle cartridges were prepared from copper-coated steel in a number of government arsenals. The value of the combination was attested by the awarding of a contract for the construction of a $3,300,000 plant. Unfortunately, the contract was signed on the day preceding the signing of. the armistice and was cancelled several days later. Tests were conducted for about 1 yr. before the contract was awarded to determine the value of this combination of metals. Since the war a number of cartridge and shell manufacturers have signified their intention of using copper-coated steel.

Jan 4, 1919

By Lorenzo Bacchetti

Automatic yards with ad-hoc WMS (Warehouse management software), are the key for a modern and efficient warehousing which can face today logistic challenges. WMS boosts the traceability of material while optimizing the storage space. The operations in the yard are safer and logically organized according to algorithms that are specifically adjusted case by case. WMS can easily handle multi-cranes yard avoiding conflicts and increasing accuracy of positioning with decreased number of movements. The synergy of automatic cranes and WMS reduces bottlenecks and speeds up the preparation of deliveries with an overall improvement of warehousing and shipping scheduling.

Oct 1, 2019

There are multiple stages in a mining operation that a mining engineer has to draw polygons to be used as operation guidelines. These polygons are drawn by hand and based on engineer?s experience. However, having automatic procedures for forming the shapes can increase the quality and decrease the efforts required. These shapes need to be homogenous in grades and rock types so that the quality and dilution of material sent to the plant can be estimated with the good approximation. In this paper, a clustering algorithm with shape control is introduced which can provide reasonable guidelines for all the aforementioned shapes by manipulating its parameters. At the end, implementations of the algorithm on a small part of a gold deposit with different mining strategies is presented and evaluated based on homogeneity of grade, rock types and determined destinations as well as the shape.

Feb 27, 2013

By P. Lenegan, R. Masethe, R. I. L. Ferreira

Underground mining in high rock-stress environments can induce unanticipated dynamic rockmass deformation, posing a serious risk to the workforce. Data collected by seismic networks are imperative for the design-as-you-mine process. Often an inappropriate assessment of the seismic hazard is done when unnecessary data are included in analytical techniques, particularly short-term time frames. Depending on the methodology or application of data analysis and interpretation, some of the information may not be relevant and even detract from the objective. By using the spatial event clusters associated with active workplaces to define the shape and size of the polygons for data selection for subsequent analysis, a problematic subjective component can be eliminated. The mining of tabular reefs in South Africa, be they gold- or platinum group metals, is very extensive, and underground workplaces are often widespread. Production stoppages are very costly, especially for marginal mines, so there is just cause not to evacuate an entire operation’s workforce following the occurrence of a large mining-induced seismic event. A rationale based on the damaging peak particle velocities (PPV) of the past seismicity can exclude the unaffected underground personnel and allow a quick orderly withdrawal where required. Micro-deformation may precede rockbursting, which can occur on-shift close to the workface. A mine-wide array of geophones suitable for the accurate location and analysis of seismicity may not be able to detect these higher-frequency emissions. Inexpensive but fit-for-purpose accelerometers, providing real-time, continuous measurement of acoustic rockmass deformation near the workplace, integrated through underground and surface communications networks, are shown to record ‘rock-talk’, clearly distinguishable from the instrument background noise, which can be in the order of hours leading up to an imminent damaging seismic event.

Jan 12, 2025

By K. Norrena

Grade control in open pit mining requires the specification of dig limits that account for mineral grades, economic costs, and selectivity of mining equipment. Visual identification of ore rock types is ideal, but this is not always possible in lower grade disseminated deposits where ore/waste contacts are not visually discernible. In this case, conventional grade control practice consists of a two-step procedure (1) create a map of mineral grades at some selective mining unit scale, and (2) determine practical ore-waste boundaries or dig limits on the basis of the gridded block grades or assay information. This procedure is laborious, depends on a subjective assessment of where the boundary should be, and may be economically sub-optimal. We pose the determination of dig limits as an optimization problem and solve that problem with the technique of simulated annealing. Simulated annealing has the unique advantage of being able to combine multiple non-linear constraints into a single objective function. We use maximum profitability and the ability of the equipment to mine the proposed dig limits as constraints in the determination of optimal dig limits. We require a map of expected profit for eah block. Geostatistical techniques are recommended, for mapping expected profit but not necessary. Geostatistics will provide a quantification of the uncertainty in the grades within rock types using all available blasthole samples and exploration drilling. Some variant of L-optimal estimation or kriging can be used to determine the block-by-block classification that is economically optimum. We also need the expected profit for each block. It is unrealistic to assume free selection, that is, each block cannot be extracted independently of its neighbors. The optimal balance of &apos;&apos;accepting dilution&apos;&apos; and &apos;&apos;wasting ore&apos;&apos; is achieved to maximize profit subject to equipment constraints.

Jan 1, 2001

By Peter Ay, Harry Pempel, Satya Narra, Mike Müller, Jens Markowski

"Within the next few years major changes in mobility are expected. Increasing numbers of electric powered cars, electrobikes and E-Scooters define the transport sector. Recently lithium based traction batteries as storage medium have led into matrurity of series production combining high electrical efficiencies with low weights and compact dimensions. Due to the relatively young development with lithium batteries utilization, only few investigation were conducted regarding their recycling. Conventional battery recycling processes can not be applied due to differences in design and chemistry. So an automated disassembly and processing procedure for lithium traction batteries has been developed in the R/D-project ""Li-WERT"". Instead of complete smelting of the batteries without pretreatment, an automated disassembly and specific treatment of the material streams was realised, adjusted to the needs of the subsequent recovery technologies. A higher quality, with reduced expenses for the separation of fine-grained or fused material mixes, can be obtained for the individual components. The automated disassembly using an industrial robot significantly reduces dangers for the operating crew. The selective disassembly and beneficiation allows full recovery of the fractions. The batteries will be disassembled to cell level by the industrial robot. Anodes, cathodes, and separation layers are isolated and processed. The technology is designed, that no waste is generated for disposal. The pelletised cathode coating and the other separated metals (stainless steel, copper, aluminum) can be used in respective metallurgical plants. Circuit boards and plug contacts are also coveted secondary raw materials for reuse. The process is modular and offers high flexibility, e. g. for new battery types/ sizes by quick adjustment of the robot and tool change. Adaptation to other cathode materials (e. g. Li[FePO]) is possible. After finishing the R/D-project, a pilot plant for demontage was realised in 2013."

Jan 1, 2014

By L. G. Morrell

Introduction A Self-Dumping cage which combines the features of a small skip and a cage has been used in a vertical winze between the 2,000 and 2,500 levels at the Coniaurum mine for the past three years, during which time its success has been demonstrated by uninterrupted service and low maintenance charges. lt was designed by John Reddington, mine manager, and was built under his supervision in the Coniaurum mine shops. Being new in many of its operating features, a small-scale model was made and tried before the final construction was undertaken. The mechanical performance of the model suggested a few minor changes that were incorporated in the final drawings. During its three years of use, the automatic dumping device has saved the expense of deck-handling of the cars. This actually represents a gross economy of something over four times the cost of construction and installation, which totalled $1,325. The cage, empty, weighs 2,200 pounds, of which 500 pounds represents the weight of the dumping accessory and necessarily heavier construction. Besides a considerable financial saving, the time saved in unloading increases the daily hoisting capacity of the winze. In raising ore from the 2,500 level, five minutes are required for a complete trip. Allowing one minute for the alternative of decking, we believe that the automatic dumping has increased the capacity of the winze hoist nearly 20 percent.

Jan 1, 1933

By Adabala Raja Venkata Sai Naresh, Radhakanta Koner

Particle size distribution (PSD) is an essential parameter in assessing the overall efficiency of blasting operations in mines and the subsequent mine-to-mill process in the mining industry. Despite some drawbacks of 2D image analysis techniques in accurately estimating particle sizes in PSD, the mining industry has relied on them for the last three decades. This study proposes the 3D rock fragmentation measurement (3DFM) technique for deducting the accurate dimensions of 3D rock particles for the PSD. 3DFM has utilized different processing algorithms. Images of different views of the non-touching rock particles of varying sizes have been acquired as a data acquisition step of structure from motion technology for generating sparse point cloud. Dense point cloud reconstruction is used to avail finer details of the point cloud using clustering views for the multi-view stereo algorithm. Random sample consensus (RANSAC) algorithm coupled with an unsupervised classification using the density-based spatial clustering of applications with noise (DBSCAN) classifier is employed to extract the rock clusters from the 3D point cloud. Finally, the accurate rock sizes are derived using the hybrid bounding box rotation identification (HYBBRID) algorithm with a root mean square error (RMSE) of 0.10 cm for length, 0.10 cm for breadth, and 0.32 cm for depth. The PSD of rock fragments obtained from the proposed 3DFM technique is found to be matching with the results of mechanical sieving and manual gauging with an R2 values of 0.98 and 0.99, respectively. The 3DFM method can be considered cheaper, more accurate, and computationally faster in determining the rock dimensions for the PSD determination method to enhance the productivity of the mining industry.

Dec 29, 2023