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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

By D C. McPhail, S L. Rogers, J Brugger

Using iron- and sulfur-oxidising bacteria to catalyse the breakdown of sulfides that host the gold is an important biological method for the pretreatment of refractory gold ores. Following this biological treatment a combination of chemical and physical methods are used for leaching (such as the cyanide process) and concentration (such as carbon-in-pulp or electrowinning) of gold. Although these methods are well accepted by industry, they harbour limitations in the processing of low-grade refractory ores, and regulatory agency/public acceptance of cyanide use. Thus, it is beneficial to industry to develop environmentally friendly, cost-efficient leaching and concentration techniques that are based on micro-organisms. This may soon be possible by adapting the results of recent regolith geoscience research, which has shown that micro- organisms are capable of driving a biogeochemical cycle of gold dispersion, transport and reconcentration in the supergene environment. The indigenous microbiota in biologically active soil microcosms from a number of Australian sites are capable of solubilising up to 80 wt per cent of the gold contained in these materials during 50 days of incubation. Studies using molecular microbial techniques have shown that a metallophilic bacterium, Ralstonia metallidurans, is present in biofilms on gold grains from a number of Australian sites. R metallidurans is capable of actively accumulating gold from solution, suggesting that the bacterium may contribute to the formation of secondary gold grains and nuggets. Identifying the biochemical and physiological pathways that lead to the dispersion and accumulation of gold in regolith, and quantifying the reaction kinetics of these processes may thus lead to the development of industrial bio-processing capacities for gold-containing ores.

Jan 1, 2007

By Ruxton B. P, Rhodes J. M

Two Rb-Sr ages are discernible in data concerning the leucocratic granite which is the youngest pre-sedimentation phase of the crystalline basement complex at Rum Jungle, Northern Territory, Australia. Whole-rockdata suggest that intrusion of this unit took place at about 2400 my ago, with a probable initial ratio around o·707; whole rock-potassium feldspar tie-lines indicate redistribution of strontium at about 1800 my ago. The former age correlates with other measurements on rocks which form basement to the mantling Pine Creek Geosyncline; the latter correlates also with isotopic evidence for regional metamorphism and emplacement of some younger intrusive granites elsewhere within the geosyncline. A few K-Ar ages, from scattered localities, conform generally with the later event or events which appear to have some connection with the structural deformation clearly observable both in the complex and the surrounding metasediments. It is these younger events which appear to match the residual evidence for the earliest detectable concentration of uranium minerals in the Alligator Rivers district.

Jan 1, 1977

By R B. Stewart

Where pasture production is the intended land use of the areas to be reclaimed, the creation of a suitable growing +medium is a major objective. To achieve this land reclaimers require a sound understanding of the proposed mining plan and a knowledge of the physical, biological and chemical properties of materials intended for resurfacing disturbed areas. Where the original soil is not being replaced in its natural state, research is usually required to determine an alternative growing medium. Results from field research conducted on waste material from the Waihi Gold mine are reported with emphasis on the significance of soil depth in relation to pasture production in this environment.  Problems in extrapolating field research to large scale operations are also considered.   Essentially the requirements for successful pasture production, on surrogate growing medium, are akin to conventional approaches used in New Zealand in the development of unimproved agricultural land. High inputs of fertiliser are initially needed, especially where volcanic soil is used, and careful management of pastures and soils is required to minimise soil erosion and create a sustainable system. In the first three to five years of pasture production, grazing use of the land requires to be dictated by pasture availability and soil conditions and not by animal feed requirements. The use of light stock (young dairy or sheep) is recommended.   Successful land restoration requires a team approach by a range of cooperative specialists including engineers, soil scientists, farm managers, agricultural contractors, landscape architects and environmental officers.

Jan 1, 1991

Development of New Comminution Testing Methodologies for Geometallurgical Mapping of Ore Hardness and Throughput The emerging discipline of 'geometallurgy' is becoming increasingly recognised as a discrete and high-value activity that reflects an ongoing trend towards more effective mine site integration and optimisation. Constrained sampling that reflects and defines inherent ore body variability is a key geometallurgical requirement. This requires use of larger numbers of low-cost physical testing which can be applied to small sample volumes suitable for defining natural variability. The AMIRA P843 'GeMIII' project (Geometallurgical Mapping and Mine Modelling) is a major industry-supported research initiative designed to develop new tools, methods and protocols to support geometallurgical integration. As part of this integrated research a new more rapid low-cost comminution test (GeM Comminution index) has been developed which can be employed as a front line tool for geometallurgical mapping purposes and predictive throughput modelling. The test has been designed to be inserted into routine assay sample preparation and is based on constrained jaw crushing protocols linked to analysis of resultant size distributions. Extensive validation and modelling has shown the GeM Comminution Index (Ci) is correlated with the Drop Weight index A*b and Bond Mill Work Index (BMWi). Large scale trials have been conducted within a commercial assay laboratory to demonstrate and optimise incorporation of the Ci test into routine sample preparation protocols. While Ci based estimates of A*b and BMWi are not as precise compared to larger volume more expensive test-work, the ability to undertake large numbers of tests typically in a systematic down-hole manner, provides a high level of data support through adjacency. A Ci based approach is highly suitable for variability mapping, domaining and selecting large composite samples for more precise testing. Within the context of the AMIRA P843 project this forms part of an integrated work flow designed to support geometallurgical integration. The development of a comminution test linked to routine assay sample preparation represents significant value adding to a process that in most cases is already going to be carried out. This paper introduces the Ci test concept and application to geometallurgical testing for throughput modelling

Sep 13, 2010

IN previous discussions on the occurrence of gold in the Bendigo quartz reefs the opinion has been put forward that the gold shoots are primary concentrations in the quartz reefs during the period of vein-formation. The view has been based upon the constant features of the gold shoots in a large number of individual reefs, independent of their depth below the surface. These features include the mineral associations accompanying the gold, the appearance and association of the gold in the quartz, the similarity in all respects (excepting mineral content) between richly gold-bearing quartz and poor quartz, and the variations in mineral content in the reef apart from gold. The view has been supported by a relation of the gold shoots to faults, together with the dependence of the reefs on the existence of pre-mineral faulting. The secondary deposition of gold has only been observed in a few instances .associated with the younger monchiquite dykes, and is of no economic importance.

Jan 1, 1922

Characterisation of Computer Printed Circuit Boards for Hazardous Properties and Beneficiation Studies

Sep 13, 2010

This study explores two evolving 3D surveying technologies, photogrammetry and laser scanning, and applies them to deformation monitoring of rock faces and mine highwalls. A quantitative analysis focused on 3D coordinate determination is performed. Furthermore, a qualitative assessment directed at the practicality and viability of each system operating near a rock face or in a mining operation is undertaken to reveal one systemÆs deficiencies over the other. Two photogrammetric and four laser scanning surveys aimed at optimising accuracy and precision within a short period of data acquisition are conducted on the rock face at Organ Pipes National Park, Keilor, Victoria. The accuracy and repeatability of each survey is determined using a combination of iWitness photogrammetric, and Cyclone laser scanning software. The 3D coordinates of targets placed on the rock face are determined by triangulation and resection principles within a bundle adjustment. The coordinates determined by each system are then compared in a 3D transformation. Controlled deformation conditions are established to determine the precision to which each system can detect movement in the rock face. An object of known dimensions is placed on the rock face to simulate deformation. The relative orientation of images taken for the pre- and post-deformation photogrammetric surveys provide an overall 3D point accuracy of 1.255 mm and 1.804 mm respectively. A 3D transformation shows discrepancies of less than ¦22 mm (RMS) between the geometry of the photogrammetric and laser scanning models. Both systems are able to detect the simulated deformation to a precision of 50 mm. This work also identifies how to obtain millimetre accuracy for 3D coordinate determination of rock faces, thereby providing a quality data set for surveyors, geotechnical engineers and mine geologists. Photogrammetry is shown to be a mobile, time and cost-effective technique that is more amenable to mining operations than terrestrial laser scanning. However, both systems demonstrate that they are capable of detecting movements that may lead to failures in the rock face, and possibly endangering human life. The implications are significant for surveyors, geotechnical engineers and mine geologists working in mining operations where enhanced safety conditions, increased productivity and lower operational costs are important considerations.

Jan 1, 2009

Base metal sulphide mineralisation on the northern end of Great Barrier Island is spatially associated with hypabyssal intermediate to acidic intrusives, in transgressive structures in indurated, complexly deformed greywackes and argillites. Copper predominates in the mineralisation, with minor accompanying lead and zinc and also some gold and silver. However, in some cases lead or zinc may be the dominant constituent. The mineralisation is generally characterised by only narrow envelopes of weak alteration (propyliticassemblages dominated by chlorite and epidote) and with only minor amounts of quartz accompanying the sulphides, which form a cement in zones of hydraulic fracturing. There are two distinct structural settings to the mineralisation: at MinerÆs Head, in a structurally complex situation in a shell-like zone of crackling in hornfelsed greywacke, in association with both north- and east-striking fractures and rubble breccias associated with the apical part of a large intrusive; and in very narrow, but very strike-persistent, 1inear steeply-dipping fracture zones, exposed on the north coast and inland areas near Tataweka.

Jan 1, 1984

By Lynch A. J

Comminution within rod mills has been investigated by use of a matrix analysis of breakage processes. A parameter, the number of breakage stages, has been introduced and comminution within all rod mills has been expressed in terms of the number of grinding stages and a function which describes the feed rate, mill diameter, and mill speed. The effect of variation in feed rate, feed sizing analysis and mill speed on the number of breakage stages is discussed, but no general relation is proposed because more study is needed.INTRODUCTIONRod mills are normally used as the first unit of multi-unit systems for the grinding of metalliferous ores and the cost of operating rod mills may be considerable. For both economic and metallurgical reasons, it is therefore necessary that the mills should be operated efficiently and that a knowledge of the mechanism of the size reduction process within rod mills should be as complete as possible. While a qualitative assessment of the process may be of some value, a quantitative assessment gained by describing the process in mathematical terms can be of much greater use because it may also be used for design and control purposes.In this paper, an empirical mathematical model is postulated to describe the size reduction process within rod mills and it is used to analyse the effects of variations in both rates and size distributions of the feed to the mills.GRINDING CHARACTERISTICS OF ROD MILLSMyers (1953) discussed the grinding characteristics of rod mills and suggested that a pronounced screening effect, resulting in the preferential grinding of the coarser particles, occurs within the mills. This is illustrated in...

Jan 1, 1964

By Orr C. W

Continuing the systematic investigation of the influence of elements on the properties of lead(1). If the effects of additions of copper (up to 0.3%) on Port Pirie lead have now been determined in so far as creep rate is concerned.The results in the present paper contain also a survey of the influence of copper on the micro-structure of lead, a feature which has not appeared in the previous papers of this series. Further, it has now become known that creep is but little related to the more usually determined properties such as hardness and tensile strength. Since, however, these properties are of considerable importance in connection with the fabrication and use of this metal. Brinell hardness determinations have also been made and are here included.It is becoming more and more realised also that to be useful, creep data should refer to stresses of the order of those used in practice. This is due to the fact that as soon as deformation takes place, the properties of the metal are automatically changed. Lead does, of course, creep during industrial use, and probably (in lead chamber construction for example) extensions of the order of 5%...

Jan 1, 1938

By G Tripp, G Lorusso

The Velvet gold orebody (153 Koz Au) is located near the Kanowna Belle gold deposit in the Boorara Domain of the Kalgoorlie Terrane, a subdivision of the Archaean Eastern Goldfields Superterrane (Swager et al, 1990). Gold mineralisation at Velvet is hosted within an intrusion of intermediate composition that broadly follows a sub vertical hanging wall splay of the Fitzroy Shear Zone.Velvet was discovered in 2003 during an underground exploration drilling program targeting potential strike extensions to the Kanowna Belle deposit. Diamond drill hole KDU1595 returned a downhole intercept of 36 m grading 4.6 ppm Au approximately 500 m west of the deposit and at a vertical depth of 700 m below surface in the immediate hanging wall of the primary Kanowna Belle host structure, the Fitzroy Shear Zone. Subsequent drilling completed following the initial discovery, from both surface and underground collar positions, failed to replicate this result.In 2014, KDU1595 was resurveyed gyroscopically and the mineralised intercept correctly located. Additional drilling was undertaken to follow-up the repositioned discovery hole. Challenges included poor drilling angles through the Fitzroy Shear Zone, excessive deviation during drilling and the unknown geometry of the target. Navigational drilling helped to successfully penetrate the Fitzroy Shear Zone and in April 2015, drill hole KDU3234 returned a significant downhole intercept of 45 m grading 5.6 ppm Au.Additional drilling success resulted in a decision to develop a 600 m drive to serve as a dual-purpose access for further exploration and mining. This was a potential risk considering that the orebody geometry was unknown and all significant drilling results were clustered within a 50 m × 50 m panel. Development commenced in June 2015 and the first ore cut taken in April 2016. Geological mapping and structural interpretation, together with multi-element and spectral analysis of drill samples has enabled several other target areas to be identified for exploration. The Velvet mining area is critical to continued production at Kanowna Belle. Geological understanding must advance as mining progresses to ensure continued resource growth and optimal extraction of reserves.CITATION:Lorusso, G, Rogers, J and Tripp, G, 2017. Velvet underground exhumed – discovery and development of a new mining front at the Kanowna Belle gold mine, in Proceedings Tenth International Mining Geology Conference 2017, pp 169–174 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 20, 2017

The past decade has seen revolutionary advances in communications and information-handling techniques which have been stimulated by "cold war" military requirements and by current programmes for probing into outer space. The tools used in exploration for petroleum and minerals have been improved significantly as a result of this new space age technology and even greater improvements are on the way.Two areas of technical activity have been particularly fruitful in enhancing the effectiveness of exploration methods. These are1. the development of new approaches, based on information theory,for extracting signal from noise more efficiently than before, and2. the use of high-speed digital computers for storing and processing all kinds of exploration information, not only geophysical but geological as well.In seismic prospecting, use of information theory has led to new techniques such as time-domain filtering, wave-number filtering and correlation methods which have made it possible to obtain usable reflection data from areas which were previously considered non reflective. Complex playback and other data processing facilities have been developed to apply these approaches.Digitization of geophysical data for handling by high-speed electronic computers facilitates many of these techniques for signal-to-noise improvement. Direct digital recording of seismic data in the field is now being d'one on an experimental basis in the United States, and this should become a standard procedure, at least for problem areas.The increased dynamic range, flexibility of filtering and other data processing, and convenience of information storage and retrieval make digital recording attractive in spite of its high cost compared to conventional analogue methods. Digital computers are being programmed to carry out many operations in data reduction and interpretation with substantial savings in time and cost over conventional procedures.INTROPUCTIONIn the years that have passed since the end of the Second World War, the western world has witnessed a technological revolution which may be as far reaching in its ultimate impqct as the Industrial Revolution of the last century.

Jan 1, 1963

By A Paz, H Lehto, M +stholm, I Roitto

Nowadays, the demand for a finer grind in minerals processing has set new challenges within the industry, particularly for grinding technology. Apart from a finer grind, energy efficiency is also a key driver in optimising comminution technology.Stirred milling technology, already proven in many other industries, delivers a modern, sophisticated, flexible and energy efficient grinding solution for fine and ultra fine grinding in minerals processing. Fine grinding technology is utilised particularly in concentrate regrinding to complete the liberation of valuable minerals after the first stage of concentration. Maintaining the correct particle and particle size distribution of the regrind product is crucial for downstream process performance. Stirred milling technology offers the unique possibility for online control and optimisation of the regrind product particle size. This paper describes the basis of this online control possibility and discusses the implementation of stirred milling technology in minerals processing, particularly in regrinding applications. The paper will also outline management and control of fluctuations in feed rate tonnages as well as particle size fluctuations in concentrate regrinding.CITATION:Roitto, I, Lehto, H, Paz, A and +stholm, M, 2013. Stirred milling technology - A new concept in fine grinding, in Proceedings MetPlant 2013 , pp 190-201 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 15, 2013

Waitemata Tectonic Event(25 Ma ago) created a subduction system from the northeast of Northland, causing: (1) the emplacement of the Northland Allochthon (24-23 Ma) which provided argillaceous limestone and serpentine to Northland, and minor copper to both there and East Cape (located off Northland then); and (2) Northland volcanism (from 22 Ma), which lacked economic mineralisation. The Kiwitahi Tectonic Event (1714 Ma) caused: (1) a realignment of volcanism - from coastal western Northland, to west of the Hauraki Plains (Kiwitahi); (2) a start to the migration southwards from Northland of (a) the Alpine Fault System towards Marlborough today, (b) subduction towards Cook Strait, and (c) volcanism towards Taranaki-to-Bay of Plenty (initially through Coromandel, Kiwitahi, and offshore west coast); and (3) a start to rhyolitic volcanism & associated hydrothermal activity. The latter caused epithermal mineralisation, providing in Coromandel the best known North Island metalliferous deposits. Andesitic volcanism has been active in both of these two contrasting, subequal belts since 22 Ma. Rhyolitic volcanism and hydrothermal activity was wholly restricted to the eastern Marshall Belt, with an abrupt limit to economic mineralisation at the Volcanic Divide (within Hauraki Plains) and a major change there to basaltic volcanism of the western Searle Belt. The Kaimai Tectonic Event (5-1.5 Ma) caused: (1) a temporary reversal in volcanic migration in the Searle Belt, and a duplication of rhyolitic & hydrothermal activity at Waihi (Marshall Belt); (2) the rotational rifting of both the Central Volcanic Region (by 30¦) and the Hauraki Rift (10¦), causing major curvature of the North Island and New Zealand, and the transfer of the offshore subduction system from Coromandel to East Coast; and (3) an effective end to Coromandel mineralisation. Post-Kaimai Volcanism (1.5-0 Ma) included: (1) andesitic volcanism in the Searle Belt, yielding the western coastal titanomagnetite deposits; and (2) andesitic, and rhyolitic & hydrothermal activity in the Marshall Belt - the latter providing geothermal energy, sulphur, and pumice/perlite deposits. Post-Subduction (Intraplate) Volcanism (10-0 Ma) developed in a steadily expanding northwest region of relative tectonic quiescence, as subduction and its volcanism migrated southwards. Intraplate volcanism was predominantly basaltic, providing excellent aggregate; but less common rhyolitic & hydrothermal activity provided geothermal potential and mercury at Ngawha and at Puhipuhi, and halloysitic clays of extreme brightness elsewhere in Northland. This volcanism has reached as far SE as Mayor Island, providing an early New Zealand mineral resource - obsidian.

Jan 1, 1997

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 McKenzie P

The techniques of geological control developed by the Coal Geology Sections of the Broken Hill Proprietary Company Limited and Australian Iron and Steel Proprietary Limited in providing geological service in the coilieries operated by these associated companies cover the provision of geological control for both planning and production in each of which the significance of geology has in the past been only poorly appreciated by the coal mining industry.While the adoption of similar techniques is well within the capacity of major companies there is considerable scope for the development of government geological services providing specialized assistance of this nature for smaller scale producers.INTRODUCTIONThe coal mining industry in Australia can instance many notable mistakes caused by failure to obtain sufficient geological information or by incorrect interpretation of available geological evidence both before the commencement of mining and during the progress of operations. Substantial development undertaken in, areas with insufficient or inferior coal reserves, difficult mining conditions caused by failure to adjust operations to geological circumstances, and the irregular development of mine workings caused by unexpected geological features, all bear witness to the lack of geological foresight by the industry.Along with the more widespread general use of applied geology, an increasing acceptance has developed during the past ten years of the valuable contribution which can be made by this science to the exploitation of coalfields. In spite of the advances which have been made, there is still a wide scope for further detailed application of geology throughout the coal mining industry in Australia.

Jan 1, 1963

By Brown H. R, Wright E. A

The authors identify the workable coal seams, their distribution in relation to quality and economic occurrence and relate their analytical characteristics to industrial use. The development of established collieries is also discussed with regard to increased production demand.The authors also indicate the potential of the coal resources of the Southern District and postulate their ultimate development.INTRODUCTIONThe Southern Coalfield yields 30 per cent of the total production of bituminous coal in New South Wales. The economic potential of the coalfield was examined last by Harper (1915). Since that time additional knowledge has been gained by prospectors, mining companies and public authorities. Expansion in the steel industry and the building of power stations on the coalfields together with improvements in fuel technology, mining methops and road transport have resulted in production of coal from seams mice thoughtto have no economic value.DESCRIPTION OF THE COALFIELDFor the purpose of this paper the term Southern Coalfield includes also the South-Western Coalfield which together comprise the following Coal Districts:IllawarraDouglas ParkWollondilly-NattaiMoss Vale-Berrima (Hanlon, 1953).Geographically the coalfield is contained by the Illawarra Range in the east, the Shoalhaven River to the south, the Wollondilly River to the west, and in the north by a line...

Jan 1, 1958

The commercial application of electrolysis to zinc sulphate solutions for the production of metallic zinc is a development ·of the past twenty years. Earlier attempts failed to give satisfactory results, chiefly because certain harmful elements were either not recognised as being present in the solution, or, if recognised, suitable methods of removal had not been developed. The electrodeposition of zinc from zinc sulphate solution is extremely sensitive to the influence of a great many factors, all of which appear to be closely inter-related.Some of these factors tend to minimise the necessity for a high degree of purity of the solution, while other factors aggravate the harmful nature of certain impurities.The relationship existing betweBn the various factors in zinc electrolysis makes a general discussion of the injurious effect of impurities very difficult since, under one set of conditions a given concentration of an impurity may be of minor: importance, where its under another set of conditions the same concentration of that impurity may prove dangerous to successful electrolysis.

Jan 1, 1934

By A T. Job, P R. McAree

There is significant value at stake in the mining industry from the implementation of new technologies that support the enhanced profitability and sustainability of mines. However, in order to realise this value, new technology must be implemented in a way that is both effective and sustainable. The industry has a mixed history for technology implementation that provides fertile ground for understanding what is necessary for innovation to deliver value. This paper describes early stage research investigating why this is so, with the aim of improving how to deliver value. Several case studies are provided covering both successful and unsuccessful technology interventions. The paper identifies the common factors that emerge from the case studies, and offers a path forward for further research in this area.CITATION:Job, A T and McAree, P R, 2017. Three case studies on the implementation of new technology in the mining industry, in Proceedings Iron Ore 2017, pp 407–414 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 24, 2017