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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 S L. Garwin

"An EXTENDED ABSTRACT is available for download. A full-length paper was not prepared for this presentation. Since the Eocene, New Guinea tectonics have been driven largely by the south-westerly-directed collision of accreted arc terranes with the northern margin of the Australian Craton, and subsequent westerly-directed transport of these exotic terranes by left-lateral strike-slip fault systems. The subduction of the Solomon Sea plate beneath north-eastern New Guinea in the mid- to late-Miocene led to magmatism and related gold-copper porphyry and epithermal mineralisation in the Maramuni arc and the formation of the Frieda River, Nena, Wafi-Golpu and other deposits.The development of the world-class porphyry and epithermal deposits in the Medial New Guinea magmatic belt, including Grasberg, Ok Tedi and Porgera, is localised by dilational zones formed about the intersections of north-easterly-trending, reactivated basement faults and north-dipping reverse faults related to the southward progression of the Papuan fold belt during the Late Miocene to Pleistocene. These deposits probably formed during short mantle-derived magmatic episodes in zones of regional isostatic uplift, which are attributed to the delamination of the lithospheric mantle beneath New Guinea.CITATION:Garwin, S L, 2015. The tectonics, geology and gold-copper metallogeny of New Guinea, in Proceedings PACRIM 2015 Congress, pp 151–164 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Mar 18, 2015

n the early days of the Hauraki goldfield (1866 to 1889) almost the only system of ore treatment was wet crushing followed by copper plate amalgamation. A further saving of bullion was in most cases obtained from the tailings by means of pans or berdans. Though this system was not always as efficient as might have been desired it answered fairly well for the bulk of the gold-bearing quartz of the Thames and Coromandel districts, where the gold occurs chiefly in the form of visible particles, and there is not a great deal of silver. It failed, however, with most of the ore found in the Upper Thames or Ohinemuri district, especially in the Karangahake and Waihi portions of the field. In those days the cyanide process was not, and the usual prescription of the mining " expert" was smelting. At Karangahake, many attempts were made to discover a payable method of treatment for the so-called" refractory" ore, but on thewhole with very 'little success, and the district struggled along for a number of years without adding very materially to the production of gold in New Zealand. At Waihi, the Martha Co.'s stamp battery treated by wet crushing and copper plate amalgamation some 18,000 tons from the Martha Reef, worth probablyat least £4 per ton, but the average return was considerably less than £1 per ton, a sum which barely paid working, expenses, and consequently the shareholders were glad...

Jan 1, 1903

Iron ore in the Middleback Range area has a density and susceptibility contrast with adjacent rocks, and gravity and magnetic methods are applicable to exploration for it. The gravity method is satisfactory whether the ore mineral is hematite, magnetite, or limonite; the magnetic method is suitable for detecting ores which contain magnetite, such as some hematite ore, magnetite ore, and possible ore in the form of magnetite-bearing schists. jaspilites, and carbonate rocks.Geophysical exploration began in 1948 and is still in progress. The methods which have been used are aeromagnetic (83 per cent), ground magnetic (13 per cent), gravity (3 per cent), and others (1 per cent). Ground magnetic surveys have been made wherever aeromagnetic surveys recorded large anomalies. The gravity method is being used to investigate those parts of the area considered most favourable for ore occurrence.Qualitative and quantitative interpretation of the geophysical data has been made and the rocks causing selected anomalies tested by bores.Magnetite in the Middleback Group rocks produces the major magnetic anomalies in the area. The average magnetite content of magnetite-jaspilite, which is the commonest rock type, is 33 per cent by weight and that of magnetite-carbonate at the Iron Duke-Iron Duchess is 50 per cent. These rock types also contain hematite and the average total iron content of the former is 35 per cent and of the latter 50 per cent.INTRODUCTIONThe geology and iron ore resources of the Middleback Range area were described by Miles (1954). Since 1954, much drilling, mapping, and quarrying has been done but there is no published report of this work.The rocks which constitute the Middleback Range, Camel Hill-Cooyerdoo line, Katunga Hill-Iron Knob, and Ash Range (Fig. 1) belong to the Middleback Group of Middle Precambrian or late Archaean age. Most outcrops of the Group are jaspilites, formerly called banded hematite (or magnetite) quartzite. The high grade hematite deposits...

Jan 1, 1964

Effect of Lattice Impurities on Electronic Properties and Surface Adsorption of Sphalerite - A Density-Functional Theory Study

Sep 13, 2010

By T DePetris, B B. Beamish

There has been a gradual increase in the volume of internationally traded thermal and coking coal, with emphasis on blending of coals rather than single coal usage. New Zealand can take advantage of this situation, especially with its low ash and sulphur content coals. However, there is a need to clarify the thermal and coking behaviour of these coals as they relate to other market players, to benefit both the consumer and supplier. The high volatile matter contents of New Zealand coking coals are due to their high vitrinite content, which causes them to demonstrate stronger coking properties over a wider rank range than Gondwana coals. These same high vitrinite levels appear to correspond with lower initial softening temperatures than for Gondwana coals of similar rank. Preliminary results using thermogravimetric analysis also suggest that New Zealand high volatile bituminous coals can be used to substitute for higher rank Gondwana coals in combustion processes.

Jan 1, 1994

To the industrial geologist, as wen as to the general or historic geologist, the possession of a reliable key to the true order or sequence of the stratigraphy or position of the various upper rocky envelopes of the earth's crust, is, equally, a desideratum of the utmost importance. Of similar value to the two groups of students is the possession of facts which throw light upon the relationships which subsist between the puccessive rock formation of different countries, especially between countries lying close to each other, or within the same great geographical division.But there is necessarily a fundamental distinction which marks the respective limits of the field of observations of the industrial geologist, and the purely historic interest of the general geologist. The former has a more definite though less extensive scope. The scope of the latter is wide and indeterminate. In short, the observations of the industrial geologist are, 'from a commercial or economic point of view, of a more practical character, and are, therefore, intentionally restricted to the study of all geological questions which throw light upon the rocks which yield products of economic value and only include the study of the character and history of other rocks, in so far, as they afford aid to the more perfect comprehension of the best manner in which materials of economic value are likely to be sought, and the best means whereby these products may be secured for the material advantage of the community. The motive of the general geologist-in most cases-is a love of the study of some particular branch or province of the geological field, and the fascination of opening a new volume in nature's library, and the hope of extending the realm of knowledge, however slight, are often sufficient, as a motive, to enlist the energy and life's devotion of the true brethren of the hammer, irrespective of considerations regarding the commercial utility of the pursuit.

By R S. Hamilton, S R. Grobler, M E. Greenway

The progressive development of underground mines frequently requires increased ventilation flow rates through mine shafts that were originally designed for lower rates. Where these shafts are equipped with conveyances running on rope guides, the higher air flow rates adversely affect the lateral motion of conveyances and could cause conveyances to collide with the shaft walls or with one another. Hence the safety impact of higher flow rates requires proper assessment. This can be undertaken by use of computer simulation models to predict the dynamic motion of the conveyances during hoisting. It can also be undertaken entirely by field testing, or using a combination of simulation and field testing. This paper discusses these techniques and makes cautionary remarks about setting an absolute generic maximum flow velocity for all shafts. Approaches to assess existing shafts for increased ventilation flow rates are also discussed.CITATION:Greenway, M E, Grobler, S R and Hamilton, R S, 2017. Safety impact of increased shaft ventilation on rope guided conveyances, in Proceedings Australian Mine Vent Conference 2017, pp 261–270 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 28, 2017

By Nicol S. K, Swanson A. R

The poor flotation response of many coals has in the past been attributed to such factors as differences in rank, differences in degree of oxidation, differences in petrographic composition, or slime coatings. The present work shows that while all these factors undoubtedly influence flotation, the size distribution of the feed may override these. Evidence is presented which shows how this factor can lead to substantial losses of coarse coal (>250 µm)from a coal which would normally be considered amenable to flotation. Reasons for this loss of flotation response are suggested together with means of overcoming the problem.

Jan 1, 1978

By A R. Heath, I Arbuthnot

Feed slurries are typically flocculated in a thickenerÆs feedwell to increase the settling rate, underflow density and overflow clarity. High molecular weight polymeric flocculants are normally used, but present a number of challenges in terms of make up, dilution, delivery and mixing with the feed slurry.Various aspects of the flocculant dilution and delivery system have been studied with a combination of flow visualisation and computational fluid dynamics (CFD). An open topped flocculant dilution/mixing box has been developed to replace a conventional flocculant manifold, with improvements to the mixing, fault diagnosis and ease of determining the flow split to the various dosing points. The addition points to the feedwell have also been studied, both in terms of where the flocculant is added, and how. While conventional multi-hole spargers are effective in dispersing flocculant, they are prone to blocking and have been replaced by open-ended pipes. The required dispersion is provided by an efficient mixing element placed in the dilution port. Adding the flocculant into the feedwell dilution stream prior to mixing with the slurry also provides super-dilution of the flocculant that can further improve the flocculation process and reduce flocculant consumption.CITATION:Heath, A R and Arbuthnot, I, 2013. Advances in thickener flocculant delivery, in Proceedings MetPlant 2013 , pp 86-92 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 15, 2013

By A H. Clemens, P Lindsay

Acid producing potential static tests have been undertaken on sample lithologies from New Zealand coal mines, to rank the lithogies into acid producing waste rock and stable non-acid producing waste rock. Results indicated that the main acid producing waste rock in the Waikato coal region are the marine Whaingaroa siltstone and the Glen Massey formations and the main alkaline producing lithologies were the Tauranga group volcanic-derived sediments (A & D) and the Mesozoic basement. Coal ash analysis of 28 samples from 28 mines have also been analysed for reactive S percentage and their base potential has been quantified by the chemical index of alteration (CIA). The results provide mine management in the Waikato Coal region with a classification of problematic and stable waste rock types. XRF and CIA values determined from wash drill cuttings would provide a method of determining waste rock volumes and magnitude of palaeo-weathering underground.

Jan 1, 1999

By C Simpson

The Pilbara region of Western Australia is well known for its abundant exports of hematite-goethite deposits, which have been mined and exported since the 1960s. Magnetite has also been mined in Australia throughout this period, although historically of much lower production volumes (WA Iron Ore profile, 2016). Magnetite offers a source supply of material >66 per cent iron grade product, which is used as premium feed (predominantly pellets) to blast furnaces or specialised steel mills.The Iron Bridge project area contains outcropping magnetite and hematite banded iron formation (BIF), which within the region was recognised as having potential to host economic mineralisation during the 1960s. Development within the project area, however, did not commence until Fortescue Metals Group acquired the tenements based on a 2004 agreement, formed a joint venture with interested groups and then initiated an assessment for magnetite (rather than hematite) mining potential. The combined deposits now have an identified large mineral resource inventory, with test work demonstrating they are able to produce a magnetite concentrate of greater than 66 per cent Fe over an extended mine life. This concentrate would be suitable for forming pellets or feed for direct reduced iron products.The deposits form a singular orebody, approximately 12 km in length by 1 km in width and extending to depths beyond 600 m. The four main deposits are geographically separate and have subtle mineralogical differences, thought driven by the degree of deformation and alteration within each area.Definition of the stratigraphy, structure and key mineralogy of the deposits has been carried out through several stages of exploration and project development. This has also included recent mining and processing of more than 1 Mt of feed material to an on-site processing facility. This demonstrated at a production scale that dry plus wet processing techniques can efficiently separate the magnetite from the gangue minerals to form a suitable (marketable) product.Geometallurgical classification of the host stratigraphy has been carried out from analysing the high volume of quantitative data available for this deposit. This has allowed definition of mappable units within the fresh BIF to be used as a driver in mine scheduling, delivering optimal feed to the processing plant.Construction of mine and processing facilities is expected to commence once all technical risks have been addressed, market conditions are deemed appropriate and approval is given by the joint venture partners.CITATION:Simpson, C, 2017. The Iron Bridge magnetite deposits, in Proceedings Iron Ore 2017, pp 287–294 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 24, 2017

Although the pattern of metamorphic zones south of the Thackaringa-Pinnacles Fault is much obscured by polymetamorphism, displacement of the orthopyroxene isograd by the fault agrees with the displacement of a horizon of "banded aplite" mapped by Andrews (1922). A dextral transcurrent component of 20,000 ft is indicated.INTRODUCTIONThe east-west Thackaringa-Pinnacles Fault (Andrews, 1922; King and Thomson, 1953), one of the major geological structures in the Broken Hill district, New South Wales, cuts across the general north-easterly strike of outcrops and fold structures of the Willyama Complex. The degree of shearing and recrystallization in its unusually wide crush zone and the manner in which adjacent rock units and structures have been dragged into conformity with its strike denote considerable movement on the fault. Information concerning the nature of this movement is of critical importance in the search for possible continuations or repetitions of lead-zinc mineralization south-west of Broken Hill.A transcurrent movement of 20,000 ft, with the southern block moving west, was estimated by Andrews (1922), who correlated prominent outcrops of "banded aplite" at The Pinnacles (north of the fault) and Big Hill (south of the fault). Displacement of this order, however, does not seem sufficient to explain the extent and character of the fault zone. Recent chemical and petrological studies of the banded aplites at The Pinnacles and Big Hill by Vernon (19B1) confirmed their similarity, but indicated an origin by metasomatic replacement of pre-existing folded and metamorphosed rocks. This raises the possibility that some...

Jan 1, 1965

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 D Barclay, S Mercer, S Wright

Mine water management is often an afterthought in mine planning processes and can introduce significant risks to projects when studied as a stand alone component at a later stage in the mine design. Incorporation of a mine dewatering and pore pressure dissipation strategy in the early stages of mine planning is imperative in order to minimise constraints on the production schedule, to match designed pit slopes and maximise project value for an open cut mine option such as Olympic Dam. A risk-based mine planning approach was adopted during the project selection phase study whereby water management was introduced into mine planning, scheduling and the development of an operational strategy. Hydrological and hydrogeological studies and outputs were successfully integrated into the various iterations of the mine planning cycle during early selection phase to manage the potential water management risks associated with pit slope depressurisation and access to dry working conditions during rapid advancement of mining phases.An extensive network of vibrating wire piezometer sets and long-term depressurisation testing characterised aquifer conditions and demonstrated that hydraulic connectivity exists within the geological profile due to the presence of structures and resource drill holes which enhance vertical connectivity. This connectivity, along with underdrainage from mining activities contributes up to 100 m of depressurisation in low permeability units.A pit dewatering strategy incorporates the mine planning schedules and accounts for operational constraints as to the location and development of the dewatering wells, storages and pipelines. Numerical modelling generated a range of likely pit inflows and dewatering requirements with the average initial dewatering discharge likely to be 150 L/s and reduce quickly to 50 L/s after five years, depending on the premine schedule.Coupled hydrogeological and geotechnical assessments were also carried out as part of the mine planning cycle and indicate that successful dewatering will go a long way to reduce the pore pressures within key geotechnical units during the rapid mining phase where around 300 m of cover sequence is stripped in five years. However, the residual storage in the primary aquifer and the residual pore pressure in underlying low permeability units will need to be dissipated (in-pit horizontal holes) as the pit floor advances. Pit slope design angles are sensitive to depressurisation and dewatering and up to 70 per cent depressurisation of key geotechnical rock units are required. Whilst an accelerated program of aquifer dewatering supported by lithostatic unloading should drive rapid depressurisation in the lower permeability units, intervention is anticipated in key geotechnical units such as the Tregolana Shale and volcaniclastics. The extent of induced drainage will ultimately depend in part upon the mining rate and geotechnical stability requirements. Practical operability testing addressed the potential for operational constraints to mine depressurisation activities such as congestion and mining schedule development within the pit and identified that depressurisation drilling can be achieved even with reduced access availability. Mine operations and planning groups established design criteria and considered the likely inoperable periods following rainfall events of seven to 14 days to manage the base surge and minimise impact on production. In-pit surface water management options to minimise operational disruptions during and after significant rainfall events were estimated used a stochastic approach.

Jan 1, 2009

A rotating disc geometry was used to provide a uniformly accessible surface for a kinetic study of the cementation of cadmium, lead, and silver from dilute aqueous solutions. This work is an extension of studies carried out on the Cu-Zn and Cu-Fe systems for which the reaction rate was found to be completely solution phase mass transfer controlled.When the amount of material deposited was greater than 0·2 to 0·4 mg/cm2 there was an apparent enhancement in rate which is attributed to the formation of a roughened deposit. This same phenomenon was observed in the Cu-Zn and Cu-Fe systems. Again, the rate of reaction of each system investigated was found to be solution-phase mass transfer controlled.

Jan 1, 1971

Exerting the Advantages of National Key Discipline, Outstanding the Training of Engineering Capability, Cultivating Talent to be with Innovation Ability

Sep 13, 2010

By Weber P, Sneyd S

The total world steel production in 1998 amounted to approximately 780 000 000 t. The share of electric steelmaking was in the range of 35 per cent and is expected to increase further to over 40 per cent of the world's production within the next ten years. As electric steelmaking is primarily based on the use of scrap and as it is progressing more and more into higher steel grades the need for low-residual metallics will become increasingly important. Consequently, the demand for scrap substitute material will increase, reflected in the world wide spate of interest for DRI (Direct Reduced Iron) and HBI (Hot Briquetted Iron). The increased significance of DRI/HBI as a substitute for steel scrap has obviously emanated also from its comparatively lower and more predictable costs per ton and definable chemistry. In 1998 already 37 million tons of DRI/HBI were globally produced.

Jan 1, 1999

In a field test at Mount Isa Mines Ltd., a system developed by ICI Australia Ltd. for bulk loading "MOLANITE", an ammonium nitrate slurry blasting agent into ring drilled holes of wblcvel open stopes, was shown to be satisfactory. The fragmentation produced by the slurry was a significant improvement over ANFO and the stope production rate was increased by approximately 50%. Indications are that the charging rate and labour costs will not be greatly changed if a slurry system is used.

Jan 1, 1973

GOLD has played a part in the development of Australia. The total yield exceeds SIX hundred million pounds sterling, while the glamour of gold-mining and the unfailing demand for the product have enhanced its influence. The production is still considerable, but the yield is less than one-quarter of that twenty years previously, while the number of men employed has dropped from 70,000 to 11,000. Not only has there been a marked decline in production, but it is anticipated that thisdecline will continue, and continue more markedly. It is therefore desirable to ascertain the causes of the decline and inquire into means for diminishing or preventing it.The problem under discussion is far from being only local. Finlay states: The grand feature of the history of the business has been the progress of an economic cycle unfavourable to gold milling. The USA yield fell from $101,000,000 to $44,000,000.South Afriea has for some time produced one-half of the world's gold; yet in the Mining and Scientific Press of 11th February, IH22, General Smuts is quoted as saying that if the premium disappeared entirely 24 out of 34 mines would shut down. The solution, however, might be either general eg, a great advance in the metallurgy of gold; or local eg, a bonus; but before discussing any of the proposed solutions it will be advantageous to review the situation.STATISTICS OF THE PAST AND PRESENT PRODUCTION OF THE WORLD AND OF AUSTRALIAThe inquirer soon finds that there is a good deal of uncertainty, and that much care is needed in collating figures. In some cases a considerable part of the output is not officially reported, and returns...

Jan 1, 1924