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By M. R. Anderton

"A hierarchical four-character code designed for geological and allied data may be used to log exploration drill-holes and store the information on magnetic media. The code is intended for use in semi-free format and permits the collection of as much, or as little, data as the geologist may require for the purpose in hand. A method of data storage by variable length records is discussed.Information may be retrieved by means of a simple enquiry language. Optional output facilities could allow the retrieval of data in a form suitable for direct input to a contouring package. The enquiry parameters and interrogation program can thus provide the interface between the data bank and associated application systems."

Jan 1, 2014

By F. M. L. Mulaudzi

Metal dusting is a corrosion phenomenon that occurs in strongly carburizing gas atmospheres at elevated temperatures. Reaction kinetics and product characterizations of Alloys 602CA and 800 were examined by scanning electron microscopy with energy dispersive X-ray analysis (SEM-EDX) and X-ray diffraction (XRD).The results showed that Alloy 602CA is more resistant to metal dusting than Alloy 800. Visual examination and SEM surface analysis showed that Alloy 800 suffered metal dusting attack after a relatively short exposure period. The amount of coke deposits increased on Alloy 800 with increased exposure from 96 to 336 hours. X-ray diffraction on the reacted surfaces identified graphite and austenite in both alloys and some iron oxides/spinel for Alloy 800.

Jan 1, 2012

By L. Stamenov, A. Grigoryan, M. Nolte, E. Ayvazov, K. Evtiminova

Dundee Precious Metals Inc. (DPM) owns and operates the Ada Tepe gold mine and processing facility (previously referred to as the Krumovgrad Gold Project) located in south-western Bulgaria. The Ada Tepe mine became the first green filed project in past 40 year in Balkans and one of the few in Europe when it was commissioned during the first half of 2019. The plant produces a high-grade gold silicate concentrate generated through its comminution circuit and staged floatation reactors (SFR’s) while depositing its tailings in a state-of-the-art Integrated Mine Waste Facility (IMWF). This paper presents the successful commissioning, ramp-up and optimization of the Ada Tepe processing plant and how the various challenges, including that of an inexperienced front-line workforce, were overcome. More specifically addressing how the implemented modern processing technologies and the operational readiness program, supported the people and process to achieve the design parameters safely and consistently. Keywords: Commissioning, Optimization, Innovation, Gold mine, Digital mine

Jan 1, 2020

By E. C. de Beer

"SynopsisA number of important areas in nuclear fuel cycle, at both the front end and back end, offer ideal opportunities for the application of non-destructive evaluation techniques. These techniques do not only provide opportunities for non-invasive testing of e.g. irradiated materials, but also play an important role in the development of new materials in the nuclear sector. The advantage of penetrating radiation used as probe in the investigation and testing of nuclear materials makes X-ray and neutron radiography (2D) and tomography (3D) suitable for various applications in the total nuclear fuel cycle. The unique and different interaction modes of the two radiation probes with materials provide several opportunities. Their complementary nature and non-destructive character makes them most suitable for nuclear material analyses, analytical method development, and the evaluation of the performance of existing nuclear material compositions. This article gives an overview of the X-ray and neutron radiography/tomography applications in the field of nuclear material testing, and highlights a few of the success stories. Several selected areas of application in the nuclear fuel cycle are discussed to illustrate the complementary nature of these techniques as applied to nuclear materials.IntroductionDuring the development of new materials for the nuclear industry, materials testing and characterization are of the outmost importance to maintain safety standards and reliability. No compromise on safety in the workplace in any area within the total nuclear fuel cycle can be tolerated, and therefore most in-situ material characterization and testing is conducted by certified and qualified personnel schooled in destructive and non-destructive testing (DT and NDT) methods. Certification and qualification in NDT can be obtained through many training centres in South Africa in accordance with European, American, and other international standards (SGS, n.d.; SAIW, n.d.; African NTD Centre, n.d.)."

Jan 1, 2015

By S. Mudau, P. Mohasoa, M. J. Cole

Derelict and ownerless (D&O) mines in South Africa have been an ongoing concern for over a decade. While some progress has been made to rehabilitate D&O asbestos sites, significant work remains, exacerbated by the growth in illegal mining. There are concerns regarding the accuracy and transparency of the D&O database, lack of oversight, and constrained funding, and the government is increasingly looking to the private sector to fund rehabilitation. Given these challenges, a new, sustainable approach to D&O sites in South Africa is needed to bring clarity and transparency to the process, recognise responsibilities and promote partnerships, and explore economic opportunities at D&O sites to reduce the financial liability and respond to the growing demand for critical minerals. This article has three components: i) reviews of international D&O good practices; ii) it analyses South Africa’s current approach and the D&O sites; and iii) proposes a D&O framework that addresses data, risk ratings, responsibilities and rehabilitation, economic opportunities, and stakeholder engagement. The study finds that the majority of the 6,100 so-called abandoned D&O mines are quarries and mine site features, 16% are operational, at least 11% have owners, and only 752 (12%) require rehabilitation. The framework aims to bring clarity and fairness to decision-making and to assign risk and responsibility for rehabilitation and seeks to incorporate economic opportunities to reduce the financial burden of rehabilitation, create jobs for local communities, and respond to the growing demand for critical minerals for the clean energy transition.

Apr 25, 2025

By P. L. Crouse

"SynopsisFluorine – in the form of hydrofluoric acid, anhydrous hydrogen fluoride, elemental gaseous fluorine, fluoropolymers, volatile inorganic fluorides, and more – has played, and still plays, a major role in the nuclear industry. In order to enrich uranium, the metal has to be in the gaseous state. While more exotic methods are known, the standard and most cost-competitive way of achieving this is by means of uranium hexafluoride (UF6). This compound sublimates at low temperatures, and the vapour is enriched using centrifugal processes. The industrial preparation of uranium hexafluoride requires both elemental fluorine gas and anhydrous hydrogen fluoride (HF). HF is prepared by the reaction of sulphuric acid with fluorspar (CaF2). Fluorine gas in turn is prepared by the electrolysis of HF. Yellowcake is first converted to uranium tetrafluoride (UF4), using HF, after which the compound is treated with fluorine to yield UF6. After enrichment, the UF6 is reduced to UO2 for use in fuel elements in pellet form.South Africa has the largest reserves of fluorspar internationally, and is the third largest producer after Mexico and China. Fluorine technology has many associated difficulties, because of the reactivity of fluorine and the toxicity of HF. The main barriers to entry into the fluorochemical industry are thus the abilities to produce both HF and F2. Both these substances are produced locally, at the industrial scale, at Pelchem SOC Ltd. Should South Africa contemplate developing its own nuclear fuel cycle as part of the awaited new-build nuclear project, it will be imperative to leverage the existing skills with respect to fluorine technology, resident at both Pelchem and Necsa, for this purpose. This paper summarizes the fluorochemical skills developed locally over the past several decades, and suggests strategies for maintaining the technology base and developing it for the next generation of scientists and engineers.IntroductionFluorine chemistry has always had a very close relationship with the nuclear industry. Although the first mention of fluorspar was recorded in the sixteenth century, and the fundamentals had been well-developed by the Second World War, it was only during the Manhattan Project (Banks et al., 1994), when almost unlimited funds were made available for the large-scale industrialization of fluorine and related compounds, that the technology took off. Expertise in both the chemistry and the engineering aspects of fluorine is essential for the design and running of several of the unit processes in the nuclear fuel cycle."

Jan 1, 2015

By D. van Rensburg

Jointed rock slopes are generally stable, as there is no freedom of movement for blocks of rock. In an open- pit mining environment, blasting opens up space into which blocks of rock can fail, resulting in the common occurrence of slope failure. Prior to the blasting of a trim pattern, the immediate highwall is scaled, where loose rock material is removed by means of a mechanical scaler. As mining of the pit progresses, the height of the scaled highwall from the pit floor progressively increases. These highwalls are never scaled again for the remainder of the pit life, and time-dependant deterioration contributes to these highwalls becoming subject to rockfall and, sometimes, slope failure. This paper documents the development of a South African innovation, a remote-controlled mechanical highwall scaler, a world first for the mining industry. The scaler will enable open-pit highwalls to be scaled from crest to toe whenever the need arises. It will reduce the risk associated with highwalls and deliver on the Anglo American promise of producing safe, profitable platinum.

Jan 1, 2012

By E. Garab, M. Pillalamarry, E. Develo

"Recent geological exploration at Rosh Pinah mine revealed that the mine’s major production is shifting towards the western orefield, which will increase the demand for air flow to be supplied to this area. A snapshot of the ventilation survey carried out in December 2014 at the western orefield drill drive B (WOF-DDRB) showed that the air flow was well below the required standards. In order to improve the existing conditions, possible options were considered and simulated using Ventsim™ software.The best option found was to replace the existing western orefield fans with the larger fans from the inactive southern orefield workings, to increase the air flow in the DDRB district. Simulation showed that as much as 20 m3/s of air can be received at the working faces of WOF 30, compared to the previously received amount of 1.37 m3/s. The economic analysis indicated that the above option can reduce the ventilation cost by N$1.9 million annually. It was also noticed that after implementing this option together with other projects, the ventilation conditions in the mine were greatly improved and currently give no cause for concern. IntroductionA good mine ventilation system should be capable of providing adequate quantity and quality of air to all working faces, and is critical to the occupational health, safety, and comfort of underground employees (Luxbacher and Ramani, 1977; Exikis and Kapageridis, 2006). No ventilation system can remain adequate indefinitely; as the mine workings are extended, the ventilation characteristics such as system pressures, air volumes, leakages, and airway resistances change considerably. Continuous improvement of the ventilation system is needed to ensure compliance with health and safety regulations (Lovejoy, 2010). It also ensures that the right quality and quantity of air is delivered to all the necessary areas at the lowest possible cost. This can be achieved by identifying inefficient airways and poorly ventilated areas in the mine and planning how best to upgrade them.The latest geological exploration shows that the focus of production at Rosh Pinah mine is shifting towards the western orefield (WOF). As mining progressed, the working areas have advanced away from the main fans, which increased the resistance to air flow drastically and resulted in increasing demands being imposed on the main fan in order to supply an adequate air flow. This process also created more leakage paths between the fan and the working areas, which has caused the air to short-circuit before it can reach the faces. Consequently, a much larger quantity of air has to be circulated by the fan so that the stipulated quantity reaches the face, which increases operating costs (Singh et al., 2004)."

Jan 1, 2016

By L. S. Bicalho, W. J. Rodrigues, P. M. A. Rollo, P. R. G. Brandão, W. C. da Silva

Quadrilátero Ferrífero is an important mineral province located in Minas Gerais state, responsible for a substantial amount of iron production in Brazil. Among the concentration methods for iron ore practised by the mining companies in this region, the most important is the reverse cationic flotation. Dolomite iron formations, with the presence of hematite, quartz and dolomite, occur in several areas of mining and, with the deepening of the deposits, this type of ore, with low iron content and more complex mineralogy occurs frequently. Carbonaceous minerals, mainly dolomite, present a technological challenge for the concentration of iron ore by flotation. In the present study, the concentration of iron ore with 6% of dolomite content was evaluated. Bench flotation trials indicated that conventional iron ore flotation is not selective to float dolomite, thus compromising the iron content in the final concentrate. Alternative flotation routes were evaluated, and a selective condition was reached to float both quartz and dolomite using the combination of the cationic collector Flotigam 16424 with an anionic collector Flotinor 16551. It was demonstrated that the flotation of dolomite was improved with the combined use of both collectors in the cleaner stage, and by a previous quartz flotation in the rougher stage. Zeta potential analysis indicated specific adsorption as the adsorption mechanism between Flotinor 16551 and dolomite, confirming the high selectivity observed in the bench flotation tests. Keywords: Flotation, iron ore, dolomite

Jan 1, 2020

By M. Mbonami, R. Pretorius, J. Miller, P. Kyony, B. Nel, N. Mautsa

Challenges due to the formation of stable froth in acid leach systems is common at many copper and Ccbalt producers. Stable froth affects downstream process, critical equipment, and operational parameters. In severe cases the froth present safety and environmental risks and increased operational costs. Solids reports in the pregnant leach solution, accumulates, and clogs launders resulting in a potential costly safety and environmental risk. Solvent extraction is operationally affected by crud formation, organic solvent and extractant losses, reduced mass transfer due to the solids carried downstream. This article reviews the generally inadequate mechanical and hydraulic solutions of froth elimination employed over the years. The recent introduction of a chemically based solution able to eliminate froth problems that can potentially turn around the situation for those who adopt the technology.

Jan 1, 2023

By P. Pięta, A. Surowiak, T. Niedoba

In a flotation process of copper ore three factors were measured: copper grade in concentrate (β), copper grade in tailings (J) and recovery of copper in concentrate (e). The experiment was conducted by means of the Jameson cell. The factors influencing the quality of the process were particle size (d), time of separation (t), type of the collector (k) and dosage of the collector (s). The considered vector function was then [β(d, t, k, s), J(d, t, k, s), e(d, t, k, s)]. Optimisation achieved was based on determining the values of the adjustable factors (d, t, k, s). The goal was to obtain the highest possible values of functions β and e (maximum) and the lowest possible values of function J (minimum). To this purpose the taxonomic methods were applied. Keywords: Flotation, copper ore, lithology, flotation agents, particle size distribution, taxonomic methods

Jan 1, 2020

By А. Klemyatov, T. Vologdina, U. Gordeeva, S. Zbinets, А. Kalugin, N. Rozhdestvenskiy

The plants integrated in the PhosAgro group of companies perform processes from scientific research to the project, from ore mining to shipment of fertilisers and feed additives to consumers. An extensive process chain maintains smooth interaction at all stages from research to production. As an example, the paper shows the revamp of two beneficiation plants (ANOF-2 and ANOF-3), requiring a comprehensive approach to task solving. The intention of the revamp was to increase the total yield of apatite and nepheline concentrate, taking into account the gradual decline in the quality of ore being processed and ensuring the yield stability of final products during re-equipment of the plants. At ANOF-3, the crushing and grinding cycle was modernised, the production of nepheline concentrate was implemented, and the capacity of apatite flotation, dehydration, and drying was increased. At ANOF-2 a new process chain was implemented for the production of apatite concentrate in workshops previously used for the production of nepheline concentrate. The main building was withdrawn from operation, where ore grinding, apatite flotation and apatite concentrate thickening had been carried out. The total increase in apatite concentrate yield at two beneficiation plants was 1.3 times. A further increase in concentrate production is planned. Keywords: Apatite, nepheline, fertilisers, beneficiation, flotation, column flotation machines, revamp, fine screening

Jan 1, 2020

By G. Akdogan, C. Bergmann, C. J. Coetzee, Q. G. Reynolds, S. J. Baumgartner

Submerged arc furnaces (SAF) are used extensively in the production of ferrochrome, where charge material – consisting of mixtures of carbonaceous reductants, fluxes such as silica, and ore in the form of pellets – is fed through chutes into the vessel. The feed typically forms a thick bed or ‘burden’ of solid particulates above a bath of molten material below. This burden layer surrounds three electrodes, which are typically arranged in a triangular configuration in circular SAFs. A major challenge in the industry is the availability of sought-after reductants, volatile market conditions, and increasing electricity tariffs in South Africa. A good understanding of the physical properties of the raw materials in the charge is therefore of great value in order to best deal with the reductants available at any given time, and thereby maximising furnace throughput. This paper presents a study of the effects of different particle properties on particle flow behaviour relevant to SAF operations. Discrete element model (DEM) simulations were used to estimate the sensitivity of the particulate flow of beds of charge material to properties such as the coefficients of friction, particle shape and size, and others. The present study lays the groundwork for the development of full DEM models of the SAF that will greatly improve understanding of the flow of complex mixtures of solid particles in the submerged arc furnace, and how the relative physical properties of each component in the charge can influence electrical behaviour of the burden.

Sep 1, 2021

By P. Sebola, S. Rasmeni, K. Seripe, D. Chetty

"South Africa’s Northern Cape Province hosts semi-precious and gemstone occurrences that are sporadically mined on a small scale by local communities. Tiger’s eye, a gemstone known for its chatoyancy properties, is found in important deposits located near the town of Prieska, where is it intermittently mined. Challenges faced by small-scale and informal mining include mining without proper permits, risky mining practice in dangerous terrain, and illegal export of raw material without concerted effort at domestic beneficiation. As part of a study aimed at job creation and social upliftment in the region, tiger’s eye deposits in the Prieska area were assessed to assist small-scale miners to understand tiger’s eye grades and their distribution. This will allow not only more efficient and safer mining of these deposits, but also beneficiation of the raw product into tumbled stones, cabochons, jewellery, and other small artefacts for sale. A hub established in Prieska by Mintek trains locals in the beneficiation of tiger’s eye. Supply to the hub must make use of a consistent grading system, which is discussed in this paper. Together with proper mine licensing, such an approach will develop mining and beneficiation skills, and create and sustain employment for the local community. IntroductionTiger’s eye is a semi-precious stone known for its chatoyancy property, which is caused by parallel, silicified asbestos fibres that impart a silky lustre to specimens. Deposits of tiger’s eye in the surrounds of the town of Prieska, Northern Cape Province, formed the focus of a study aimed at small-scale mining and beneficiation of this commodity. The Prieska tiger’s eye deposits are located along the N10 route to Upington (Figure 1). Tiger’s eye is unevenly distributed and occurs as lenses of various sizes, interbedded in gently folded metasedimentary rocks of mostly banded iron formation (BIF). The tiger’s eye occurrence in the Northern Cape Province, especially in the Prieska area, has not been extensively researched. There is thus limited information available in the public domain. The lack of knowledge on tiger’s eye distribution has resulted in local small-scale miners adopting a trial-and-error method of mining. Basic geological mapping and field evaluation of the deposit, coupled with professional judgement, are important aspects of any small-scale mining operation and can contribute significantly to the formulation of various acceptable and equally viable mining methods and practices."

Jan 1, 2016

By A. G. Journel, CH. Huijbregts

"Centre de Morphologie MathématiqueSpecial problems arise in the evaluation of lateritic-type orebodies (Ni-Co, bauxite) or, more generally, orebodies affected by surface weathering. In this type of orebody, the vertical grade distribution shows, from the hangingwall downwards, a systematic increase followed sometimes by a certain decrease, or vice-versa. These trends appear together with irregular variations from one drill bole to the other.The problem is to characterize a vertical structure that is representative not only of the drill hole but of an entire panel or zone of influence, in order to define mineable thicknesses for given cut-off grades. The vertical grade distribution observed on the drillhole is replaced by a new curve, called 'derive' (drift), which is computed by 'universal kriging'.Once the vertical study is completed, new 'service-variables' are defined in the horizontal plane, such as mineable thickness and the corresponding average grade, economical functions (combination of the grades of several minerals). The local and global estimation of these variables can then be performed by a simple bi-dimensional kriging plan. The global estimation is summed up by several tonnage-cut-off grade curves.The practical valuation according to the above scheme of a New Caledonian lateritic nickel orebody is presented."

Jan 1, 2014

By J. L. Havenga, L. J. van der Walt, J. T. Nel

"SynopsisThe development of plasma technology at Necsa started in the early 1980s, when the applicability of high-temperature plasmas in the nuclear fuel cycle was investigated. Since 1995, this plasma expertise has expanded to other industrial applications, for example mineral beneficiation, nanotechnology, fluorocarbon production and waste treatment, all of which are also of relevance to the nuclear industry.Necsa has demonstrated the manufacture of plasma-dissociated zircon, zirconium metal powder, carbon nanotubes, silicon carbide (SiC), zirconium carbide (ZrC) and boron carbide (B4C) at the laboratory and pilot plant scale. These materials are commonly used in the nuclear industry. Zirconium alloys are used as fuel cladding material for nuclear fuel assemblies.Necsa manufactured the monomer tetrafluoroethylene (TFE), using 150 and 450 kW DC plasma systems, from which the polymer polytetrafluoroethylene (PTFE) was synthesized for use in filters and as seals in nuclear plants. With the nuclear renaissance at hand, it was demonstrated that plasma technology can be used to produce hydrofluoric acid (HF), which is used in the manufacture of fluorine gas (F2) for the production of uranium hexafluoride (UF6) directly from the mineral calcium fluoride (CaF2) without the use of sulphuric acid as in the conventional process. The recovery of valuable uranium from nuclear waste such as filters, oils, and solids with plasma processes will also be discussed. The destruction of low-level nuclear waste by a plasma gasification system can reduce the volume of this waste by several orders in magnitude, resulting in huge savings in the storage costs. Another product of plasma technology is the encapsulation process for nuclear waste and the production of vitrified product, which could be used as filler material for medium-level nuclear waste.IntroductionDuring the 1980s, a plasma research and development programme was launched at the erstwhile Uranium Enrichment Corporation of South Africa (UCOR) at Valindaba outside Pretoria. The main purpose of this programme was to develop alternative and more economical processes for the processing and manufacturing of uranium compounds used in the nuclear fuel cycle. The conversion of UO2 (as received from uranium mines) to UF6, which is needed for enrichment, conventionally involves several laborious, expensive, chemical processing steps. Plasma processes can eliminate several of the intermediate steps. Enriched UF6 is converted to UO2, which is pressed into pellets that are used in nuclear power plants. Plasma technology could also be used in a modified and optimized conversion process."

Jan 1, 2015

By D. Hu, J. Xu, N. Liao, C. Wu, J. Ye

The vertical stirring mill’s fine grinding equipment is affected by the operating conditions during the grinding process. The grinding media has a great influence on the energy consumption and particle size distribution. This paper investigates the fine grinding performance of nano-ceramic balls and steel balls of the same weight for magnetite by a wet grinding process in a vertical stirring mill, where 15 mm nano-ceramic balls and 12 mm steel balls are used as grinding media to carry out batch grinding tests. We have observed that the newly qualified particle content of the nano-ceramic balls is higher than steel balls of the same weight at the same specific energy. The reason may be the advantage of a greater surface area and volume filling rate with the nano-ceramic balls. Moreover, the specific energy of nanoceramic balls is less than steel balls of the same weight under the same grinding fineness. In addition, energy efficiency indicates that the nano-ceramic ball has a higher energy efficiency than a steel ball of the same weight. This is due to the light bulk density of nano-ceramic balls. The application of a nanoceramic ball in a vertical stirring mill will improve iron ore grinding performance. Keywords: Steel balls, nano-ceramic balls, vertical stirring mills, fine grinding, particle size distribution, energy consumption

Jan 1, 2020

By J. W. D. Groenewald, L. Auret, B. S. Lindner, E. C. Nienaber

Mineral processing plants have complicated control strategies, with different control layers, multiple interacting loops, and feedforward disturbance rejection. The complicated control strategies mean that oscillations can arise and propagate to multiple loops and degrade the control performance. Oscillation detection techniques, such as the spectral envelope method, can be applied to detect oscillations within an observation window. However, the start- and end-points of the oscillations within the observation window cannot be identified with current oscillation detection techniques. The start- and end-points would be useful to label the oscillatory intervals, and then to use these labels to identify process conditions associated with the oscillation. In this paper, a pattern recognition technique, Density-Based Spatial Clustering of Applications with Noise (DBSCAN), was used to label oscillation intervals. An oscillation diagnosis workflow combining spectral envelope and DBSCAN was demonstrated on an industrial case study of oscillations in a flotation circuit concentrate sump. The workflow successfully detected the oscillation, labelled the oscillatory intervals, and enabled accurate root cause analysis. The impact of time series features, namely the signal power ratio () and the oscillation frequency, on the performance and optimal parameter selection of DBSCAN was also investigated. Low oscillation frequencies and low s negatively affected the performance of DBSCAN. Additionally, the results indicated that higher oscillation frequency was related to higher optimal values for the lag parameter. Keywords: Oscillation diagnosis, process monitoring, data mining, clustering, flotation control

Jan 1, 2020

By M. Arlandi-Rodríguez, and A. García-Berrocal, A. Alonso-Jiménez, C. Lopez-Jimeno

Spain is a major producer of dimension stone, which is one of the most important industrial sectors in the northwest of Spain. This justifies the maintenance of these industries, although the technical and environmental requirements for their continuity are increasingly demanding. The main target of this paper is to present a new methodology in order to obtain k-ratio stress values on the basis of flat jack measurements and finite element numerical back- analysis with Rocscience© RS2 software. Continuous iterations were performed to try to find a relationship between the k₀ and the measured stress in the tunnel roof and sidewalls. It focuses on technical aspects of the method for designing mine chambers in the slate industry that were previously mined by open pit methods. The size of the chambers impacts the operating cost, and the dimensioning of a correct support ensures better efficiency and safety. Correct knowledge of the k₀ therefore is critical for the design of the support. The proposed new method entails a simplification of the classical procedure for estimating the k-ratio.

Sep 1, 2022

By M. Kumral, S. Li, M. Balci, Z. Shao

Main haulage roads play an important role in the performance of underground mines because of the cost of transportation of the extracted ore, equipment, and workers. During mine development, these roads are designed through manual tools or CAD-based software. However, the optimisation of these roads is still a complex problem due to some constraints such as minimum turning radius and maximum gradient. By utilising Dubins path theory, three elevation cases; namely low, medium and high are defined, considering gradient constraint as well as the minimum turning radius in a three-dimensional space. The shortest path between two points can then be found by the three-dimensional Dubins path algorithm with elevation constraint. As a further step, a three-dimensional Dubins path algorithm with elevation constraint for multiple points is also developed for multi-point cases. The effectiveness of these algorithms is tested through case studies in order to determine the optimal path between different points.

Sep 1, 2021