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

Dec 6, 2010

This paper discusses support requirements for the proposed monorail system to be used in decline development. The monorail drilling and loading systems are systems that move on the rail (monorail) installed in the roof of the decline and supported by roof bolts, suspension chains and steel supports. However, due to the weight of the components of the two systems, it is imperative that the force in each roof bolt, suspension chain and steel support capable of suspending the weight of the heaviest component is determined. Numerical models that relate the weight of the monorail drilling and loading components to the required strength in the support system have been developed. Using these developed models, numerical values of the forces in each roof bolt, suspension chain and steel support, required to suspend the weight of the heaviest component of the monorail drilling and loading systems are determined.

Dec 6, 2010

BATMINÖ, BATMINEÖ, BATMINDÖ are an abbreviation for Business Analysis Tools for Mining, Mine Evaluation and Mine Design respectively. BATMINP are proprietary tools customised to suit individual client requirements. The first suite of tools provides for analysis and evaluation of open pit mining equipment alternatives and includes fleet selection, fleet sizing and production, productivity and economic outcomes. The models address all mine process activities including drilling, blasting, loading, hauling and auxiliary services. All models are built to provide for simultaneous evaluation of multiple alternatives that are time and condition related. Provision is made for modelling from first principles and/or default or shortcut inputs. Sensitivities to key input parameters are easily performed and consistent logic is applied throughout the process. The models are built to provide key outputs in a format suitable for presentation and documentation. Provision is also made in the models for validation of both inputs and outputs through benchmarking, back analysis and budget comparison. The same models can be used for short interval (12 month) planning and control, medium-term (three to five years) and long-term life-of-mine (LOM) planning. Millions of dollars are spent each year on mining plant and equipment. Decisions that impact on the medium and long-term are made. BATMINP tools have been used to perform studies with good results and in most cases the studies have been validated through back analysis and comparing model outcomes to real data.

Dec 6, 2010

This paper presents the near-field rock damage owing to production blasting in limestone quarry in the western region of Japan. The study's purpose is to learn the mechanism of crack development due to blast vibration. In this study, blast vibration's magnitude was expressed with peak particle velocity (PPV) which was obtained based on seismographs recorded database. In attempt to pursue a research's purpose of this study, there were two considerable interests: near-field blast vibration propagation and prediction, and crack observed and prediction. Furthermore, with regards to considerable interest of the study, there were three essential aspects which were challenged, such as: monitoring and interpretation of seismic wave propagation in a rock mass near large explosive charge of production blast scale, measurement of blast rock damage in adjacent to blasthole, and determine critical value of PPV which may produce significant rock damage. In order to determine precision critical PPV, understanding correlation between rock damage with vibration level is firstly important to be done. This paper also discusses how to measure, detect and quantify near-field blast vibration and blast rock damage in adjacent to blasthole.

Dec 6, 2010

Enterprise Optimisation is a methodology for increasing the value of mining and mineral processing operations through better long-term planning decisions. It involves a combination of ten mechanisms which deal with decisions at different stages of the value chain. A decision made at any point in the chain potentially affects the decision for all other points in the chain. The key, therefore, is to optimise them simultaneously. The Enterprise Optimisation approach can be shown to produce increases of five per cent to 35 per cent or more in net present value (NPV), even when several optimisation methods have already been applied. This paper steps through an example case study, illustrating the effect of each mechanism and how they can work together to develop greatly improved results. This example results in a series of counter-intuitive outcomes, which challenges conventional management practices and typical organisational objectives based on organisational silos.

Dec 6, 2010

Large mining operations need equipment that consistently performs as expected. The most effective way of ensuring this is to have a defined life cycle with an optimised maintenance strategy. The determination of this life cycle is an economic decision, influenced by the construction and utilisation of the equipment. An effective life cycle costing (LCC) tool must be able to process the many variable factors involved.Many factors influence the costs that are associated with a machine over its life. The most variable of these are the costs of maintaining the equipment. Maintenance costs are dependant not only on the utilisation of the machine, but also on the strategy that has been developed to support the machine through its life. A combination of supplier support, component changes, regular servicing and unscheduled maintenance needs to be modelled, based on a variety of drivers. Traditionally spreadsheets have been used to model these factors, but the increasing complexity of the situation can make spreadsheets unwieldy and difficult to manage. A database solution that breaks each activity into its constituent components, links them to an associated mine plan driver and then aggregates the result is the ideal tool to provide a time based cost profile. The evaluation of a number of scenarios, representing different maintenance strategies/life cycles can be rapidly undertaken. Auditability through inbuilt tools is required to provide easy tracing of data. Use of the host company's account structure allows for reporting against the standard chart of accounts.

Dec 6, 2010

This paper describes the past, normal and advanced practice of optimisation in mining. It then discusses what needs to happen for the mining industry to make full use of what is now available.

Dec 6, 2010

In-pit crushing and conveying (IPCC) is being increasingly considered as an alternative to traditional truck-shovel mining methods. The move towards IPCC is driven by a number of factors including the potential to reduce greenhouse gas emissions, the availability of skilled labour and the need to increase extraction rates to levels that present significant challenges to traditional methods.When considering the relative performance of IPCC and truck-shovel methods, the outcome can be inadvertently impacted by either the use of different simulation approaches, or techniques that do not adequately model the processes in sufficient detail.A simulation approach is proposed that models both IPCC and truck-shovel using the same software platform and is capable of functioning at a wide range of resolutions from life-of-mine scale through to second-by-second asset tracking level. The simulation framework also holds models of processing equipment and hence the mining simulations can be extended to gauge the impact on downstream plant.The approach, known as mine-process operational simulation (MPOS), can be tailored to the level of information available and hence the type of study required, ie order of magnitude, prefeasibility, feasibility, or detailed design.Using information from block models and a range of detailed equipment and process models, MPOS can span major system discontinuities, typified by the mine-plant interface, to allow the estimation of final mine and plant product specifications.

Dec 6, 2010

According to the data provided by the most recent European Survey on Working Conditions, roughly 25 per cent of the European working population is exposed to mechanical vibrations for no less than one quarter of the work shift duration, while around ten per cent are exposed for the entire work shift. The occupational exposure to whole-body vibration (WBV), in particular, represents a major health risk in mining, quarrying and civil excavation activities. In accordance with European Directive 2002/44/EC, the latest version of the Italian law on physical risks has recently confirmed the possibility of using relevant literature data on vibration magnitude in order to evaluate personal occupational exposure (vibration database or data provided by the manufacturer). Still the alternative option, based on field measurements, represents the most appropriated method of risk assessment, as it accounts for the actual operating condition at the workplace; actual operator and vehicle under investigation and specific working cycle. The article discusses the vibration measurements taken on a number of heavy machinery (excavators, loaders, trucks, dumpers, etc) employed for talc extraction in a mine located in Sardinia and the resulting personal exposure for the drivers. The assessment was carried out in accordance with the specifications of ISO 2631-1 and EN 14253.

Dec 6, 2010

Strategic planning in mining is an important value accretive process. One of the most important aspects during the planning phase is determining the correct mine and plant design. The traditional mine site design (mine, plant, stockpiles, dumps) develops a fixed system for one set of conditions or expected values. A robust design is a fixed system that is designed to deal with a large range of conditions without changing the system design. A flexible design changes the system dynamically in response to changes in uncertainties. It is hypothesised that a robust design generates less value than a flexible design as it fails to realise the value of actively managing the operation. One of the most critical aspects in creating strategic value from a project is embedded in the design of the system. A flexible design has components that allow the design of the system to change over time. An operational plan is proposed as a hybrid of a robust and flexible design. This paper seeks to compare these different design methodologies. An analysis of the same case study is undertaken to compare these approaches, showing an a traditional net present value (NPV) of $1678 M, robust design NPV of $1787 M and an operational plan NPV of $1867 M - an increase of $170 M.

Dec 6, 2010

Automation in underground mining enhances safety and leads to economic efficiency. In the past many efforts have been made on the automation of longwall shearer operation. With respect to the ultimate goal of automation, ie self controlled operation, coal bed boundary detection is one of the key problems. For longwall human labor is necessary in order to detect the exact position of the coal seam to be excavated. The authors present a sensor concept based on infrared technology and pattern recognition which will solve this problem. The very harsh underground conditions set high demands on the implemented sensors. The combination of infrared sensors and powerful processing algorithms is part of the innovative concept for automation of the new Eickhoff Bergbautechnik GmbH SL 750 shearer loader. The multi-sensor automation system EiControlPlus which is designed for the complete detection of the machine environment fills in the gap in the coal-excavation automation by building a recognition system that turns the shearer loader into an 'intelligent machine' which is capable of detecting the correct position of the seam to be excavated and thus enables human-free coal mining.

Dec 6, 2010

A major problem in open pit mine planning is to determine the optimum pit limit of the mine. The optimum pit limit is the one with maximum discounted net profit and satisfies technical conditions. A number of optimisation techniques have been proposed for determination of pit limits. Among these techniques, those based on graph theory are suitable to solve the three-dimensional (3D) problem. In this paper, two maximum flow methods named, Dinic's algorithm and Push-Relabel algorithm have been used to find the optimum pit limit of an iron ore mine. This method has been implemented in Gol-e-Gohar iron mine in south east of Iran in order to find the final pit limit. Issues, like properties of the mine and orebody, are studied. These properties include wall slope, sulfur and phosphor grade restrictions. The result shows that these properties have significant effect on the determined pit limit.

Dec 6, 2010

In this paper the system of an operative expert estimation of innovative policy of mining enterprise technological development on sustainable development principles, created in the laboratory of economic analysis, planning and management of Mining Institute after D A Kunayev is represented. It is based on application of technology of satellite navigation and global positioning system (GPS). It allows to estimate the geotechnological complex functioning efficiency in the automated mode and on the basis of the obtained results to develop a complex of management measures on the competitiveness increase, realised by means of the automated corporative management system of geotechnological complex. The estimation of complex competitiveness is carried out on such basic aspects, as: technical, technological, organisational, ecological and economic as all of it give certain expenses and influence on complex overall performance. The major difference of the given approach is its realisation within the limits of the automated corporative management system of geotechnological complexes. It is based the fact that data of monitoring of complex's work will provide a sustainable development of geotechnological complex of mining enterprise.

Dec 6, 2010

Well designed and maintained haul roads are the key to minimising truck haulage on-road hazards and costs, as well as increasing productivity. However, practically designing and managing a haul road for optimal performance is often diff cult to achieve. Poorly designed and built roads exhibit high rolling resistance - a one per cent increase in road rolling resistance can typically reduce speed on ramp by as much as ten per cent - and on the f at by up to 26 per cent. In the current economic climates, investment and operating decisions come under scrutiny. In the long run, this scrutiny returns improved efficiencies and leaner, healthier operations. The focus of this evolving evaluation process should and will certainly fall on haulage operations - simply by virtue of their contribution to overall cost of operations - often in excess of 50 per cent of total costs for deep open-pit mines. Whilst the end result - improved efficiency and reduced cost per ton hauled - is not in itself problematic, it is the route, or process followed to achieve these savings that needs to be carefully managed. We can be guided on this journey by our understanding of how a road is designed, and, critically, the interplay between a good design and safe, cost efficient haulage.This paper brief y summarises the evolution of mine haul road design, from the seminal USBM work of Kaufman and Ault in 1977, through to current geometric, structural, functional and maintenance management design components. These augmented design and management guidelines have been developed over the past decade, both in response to the requirements of mine operators for more safe and efficient haulage systems, and the truck manufacturers' requirements for a more predictable and controlled operating environment. These developments have been paralleled by the need to minimise haulage hazards, both from a health and safety perspective. Generally, both objectives have been achieved, but with some specific areas of design and operation still presenting ongoing potential health and safety hazards.The paper then summarises current design guidelines for these safety-critical issues, both from a road-design 'best-practice' and road management perspectives. Implementation of the approach is seen as a basis for reducing the potential of an under-designed mine road to lead to health and safety defects and secondly as a means of giving haul road safety and performance issues greater prominence in the minds of the road-user, operator, mine planner and designer alike.

Dec 6, 2010

Ledcap Pty Ltd has developed two software tools for assisting in the determination of life-of-mine (LOM) trucking requirements. The first tool generates haul paths and the second calculates truck travel time over these paths. The two step approach allows the paths to be viewed and if required edited, to better represent the actual site haul routes.The first tool automatically creates haul paths between the mine bench and the dump. To do this the user supplies a master haul route and a scheduled block model. The master haul path and the block model are interacted to create multiple haul routes, one for each pit/dump bench pair in each scheduling period. Each path carries with it a record of the scheduling period it represents and the dry tonnage hauled over the path in that period.The second tool calculates truck travel time over the path. Data from the manufacturer's rimpull and retarder curves are used to calculate accelerations and speed over each segment of the haul path. As the paths are derived from digitised representations of mine haul routes the path f les often have over a hundred segments. This detailed representation of the haul route allows the software to automatically adjust speed for different radius corners and accurately simulates the changing accelerations over the gradient changes that occur in real life mine ramps. Rolling resistance can be specified at a global level, at a segment level and at a period level. This allows rolling resistance to be changed seasonally as well as spatially.Life-of-mine trucking studies attempt to calculate an accurate answer from extremely variable inputs. This paper will detail the features of the two software tools and how the tools provided in the software can assist the mine planner to have greater confidence in their life-of-mine trucking requirements and the subsequent production capacity inputs to their scheduling calculations.

Dec 6, 2010

The paper presents the development of an integrated computer aided design and planning of open cast mining, with the use of object-oriented modelling and geoinformation technologies, on the example of interaction of the subsystems on planning optimisation and freight traffics.

Dec 6, 2010

The success of smooth blasting essentially depends on geological condition of rock. Also, in the perimeter hole, borehole pressures with light, well-distributed explosive loads are important to minimise overbreak. In order to simulate perimeter holes with scaled model test, the borehole pressure was considered as a factor of scale. Hydraulic oil pressure is applied as borehole pressure instead of using explosives and detonators in order to remove the undesirable effects of detonators in an experimental set-up of just two perimeter holes in a tunnel blast. The borehole pressure on a perimeter hole is nearly reproduced with hydraulic pressure which is generated by non-electric detonators in the hermetical cylinder.

Dec 6, 2010

This paper examines some of the fundamental economics of mining - in particular, for optimisation studies, for production rate determination and for reserve estimates.It includes introductory discussion on the principles as to how economics drives mining investment decision-making, applicable to the optimising of pit shapes and production, or truck fleets, or any other part of the mine.The main part of this paper looks at the decision to start-up a mine and why the 'optimum' production rate to start-up a mine is not the point of lowest cost according to traditional discounted cash flow (DCF) analysis. The optimum production rate is usually substantially less than this rate. The paper recognises the difference between typical mining investments and investments in other industries that do not have the unique characteristics of mining and the problem of uncertainty resolution. It examines the marginal revenue effects, the marginal cost of capital and the value of a real option to expand pending uncertainty resolution as determinants of optimum initial production rates.The final part of this paper looks at applying these principles to renewable and non-renewable resources. It examines mine life and reserve estimates from an economic perspective.

Dec 6, 2010

The stability of parallel underground coal mine galleries and pillars have been investigated using two- and three-dimensional (3D) numerical stress analysis. Anisotropic horizontal in situ stresses and the direction of the excavations have been considered in the numerical analysis. The stability of the tunnels driven in a coal seam at various working depths has been investigated taking into account different strata conditions and then results from two- and three-dimensional numerical modelling studies were compared. Maximum principal stress components have been chosen in three various directions: vertical, parallel and perpendicular to the tunnel axis. Analysis have shown that in the anisotropic in situ stress field, the favourable direction of underground mine openings which have different strata conditions depend not only on the horizontal in situ stresses but also on the vertical in situ stresses. Furthermore, 3D numerical modelling studies have been carried out to investigate stability of multiple entry longwall panel gate roads and pillars with various width-to-length ratios (W/L). Results of the modelling studies have shown that the critical dimension of coal pillars depends on their width and the direction of maximum horizontal stresses.

Dec 6, 2010

Marble deposits of dolomitic variety are available in large quantities in India and for extracting these deposits diamond wire saw cutting machine is mainly used. Cutting performance of the diamond wire saw machine depends on rock parameters, machine parameters and operational parameters. Rock parameters related to physico-mechanical properties, such as, compressive strength, tensile strength, shear strength, modulus of elasticity and abrasion resistance of marble play role in determining cutting rate and beads wear rate. Thus, this study was undertaken to determine the relationship between different physico-mechanical properties and cutting performance. This work also aimed at enhancing the cutting performance of diamond wire saw in dolomitic marble deposit. Study was conducted in the field at three different zones having deposit of soft, medium hard and hard dolomitic marble. During the study, cutting rates and wearing of diamond beads were recorded in the field. Physico-mechanical properties were determined in the laboratory. The results obtained were subsequently evaluated by using statistical analysis. Study revealed that these properties of marble play a significant role in the performance of diamond wire saw machine. Predictive equations for the wearing of diamond beads and cutting rate were developed based on regression models. Results of this study will be of ample use for operators of wire saw to achieve maximum cutting performance and for manufacturers in designing the diamond beads.

Dec 6, 2010