Search Documents

Authors have been conducting research on autonomous loading operation by wheel loader. Autonomous loading cycles has been demonstrated with real size experimental model. In V shape loading operation, travelling between scooping point and dumping point is dominant factor for cycle time of the operation. The positions of scooping point and dumping point changes with advancing the operation. In the developed system, path planning is performed at the beginning of every cycle. The path is formed by combination of curve and straight path elements. During travelling on the planned path, path following control is applied on the loader to keep position error in narrow range. Positioning of the loader is based on dead reckoning with correction by global positioning system (GPS) data. In a process of path following control, control value for steering angle is determined based on position error in lateral direction. Proposed method of path planning and position control is installed and tested in the real size experimental model. The detail and results will be described in the paper.

Dec 6, 2010

The Earth Moving Equipment Safety Round Table (EMESRT) was established by mining companies in 2006 to influence manufacturer's equipment design through a process of engagement. 2010 EMESRT member companies include Anglo American, Barrick, BHP Billiton, Centennial Coal, Collahausi, Newcrest, Newmont, Rio Tinto, Vale and Xstrata.Driven by a persistent need for retrofits to new equipment, such as haul trucks, EMESRT initially engaged with Surface Equipment Manufacturers including Caterpillar, Komatsu, Leibherr, Hitachi, Le Tourneau and Terex. These OEMs responded positively to the EMESRT initiative, welcoming the opportunity for dialogue with an aligned industry regarding human factors issues related to equipment design, rather than needing to respond to the disparate range of demands for design modifications previously received from individual customers. This engagement process is about making global sustained changes within the OEM organisations and within the mining companies. It is a very international exercise. For example, over two weeks in September 2010, a total of 21 different miners from ten different companies travelled from Australia, South Africa, Canada, Brazil, Singapore and the United States to engage with OEM counterparts who assembled from the United States, Japan, France, Sweden, Finland and Germany. EMESRT Surface Group representatives completed a whirlwind tour of the major North American manufacturers of mining equipment. Starting in Dallas (Atlas Copco, LeTourneau), this tour passed through Gainesville (Sandvik), Newport News (Liebherr), Guelph - Ontario (Hitachi) and Milwaukee (P&H Mining/Joy Global; Bucyrus), before winding up in Peoria, Illinois (Komatsu, Caterpillar). Over nine meetings, this group engaged with 129 individuals from nine OEMs. The EMESRT group welcomed miners from four non-member companies to come along for the meetings. These companies are Syncrude Canada Ltd, the Kearl Oil Sands Project - Imperial Oil (ESSO), Suncor Energy Ltd and Teck Resources Ltd.Other mining industry sectors have now expanded the EMESRT scope from surface mining to include exploration and underground mining equipment. In 2009, EMESRT was organised into four Technical Groups, consisting of EMESRT member company representatives, to focus on engagement with OEMs of surface, underground coal and soft rock, underground hard rock, and exploration drilling equipment. An advisory group has been formed to coordinate activities between all workgroups and provide strategic direction and cohesion between all activities. The Minerals Industry Safety and Health Centre (UQ-SMI) facilitates and coordinates all EMESRT activities on behalf of member companies. Building on successes with individual Surface Mining OEMs, EMESRT now aims to help OEMs in their transition to a sustainable design process that will incorporate and address specific design philosophies at the concept phase of design, so that significant improvements can be made up front for little cost within the overall budget. EMESRT members plan to educate all stakeholders, internally, within their own companies, and externally, by addressing industry associations, regulators and other end users about new ways of evaluating equipment design based on EMESRT purchasing specifications. This presentation will outline the EMESRT approach and report on progress in 2010.

Dec 6, 2010

In mining industries, materials loading and handling costs represent a significant component of the total (capital and operation) costs. A variety of methods have been applied in surface mine equipment selection in order to select the suitable loading and haulage system with the lowest total cost. The optimal size and number of equipment calculation are very important task for mining engineering because loading and haulage equipment are major proportion of open pit mining cost. Capital and operating cost are considered in objective function with respect to interest rate, insurance and tax in non-linear form. Shovel and truck annual productivity constraint, fleet matching constraint and number of truck per shovel constraint are incorporated in this optimisation problem with continuous variables. This formulation will yield total cost minimisation per hour and good accuracy compared to previous methods.

Dec 6, 2010

Open pit mining has considerable damaging effects on the environment of the mining region. These harmful influences have to be controlled during mining operation until mine closure. Different sections of mined land, such as; pit(s), waste dump(s), tailing pond(s), roads, areas for onsite facilities and free land zones which are not mined, have to be reclaimed through treatment of environmental pollution and implementation of a permanent post mining land use (PMLU) after mine closure. Implementation of a permanent optimal post mining land use (OPMLU) is one the most decisive criterion which effects on reclamation procedure, mine closure and their costs. Therefore to define ultimate pit limit (UPL), mine closure and reclamation costs should be entered in the calculation iterations same as the other variable costs of the projects. Estimation of closure and reclamation costs of a mining project is carried out based on the attained OPMLU and the specifications of the mine site. In this paper, a model is developed to provide OPMLU for pit area through fuzzy multi-attribute decision making (FMADM) technique. The model was implemented on a hypothetical copper mine in northwest of Iran as a case study. Lumber production was selected as OPMLU for the pit area. It is finally concluded that through the developed model, OPMLU for different sections of mined land in an open pit mine project is defined. Also closure and reclamation costs are estimated based on the defined OPMLU to achieve a more accurate UPL.

Dec 6, 2010

The selection of the mining fleet can have as much of an effect on the efficiency and effectiveness of an operation as the mining method. This is not to say that inefficiencies are only attributable to inappropriate equipment selections, these aspects have many factors but are not the subject of this paper.This paper will give an overview of equipment selection processes that have been utilised to date. It will also look at the increase in application of study programs/simulations from an aspect of accuracy, as well as the importance of enabling the analysis of multiple sensitivity scenario planning. An aspect that is increasingly important in project planning with commodity market movements.Another aspect that is increasing in popularity is that of automation, what effect does this have on equipment selection? What additional aspects need to be taken into consideration when assessing Automation of equipment from the beginning of a project as well as introduction into an operating mine?Once the selection process has been finalised and equipment implemented, how do we, as an industry, 'close the loop' through analysis of estimated versus actual equipment application?

Dec 6, 2010

The objective of a mine planning exercise is to plan a safe mine that maximises net present value (NPV) for the project. Two primary elements are key to design of a mine plan optimised to maximise profit: selection of an optimised production rate and selection of an optimised equipment fleet. Both depend upon accurate estimations of capital and operating costs for the equipment and for the life cycle of the mining operation. Once a trial production rate is determined, a primary equipment fleet, ie excavators, haulers, and blasthole drills, can be determined based on material characteristics and haulage distances and gradients. An auxiliary fleet, dozers, road maintainers, service trucks, etc can be determined using less rigid productivity criteria. With an equipment fleet determined, operating and support personnel can be assigned based on shift requirements and equipment operating needs; and material and supply requirements can be estimated. Knowing the areal dimensions of the major equipment items, road widths and repair shop dimensions can be determined. Personnel numbers and supply requirements determine the square metre sizes of offices, change rooms, and storage facilities. Reliable sources of capital and operating unit prices and costs for all these items are referenced in the paper. Once preliminary capital and operating cost estimates are calculated by applying unit costs to equipment, personnel, material and supply needs, potential profit can be tested using DCF techniques. An optimised mine plan can then be determined by testing the potential profitability of multiple mine production rates. Because of the economies of scale, full capital and operating cost estimates must be completed for each production rate in order to produce meaningful comparisons.

Dec 6, 2010

Japan is the largest coal importer in the world, importing from Australia, China, Indonesia, Canada, Vietnam, etc. In Indonesia, most of the produced coal is extracted from open cut mines. More open cut coal mines will be developed to fill the demand for coal in Indonesia and the world. Many surveys and projects for developing new coal mines and transferring mining technology are being conducted in tropical counties such as Indonesia and Vietnam with the aid of the Japanese Government. It has, however, been pointed out that excessive and precarious development of mines in tropical areas will damage the environments around the mines including cultivated lands, and reduce the precious rainforest. This would undoubtedly exacerbate the instability of the global climate and the food crisis in the world. This paper describes the effects of flyash on the control of acid mine drainage in order to avoid potential negative impacts on the environment caused from open cut coal mines.

Dec 6, 2010

Failure of rock materials is a process of crack propagation. Crack initiation takes place when the crack tip stress intensity K reaches a critical value called fracture toughness, K1C. The rock fracture toughness is known to be affected by the surrounding environment such as temperature, confining pressure and humidity. In order to examine the effect of humidity, a series of semi-circular bend tests were performed under various water vapour pressures in a rock material that is known to be anisotropic. Water vapour promotes stress corrosion of rock and therefore the fracture toughness was found to have a decreasing trend with increasing water vapour pressure. The rate of decreasing the fracture toughness depends on the microcrack density that promotes the migration of water vapour into the rock. Also in an anisotropic rock, the fracture toughness depends on the direction of crack in relation to the anisotropy of the rock material.

Dec 6, 2010

This paper presents a study about reopening of a quarry near to the geothermal region of Kntahya, Turkey. The production method was gallery blasting which resulted in very high ground vibrations. Therefore the quarry had been closed down by the local authorities about 12 years ago due to possible damages to the geothermal resources. In order to reopen the quarry, reserve estimation and production planning studies needs to be carried out as well as applying environmentally sensitive production method. The result of reserve estimation studies showed approximately 12.5 Mt reserve in the area. The market studies indicated that annual production of 600 000 tonnes could be sold. These results justify to reopen the quarry. In order to overcome environmental problems, bench blasting production method instead of gallery blasting has been planned. This method enables to design a drilling blasting pattern that will almost result in no ground vibrations.

Dec 6, 2010

Principles of management in ore preparation before process of enrichment of chrysotile ores are discussed. The formulas, which were tested in industrial conditions, are offered, which may be used for averaging of chrysotile-asbestos fibres by content in ore and grade.

Dec 6, 2010

The poor reconciliation between the values of estimated and actual grades can cause major economic losses to the mining industry. In a mining operation grade reconciliation is comparing the values of estimated grade calculated in exploration stage with actual grade obtained from blastholes' data. Many different factors affect the degree of reconciliation in a mining operation. In this paper we investigate the factors related to estimated grade which affects the reconciliation process in the exploration stage of the orebody. These factors are the sources of uncertainty in the rest of mine life. In this area the most important factors are inherent variability, statistical uncertainty and systematic uncertainty. A probabilistic model was presented to model each source of uncertainty. The implementation of proposed model was checked and its validity was investigated using real data in an iron open pit mine in Iran.

Dec 6, 2010

This study is to compare reinforcement of rebar and spiral bolts using laboratory pull-out test. For this purpose, the pull-out test was performed in laboratory for a curing period of 7- and 28-days. Based on the results of the laboratory pull-out test, the pull-out load of two support members rapidly increased with displacement until the breakpoint and then gently increased with displacement. The maximum pull-out load of spiral bolt was larger than that of rebar bolt. This implies that a spiral bolt is more stable than a rebar bolt for securing the stability of a ground or rock mass when a support was installed in a ground or rock mass under the same condition. In addition, the maximum external pressure of two support members increased with pull-out load and with displacement and the distribution of external pressure was commonly larger at the upper part than at the lower part of specimen. This indicates that the bond failure location by pull-out load should be mainly occurred at the surface portion of specimen. In conclusion, the reinforcing effect of a support depends on a curing period and a type of support member, and reinforcement of a spiral bolt is more effective than that of a rebar bolt.

Dec 6, 2010

Open pit mine plans define the complex strategy of displacement of ore and waste over the mine life. Various mixed integer linear programming (MILP) formulations have been used for production scheduling of open pit mines. The main problem with these models is the inability to solve real size mining problems. We present a mixed integer linear programming formulation for the open pit long-term production scheduling problem. To reduce the number of binary integer variables in the formulation, we aggregate blocks into larger units referred to as mining-cuts. We present a semi-supervised clustering algorithm which aggregates smaller blocks based on rock types and grade ranges into mining-cuts without introducing an error in the grade estimated values. The cluster-based aggregation algorithm is fully integrated into an MILP mine production scheduling prototype software. We have implemented, verified, and validated our models. The efficiency of the new platform is evaluated through iron ore mine case study.

Dec 6, 2010

This paper describes new research and development currently being undertaken by the CSIRO Mining Technology Group to advance the automation capability of continuous mining equipment in underground coal mining operations. The effort aims at increasing the overall rate of roadway development as well as providing a safer working environment for underground mine personnel. The activity is funded by the Australian Coal Association Research Program (ACARP) and forms part of a larger underground development initiative, known as the CM2010 project. The CM2010 is managed via a consortium of leading mining industry representatives through the Roadway Development Task Group (RDTG). The Task Group has identified three research areas requiring new development in order to realise the CM2010 project objectives: self-guiding (autonomous) continuous miner capability, an enhanced drilling and bolting process and improved mesh deployment. CSIRO's primary role in the CM2010 project is in the development of the autonomous continuous miner guidance capability.This paper reports on outcomes achieved at the half-way mark of a three year research and development project. It details the technical developments undertaken towards demonstration of a 'self-steering' capability to enable a continuous miner to automatically maintain a given mining heading and mining horizon under production conditions. A primary technical requirement of this automated functionality is the means to accurately determine both the location and orientation of the continuous miner in real-time. Testing and validation of the guidance system solution has been implemented using a combination of an instrumentation-grade inertial navigation unit and radar technology. Comprehensive performance evaluations have been conducted using a scale skid-steer mobility platform known as the Phoenix. Results achieved to the present stage of the project are highly promising and suggest that an automated self-steering functionality is achievable under production conditions. This new outcome represents an important move towards implementing a step change improvement for future underground roadway development.

Dec 6, 2010

India is on fast economic growth. Even in the turbulent years of global crisis, it could achieve a growth of over eight per cent. In recent past, Indian Government has been contemplating a faster growth in all the sectors of economy so as to make the nation an economic power in the world.Steel is a versatile material. It has its role in most of the major industrial activities, such as infrastructure, automobiles, urbanisation, consumer durables and other. In other words, steel is a part and parcel of industrial expansion, urban and rural development. It is rightly admitted that steel acts as pillar of any development model. Volume of steel consumption is the barometer which measures economic progress and/or industrial status of any country.India and China are the two countries in Asia which have the significant impact on the global steel industry. Of course, China is much ahead of India in consumption level of steel.

Dec 6, 2010

The Estonia Mine, operated by Eesti Energia Kaevandused AS (EEK), the mining division of the Estonian Government's energy company, Eesti Energia AS, is a large room and pillar mine located in Eastern Estonia. It supplied approximately 4.9 Mt/a of oil shale in financial year ending 2010, which is used for electricity and shale oil generation. Due to the Estonian climate and the power station's need for a dry product, Estonia Mine has developed a planning system where short-term demands of the power stations dictate the schedule. Such an arrangement requires maximising flexibility and consequently the mine only operated for 199 days in 2010.The footprint plays a key role in achieving mass mining rates as the 12 km + 12 km lease area allows the mine to split into mining districts that act independently of each other and maximise the number of work areas available. Coupled with this, the geology of the mine is relatively homogenous over the mining lease, simplifying the mine design and production methods.During the last five years, EEK has commissioned a comprehensive conveyor network. Consequently, material handling only requires loaders to dump oil shale direct from the production face onto a chain conveyor that feeds the conveyor network that ultimately supplies the enrichment plant. Dewatering is also of critical importance, with 90 Mm3 of water discharged annually. EEK uses large trenches up to 3.5 m deep and 1.2 m wide to channel groundwater. Track mounted mechanical saws are used to cut slots in the floor, to control overbreak in blasting these trenches.EEK has introduced Salzgitter Machinenbau GB 280S auger drills that drill three 280 mm diameter holes simultaneously. This has improved void hole drilling times and reduced the drilling required for each face, reducing the overall production cycle time. Blasting activities have also been decoupled from other mining activities negating the need for firing times through the use of small independent firings, required to control vibrations.

Dec 6, 2010

Drill blasting is a widely used method for rock fragmentation in mining, quarrying and construction industries. Environmental effects such as air shocks, dust, flying rocks and ground vibration are unavoidable results and undesired effects of blasting. Among these ground vibrations can have a damaging effect and may influence on long distances. Therefore various researchers have developed mathematical models to predict ground vibration after blasting. These models take into account the amount of explosive, distance and several coefficients related to the field under investigation. The developed models to predict ground vibration may yield different results for the same case. Selection of the most suitable model requires engineering judgment and evaluation of models. At this point, a computerised system helps the engineer to evaluate and select the most suitable model in order to design and plan a blasting pattern. The safe charge of explosive and magnitude of vibration after blasting should be predicted beforehand. Therefore a computer program namely 'prediction of blast induced vibration' (P-BIV) has been developed. This paper introduces and presents a computer program (P-BIV) which includes the set of models developed to estimate ground vibration to provide blasting engineers a tool to determine the amount of explosive for safe blasting.

Dec 6, 2010

Hydraulic mining shovels can be successively used at open-pit mining operation in severe climatic zone with air temperature interval from -700C to +450C typical for some northern region of the world particularly of Russia, Canada and Sweden, if they would be equipped by special preheating facilities for their diesel engine, water, hydraulic oil and lubrication systems. All shovels manufactured by the Komatsu Mining Germany GmbH for operation at ambient air temperatures down to -50¦C have cast and forged structural design elements, bolted connections made of special steel grades, electric cables with special insulation, flexible high-pressure hoses manufactured by ICE-Champion with connectors made of special steel grades.Generally at the temperatures below -25¦C the ordinary machine has to be stopped, the attachment should be placed in the parking position, the generator should be switched on, or the external electrical power supply connected, for the preheating equipment. For rapid start-up in winter after a long shutdown of a hydraulic shovel, there is a procedure for preheating of the main systems. It is applied for the following systems: engine cooling system, engine oil, hydraulic oil, pumps and drive motors of the propel gears, electric cabinets, machinery house, especially near the ventilation inlets and outlets.Start-up of the main drive engine is permitted at a hydraulic oil temperature of -20¦C, when it has a viscosity of 1000 cSt. In this case the rotation speed of the diesel engine crankshaft is lower by two times than the nominal value and this is the most favourable condition of start-up of the engine and hydraulic pumps and motors, which work with half of their rated rotation speed until the hydraulic oil reaches a viscosity from 100 to 10 cSt. After that the hydraulic system and the entire shovel begin to operate under normal conditions.

Dec 6, 2010

The contiguous Kotre Basantpur and Pachmo (KBP) coal blocks in the Hazaribagh District of Jharkhand State in east India are being developed by Tata Steel Limited (Tata Steel) to supply coking coal to a new steel mill at Kalinganagar in Orissa.The planning challenges are many. The multiple coal seams range in thickness up to 6 m and extend to nearly 500 m depth, with dips up to 25¦ and highly variable quality. Several normal faults with throws up to 150 m intersect the deposit. There is little room for waste dumping on the lease, several large nalas (seasonal creeks) cross the blocks, and the KBP leases are not contiguous with Tata Steel's existing mining operations at West Bokaro. Geotechnical conditions, while not well defined at this stage, are largely unfavourable. There are several villages on the blocks, and extensive paddy fields. In 2009, Adelaide Mining Consultants Pty Ltd (AMC) completed a Detailed Project Report (DPR) for a production level of 8 Mt/a. A terrace mining system was proposed using 28 m3 hydraulic excavators and 185 t trucks working horizontal up-dip slices. Subsequently the viability of in-pit crushing and conveying was assessed, but the full results were not available for this paper.It is planned to extract a total of 147 Mt of raw coal at a strip ratio of 5.2 bank cubic metres per tonne (bcm/t). The planned maximum pit depth is over 300 m.The project includes a washery, a 2 + 25 MW fluidised bed power station to utilise all the coarse washery rejects, and a railway spur line to carry the washed coal to the railhead some 7 km distant.

Dec 6, 2010

About 15 per cent of total electricity (400 MkW) was generated by nuclear power plants in the world (2009) and about 36 000 tons of uranium has been mined in uranium mines annually. Radioactive waste material is produced from uranium mines and nuclear power plants. The wastes must be disposed or stored safely for long-term. If they leak and/or move from disposal or storage sites due to air/groundwater flow, then a serious environmental pollution can occur. Hence, multi-layer system has been proposed and employed in order to seal off these radioactive waste materials from biosphere. Basically, bentonite is now used for establishing absorbing and sealing layers in this system. However, the amount of high quality betonite is very limited and in some cases it is hard to be obtained.On the other hand, a great deal of refuse from coal burning plants is produced every year and the amount of it is expected to be higher each year, especially in developing countries. More than half of flyash is utilised and the remaining is disposed at the disposal sites. However, the life of the disposal site is limited and it is diff cult to find a new disposal site. It is requested that the percentage of the utilisation of the flyash be increased in every field.From the above two points of view, a flyash-based barrier layer/cover system is considered in this research and this paper discusses the applicability of flyash as a content of barrier layer/cover material based on the results of a series of laboratory tests.

Dec 6, 2010