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By M. Salimov, J. Sattarvand

The conventional visualisation method of remote equipment is through the installation of one or more cameras on the machine, and sending a live feed to the operator’s flat display. However, the performance of the teleoperation can be enhanced using better visualisation through virtual reality (VR). This paper presents the process of the design and manufacturing of a robotic platform that will be used in the next phase of the project for a VR-assisted teleoperated excavator. The robot consists of a loading boom and arm arrangement installed on the undercarriage of a CAT300-9D. All hydraulic cylinders are replaced with electric actuators, and crawling motors are substituted by electric motors. The pieces of the boom and the arm, as well as the bucket were designed in Autodesk Inventor, and manufactured from aluminium sheets using a desktop and CNC machine. Parts are joined by pins and welding as needed. An Arduino-based control system is developed for the robot, and motor controllers are used to convert the power commands from the microcontroller to the high-amperage actuators. The control system is capable of communicating with a wireless Play Station controller to operate remotely. The manufactured robotic excavator is planned to be utilised in multiple autonomy research projects.

Sep 1, 2021

By V. Sheikhzadeh, S. M. H. Haddad, M. Saghaeian, N. Esmaeili, R. Hejazi

One of the most significant features of iron ore concentrate (pelletising feed) is the specific surface area (SSA) that affects the achievement of desirable pellet properties. There are various methods to determine this parameters and currently, the most common is the Blaine air permeability method. However, due to the simplified assumptions including spherical and identical particles and 50% bed porosity, the Blain test does not provide accurate results. In fact, these two suppositions are far from reality. In this research, comparison of SSA measurement ways are investigated, containing laser diffraction testing and Blaine air permeability, on samples with different SSA, obtained from Ball mill and high pressure grinding rolls (HPGR). The output data showed that the calculated amounts of SSA by means of laser analysis were far greater than any other one. Furthermore, in the same results of Blaine air permeability tests on samples comminuted by different grinding methods, it was observed that the SSA figures from the laser diffraction method for HPGR products were almost 800 units greater than Ball mill ones. Keywords: Pelletising feed, specific surface area, Blaine air permeability, laser diffraction testing

Jan 1, 2020

By T. Marin, J. E. Seccatore, M. Cardu

The most energy-intensive process in the mining industry is particle size reduction – comminution. The first phase of this process is blasting to fragment the rock from the initial Boussinesq’s halfspace size. Scientific literature demonstrates that the output of a blast in terms of fragment size distribution can be manipulated by varying the specific charge (powder factor) and charge distribution. This study focuses on the influence of blasting on the internal resistance of the blasted fragments; in particular the influence of the spatial distribution of charges. Small-scale blasts were performed on 14 marble blocks using different powder factors and charge distributions. Three control blocks were fragmented by mechanical means for comparison. The results show the correlations between charge distributions and the specific energy of mechanical comminution. Opportunities for adjusting charge diameter and distribution in opencast blasts to improve the performancet of comminution circuits are discussed.

Aug 8, 2024

By J. M. Benson

Metal powder compaction offers unique advantages in the manufacture of net-shape components using techniques such as laser sintering, conventional press and sintering, metal injection moulding, direct rolling, direct forging, and hot isostatic pressing. If the output from the primary metal production process is in powder form, then considerable cost and energy savings can be realized by direct conversion to semi-finished or final shapes. This possibility exists for titanium and possibly also for Ta, Zr, Hf, and Nb metals. However, these attractive benefits are associated with some significant risks. The high surface-to-volume ratio of powder particles coupled with the reactive nature of these metals means that special care must be taken when handling them. Powder explosions are unfortunately still a regular occurrence internationally and these often result in serious injury and loss of life. Even seemingly 'safe' compounds such as sugar, flour, and grain can be extremely hazardous when handled or milled and dust clouds are produced. In addition, exposure to airborne particles can have adverse effects on the human body, especially when particles are inhaled on a regular basis. Furthermore, the medical consequences of these are not fully understood, especially in the case of nanoparticles. The impact is often not observed immediately and debilitating illnesses may emerge only years or decades later. As far as is known, there are no South African guidelines for handling of metal powders. This paper attempts to provide an awareness of the risks associated with metal powders (including those produced indirectly by other metalworking/finishing operations) as well as some guidelines for their safe handling, based on international best practices.

Jan 1, 2012

By J. D. de V. Louw

Introduction Zircon is a natural occurring mineral and may exhibit natural low level radioactivity. It contains trace levels (90 to120 pCi/g and 110 to 115 pCi/g respectively or 3.3 to 4.4Bq/g and 4.1 to 4.3 Bq/g) of naturally occurring radioactive uranium and thorium. This mineral is often found in a suiteof minerals (rutile, ilmenite and monazite) Due to the overlap in physical properties of monazite (containing 4–7% thorium) with some of the zircon (slight magnetic susceptibility) it often contaminates the zircon, adding to the levels of thorium in the product. Hazards associated with the products from zircon and its processing is inhalation of respirable dust (generated by milling) containing radioactive uranium and thorium which may cause cancer of the lungs. Legislature regulates the transport, use, workplace environment exposure and storage of radioactive material. In America the general regulation for the unlicensed use of low levels of radioactive materials limits the concentration to 500 ppm (U plus Th). Europe (IAEA) specifies a limit of10 Bg/g (Bequerels per gram) on the parents for transport only which is a higher level of U+Th. Companies selling into these markets need to comply with these regulations and certification is therefore required, not only of the major constituents determining the price, but of the U and Th levels as well. Exceeding the limits for U and Th may result in material being returned to the country of origin. However, for the analyst the requirement is to analyse for these elements throughout the production process as well as the analysis of the ‘tails’ that is returned to the mine area. This requires a wide range of concentration to be analysed. Methods of analysis A wide variety of methods exist for the analysis of U and Th in a range of matrices. (Table I) All these methods have been used with varying degrees of success in terms of accuracy. Overall precision for the different techniques varies from 5 to 25% relative. Time to produce results from these methods vary from a few minutes to several days. The Production Chemist is expected to produce between5 and 10 analyses per hour for process control purposes. A suitable technique that fits this requirement is X-Ray Fluorescence. Both Wavelength Dispersive (WDXRF) and Energy Dispersive X-Ray (EDX) instruments are suitable. X-Ray analysis in general has a few major advantages over competitive techniques. •It is fairly simple to set up and interferences are known and easy to correct •It has multi-element analysis capabilities •Clean spectral lines for U and Th (in zircon specifically) •Uncomplicated and easy to measure background •Low detection limits (3 to 5 ppm) •A very high degree of precision •Sample preparation is uncomplicated and fast (pressed powders and fused beads). In Zircon (ZrSiO4) processed sands the matrix is constant(>99% ZrSiO4) and the background is thus essentially constant. A typical set up for the analysis of U and Th by WDXRFis given below: X-Ray Tube Tungsten (W) Target, 2.5 to 3kW operated at 50mA/50kV Crystal LiF200 (or LIF220 for higher resolution) Analytical Lines (2?)U La1,226.14Th La1,227.47 Detector Scintillation Counter Analysis time, depending on the concentration can vary from as little as 20 seconds up to 5 minutes. Standards As with any other comparative technique XRF analysis relies heavily on the quality of the standards used. Assuming proper set-up and operation of the instrumentation as well as consistent sample preparation, accuracy is determined by the quality of the initial calibration standards. A search for the available zircon certified reference materials (CRMs) shows that there are only a few CRMs

Jan 1, 2003

By P. Valicek, M. Farren, R. G. B. Pickering, G. Harrison, P. van Dorssen, W. Joubert, H. J. van Rensburg

Introduction In South African metalliferous mines, stoping operations are largely confined to narrow, tabular orebodies making mechanization extremely difficult. Limited flexibility in terms of stope width has necessitated drilling by means of hand held, pneumatic rock drills at most of our operations. As the largest producer of platinum in the world, we drill in excess of forty million stope blast holes per annum. Cleaning of the broken ore is also done by conventional means—utilizing scrapers and scraper winches. Conventional methods such as these carry high costs in terms of risk exposure as well as labour intensity. The purpose of this paper is to describe the development of a long hole stoping system suitable for the narrow platinum reefs. The new system had to be substantially safer and more cost effective than conventional mining. We selected a site that was conducive to mechanized mining and set out the parameters that we considered would meet our requirements. We then conducted a feasibility study to evaluate the conceptualized long hole stoping system in terms of specific goals. An analysis of the proposed system identified the Key Performance Indicators (KPIs). One of the most critical goals was to be able to create a man-freestope. This would mitigate the safety risk associated with normal stoping operations, as well as the inefficiency cost previously referred to. Other challenges included setting targets for long hole accuracy, stoping width reduction and specific blasting system performance for long hole stoping. We also modelled a critical span that we considered to be inherently safe and to ensure hangingwall stability, throw-blastcleaning and overall system productivity. Anglo Platinum Research and Development and Sandvik Tamrock entered into an agreement for the supply of a specialized long hole-drilling machine. The system was implemented and tested by the mine with the support of the other participants. The results achieved met our expectations. It was demonstrated that with this method of mining it is possible to have a man-free/support-free stope face and to achieve a reduction in shaft head cost per ton whilst reducing dilution. Key performance indicators assessed during the trial •Safety targets •Mining layout •Drill rig •Production targets •Support requirement •Explosives requirement •Services requirement •Ore removal and cleaning requirement •Training requirement Safety targets All persons involved with the project had to adhere to the mine’s safety programme including the zero-tolerance campaign, and were required to report all hazards observed immediately. Mine personnel and Tamrock carried out a full risk assessment on the drill rig before transporting underground. A further risk assessment was carried out when the machine was in position underground. Mining layout See Figure 1 and Figure 2 for a detailed description. Drill rig The drill rig was a combination of a Secoma P-Low LC 10long hole feed and an Axera low profile carrier. The choice of this equipment was made through consultation with Tamrock Sandvik. All relevant design perimeters of the area to be mined were taken into consideration. Production targets

Sep 1, 2001

By Sylvie Poirier

Researchers at Natural Resources Canada (NRCan) CANMET Mining and Mineral Sciences Laboratories (CANMET-MMSL) and Mining Technologies International (MTI) have designed and built a hybrid diesel-electric mining loader that is the first of its kind to be developed for underground mines. Diesel equipment is popular because of its mobility and most mining operations are reluctant to replace it with tethered electrical equipment despite the obvious elimination of diesel contaminants and significantly lower heat generation (? 35% of an equivalent diesel). However, a diesel-electric vehicle, being currently evaluated by CANMET-MMSL, could be beneficial. In this unit, a constant load diesel generator feeds batteries which, in turn, powers electrical motors that drive the equipment. In a hybrid diesel-electric unit, the constant load diesel generator can be optimized for minimal emissions and hence lower dilution air requirements. This paper will present the project status and the anticipated benefits for mining operations through the application of this technology.

Jan 1, 2008

By Y. Rao, Y. Huang, G. Wang, W. Liu

The properties and deterioration in strength of cemented tailings backfill (CTB )in the underground acidic environment under oxidizing conditions were studied. X-ray diffraction analysis and scanning electron microscopy of the surface of the CTB was carried out, and the sulphuric acid corrosion mechanism elucidated. The properties tested included compressive strength, elastic modulus, cohesion, internal friction angle, variation in the hydrogen ion concentration, and stress-strain relationship in different corrosion periods. The damage model of the CTB was established considering the effects of parameters such as corrosion time and strain on the damage evolution. It was found that the compressive strength, elastic modulus, cohesion (binder effect), and internal friction angle increased at first and then decreased with exposure time. In the long term, the peak stress decreased with corrosion time while the peak strain increased; elastic modulus, and deformation modulus also decreased. The damage caused by corrosion and by load were related by means of a mathematical model, which revealed the relationships between sulphuric attack, load, and damage to backfill in complex underground environments. During corrosion, the expansion of gypsum and ettringite caused microfractures in the CTB. With increasing corrosion time, micro-cracks developed and proliferated. The mechanism of corrosion damage was found to be the dissolution of hydrogen ions and a sulphate ion reaction that produces an expansive substance, resulting in deterioration of the strength of CTB.

Jun 1, 2021

By J. Lux, B. Clermont

Magotteaux, with the co-operation of Anglo Platinum, has erected a fully instrumented pilot plant at Frank concentrator, which is being used to study the influence of a variety of grinding parameters. This paper will discuss only the influence of mill speed and pulp density on secondary stage grinding. A Ø0.82 x1 m open circuit mill was used with reclaimed Merensky tailings as feed. The conclusions apply to this pilot plant but further investigation needs to be done to verify whether the same trends will be applicable to a large industrial-scale mill.

Jan 1, 2004

By D. Noort, M. Dawborn, D. O. del Castillo

This paper was originally presented at the North American/9th US Ventilation Symposium, June 2002, Kingston, Ontario, Canada. Reprinted with permission of the publishers, A.A. Balkema Publishers, Rotterdam, Netherlands. This paper is a study of the ventilation, cooling and refrigeration system design of the Mindola copper mine in Zambia. The challenges that were addressed varied from the restrictions imposed by an ageing infrastructure to the requirement for increasing the annual production rate, coupled to the introduction of a higher level of mechanization while maintaining acceptable conditions and limiting total ownership costs. A description of how the ventilation, refrigeration and cooling systems were modelled in order to obtain the projected heat loads associated with two different mining methods over the life of the project. The methodology included a number of iterations to optimise the design and include aspects such as the expected inrush of hot fissure water, the operation of diesel machinery at depths in excess of 1500m below surface, developing a cost-efficient cooling strategy and selection of the refrigeration machinery to meet the requirements imposed by the cooling strategy. This paper demonstrates the successful implementation of an integrated design approach.

Jan 1, 2005

Foamed cement packs offer a viable alternative to conventional timber or other forms of packs for permanent underground support. These packs comprise steel mesh and hoop containment with an outer bag for the grout; woven, laminated polypropylene fabric being ideal for the purpose. The grout is supplied in 25kg bags and fed into a purpose ? designed foam placer machine which delivers the foamed grout directly to the packs from 60 metre long delivery hose. Foamed cement grout as a fill material offers attractive properties for support packs, in summary these are: Variable Grout Strength Grout strength is controlled by the grout density being delivered from the placer machine. This can be changed by the machine settings. Strength Development Fast rate of strength development is possible so that support is available quickly. Pack yield The foamed grouts are compressible so that yielding of the grout pack can be achieved without loss of support. Rate of Filling Three sizes of placer machine are available, these use one, two, or three 25kg bags per minute of grout, pack filling time is therefore a matter of minutes, a typical 0.75m diameter pack x 1.2m high taking some 17 minutes to fill. Tests in a 1000 tonne press have confirmed that the above characteristics can be achieved with foamed cement packs at acceptable cost. This will be illustrated in the paper with experience to date.

Jan 1, 2008

By Pierre Marcotte

Jackleg rock drills expose their operators to high hand-arm vibration levels. To address this problem, an antivibration handle has been developed. The antivibration properties of the handle were achieved through a suspension based on a hinge design, achieved with a torsion spring and o-rings. To provide some bench marking for this new handle and to follow the evolution of its performance over time, a test bench was developed to characterize the vibration emission values of jackleg drills under controlled operating conditions. Testing of four antivibration handles on the test bench have shown reductions of the overall weighted acceleration level in the order of 54 % to 60 %, with most of the attenuation occurring in the zh-axis at the rock drill percussion frequency.

Jan 1, 2008

Professor R.P. King holds a Ph.D. degree in chemical engineering, which he obtained at the University of Manchester in 1963. After that he lectured in the Departments of Chemical Engineering at the Universities of the Witwatersrand and Natal. From 1968 to 1973, he was Leader of the Chemical Engineering Research Group of the National Institute for Metallurgy at the latter University. Mr C.E. Fivaz, Pr. Eng., is Chief Consulting Metallurgist of Rand Mines (Mining & Services) Limited, and is responsible for the metallurgical activities of the Gold and Uranium Division and the Coal and Base Minerals Division of the Group.

Jan 1, 1984

DD3-tunnels (PD BH's) ? Rotary coreholes 111no. (124) ? Percussion holes Ono. (37) ? Sampling (rock and soil) ? Soil and rock permeability ? testing ? BH Televiewer Surveys [ ]

Jan 1, 2007

By K. Sugawara, Y. Hirakawa, A. Sato

The rock mass properties such as deformability and permeability are highly dependent on the existence of cracks. The Ratio of Crack Opening Dependency (RCOD) was proposed as a new index to evaluate the deformability of infinite jointed rock mass. The RCOD is defined as the ratio of total amount of crack opening and the total deformation of jointed rock mass. The theoretical relation between the RCOD and the effective compliance of jointed rock mass is discussed and confirmed through two-dimensional numerical analysis by the SC-DDM, together with the applicability to the rock engineering. Les propriétés de masse rocheuse telles que la déformabilité et la perméabilité sont très dépendantes de l'existence de fissures. Le rapport de dépendance d'ouverture des fissures a été proposé comme un nouvel index d'évaluation de la déformabilité de masse rocheuse à assemblage infini. Le rapport de dépendance d'ouverture des fissures est défini comme étant le pourcentage de quantité totale d'ouverture des fissures et de déformation totale de la masse rocheuse assemblée. Le rapport théorique entre le rapport de dépendance d'ouverture des fissures et la compliance efficace de masse rocheuse assemblée sont traités et confirmés au travers d'une analyse numérique à deux dimensions par SC-DDM en même temps que l'applicabilité à l'ingénierie des roches. Die Felsmasseneigenschaften wie Verformbarkeit und Durchlässigkeit sind hochgradig abhängig von dem Vorhandensein von Rissen. Das Verhältnis der Riss-Öffnungsabhängigkeit (RCOD) wurde als neuer Index der Verformbargkeit von infinit zerklüfteter Felsmasse vorgeschlagen. Der RCOD wird als Verhältnis der Gesamtmenge der Rissöffnungen und der Gesamtverformung der zerklüfteten Felsmasse definiert. Die theoretische Beziehung zwischen RCOD und der effektiven Verformbarkeit von zerklüfteter Felsmasse wird diskutiert und durch zweidimensionale numerische Analyse mit SC-DDM bestätigt, zusammen mit der Anwendbarkeit auf Bergbautechnik.

Jan 1, 2003

By A. V. S. Meyer

The Colloquium held at Iscor, Pretoria, on 28th June, 1988, had as its objective the need for Quality Management Systems in the industry. Case studies of how problems were identified and solved by the use of such systems were submitted.

Jan 1, 1988

The Institute has set important objectives for 1988 to make the Institute still more purposeful. Precious metals The Second International Symposium on Mining, Extraction, and Processing of Precious Metals will be held in Las Vegas, Nevada, USA, during the 118th TMSAIME Annual Meeting in March 1989. The First International Symposium on Precious Metals.

Jan 1, 1987

By D. Marcotte, R. V. Dutaut

"In mineral resource evaluations, geostatistical methods known as global change of support allow prediction of the theoretical histogram and gradetonnage curves prior to interpolations or simulations of grades. Two methods commonly used by professionals to guide the choice of interpolation parameters and assess results are the discrete Gaussian model (DGM) and the indirect lognormal correction (IndLog). These models rely upon an estimate of the dispersion variance of the blocks, which is derived by numerical integration of the variogram model over a discretized block. Due to difficulties in obtaining well-formed traditional experimental variograms (especially in the presence of outliers and limited clustered data), many professionals prefer to use ‘normalized’ variograms such as correlogram (non-ergodic variogram), pairwise-relative, or variogram of the normal score transform. A series of simulations with different grade distributions and variogram models are used to assess the performances and robustness of the various variogram estimators with respect to the DGM and IndLog global change of support. Our results show that the traditional variogram, the correlogram, and normal score variogram have better performances, compared to pairwise, for both DGM and IndLog. Moreover, DGM provided better results than IndLog for the grade distributions that are not strictly lognormal. These findings provide valuable guides for geostatistics practitioners. IntroductionWhen reporting resource estimates,practitioners are required to follow generalstandards described in the NI43-101 (CIMguidelines), JORC, or SAMREC codes. One cangenerally recognize three main parts directlyrelated to the block model:•,Pre-processing: exploratory data analysis (EDA), domaining, capping, compositing, declustering, variography•,Processing: block size, neighbourhood, interpolation types (linear or nonlinear)•,Post-processing: classification, reporting.Pre-processing aims to simplify and strengthen the processing step. Ideally, domaining, capping. and compositing is aimed at defining a single homogenous population. During the processing phase, a common practice is to use a block size corresponding to the planned selective mining unit (SMU). In most precious metal deposits (gold, notably), the SMU size is frequently smaller than the recommended half data spacing (Journel and Huijbregts 1978), resulting in high estimation variance and either a high degree of smoothing if the regression slope is managed or a high degree of conditional bias if it is not. Most actual resource estimates are made using block sizes between one-quarter to one-sixth of the average data spacing, sometimes even smaller. In addition to the block size, the interpolation choices for the neighbourhood selection and interpolator (e.g. inverse distance (ID) or ordinary kriging) are often based on the Qualified Person’s (the QP) experience and some basic validation plots that often do not consider the conditional bias (e.g. trends or SWATHs plots, which are designed to compare two sets of population using a one-dimensional graph)."

Jan 1, 2018

By D. Chetty

Process mineralogy forms an integral part of geometallurgy, with ore body characterisation being but one piece of the puzzle in optimising value derived from ore. This value is not only financial, but importantly speaks to sustainability from environmental and social standpoints. The reactive approach of traditional process mineralogy is increasingly being replaced by predictive methods in the geometallurgical sphere, for which mineralogical information must be timeously acquired on judiciously selected sample sets to understand ore variability and its impact on orebody processing. Such processes are not only metallurgical, but must incorporate mining and waste management protocols. Dwindling resources like water and energy also demand innovative approaches for lowering consumption and/or promoting recycling along the value chain. Addressing such challenges relies on appropriate characterisation of ore behaviour under different process regimes. Coupled with this, emerging characterisation tools are increasingly applied to understand the mineralogy of unconventionallypresented and difficult-to-process ores to meet societal and technology demands. Such tools are often accompanied by the generation of large, computationally intensive datasets, for which data management and storage are key requirements, particularly when deciphering temporal trends in ore and process variability. This paper will elaborate on these themes with examples that highlight the importance of process mineralogy throughout the minerals value chain. Keywords: Process mineralogy, ore characterisation, geometallurgy

Jan 1, 2020

ADVANCES IN EXTRACTION METALLURGY AND REFINING A symposium organised by the Institution of Mining and Metallurgy will be held in London from 4th to 6th October, 1971. Particulars can be obtained from: The Secretary, Institution of Mining and Metallurgy, 44 Portland Place, London WIN 4BR, ENGLAND. ICAMC -71 - HUNGARY The Third International Conference on Automatic Control of Mines and Collieries will be held at Balantsfured, Hungary from 27th to 30th September, 1971. Further particulars can be obtained from: ICAMC - 71, Budapest 3, P.O. Box 115, HUNGARY. AUSTRALIAN INSTITUTE OF MINING AND METALLURGY Illawarra Branch A symposium on "Blast Furnace Injection" is to be held at Wollongong University College from 15th to 17th February, 1972. About 20 papers on various aspects of blast furnace injection will be presented, including two on nonferrous furnaces. Further particulars may be obtained from: N. Standish, Chairman, Symposium Committee, Wollongong University, Australia 2600.