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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

The Broken Hill orebody ,occurs in the Willyama Complex, a block of Precambrian rocks which have been strongly folded and metamorphosed at moderate to high grade. Although -the origin of the silver-lead-zinc mineralization remains obscure, recent investigations have substantiated the view that the orebody has undergone concomitant high grade metamorphism with the enclosing wallrocks. The mesoscopic structures produced by this metamorphism are described, and the possible processes Telating to their formation are disoussed.In the high grade ore, metamorphic structures which can be recognized are foliation and lineation, wallrock fragments, layering, flow folds, ore breccias, and sulphide bearing veins. These structures can be related to processes involving plastic flow and fluid phase transport of the mineral assemblage. 'In areas of low grade mineralization adjacent to high grade ore, the structures more closely resemble those produced in -the wallrocks-foliatlon, lineation, layering, folds, and sulphide injections. Within areas of high grade ore, lenses and pods of manganese silicates Probably represent original inhomogeneities in the ore, i.e., portions of manganese-rich and sulphide deficient rock which have been metamorphosed to manganese silicates.From the structures displayed, a sequence of events has been established for the plastic flow of ore during deformation.

Jan 1, 1975

By Becerra J. O

HYL developed a direct reduction process (DR) that does not require a reformer; it is called self-reforming process. Typically, direct reduction processes based on natural gas utilise a reformer unit to transform the natural gas into reducing agents (hydrogen and carbon monoxide). The reforming reactions are: CH4+H20-?3H2+CO CH4 + CO2 - 2H2 + 2CO These reforming units require a catalyst agent to promote the kinetics of the reforming reactions. The catalyst for these reactions is typically a metallic element such as nickel in a ceramic matrix; iron is also an excellent catalyst for the reforming reactions.

Jan 1, 1999

Sulphuric acid leaching at atmospheric pressure of a number of Australian nickeliferous laterites was examined in detail. The results obtained indicate that nickel can be extracted from these ores, although the conditions required to achieve about 90 per cent extraction vary widely. These differences in reactivity can be related to the types of nickel-bearing minerals present.Nickel is more readily extracted from nickel-bearing clays such as chlorite, than it is from nickel-containing goethite.The results clearly show the problems associated with the processing of complex ores such as the nickeliferous laterites, and they indicate the need for complete characterization of each deposit.

Jan 1, 1978

The mineralogy, textures, and genetic significance of a silver-rich siderite vein and an apparently co-genetic galena vein from the South mine, Broken Hill are discussed.Both veins cut sharply across the Main Lode Horizon and appear to be coeval with thc A.B.H. Consols lode.The minerals of thc siderite vein apparently result from the preferential leaching of silver from Main Lode Horizon ore with a demonstrable "breakdown series" commencing with tetrahedrite, passing through silver sulpho-salts, and ending with simple binary compounds or with elemental silver.The siderite vein has been deposited by metahydrothermal fluids along the lines of Schneiderhohn's "secondary hydrothermal" mineralization.

Jan 1, 1968

On the Hauraki goldfields, within the limits of Cape Colville Peninsula, the Paheozoic rocks are confined to the district north of a line drawn from Mercury Bay on the east coast to Rocky Point on the shore of the Frith of Thames. South of Kennedy's Bay they are developed on the east coast only at Kuaotunu, at which place gold mining is carried on in sandstones and slates of this age. Between Tapu Creek and Coromandel there is, along and adjacent to the shore of the gulf, a very considerable development of PaJreozoic and in part of Trias rocks, and between the Tiki Stream and the northern end of Tokatea Hill, along the western slope of the main range, lies the special area of the Palreozoic or carboniferous rocks that have more particularly to be dealt with in this paper. The same formation has a large devolpment between Cabbage Bay and the northern slopes of Moehau, and appears to the water marge on both sides of this part of the peninsula.In this part they are of special interest as having, on the west spur of Moehau, a considerable variety of dyke rocks intruded into the sedimentaries, the interest in which is increased by the fact that these dykes theIllselves are of Palreozoic age and correspond to the dykes that are so' abundant in the Tokatea-Tiki area. It is this Tokatea-Tiki area as a goldfield, and its rocks as distinguished from later volcanic' products' on other parts 'of the peninsula...

Jan 1, 1903

Ultrasonic Extinction for High Resolution Particle Size and Concentration Analysis

Sep 13, 2010

By Segnit E. R

Results are reported of a study of the reactions occurringin the combustion of chaIcopyrite particles underconditions simulating those in the shaft of a flashsmelter.The reactions were studied using kinetic and mineralogicaltechniques. Reactions. rates above 500°C wererapid, most of the reaction taking place in less than 50ms. Final products were copper-iron ferrites with spineltype structures. Probable reaction mechanisms are discussed.

Jan 1, 1977

By Firth B. A

The classification performance of a Dutch State Mines (DSM) Rapped Sieve Bend has been investigated in a series of experiments. Coal slurries of a nominal 0.5 mm size were classified in the separation range of 0.10 to 0.14 mm at pulp densities from 6 to 21 per cent by mass of solids, and flow rates of 110 to 1375 litre min-1.The results obtained showed that the partition curve and water split io oversize was dependent on the solids flow rather than slurry flow rate or pulp density. For most of the operating conditions considered an accurate classification of the fine coal was obtained. The undersize efficiency was susceptible to solids flow rate, and was less than 70 per cent for solids flow rates greater than 16.7 tonne hour-1 metre-1 width of screen.

Jan 1, 1983

The epithermal Au-Ag deposits of the Hauraki Goldfield have formed in the convergent plate margin setting of the Coromandel Volcanic Zone (CVZ). The deposits form as siliceous lodes in the upper parts of geothermal systems associated with andesitic and rhyolitic volcanism. Two types of low sulphidation epithermal mineralisation are recognised in these volcanic terranes. Vein deposits within the rhyolitic terrane in the east and south of the CVZ (Whitianga Province) are typified by Chalcedonic Silica-Adularia-Illite type mineralisation. The veins are hosted by both rhyolite-dacite volcanic rocks and the underlying andesitic basement. The mineralisation formed by episodic violent decompressional boiling of deeply circulating meteoric water, with some magmatic fluid contribution; this boiling was associated with hydraulic fracturing and hydrothermal eruptions in geothermal systems where the piezometric surface of the deep geothermal reservoir lay near-surface. Such episodic boiling provides chalcedonic veining, banding and brecciation textures, adularia stability, bladed calcite, and extreme loss of H2S gas from the fluid to cause major gold deposition.   Crystalline Quartz-Illite-(Adularia-Kaolinite) type mineralisation is widespread in the andesitic terrane forming the northern and western portions of the CVZ (Kuaotunu Province). There is a spatial association with weak mineralisation of the high sulphidation (Vuggy Silica-Alunite-Kaolinite-Illite) epithermal type and porphyry eu-Au type. Crystalline Quartz mineralisation is probably formed by the mixing of shallow acidic groundwaters with the ascending deep geothermal fluid in geothermal systems beneath andesitic stratovolcanoes. The piezometric surface to the deep geothermal reservoir in these systems is likely to lie at considerable depth, with acidic gases rising from the geothermal reservoir condensing within the overlying vadose zone. The cooling effect, oxidation and pH decrease accompanying mixing apparently overcomes the dilution effect, and results in quartz deposition, illite (and locally kaolinite) alteration, and precipitation of gold. A high level of base-metal sulphide precipitation also enhances gold deposition. Violent boiling of the mixing fluids may occur at local structural dilation sites, producing high grade "bonanza" gold mineralisation.

Jan 1, 1991

By D Craw

Formation of gold-bearing veins in Otago Schist was intimately linked to the structural evolution of the schist belt. The currently-exploited Macraes gold deposit formed in a regional scale shear zone during latemetamorphic uplift of the schist belt. Further exploration for this type of deposit will be facilitated by an increased understanding of the late-metamorphic structural evolution of the schist belt. To this end, a three-dimensional cross section through the Otago Schist has been drawn using structural data gathered at outcrops in a 20 - 40 km wide transect across central Otago. This is the first continuous detailed structural section to be drawn through the belt. The section spans an area from Textural Zone 1 metagreywacke of the Torlesse terrane in the northeast through TZ 4 schist in the central region and across the Caples-Torlesse boundary to Textural Zone 3 schist of the Caples terrane in the southwest. Two different late-metamorphic structural generations are identified in this section: the long-recognised Manorburn Generation, and a new æPoolburn GenerationÆ. The location of the Caples-Torlesse boundary has been refined on this transect by field mapping combined with whole rock geochemistry.

Jan 1, 2001

This paper forms the second of a series, in which it is proposed to communicate the results of an extensive research into the influence of alloying elements on the physical properties of lead, now being carried out in the Metallurgy School of the University of Melbourne.Some general comments on this research were made by the present writer as an introduction to the first contribution by R. S. Russell*: It was there pointed out that it was the intention to prepare lead as pure as possible, to determine its properties and then to make alloys with the various elements added singly, and in various combinations, in order to determine the effect of each. This line of action is still being pursued.It occurred to the writer, however, that this fundamental attack might, with advantage, be accompanied by a parallel investigation in which lead of commercial purity would form the basis material. In this way, using a standard *Professor of Metallurgy, University of Melbourne.

Jan 1, 1934

The pressure of low commodity prices forced the design process for the second lift of Northparkes E26 Mine to adopt a continuous improvement philosophy. The emphasis was to minimise capital expenditure while still maintaining the excellent low operating costs achieved on Lift 1. Although the first block cave lift at Northparkes is the most productive underground mine in the world and is held up as a benchmark for the use of technology in mining, areas for improvement were identified. Every area was critically assessed and investigated for the possible application of new techniques and technologies. Key learnings from the construction and production phases of Lift 1 were captured, documented and used as the starting point for the Lift 2 design. This paper shows how and why the design parameters initially used onLift 1 were changed to become the current E26 Lift 2 developmentproposal. The main differences between the two block caves arehighlighted. The alternative techniques and equipment that wereconsidered are also discussed. * Originally published in the Proceedings of MassMin 2000,published by The AusIMM.

Jan 1, 2001

Grinding and Beneficiation Characteristics of a Low-Grade Haematite Ore

Sep 13, 2010

Two outstanding features of the world's young orogenic belts are their very consistently developed suites of volcanic rocks and, it is now recognized, the rather distinctive types of mineralization they contain. Further,it is now known that these volcanic suites exhibit evolutionary patterns, and it is beginning to appear that this evolution in style of igneous activity is accompanied by a parallel evolution in style of mineralization. Specifically,podiform chromite and stratiform pyritic copper ores of Alpine ultramafic/submarine tholeiite association progressively give way to more zincian stratiform ores associated with andesites and dacites, "porphyry copper"deposits developed in quartz dioritic to dacitic plugs, and lead-zinc stratiform ores related to increasingly pyroclastic, rbyodacitic volcanism.This "coupling" is exhibited well in the volcanic arcs - the young orogenic zones-of the SW Pacific which, with tbeir abundance of youthful and commonly unmetamorphosed materials provide an opportunity for investigating, through a petrochemical approach, the possible significance of ores in the elucidation of mechanisms of lava formation. It is suggested as a working hypothesis that in the orogenic (voleanic arc) regime ores are associated with the cale-alkaline rocks because these cale-alkaline rocks are in part generated by exhalative loss, and the ores are among the manifestations of tbat loss.

Jan 1, 1978

The efficiency of water sprays in suppressing airborne colliery dust depends on many variable factors. A survey of previous work in this field shows that swirl spray nozzles are the best dust suppressors.Investigations carried out in an experimental dust chamber show that, in spite of limitations to the application of water sprays in underground use, promising dust suppression efficiencies in mechanised mining can be obtained with swirl spray nozzles.INTRODUCTIONA dust hazard has always been associated with coal mining, and the recent growth of mechanisation has resulted in a greater production of fine coal and dust, thus increasing the hazard. A better knowledge and appreciation of the medical aspects and dust explosion factors has led to practices reducing the seriousness of the problem. However, the dust hazard still exists and its control is basically an engineering problem.Dust, as with any atmospheric pollution, may be removed from the, mine by ventilation, which is an indirect method of control. Direct methods, in which the dust is prevented from being produced and from becoming airborne, should be employed where possible. Of these direct methods the most significant is the use of water sprays.THE DUST HAZARDAn appreciation of the physical nature of the more important dust hazards is necessary before considering the removal of the hazard. The main hazards associated with colliery dusts are the health hazard and the explosion hazard. "Dust" comprises solid particles of size minus 20 mesh Tyler (833 microns).

Jan 1, 1964

The production of sulphuric acid at Port Pirie by the contact process began in March 1924 with the commissioning of the Electrolytic Zinc Co.'s roasting and acid plant. This plant, operated by B.H.A.S. Pty. Ltd. on behalf of the E.Z. Co., continued to produce sulphuric acid from the gases evolved when roasting Broken Hill zinc concentrate in mechanically rabbled furnaces until September 1954, when the plant was closed down.In this peri9d of approximately 30 years some 600,000 mono tons of 98·5 per cent sulphuric acid was produced, most of which was used for fertilizer production at Wallaroo and Port Adelaide. During World War II 14,400 mono tons of the above was produced in the form of 20 per cent Oleum and railed to the Salisbury Munitions Factory for use in the production of nitro-glycerine, gun-cotton and T.N.T.In the early post-war period various ways of converting at least some of the sulphur in the gases' discharged to atmosphere from the lead sintering plant were considered until, in 1949, it was decided to erect a modern contact acid plant. Much work remained to be done on the roasting plant to produce a gas of suitable grade for the contact process and also on the design of a purification section suitable for the treatment of D.L. gases.The acid section itself, however, was largely of conventional design and it was therefore decided that this would be erected first. To it was then attached a sulphur-burning section to allow it to operate as a "hot gas" brimstone acid plant until the roasting and gas purification plants had been designed and erected. In this way the urgent need for sulphuric acid in the fertilizer industry would be relieved, to some extent at least, as soon as, possible.

Jan 1, 1956

By A J. Scogings, W J. Shaw

The successful development of industrial minerals projects requires an integrated, holistic understanding of the metallurgical and product performance test work in the context of the geological setting of the deposit and applied to mining, processing and marketing of saleable products. The product specifications provide the essential starting point for geometallurgical studies. A sound understanding of the desired product is needed to design and interpret a program of test work. Examples are provided from recent studies on bentonite and graphite deposits.For bentonite projects, the naïve testing of only the cation exchange capacity (CEC) as a measure of purity can lead to unexpected outcomes when the deposit is mined. The CEC attribute may remain the same, while other important properties such as pH and swelling index change markedly with depth, due to weathering and oxidation, leading to disappointing production outcomes.For graphite projects it is not enough to report only total graphitic carbon content (TGC). Knowledge is required of the in situ flake size and textures in addition to purity and flake size distribution of extracted graphite, which may all vary from one domain to another across the deposit. Such geometallurgical attributes of the ore will impact on the ‘basket price’ used to estimate the value of marketable parcels of expected product.Disclosure of such information must be considered part of fully informing the market. As with all new project developments, consideration of the JORC (2012) and VALMIN (2015) Codes requires disclosure of all material information. This includes the geometallurgical characterisation, ie those aspects of the mineralogy that impact on resource evaluation, ore reserve definition and project valuation.CITATION:Shaw, W J and Scogings, A J, 2017. The importance of geometallurgical test work for industrial minerals projects, in Proceedings Tenth International Mining Geology Conference 2017, pp 83–92 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 20, 2017

A general outline of the significant features in the quality and manufacture of the more common refractories is given. Where possible, linkage between quality development and control and service applicationhas been shown and explained. INTRODUCTIONThe refractory industry is no stranger to change. New processes and revision of old processes in other industries are the harbinger of new and revised products in refractories.Few of the changes are dramatic; generally they are evolutionary rather than revolutionary. New developments are additional to, and inclusive of, established practice.Therefore in this paper it is necessary to repeat much of what is already known in order to show the development taking place.FIRECLAY REFRACTORIESGeneral technology Fireclay refractories are the most common, the most varied and the most versatile of all refractories. Virtually any composition of silica and alumina up to the composition of kaolin is possible. For purposes of comparison they may be classified in the Continental fashion in accordance with chemical composition or in the American way according to "duty". That the two methods are equivalent is shown by an inspection of the alumina-silica diagram of Bbwen and Greig (1924). 'Fireclay refractories are composed of a glassy and a crystalline component derived from the chemical and physical nature of the raw materials used in their manufacture.

Jan 1, 1961

The commonly used Stopes-Heerlen coal petrographic classification and nomenclature has over the years been subject to variable interpretations. This paper discusses the problem with specific reference to the inertinite maceral group. The effect of various interpretations of the Stopes-Heerlen system on maceral analysis is discussed and illustrated by means of comparative analyses conducted by a number of laboratories in Australia.An attempt is made to define the reflectance thresholds used by the authors to subdivide the inertinite group; the genetic and technological significance of these thresholds are compared.The difficulties of distinguishing structured and nonstructured macerals of the inertinite group are discussed in terms of possible improvements to the present StopesHeerlen system by extending the classification to include transitional maceral types.

Jan 1, 1970