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By J. J. Scott

Friction Rock Stabilizers, trade name Split Set*, is a new support system invented by the author and under development by Ingersoll-Rand and Lee-Norse Company. Split Sets are a substitute for standard bolts or fully grouted resin bolts and have certain advantages which are: 1. Improved safety for the miner 2. A rational design is possible based on rock mechanics principles 3. Supports can be made either to be yieldable or rigid 4. Supports can be used to build a roof beam or to suspend roof material 5. It is cheaper than the resin system and costs about the same as standard bolts.

Jan 1, 1974

I found the article most interesting and timely. I consider it imperative that mine case studies like this one are undertaken and published so that the practicing mining engineer and geologist can obtain a better idea of what is the preferred estimation and grade control technique to use, given the site-specific geology, grade distribution, etc. Mining companies, with operating gold mines, need to be encouraged to either initiate such a study in-house or support a research project by financing a graduate student at a local university. The latter method is preferable since it not only provides research support but also an excellent training opportunity for young mining engineers and geologists. Ideally, what is needed is exploration drill-hole, blasthole, and mine production data that can then be used to assess the efficiency of different estimation and grade control methods by comparing the results obtained using the drill/blasthole data with the actual production data. It is hoped that more mining companies will realize that the rewards from this kind of research greatly outweigh the sometimes perceived problem with releasing data to a university. I noticed that the authors used the blasthole data to represent the actual values, the validity of which relies heavily on the two key assumptions with regards to blasthole assays and in-pit ore-waste selection procedures. Could the authors comment in more detail on these assumptions and what criteria they used to check the validity of the assumptions? Since the article was published, have the authors had the opportunity to compare their estimates with the actual production data? It would be interesting to compare other estimation methods with OK and IK. For example, how well did the polygonal method used at the mine compare with the results given in the paper? I would like to mention that B.L. Kwa completed a similar study (Kwa and Mousset-Jones, 1986) using exploration drill-hole, blasthole, and production data from the Alligator Ridge mine in Nevada. The study compared a variety of estimation methods, including IK, and the final results are shown in Fig. 1. The IK method exhibits the smallest difference between estimated and production results and is closely followed by the indicator moving window (Ind MW) method. Reply by Y.C. Kim We do concur with Professor Mousset-Jones with respect to the merit of such case studies performed at a local university. In answer to his request for comment on the validity of the two key assumptions made in our paper, we can only say that these are reasonable assumptions that are very difficult to validate. The assumption of blasthole assays being accurate can be partially validated by a careful analysis of the nugget component of blasthole variograms. The assumption that the in-pit ore-waste selection procedure in use was an effective one can only be validated through comparison between the mine estimates of ounces of gold versus the actual recovered ounces of gold at the mill. Neither one of these two assumptions has been validated to date due to several reasons. For example, the mine went through a change in management since the study. Similarly, no compelling reasons have been presented to perform detailed variogram analysis of the blasthole data. We do, however, believe that the obtained results (i.e., indicator kriging performs better than OK in a highly skewed deposit) will remain the same in relative terms, regardless of how valid these two assumptions may be. The most recent com¬parative study by D. S. Lindsey of the Montana College of Mineral Science and Technology also shows a similar ranking between ordinary kriging versus probability kriging, which is an extended version of indicator kriging.

Jan 1, 1987

By M. M. Botz, F. W. DeVries

Discussion by F.W. DeVries Comments on natural cyanide attenuation. The paper by Botz and Mudder in the November 2000 issue of Minerals and Metallurgical Processing had one disappointing aspect. Table 1 (p. 229) failed to include a significant species - neutral copper cyanide (CuCN). This compound has been most trouble-some in many plant-scale cyanide cleanup processes, includ- ing acidification-volatilization- reneutralization (AVR), hy- drogen peroxide cleanup and air/SO2 cleanup. It has also plagued many pilot efforts to use ion-exchange (IX) resin technology. This author elucidated the concept that, under some conditions, copper cyanide failed to precipitate out of treated effluents and appeared to exist as a filterable colloid that reported as copper and cyanide, with the latter measured as WAD (weak-acid-dissociable) cyanide in that analytical method. The concentrations measured were very near the levels of 0.2 ppm, often the regulatory limit for WAD cyanide. The copper concentration, using the 1 : 1 ratio for this com- pound, would then be more than 0.4 ppm, which could also be unacceptable. We discovered that it was unsafe to assume that the Cu(CN),- would surrender both cyanide ions simultaneously and allow cupric copper to be removed subsequently as, say, cupric ferrocyanide (Hatchett's Brown). This compound could be ignored as safely as the "iron blues," as essentially an inert solid, stable in geologic time if not exposed to sunlight. Under poorly controlled oxidation of the cyanocuprite ions (copper with four, three or two cyanides complexed to the copper), CuCN could well be formed and could not be assumed to precipitate out as a solid. The authors of the paper, by failing to include the CuCN species in their model, may have left users of the model prone to ignore the possible occurrence of the colloidal(?) form in the discharge, thus finding an effluent that failed to meet regulatory limits. (See addendum below.) This somewhat ephemeral material may well have been responsible for some large-scale failures of cyanide destruction technology to succeed at sites in North America and elsewhere. Two specific references alluding to this occurrence may be found: Griffiths et al., 1987, "The detoxification of gold-mill tailings with hydrogen peroxide," Journal of the South African Institute of Mining and Metallurgy, September, p. 282. DeVries, 1989, "Improved understanding in detoxification of cyanide leach liquors using peroxide" Rand01 Gold Conference, Sacramento CA, p. 15 1. It is advisable for workers in this area of cyanide removal or recycle to avoid assuming that CuCN will, with certainty, precipitate out of solution, or that the dicyanocuprite ion will part simultaneously with both cyanide ions and allow cupric copper to be dealt with by other reactions. One further piece of work may be incomplete. That is, a definitive study of the long-term behavior of CuCN that does precipitate when exposed to other compounds present in neutralized tailings. Addendum. The extremely complex reaction of cupric ion on cyanide- which, of course, results in oxidation of cyanide to cyanate, probably through the intermediate stage of forming cyanogen [(CN)2] from oxidation of HCN with its hydrolysis to cyanate and cyanide ion - involves two cyanide moieties and the reduction of the cupric ion back again to the cuprous state. This, then, can form the CuCN potential "solid" that was already the undesirable species. In cyanide cleanup, with either air/SO2 or hydrogen peroxide, copper is generally employed as the catalyst, so it is unclear what happens when the CU(CN)2-1 is ultimately exhausted. Certainly, the field evidence is quite clear that all

Jan 1, 2002

By B. N. Conley, K. D. Luxbacher

"The underground coal mining industry in the United States has recently seen the occurrences of several high profile, multi-fatality events. The explosions that occurred at the Sago Mine in 2006, the Darby Mine in 2006, and the Upper Big Branch Mine in 2010 have caused a ripple in an otherwise steadily improving safety record. These events transpired in the midst of an unprecedented level of government regulations and modern safety technologies. The recent increase in fatal events in conjunction with a minimal decline of both fatal and non-fatal injuries over the past decade may signify that current safety practices have reached a level of diminishing returns. Risk management, a safety approach that has been successfully applied in various industries including mining across the world, may provide a means to surpass the safety plateau in the U.S. RISKGATE is an Australian risk management program for mines that shows great potential for application in the U.S. However, fundamental differences between the coal mining industries in Australia and in the U.S. prevent direct implementation. This paper discusses aspects of the RISKGATE body of knowledge that require some adaptation before this program may be applied to the U.S. mining industry. INTRODUCTION The underground coal mining industry in the United States has recently seen the occurrences of several high profile, multi-fatality events. These events transpired in the midst of an unprecedented level of government regulations and modern safety technologies. The recent increase in fatal events in conjunction with a minimal decline of both fatal and non-fatal injuries over the past decade may signify that current safety practices have reach a level of diminishing returns. In order to combat this stagnation in performance, a modification to the manner in which the mining industry approaches worker safety may be warranted. The implementation of a risk management based approach presents a potential method for not only surmounting the current safety plateau but also for achieving the long desired objective of zero harm. RISKGATE a risk management body of knowledge designed for the Australian mining industry that shows great potential for application in the U.S. This paper discusses aspects of the RISKGATE body of knowledge that require adaptation before implementation in the U.S. mining industry. These adaptations are based on differences in operating practices and governmental regulations. This discussion will focus on the three major U.S. risk areas of explosion prevention, ground control, and moving equipment."

Jan 1, 2015

By M. A. Candia

Stability analyses were performed on the La Libertad, Nicaragua existing tailings embankment in order to determine the conditions for the minimum buttressing required for stability of the dam as a short term measure. Two critical sections, shown in Figure 1, were investigated under static, drained and undrained conditions for existing and modified geometries. The existing geometries reflect the "as built" topography of the dam, and the modified geometries reflect the implementation of a toe berm to buttress the slope. For these geometries drained and undrained conditions as well as different elevations of the toe berm were evaluated against a factor of safety.

Jan 1, 1996

By T. W. Camm, J. C. Johnson

"Most engineers are bright, hard-working, reliable, and prefer to avoid conflict. An engineering curriculum tends to self-select these characteristics. By most standards, you would expect workers exhibiting these traits to require minimal supervision. But is this true? Is this how most current engineering managers lead? Looking at some current theories on leadership combined with personal anecdotes, this presentation will look at some common misconceptions about leading engineers. INTRODUCTION Engineers are different. There, I said it. From cartoons to movies to television shows and more, there is a reason stereotypes of engineers resonate. Yes, you can find a lot individual variation among specific engineers that you may know, but they do not detract from some of the overarching commonalities that engineers are known for. CLASH OF CULTURES What distinguishes a professional? Raelin (1985), in his book Clash of Cultures, describes professionals as having superior intellectual training, maintaining their own standards of excellence, and being supported by associations that maintain the quality of the profession. Engineers obviously fit all three of these ideas: an engineering degree is still regarded as one of the most difficult to attain; we maintain our own standards both through peer-review and in academia through ABET accreditation; and through professional associations like SME to promote the discipline and foster technical growth. Six characteristics representing professional status are described by Raelin (1985, p. 9): Expertise—prolonged specialized training in a body of abstract knowledge. Autonomy—the freedom to choose the means to solving a problem. Commitment—Primary interest is in pursuing the practice of one’s own chosen specialty. Identification—identifying with the profession and with fellow professionals, both through formal associations and through peers external to the organization. Ethics—providing service without concern for oneself or without becoming emotionally involved with the client. Standards—committed to help in policing the conduct of fellow professionals. Engineers are smart—in the vast majority of cases they are hired specifically for their expertise. At a typical mine the ventilation engineer knows more about mine ventilation than anyone else on site; the same is true for the rock mechanics engineer, the explosives engineer, the planning engineer who uses sophisticated computer software—each is the expert for their particular area at the mine, that is why they have that responsibility. This can present a dilemma for the manager for each (sometimes all) of these engineers. The manager needs to keep everyone on task and focused on the objectives of the organization. Because they have reached their position by following the norms and expectations of the organization, managers tend to have a certain amount of loyalty to that organization. Engineers, on the other hand, tend to have mixed loyalties, having as much loyalty and affinity for their profession as they do for the particular company they happen to be working for at any given time. This dynamic can often lead to power struggles between the managers, based on their positional authority in the organization, and the engineers, based on their specialized knowledge (Camm, 2013)."

Jan 1, 2017

By Abigail A. Myers, Michael A. Milczarek

Mining impacts to groundwater are being comprehensively regulated for the first time in Arizona with the implementation of the Aquifer Protection Permit Program. This far reaching program is one of the nation's strongest groundwater quality protection programs. Aquifer Protection Pennits (APPs) are required for almost all mining operations and will compel mining companies to pay increased attention to the potential groundwater quality impacts from their activities. All regulated mining operations will have to employ discharge control technologies and monitoring will be heavily emphasized. Technical requirements and relevant permit conditions are discussed.

Jan 1, 1991

By Ernest Peters, Fiona M. Doyle

The leaching and bulk decomposition of sulfide minerals is of enormous commercial importance in several areas of the minerals industry. These include: direct leaching of ores or concentrates for the recovery of the contained metal values; decomposition of sulfides to recover associated values such as encapsulated gold; and the potentially hazardous oxidation of sulfides in waste disposal facilities. A significant challenge to successful future developments in these areas is to improve our fundamental understanding of the mechanisms of the chemical, electrochemical, and bacterially-mediated interactions between sulfides and aqueous solutions. The paper summarizes current understanding of these mechanisms, and discusses promising new directions for research.

Jan 1, 1989

By P. Mousset-Jones, F. Calizaya

Ultrasonic anemometry is a relatively new method of measuring the air velocity in underground excavations and is not widely used. The method has been mainly used for surface applications, such as meteorology and fluid flow measurement. Several instruments were looked at to determine their applicability for continuous underground monitoring systems. The units fall into two main categories: variable distance units and fined distance units. The method relies on the acceleration and deceleration of ultrasonic pulses transmitted through a moving airstream. This study presents some of the results of the testing of variable and fixed distance ultrasonic anemometers in a wind tunnel and a mine drift.

Jan 1, 1995

By Les T. Zoschke

Over ten years ago, Modular began development and implementation of its DISPATCH System for haulage optimization in open pit mines and now has over two dozen systems in operation worldwide. The so-called 'top down' approach used in system design and implementation was deliberate. This foresight now allows addition of features which would otherwise prove infeasible - without complete system redesign. Until recently, truck and shovel operator input provided timing data needed for optimal allocation. Now, addition of a high-speed, general purpose token ring loop controller and infrared (IR) transponders to each piece of mining equipment automates these important functions. Here, we discuss new devices, systems, and subsystems comprising mining's future.

Jan 1, 1992

By M. G. Ayat

Although other methods of mineral concentration have been developed over the years, gravity separation remains one of the most efficient and economical for cleaning coal. The concentrating table and the spiral separator are popular devices used for the separation of minerals by exploiting the differences in specific gravities of the product material and the gangue. While the former device has been servicing the coal industry for over 75 years, the latter seems to have not been employed extensively for coal cleaning purposes in this country. As far as coal preparation is concerned, both separatory devices seem to be most efficient for intermediate to fine size fractions. As it stands there exists a great deal of confusion amongst preparation engineers and plant managers as to whether spirals can have a place in the coal industry. If so, whether their come back is the beginning of the end for concentrating tables, or can they be employed along with concentrating tables to contribute toward more efficient cleaning processes resulting in an improvement in the overall economics of the coal preparation industry. This paper examines the efficiency of both systems for coal processing operations as well as the basic principles, operational variables, economics, advantages and disadvantages associated with each unit operation. Attempts have been made to draw conclusions and make recommendations as to which system would be more beneficial for coals of known characteristics.

Jan 1, 1986

By Felicia F. Peng

The naturally occurring aged manganese oxide coated on the granular media was found to have a catalytic effect on the removal of low concentration of Mn(II) (-1 ppm) from drinking water. Applying this principle, a manganese removal technique was developed for removal of higher concentration of Mn(II) (-100 ppm) from mine drainage by using various aged filter media and synthesized granular media with manganese oxide coatings. Laboratory-scale continuous granular media column experiments were conducted to assess the feasibility of manganese oxide-coated granular media for Mn(II) removal from synthesized mine drainage. The removals of Mn(II) were evaluated as a function of operation parameters including solution pH, manganese oxide concentration coated on the media, interstitial velocity, and oxidant concentration of influent. Higher solution pH and/or higher manganese oxide concentration promoted the removal of Mn(II) on the oxide-coated granular media under low interstitial velocity. Addition of sodium hypochlorite as an oxidant in the influent resulted in continuously regenerated oxidized surface to serve as the catalyst for Mn(II) oxidation reaction on the surface of oxide-coated media.

Jan 1, 1994

By M. Li, J. K. Thompson, A. S. Azman

"Powerful mining systems typically generate high-level noise that can damage the hearing ability of miners. Engineering noise controls are the most desirable and effective control for overexposure to noise. However, the effects of these noise controls on the actual hearing status of workers are not easily measured. A tool that can provide guidance in assigning workers to jobs based on the noise levels to which they will be exposed is highly desirable. Therefore, the Office of Mine Safety and Health Research (OMSHR) of the National Institute for Occupational Safety and Health (NIOSH) developed a useful tool to estimate the hearing loss due to occupational noise exposure in a systematic way and evaluate the effectiveness of developed engineering controls. This computer program is based on the ISO 1999 standard and can be used to estimate the loss of hearing ability caused by occupational noise exposures. In this paper, the functionalities of this software are discussed and several case studies related to mining machinery are presented to demonstrate the functionalities of this software. INTRODUCTIONPeople regularly exposed to noise can develop hearing loss at different levels of severity depending on a number of factors. The resultant hearing loss can affect one’s ability to understand speech, learning, acoustic signal perception, or appreciation of music. Hearing loss caused by overexposure to noise has long been recognized in literature. However, it still does not get serious attention by those working in noisy environments because the loss of hearing ability is a gradual process and workers are often unaware until the damage becomes an apparent problem. In the United States, occupational hearing loss is one of the most common work-related illnesses. Depending on the definition of exposure and impairment, in 2012 the National Institute for Occupational Safety and Health (NIOSH) estimated that there are between 5 and 30 million workers in the U.S. who are exposed to noise levels at work that put them at risk of hearing loss.4 In the mining industry, noise-induced hearing loss (NIHL) is particularly severe due to the fact that heavy-duty machinery is widely used to improve production efficiency, and this machinery can generate much higher-level noise than the permissible level defined by regulation. As a result, the mining sector has the highest prevalence of hazardous workplace with high noise exposures (76%) among all industrial sectors."

Jan 1, 2015

By M. G. Karfakis

Grouting has been used in underground mining for more than twenty years. Chemical grouting is often used as a remedial measure when the implemented ground control program is unable to completely prevent structural failures or when there is a need for preventing a structural member from unraveling. Utilization of the polyurethane grout currently being used is restricted by its limited range of physical and mechanical properties that restrict its utilization. To overcome some of the drawbacks of polyurethane, research has been conducted on a newly developed polyester based grout. The polyester resin, identified by Sandvik as StrataGrip, provides a number of features, including variable gel times and much reduced chemical hazard. Equally important are the mechanical properties of the product. The strength and deformability of any chemical grout must be compatible with the intended purpose of grouting and the expected deformation of the rock that is to be grouted. Assessment of the mechanical properties of polyester grout is the focus of this work. Field experiences and laboratory research have defined the properties of an effective grouting material. Experimental results indicate that the polyester grout meets or exceeds the recommended properties for many injection applications. Furthermore, the results suggest that the ability to adjust mechanical properties via resin formulation has the potential to expand the applicability of chemical grouting in ground control.

Jan 1, 1997

By A. K. Kuhn

In virtually all jurisdictions, comprehensive environmental protection regulations or standards are in place that apply to all industries, including mining. The only other legitimate mine-permitting concern is post-mining land use (PMLU). PMLU includes all uses of land after mining as well as the ecosystems appropriate for those uses. Although flawed, the New Mexico Mining Act (NMMA) of 1993 is a PMLU-based permitting statute. It requires measures during closure that will establish a PMLU or self-sustaining ecosystem for each mine unit. PMLU-based permitting avoids prescriptive, one-size-fits-all measures and keeps permitting focused on the legitimate goal of responsible land management..

Jan 1, 1999

By Sharon G. Roness

Powder River Basin (PRB) mines were originally built to serve power plants designed specifically for their: coal. Sulfur was the major concern. Btu content and sodium limited the market for some plants. The PRB market has now extended to plants that are converting from other coals because of the Clean Air Act. These new customers are more sensitive to constituents that affect boiler and precipitator performance. At the same time, the prospect of deregulation is forcing power companies to improve cost controls. Kerr-McGee Coal's Jacobs Ranch Mine has responded to the changing marketplace with an expanded coal quality and customer service program.

Jan 1, 1998

By R. Cook

Knowledge based applications are becoming important to Associated Manganese for efficiently dispatching ore of appropriate grades to customers on time. The G2 expert system shell has been used to develop blending and scheduling applications using a combination of object-oriented rule based, procedural, and heuristic approaches. The blending application, for example uses a heuristic approach for creating blends from thousands of small stacks of manganese ore of various grades and sizes, to meet customer specifications while fully exploiting the available inventory. Data capture and data warehousing have become important issues, and the Internet shows strong potential for distribution of pre-processed information.

Jan 1, 1997

By K. D. Luxbacher, J. T. Davis

"A wind tunnel was designed to examine air flow, heat transfer and layering near an active fire at a working face. This tunnel simulates an active entry in an underground coal mine including an attached cross-cut of similar dimensions. A steel rectangular duct 1 ft. (0.305 m) tall, 3 ft. (0.914 m) wide and 10 ft. (3.05 m) long composes the main body of the tunnel and represents a mine entry. Air flow is generated by an exhausting centrifugal fan attached to one end of the crosscut. This fan was sized to supply air velocities based on Froude scaling. A 6 in. (15.25 cm) propane burner is used to simulate fires of various heat release rates at the working face. Thermocouples are used to map heat layering in the tunnel. Ports are installed for the introduction of tracer gases into and from sampling the system. Barometric, differential pressure, and temperature sensors are also included to monitor environmental conditions. Details about the design and testing of the system are presented including an overview of how the tunnel was scaled to accurately represent fire and flow phenomena. Finally, the proposed use of the tunnel for better understanding of mine fire phenomena and prevention is given. INTRODUCTION Fires in underground mines have been a concern since the dawn of mining. While technological advancements, regulations and best practices have improved both fire detection and firefighting techniques, mine fires continue to represent high risk events. From 2006 through 2015, fires accounted for 1.06% of fatalities in underground coal mines and 0.85 percent of fatalities in all underground mines in the United States (U.S. Department of Labor, 2006 to 2015). In addition to the risk of loss of life, mine fires can cause millions of dollars in equipment damages and lost production revenue. Extensive research has been conducted on how fires occur and spread in underground mines. In addition to testing conducted by government agencies such as the Mine Safety and Health Administration (MSHA) and the National Institute for Safety and Health (NIOSH) (e.g.(Liming, 2006), researchers like Verakis and Dalzell (Verakis, 1988) and Lowndes, et. al. (Lowndes, 2004) have furthered this field by studying ignitions and propagation of conveyor belt fires. While the studies of belt fires in mines are extensive, studies focused on fires at the working face are few in number. The particularly confined space and limited access to a working face, coupled with less robust, temporary ventilation controls create a unique environment that warrants special attention. Separate from studies on mine fires, the use of tracer gases to characterize flow patterns in normal mining ventilation is well established. In 1982, Timko and Thimons (Timko, 1982) outlined current and future applications of sulfur hexafluoride (SF6). However, little experimentation has been conducted to study specifically how tracer gases might be used to evaluate active mine fires and the fires’ effect on the surrounding mine environment (e.g.(Lindsay, 2014). In order to better understand the dynamics of smoke layering from a fire in an enclosed space, a small-scale apparatus was designed to map smoke layering and to examine other aspects of fire behavior at a working face. In addition to studying smoke flow around an active fire, experiments will be conducted using tracer gases in order to determine how they might be used to evaluate an underground fire."

Jan 1, 2017

By Alissa Lockett, Chris D. Breeds

Central Water Integration Project (CWIP) Segment 5-1 is the most critical segment of a regional water supply project that transfers groundwater from Burleson County to northern San Antonio, replacing over 20% of that City’s water supply with a new source. CWIP Segment 5-1 included three tunnel reaches totaling 10,350-ft and 5 shafts that were constructed inside the City in an area known to contain large karst features. This paper describes site work used to investigate the alignment for karst features, manage potential environmental impacts, develop the contract package required for mitigation and the means and methods used to mitigate the large karst features that were encountered.

Dec 1, 2022

By J. Sottile, V. Androulakis

Operators of underground coal mine shuttle cars are exposed to numerous hazards including noise, dust and musculoskeletal trauma. The repetitive nature of shuttle car operation leads to fatigue-related incidents and soft tissue injuries. The poor visibility conditions, and dust and noise increase the occupational hazards to the operator, as well to other miners. To reduce the risks for all miners, towards providing a safer working environment for all workers, the introduction of autonomous shuttle cars is essential. This paper introduces a project to demonstrate the feasibility of incorporating autonomous shuttle cars in the underground coal mining cycle. The autonomous shuttle car will be able to localize itself, to map its surroundings and to navigate in an underground GPS-denied environment. It will also navigate efficiently by fusing different on-board sensor modalities, autonomously planning the optimum path and traversing around the mine while avoiding collisions with humans and other static and dynamic obstacles. This will be achieved by exploring and testing different state-of-the-art techniques and off-the-shelf components, and integrating them into existing equipment, i.e., retrofitting an actual shuttle car. Moreover, a modified mining system will be demonstrated which will incorporate the autonomous shuttle car, capable of making real-time decisions, into the mining cycle. The system will regulate the interactions between the autonomous machinery and the human dynamic, with emphasis given to the safety of the workers, and enable the real-time, remote supervision of the mining process. The focus will be on coal mines, where the room and pillar mining method is used. INTRODUCTION The growing demand for mineral supplies combined with the steady decline in the available surface reserves has driven the mining industry to mine deeper underground deposits. These deposits are difficult to access, and the environment may be hazardous to mine personnel (e.g., increased heat, difficult ventilation conditions, etc.). Moreover, current mining methods expose the miners to numerous occupational hazards such as working in the proximity of heavy mining equipment, possible roof falls, as well as noise and dust. In recent decades, the utilization of autonomous machines has evolved in the mining industry to provide increased health and safety to mine personnel and reduce their exposure to adverse conditions. Automation aims to remove the workers from the hazardous conditions which may be present in an active mining area and place them to a more comfortable and safer environment at a distance from the active mining face. Examples of incorporation of autonomous machinery in the mining industry include the fleet of more than 100 autonomous mine trucks that are employed at the Rio Tinto’s iron ore mines in Western Australia for material haulage. There are also semi-autonomous, teleoperated LHD machines employed at several mines around the world (e.g., Sweden, USA, China). However, the operation of the autonomous machinery in these cases is either partial (semi-autonomous, teleoperated vehicles) and of small-scale or occurs at surface mines where GPS significantly facilitates the autonomous navigation of them.

Jan 1, 2019