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

Dec 6, 2010

This paper reviews the development and operation of a small underground tin mine in NE Tasmania. Tin mineralisation was discovered in the Lottah area in the 1880s with early alluvial and eluvial workings leading to the development of large low grade open pit operations. Apart from short lived activities operations ceased in 1915. Intensive exploration in 1978 - 1981 outlined substantial tonnages of low grade tin mineralisation (0.2% Sn) of open pit material. An underground ore body was also located (800 000 tonnes 0.6 per cent Sn). Spectrum Resources Australia Pty Limited acquired a 98 per cent interest in the property in 1988. Mine and mill development began in early 1989 based on an underground mine utilising trackless mining using room and pillar with fill stoping. The milling circuit involves primary jaw crushing, Barmac secondary crushing to 1 mm, Mogensen and DSM screens with jigs and tables to make a wet concentrate. Final tin concentrates are produced by high tension and magnetic separation. Planned production rates are 500 t/day with a mine life of six to seven years.

Jan 1, 1990

Up to 19 chemical parameters were studied in flotation pulps in six Australian lead-zinc concentrators with the aim of obtaining a better understanding of the nature of, and changes in, the chemical environment. This paperdiscusses collector residuals, metal concentrations in solution, and other parameters.Collectors used in the plants studied were various xanthates, Z-200, and Aerofloats. Xanthate residuals varied in different ways in most plants. However the general trend was for residuals to be at the O· 5-2 p.p.m. level in lead flotation and O· 5 p.p.m. or less in zinc flotation.Aerofloat residuals were also variable but in the plant concerned were at a much higher level (8-10 p.p.m.) than xanthate residuals. Z-200 residuals were in the 10-20 p.p.m. range and it was found that the Z-200 added to zinc flotation was reporting in dam return water and entering lead flotation.Copper concentrations in solution were negligibly low in those plants where cyanide was not used. When cyanide was used, copper was at the 5-20 p.p.m. level and appeared to be present as Cu(CN)-2. However the hiocyanatepresent may be important. Xanthate was also present in these solutions.Zinc concentrations ranged from 0·1 to 800 p.p.m. in different plants. The general trend was for the zinc level to be highest in the grinding circuit and to drop during flotation. However there was always an increase in zinc concentration when copper sulphate was added, even tho.ugh this incre.ase was not permanent, and the increase was greater with higher copper sulphate additions.The manganese concentration also increased appreciably during copper-activation of marmatite. In some plants lead concentrations increased from 0·1 to 1 p.p.m. during activation of marmatite.Calcium concentrations (20-1200 p.p.m.) and magnesium concentrations (10-600 p.p.m.) tended to be fairly stable in each circuit.

Jan 1, 1970

By H Dehghan Jan Abadi, K Shahriar

The iron ore district of Gol-e-Gohar (GEG) is located 60 km south-west of the city of Sirjan, in the Kerman Province of the Islamic Republic of Iran. Six exploration targets have been identified and iron ore has been mined from one area with dry and wet concentrate products sold. Prior to mining commencing in 1999, the proven reserves were estimated at 265 million tonnes (Mt) in 2004 and 40 Mt of 100 Mt overburden has since been mined. Of the six exploration targets, the largest anomaly in the GEG district is Deposit No 3. This paper discusses economic considerations focusing on mine extraction and construction of a concentration and pelletising plant to process ore from Deposit No 3 of GEG. Planned capacity of 10 Mt product (concentrate and pellet) per year is targeted to commence in 2011, and nominal capacity by 2014. The economical evaluation and analysis is one of the most important stages in the feasibility study of mine development. Financial calculations including the provision of financial resources, operation period revenue, loss and profit statement, cash flow, net cash flow, internal rate of return and net present value have been undertaken as part of the feasibility study. The feasibility study operating plan assumes a large open pit mine containing proven reserves of approximately 250 Mt. The feasibility study assumed an economic return of $80 per tonne iron pellet. The economic study determined that Deposit No 3 of GEG can be economically developed by open pit mining followed by magnetite separation and flotation to generate iron concentrate and pellets.

Jan 1, 2007

By G Ma, L Qi, J G. Shellnutt

"An EXTENDED ABSTRACT is available for download. A full-length paper was not prepared for this presentation. The Emeishan large igneous province (ELIP) of SW China is host to magmatic Ni–Cu–(PGE) sulfide and Fe–Ti–V oxide deposits which contain economic to subeconomic concentrations of precious and base metals. The formation of a given deposit-type (ie sulfide versus oxide) is thought to be related to the type of parental magma (ie high-Ti versus low-Ti) and the subsequent processes (ie fractional crystallisation and sulfide segregation), which allowed for metal enrichment.We examined the PGE of Baima and Taihe oxide-bearing layered mafic intrusions from the ELIP (Shellnutt, Ma and Qi, in press), and compared them with the nearby Xinjie and Hongge intrusions as well as with the Emeishan flood basalts. The PGE results for the two intrusions are contrasting. The Baima gabbroic rocks are almost PGE-barren (SPGE < 4 ppb) whereas the Taihe gabbroic rocks are variable, but generally much higher in PGE concentrations (SPGE < 2 to ~300 ppb), although the gabbros from both intrusions are enriched in platinum-subgroup PGE (PPGE = Rh, Pt and Pd) relative to iridium-subgroup PGE (IPGE = Os, Ir and Ru). Cu/Zr, Ni/Ir, Y/Pt, Cu/Pd and Ni/Ir systematics suggest that the Baima rocks were derived from a relatively evolved, mafic, S-undersaturated parental magma that was affected by earlier sulfide segregation. In contrast, the Taihe rocks record evidence of both S-saturated and S-undersaturated conditions and that the parental magma was likely emplaced very close to S-saturation. Through comparison of the PGE contents in the Emeishan flood basalts and the Emeishan oxide-bearing intrusions, we provide a self-consistent model for ELIP that the PGE budget in a magma is not strictly controlled by magma series (high-Ti versus low-Ti), but very much by crustal contamination.CITATION:Ma, G, Shellnutt, J G and Qi, L, 2015. Platinum group elements in the Baima and Taihe Fe-Ti oxide-bearing gabbroic intrusions of emeishan large igneous province and problems on propensity of magma series for sulfide- versus oxide-dominated deposit types, in Proceedings PACRIM 2015 Congress, pp 303–310 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Mar 18, 2015

The interaction between ore-bearing fluids and the siliciclastic rocks typically hosting orogenic gold deposits in Phanerozoic metamorphic terrains result in the development of a distinctive alteration halo. Along with petrological changes such as the replacement of chlorite by carbonate and the growth of sericite, characteristic geochemical modifications take place within this alteration envelope. These include variations in elemental abundances and more or less pronounced shifts in the H, C, N, O, and S isotopic signature of the ore system. æFingerprintingÆ these isotopic trends can provide exploration with additional vectors towards the ore zone, and yields valuable information regarding the source of the hydrothermal fluids and the solutes contained therein. Data from radiogenic isotope systems such as Sr-Rb, Ar-Ar, Xe-Ra, Pb-Pb, Re-Os, Sm-Nd, and U-Pb can constrain the kinematic history of ore-hosting structures, provide important clues concerning the absolute timing of gold emplacement, and enable the detailed characterisation of associated intrusives with respect to their magma source(s) and crystallisation age. Although high analytical costs, long turn-around times and the potential for misinterpretation prevent isotope systems from offering a æquick & dirtyÆ analytical method that would provide a significant advantage in exploration for orogenic gold mineralisation, the development of integrated four-dimensional ore genesis models depends heavily on constraints obtained from isotope mass spectrometry.

Jan 1, 2002

By T Roberts

The transition of mechanical cooling refrigerants from their inception in the 1800s through to the current day has been driven by several factors. Original refrigerants such as sulfur and carbon dioxide, chloromethane and ammonia, whilst effective came with toxicity and/or flammability issues. In 1930 DuPont trademarked a new synthetic refrigerant known as Freon® 12, this development was the introduction of ‘chlorofluorocarbons’ (CFCs).Throughout the 1930s and 1940s additional synthetic refrigerants were developed, namely Freon® 11 and Freon® 22. Due to their non-toxic and non-flammable characteristics, synthetic refrigerants were extensively used for domestic, commercial and industrial applications for the next 60 years.In 1985, one of the first scientific papers suggested a potential mechanism linking CFCs and areduction in the density of the ozone layer. In 1987 the Montreal protocol is ratified; it is the first UN treaty to be ratified by every country on earth. Due to CFC’s ozone depletion potential (ODP), the treaty required the consumption of CFC’s to be reduced by 50 per cent over the next ten years. By 1996 the phase out of CFC’s (Freon® 12) is completed, the phase out of HCFC (Freon® 22) refrigerants comes into effect.On 1 January 2018 the phase down of HFC’s begins. Whilst having zero impact on the ozone layer HFC refrigerants have high global warming potential (GWP). As we transition through the HFC phase down (2018–2035) we are beginning to see the emergence of what some consider to be the fourth synthetic wave, hydrofluoro-olefins (HFO’s). HFO’s and their blends have zero ODP and low GWP’s, ranging from 150 to less than 1. The reduction in GWP with HFO’s typically comes at the expense of flammability, which is not ideal. Each refrigerant has its optimal application, therefor when considering refrigerant choices for mining systems, a complete assessment of the environmental, health and safety, efficiency and commercial impacts should be considered now more than ever.

Oct 12, 2022

Background information, formulae and a systematic set of procedures for estimating capital and operating costs for open pit mining equipment are presented in this paper. Firstly, equipment capital costs are required. These can be obtained from either suppliers, contractors or from first principles. The equipment is then divided into cost elements. Typically these are fuel and power requirements, spare parts consumption, wear items such as tyres, teeth and drill bits and finally repair and operating labour requirements. By consideration of the cost and life of each element a base cost can be derived. The base cost is then adjusted to suit specific site conditions such as the proximity to spare parts suppliers, the duty or ground conditions and the management and operator skills specific to the site. Hence, the same item of equipment can be costed to reflect different operations. Included are tables and data for typical plant items. Several examples are also given to illustrate the methodology being presented. The intention is to provide a set of procedures to allow costs to be built up from base level in a systematic and repeatable way. Applications for these costs include feasibility studies, budgetting and data for economic analyses.

Jan 1, 1990

By P Craig, A Crosky, P C. Hagan, E Elias, B Hebblewhite, S Saydam, D Vandermaat

"Premature failure of rock bolts has been recorded at twelve underground coalmines over the past 15 years in Australia. Over the last four years, UNSW Australia has been conducting an Australian Research Council (ARC) and Industry funded linkage research project into premature failure of rock bolts. The extent of the problem was investigated by underground surveys of mines with known prematurely failed bolts using visual mapping, non-destructive load and ultrasound testing. A major component of this project was to define the environmental factors responsible for corrosion of rock bolts. The environment to which a rock bolt is exposed will include groundwater chemistry, the mineralogy of the strata, atmosphere within the drill hole and even microbial activity. This paper focuses on the groundwater survey and analysis findings to date along with in-hole bolt corrosion coupons installed into field sites. Corrosivity classification systems exist for general corrosion but do not apply to the rock bolt stress corrosion cracking (SCC) problem found in Australian underground coal. The method of in situ investigations is leading towards the building of a corrosivity classification model to assist mines in prediction of premature rock bolt failure. An ‘in-hole bolt corrosion coupon’ development by the project may have multiple benefits of: helping quantify any corrosivity classification system providing an in situ ground support corrosion monitoring tool for testing possible corrosion protection solutions.CITATION:Craig, P, Saydam, S, Hagan, P C, Hebblewhite, B, Vandermaat, D, Crosky, A and Elias, E, 2014. An investigation of the corrosive impact of groundwater on rock bolts in underground coalmines, in Proceedings AusRock 2014: Third Australasian Ground Control in Mining Conference, pp 277–286 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Nov 5, 2014

The cyclone, or centrifugal separator, ,is firmly established in industry as a low cost separator of solids from gases.While it will also separate fluids of different densities, and solids from liquids, its main use is to remove relatively fine dusts from gases whose pr~erties are generally not greatly different from those of air. This latter phase of operation is the one that will be dealt with here.The duty of such a cyclone separating system is to take in a supply of dusty gas and separate it into its components of dust and clean gas as perfectly as possible for the least consumption of pressure head. Any separation at all causes pressure loss and, in general, the greater the separation, the greater the pressure drop needed to effect it. The percentage of dust in suspension which is separated from the gas-dust mixture is commonly called the collection or separation efficiency. Overall or "true" efficiency must take pressure drop into account and may be considered as proportional to the ratio of the percentage of dust collected to the resultant pressure drop. For any cyclone It will vary with different dusts.Many commercial adaptions of the simple cyclone are made solely on the basis of pressure drop improvement, without taking into account the effect on separation efficiency, probably because the latter is so difficult to assess correctly. It appears unfortunate but true that the majority of such adaptions and patent gadgets fitted to cyclones which decrease pressure drop, do have an adverse effect on separation. In other' words, the true efficiency is seldom increased but often diminished.Without a knowledge of what actually goes on inside a cyclone, it is impossible fully to appreciate the real effect of a modification. For instance, it is on record that a cyclone...

Jan 1, 1949

The mineralisation consists principally of layered pyrite, phalerite and galena, situated conformably within a sequence of tuffaceous, bituminous shales and dolomitic sediments that include slump breccias. The sediments show little evidence of post sedimentary reconstitution. A volcanic-exhalative-sedimentary origin is postulated for the mineralisation. Attention is drawn to the similarity between the McArthur deposit and the lead-zinc-silver orebodies at Mount Isa. The primitive nature of the sulphides is reflected by their adverse metallurgical behaviour, and it seems that the best prospect for milling and flotation benefication may lie in the production of separate zinc and bulk concentrates

Jan 1, 1968

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

Old Copper Flotation Tailings Waste Reprocessing

Sep 13, 2010

By D Kilkenny

Underground contractors in the mining industry must be prepared to take a position at the forefront of innovation of equipment and work methods in order to maintain a competitive advantage over in-house operations and remain relevant. Innovative concepts such as split-feed development jumbos, high capacity trucks and loader guidance systems were implemented by contractors to stay ahead of ‘the pack’. All of these are now common across the industry.The demands of regular participation in competitive tendering coupled with aggressive fleet depreciation, means contractors tend to have more communication and opportunities to work with equipment suppliers than mine owners. Therefore, they are more likely to influence equipment design and product directions. They also have a unique opportunity to assist in trialling new concepts and technologies across a wide variety of operating conditions rather than being restricted to one mine.In addition, as a ‘guest’ on a mine site, mining contractors do not have the luxury of creating the environment for their preferred systems, rather they must have the capacity to adapt their technology to suit the offered environment at a particular mine. This leads to a pursuit of adaptive technologies that can be implemented selectively and seamlessly without excessive disturbance rather than ‘all-of-mine’ systems. These incremental innovations then become available for use across the mining industry where they can add value as ‘bolt-on systems’ to existing operations.Mining contractors, therefore, act as the bellwether for industry practices and equipment. However, in order to maintain their position they must engage industry stakeholders to deliver practical, innovative and cost-effective technologies that add value and result in an improved bottom line for all. This paper uses case study material to illustrate how the Byrnecut Group has approached innovation and how the theory of Disruptive Technology applies to underground mining innovation.CITATION:Kilkenny, D, 2017. Innovation in mining – a contractor’s role, in Proceedings 13th AusIMM Underground Operators’ Conference 2017, pp 59–68 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Oct 16, 2017

By D Connelly

Magnetite orebodies generally means mining lower grade iron ores, crushing and grinding with significant energy costs in processing and the capital costs being significantly higher than for direct shipping ores (DSO). Overseas, the mining and processing of magnetite ores has a long history of production due to the lack of DSO deposits. This raises the question as to why the new magnetite projects have been so problematic and also whether there is a future for the long list of potential magnetite projects in Australia.The quality of the magnetite concentrate product is superior to most DSO products and the magnetite contains energy benefits when converted to hematite in sintering or pelletising. The industry’s hopes for new projects have been dashed and questions are being raised as to the financial viability of such projects.A comparison of Grange Resources Savage River, Arrium’s Project Magnet, the Sino Iron Project and Gindalbie’s Karara Iron Project is used to understand the differences between the projects and why some are more successful than others.CITATION:Connelly, D, 2015. What is the future for magnetite projects in Australia and why have some of the new projects been so problematic?, in Proceedings Iron Ore 2015, pp 107–114 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 13, 2015

The dissolution of gold in cyanide has been studied, using both chemical and electrochemical techniques. The electro-chemical studies have confirmed that gold may become passive in cyanide solution if its potential becomes more positive than -O· 5 V v. saturated calomel electrode (S.C.E.). The results of the conventional solution rate tests suggest that, although the solution rate is controlled by the rate of diffusion of oxygen at low oxygen and agitation levels, when these are increased the gold may become passive and its solution rate approach a steady value, or even decrease with increasing oxygen level. The passivity of gold has been shown to be of importance in the solution of small spheres of this metal, and in the extraction of gold from a calcined auriferous pyrite concentrate.INTRODUCTIONAlthough it has been appreciated for many years (McLaurin, 1893, 1895) that dissolved oxygen is a necessary adjunct to the solution of gold by the cyanide process, attempts to quantitatively assess its effect have led to conflicting results. For example, Barsky, Swainson, and Hedley (1934) reported that an increase in oxygen concentration improved the solution rate, but Beyers (1936) claimed that such an increase would reduce the rate at which the gold dissolved.By using an electrochemical approach Kudryk and Kellogg (1954) showed that the diffusion rate of either the cyanide or the oxygen was a controlling factor, and that, if the mole ratio of cyanide to oxygen concentration was greater than 10, the solution rate was proportional to oxygen concentration.These results, although they represent some of the most careful work available, were in direct contradiction to the findings of Mills (1951), who found that gold may become passive in cyanide solution, with a resultant decrease in solution rate.

Jan 1, 1963

By T Ireland

The Rosedale Outfall Project utilised an earth pressure balance (EPB) tunnel boring machine (TBM) for only the second time in Auckland. Although the tunnel was excavated fully through East Coast Bays Formation (ECBF), the downhill gradient along with some unexpected areas of extreme water posed some significant challenges during construction.The Rosedale Waste Water Treatment Plant Outfall Tunnel project was commissioned in response to the growing needs of North Shore City, New Zealand. The outfall tunnel comprises a 3 km long segmentally lined tunnel and a 2.1 km buried marine pipeline, and discharges 2.7 km offshore. The capacity of the new outfall is 6 m3/s compared to the existing outfall capacity of 1 m3/s.Following previous project experience, and with the tunnel located along its full length in the bedrock weak sandstone/siltstone bedrock of the East Coast Bays Formation, tunnelling conditions were expected to be benign. However during construction six high inflow events were encountered, including a full face (3.4 m diameter) of Albany Conglomerate over a 48 m length of tunnel. This material comprised cobbles in an uncemented sand matrix, and inflows were recorded at over 25 L/s.This paper describes the design challenges on the project including the design of a steel fibre reinforced segmental lining for internal pressures. The specification of the machine is discussed including the modifications required to enhance the risk mitigation measures already in place. The ground conditions encountered are discussed and have improved the knowledge of the range of conditions that can be expected in Auckland.Despite the challenges presented during construction, excellent progress rates were achieved and the tunnelling was successfully completed ahead of program.

Mar 8, 2011

The banded iron formations "jasper bars," jaspilites, banded hematite quartzites or banded ironstones, etc., as they have. variously been termed in Western Australia, constitute one of the most striking features of the Pre-Cambrian in this State. They occur in at least two distinct divisions of the Pre-Cambrian, viz., in horizons interbedded with quartzites, shales and thin bedded dolomite in the N~llagine (Proterozoic) Series; and amongst the Older Pre-Cambrian rocks, associated with the metamorphosed sediments of the Jimperding-Chittering Series, the Yilgarn Whitestone Series and the Mosquito Creek Series, and interbedded with metamorphosed basic lavas, tuffs and sediments of the Older prenstone or Kalgoorlie Series.In the Hamersley Ranges in the north-west of Western Australia banded ferroginous cherts are well developed amongst the horizontal sediments of Nullagine Age. These iron formations have recently sprung into prominence as they have been found to form the host rocks for important deposits of· blue asbestos. They are closely comparable with the unique crocidolite-bearing banded ironstones of the Cape Province, South Africa, and have been described elsewhere in some detail by the writer. (1) t .The banded iron formations with which it is intended to deal principally in the following pages, form most abundantly in the Central and Eastern Goldfields of Western Australia where they form portions of the Older Greenstone or Kalgoorlie Series of auriferous rocks. In these regions their chemical inertness and physical hardness provide considerable resistance to the agents of erosion and consequently they frequently stand out in strong topographic relief in otherwise monotonously flat or gently rolling country. These banded-iron formations have proved of considerable direct economic importance in the goldfields and in other portions of the State because of thei!! associations with 'gold, iron -and to' a lesser extent, manganese; whilst indirectly because of their peculiar nature, form and topographic prominence, etc, they have been of tremendous assistance to the field geologist both in the practical application of methods of geological mapping and in the' elucidation of geological structures. Finally, they have recently acquired a new importance in the specialised search for ore-bearing lodes or for structural information over areas of soil-covered country, as their form and composition make them ideal subjects for the use of either electrical or m!1-gnetic methods of geophysical prospecting.

Jan 1, 1941

Performance of Dry Separation Processes in Cenospheres Recovery from Coal Fly Ash

Sep 13, 2010

By R Markoski, P Grealish

The requirement for rapid vertical development for underground ventilation is often a factor when dealing with dynamic mine plans, with short vertical developments being used to optimise ventilation systems. In an effort to increase the safety and efficiency of the constructions, a simple and effective sinking methodology is required that is both adaptable and repeatable. A modified shaft construction methodology is proposed that attempts to minimise risk to the personnel as well as be cost-effective. Readily available equipment is used to ensure adaptability to the various environments and shaft parameters.One of the greatest risks of shaft sinking is having personnel working suspended over open cavities or underneath suspended loads. Removing this risk, by ensuring all construction is done from solid ground, allows for safer sinking operations. As the process is repeatable, familiarity and confidence in its construction sequence will increase with each successive sink.A trial sink is performed with a 3.6 m diameter, 20 m deep shaft. The shaft was excavated using a conventional strip-and-line philosophy, with the shaft then being lined from the collar via the use of large diameter corrugated steel culverts. The annulus between the steel culverts and shaft excavation is then filled with a concrete mixture to secure it in position.The new process was successful, with no personnel at any time during the process being suspended above an open excavation. The installation had relatively low capital and operational costs and was completed faster than an equivalent, conventional concrete-lined shaft construction. Therefore when compared to conventional shaft-sinking methods, this process can be considered safer, more efficient and relatively cost-effective.Further research is required to determine whether this method can be expanded to larger vertical developments.CITATION:Markoski, R and Grealish, P, 2014. A new method for rapid vertical development of underground ventilation shafts, in Proceedings 15th Australasian Tunnelling Conference 2014 , pp 603–606 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 17, 2014