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The use of teleoperation in mining is increasing due to requirements to improve safety and reduce the number of people required to work in remote and difficult environments. We recently completed a project to develop a teleoperated control system for a rock breaker at an iron ore mine in the Pilbara region of Western Australia, with the objective of demonstrating the feasibility of remote rock breaking over long distances. This required controlling both the rock breaker and an array of pan-tilt-zoom (PTZ) cameras using joysticks. Controlling the cameras distracted operators from the primary task of controlling the rock breaker to position and fire the hammer. This lengthened task times as both the operator's attention and their hands have to swap between different control interfaces. In this paper, we present a novel design using human eye gaze as an interactive input for the remote camera control. It follows a simple and natural design principle: Whatever you look at the screen, it goes to the centre. A prototype system has been implemented by integrating computer vision based eye tracking technology, with the advantage of being real-time, robust and marker-less. We conducted a user evaluation, where users undertook a control task while obscuring the direct view of the working area and using a remote camera to transfer the live video stream as the visual feedback. Subjects were required to participate in the experiment using eye tracking camera control and traditional joystick control respectively. The statistical analysis of objective measures indicated that our novel eye tracking control significantly outperformed the joystick control. The results of the post-experimental subjective measures also revealed much higher user preference for using eye tracking control, which provides clear evidence that this design is a better interface for remote camera control in mining teleoperation settings.

May 1, 2010

The Prospect to Pipehead Tunnel is a component of the Sydney Water Board's multi-million dollar Drinking Water Quality Program to improve the quality of Sydney's potable water supply to meet revised national health guidelines. The tunnel project involves the construction of seven kilometres of 3.9 metre diameter machine bored tunnel which is to be lined with a three-metre diameter steel liner. The paper describes the fully integrated planning and design approach and management technique used to enable this major project to proceed to meet the requirements of a tight construction program.

Jan 1, 1993

Two significant TBM boreability predic- tion models are outlined. Predicted advance rates are compared with actual advance rates taken from twenty case histories. The results show that a simple low cost method that uses one machine parameter and one rock parameter compares very favourably with a high cost sophisticated method which also includes information regarding discontinuities in the rock mass. The effect of rock texture on drillability is also examined. A method of quantifying rock texture has been developed and is outlined. Experimental results show that the developed TEXTURE COEFFICIENT returns highly statisti- cally significant correlations with drilla- bility data in a wide range of rock types.

Jan 1, 1987

Selection of mining methods, stope dimensions and stoping sequences is usually based on comparisons with other similar orebodies or rocktypes. Rock mechanics principles assist the process, which can be further improved by application of rock mechanics' models - in particular, computer based stress analysis techniques. These models vary in capabilities and potential application but, basically, can be subdivided into techniques which only model the surface of excavations, and those which model the total volume to be analysed. To address the wide range of geometries, stoping methods and sequences, and geomechanical environments at Mount Isa Mines, a number of models have been developed. By presenting examples of their actual and potential application it is demonstrated that appropriate use of these techniques will assist in the determination of mining parameters and improve ore recovery. Examples presented cover sequencing in tabular and massive orebodies, location of shafts and shaft pillars, and backfill and hanging-wall stability. It is concluded that surface techniques are more appropriate for regional analyses and volume techniques are more suited to analyses of detailed, local geometry. Colour computer graphics should be an integral part of data preparation, and results interpretation and Presentation.

Jan 1, 1986

Total extraction is a misnomer and invariably some coal losses occur in the mining of pillars. "Fulls" pillar extraction is by the pocket and fender method, the splitting method or the open end method, with extraction in the pillar, and in rows of pillars in planned sequence, using combinations of coal and timber and roof-bolts for support. Where circumstances dictate, partial extraction is used, leaving behind portions of pillars in large blocks for support. The use of such extraction plans and supports as minimum guidelines has contributed greatly to safety in United States Coal Mines.

Jan 1, 1974

The extinction of zinc from steelmaking dusts has been studied with a laboratory scale reduction-vapour deposition (RVD) process in the absolute pressure and temperature ranges of 13 - 1300 Pa and 1333 - 1513 K respectively. This process consists of pre-reduction of iron oxide by carbonaceous agent, carbothermic reduction of zinc oxide under reduced pressure to produce zinc deposits and subsequent re-evaporation of the deposits to liquedify the zinc. In the RVD, the gas mixture of Zn and CO quenched from the hot zone is separated into Zn deposit and CO which is transferred to the pumping system. The Zn are a layer of fine metallic zinc powders accumulated on the cold wall and removed to the vacuum distillation chamber. The experimental works have been carried out according to the following items: carbothennic reduction of zinc oxide under vacuum, carbothermic reduction o zinc ferrite under vacuum, and 3. distillation of the Zn deposits. It has been concluded from these experimental results that the recovery of metallic zinc from the EAF dusts is successful by this process, and a new concept for a practical zinc winning process has been proposed.

Jan 1, 1993

Controlled Source Audio Magnetotelluric (CSAMT) surveys were carried out by Glass Earth (New Zealand) Limited (Glass Earth) in 2006 - 2007 to investigate epithermal gold targets in the central North Island of New Zealand. The surveys were conducted using a Zonge GDP 32 8-channels receiver and a Zonge XMT 32 transmitter powered by a 16 KW generator. The electric field dipole was maintained at 20 m length (five dipoles per 100 m spread) and the frequency ranged from 4 KHz to 4 Hz. Only scalar (TM mode) signals were recorded, using one magnetic coil per spread. The transmitter bipoles were 1 - 4 km in length and located about 5 to 10 km from each survey area.   Sixteen individual target areas were surveyed by June 2007. The CSAMT survey lines (100 - 400 m spacing) were determined mainly on results from previous ultra-detailed airborne magnetic and gravity surveys conducted by Glass Earth in 2005. The data from each CSAMT line was carefully examined to remove any spurious signals and processed using Zonge SCS2D software, which can produce smooth 2D resistivity inversions of the field data. The results were presented as resistivity sections and maps to help the identification of exploratory drilling targets, mainly from the existence of subsurface high resistivity zones (resistors) that can be interpreted as caused by silicification associated with epithermal mineralization.   An example of processing and interpretation of the CSAMT data is presented in this paper on results from Glass EarthÆs Tahunaatara target, where CSAMT surveys have identified zones of epithermal mineralization confirmed by exploratory drilling.

Jan 1, 2007

By P Griffin

Mill relining is a major contributor to overall plant downtime. Reducing the number of mill liner pieces removed from and replaced in the mill has a direct impact on the overall reline time and in turn, mill availability. To improve the mill availability of Ridgeway OperationsÆ 32 foot SAG mill, a number of initiatives were implemented in terms of liner design. These included the conversion of the shell from 40 to 30 rows, reducing the number of pieces from 80 to 60 each shell reline and reducing the number of pieces from 48 to 32 per feed end reline. In addition, modifications were made to the discharge end of the mill to extend the life of the outer pulp lifter and discharge cone, thereby reducing the frequency of change out. The standard radial outer pulp lifter was converted to an angled design. The discharge cone was converted to the BullnoseTM design supplied by Bradken. This paper discusses the design changes made and the expected benefits to the Ridgeway Operations in terms of mill availability improvements.

Jan 1, 2007

By Penttila V

The Paleoproterozoic Hitura Ni-Cu deposit in western Finland is in an ultramafic igneous complex composed of two subvertical plug-shaped bodies embedded in intensely migmatised felsic gneisses. The ultramafic complex is not far from a north-south trending graphitic and sulphidic gneiss zone interpreted to be a primary sulphide-graphite unit in the metasedimentary sequence. The sulphide accumulation exists as a zone parallel to the contact of the northern ultramafic body. The ultramafic rock types, now mainly serpentinites, have primarily been olivine adcumulates in the core grading to olivine orthocumulates and pyroxenites towards the margins. Coarse-grained felsic pegmatite veins injected serpentinite where they now exhibit prominent zoned alteration rims of chlorite, antophyllite and talc. The serpentinite core of the body was primarily an olivine adcumulate derived from a tholeiitic or high-Mg basalt parental magma with about 11 wt % MgO. Metamorphism and alteration have totally changed the igneous mineral compositions and the rock types are serpentinites (from olivine adcumulates), ambhibole-bearing serpentinites and amphibole-chlorite rocks (from pyroxenites). As the result of CO2 alteration talc is an accessory mineral throughout the serpentinite. Like silicates, also sulphide minerals are altered. In the core of the body the low-grade sulphide dissemination still reveals primary igneous interstitial forms. The core sulphides are now mackinawite, pentlandite and valleriite instead of primary igneous pyrrhotite and pentlandite derived from Mss. At the marginal zone the heavy dissemination and net-textured sulphides display pyrrhotite-pentlandite-magnetite intergrowths with magnetite films along cleavage of sulphides, mackinawite in pentlandite and exsolution textures of different low-temperature pyrrhotite phases as the result of alteration processes. Mechanically weak rocks, complicated structures and textures of the ore, magnetite and mackinawite intergrowths in pentlandite and readily-floating MgO silicates cause problems in exploitation of the deposit. Solution to problems come from selective stoping, three-step classification in grinding, froth-washing technique and on-line process control based on ore type determination from process data using an expert System

Jan 1, 1996

The paper poses certain questions relating to mine design aspects of deep shaft pillars. It then explores these questions in relation to Western Deep Levels (South) where a sub-shaft system is to be sunk to 4 000 metres below surface to exploit two narrow tabular reefs in the down dip extension of the mine workings. After brief discussion of some broad considerations, the findings of a major rock mechanics investigation are reviewed. Some overall conclusions as well as the outcomes of separate studies of the anticipated behaviour of shaft pillars on each of the two reef horizons are outlined. The effect of this behaviour on the barrels of the shafts in the system and on the associated shaft excavations and in-pillar development is Cnnctdarcrl

Jan 1, 1986

By Russell P

Polyurethane resin (PUR) is extensively used in almost all coal producing countries. On the local scene, PUR components suitable for underground application were selected and subsequently, trials were carried out at several coal mines. This paper describes the work at Pikes Gully Colliery (B.P.3Coal), where water flow rates of up to 4.5 m (1000 gallons) per minute, were reduced to 1-1.5 m /minute at the tirst stage of application. Subsequent trials were carried out at West Cliff Colliery (Kembla Coal and Coke). A variety of PUR chemical mixtures were tested in coal ribs and in the roof of intersections and roadways. The trial results are presented with all particular details. Using the PUR injection method, the roof, at the most difficult intersection, was stabilised and 'de-bonded' roof bolts were re-sealed. At Pikes Gully and West Cliff Collieries, 2 tonnes and 3 tonnes of PUR chemicals were injected, respectively. The technique, primarily based on German experience (Bergwerksverband), was used by Delta Control Systems Pty. Ltd. ACIRL was closely associated with the trials, which were monitored by installation of the measuring Stations.

Jan 1, 1986

In the hard rocks of the Nordic countries of Norway, Sweden and Finland underground works have a long tradition. Today the subsurface has been taken into use for a wide variety of purposes. In this paper only the more uncon- ventional examples are described such as caverns for drinking water, sand bunkers, molasses silos, wine and liquor stores, cold stores, heat storage, waste disposal and state archives. The particular use of unlined high pressure tunnels and socalled air-cushions for hydropower schemes is discussed. The dual use of subsurface air-raid shelters for sports activities seems to be a special Nordic tradition. Some cost figures are given and the advantages of using the underground is Discussed.

Jan 1, 1987

By Giuli M, Barnaba P, Sacerdote R, Tammaro F

Following a theoretical consideration of the effect of flooding, fluidisation and softening on blast furnace blowing limits, results are presented which show the effect of these parameters on operation. Industrial trials on Oscar Sinigaglia No. 4 BF are reported and results compared with those obtained theoretically and in the laboratory. It is shown that in these trials the furnace operated at levels of fluidisation very much (80-90%) below those theoretically calculated whereas in some cases (high proportion of sinter) actual hot metal output was near the calculated flooding limit. However, it was observed that as the sinter percentage decreases also actual productivity becomes lower than the one caused by flooding. This gap, which increases as other ferrous components (essentially acidic) replace the basic sinter was explained by the softening of the burden under bosh conditions. Softening indices measured on the individual materials yield support to this explanation. Coke rates data show that for approximately every one percent increase in the basic sinter in place of blended sized ore, a coke rate decrease of 1.1 kg/thm results. For acidic pellets this value is 0.6 kg/thm. Results of breakdown and reduction characteristics are also given and their indices compared with actual pt oduction. Measures to improve operations are proposed.

Jan 1, 1975

An effective production control system should maximise recovery of economic material from the resource. To do this, internal waste must be accurately delineated and efficiently removed. Achieving this is most difficult in low grade blocks just above and just below the cut off grade, where ore:waste separation follows assay or statistical, rather than geological boundaries. Difficulties arise from sampling errors, configuration of the economic mineralisation, and local variations in geology. Mine bench parameters and mining equipment size apply further constraints to the actual field separation of the ore from the waste. At BCL, management of the resource starts with an effective orebody model for planning, scheduling and ore:waste prediction. Ore production from each mining location is reconciled with concentrator tonnage and grade, and the reconciled grades are compared with the planning orebody model to highlight any Differences.

Jan 1, 1986

A mineral exploration manager's prime function is to provide a frame- work within which new mine production can be achieved. As part of this framework, the manager should know his employerb future requirements, and should direct exploration towards those particular mineral commodities which indicate satisfactory growth in consumption and price. Selection of these commodities can be assisted by studies of world reserves, and long term trends in price and consumption. Exploration planning is most efficient with an assured and reasonably uniform supply of funds.

Jan 1, 1980

By Baafi EY, Chatterjee PK

The quality of mine planning decisions ultimately depends on reliable estimates of the characteristics of the orebody. The quant- ifiable factors such as grades or thickness can be estimated from field data gathered from outcrops or exploratory drillholes. Since outcrop data is necessarily limited to the periphery of a deposit, extensive drilling generally is required. This paper outlines a method for selecting the number and location of additional exploratory boreholes using an iterative procedure based on a mathematical optimization concept called fixed point theory. The method is illustrated through its application to an exploratory drilling program for a coal mine where optimized locations gave a lower estimate of regional and block variances than a manual Choice.

Jan 1, 1986

By Watt JS

The ash content of coal can be determined using radioisotope X-ray techniques. A number of overseas applications of X-ray techniques are described; however these suffer from the disadvantage of either not compensating for iron variations or, if compensation is used, using X-rays of low penetration with consequent sampling difficulties. Current Australian Atomic Energy Commiss- ion (AAEC) research on X-ray techniques is aimed at overcoming the limitations of these methods. The AAEC method involves making measurements proportional to mass absorption coefficients of X-rays in coal at two energies. Calculations and experiments with X-rays up to 35 keV have shown that ash content can be determined to about 1 wt.%. This work is being extended to higher X-ray energies to enable the technique to be used directly on a conveyor belt or in a hopper. Neutron techniques can be used to measure the concentration of specific elements such as carbon, hydrogen and silicon in coal. Their con- centration is correlated to the coal parameters of interest. Methods of moisture determination based on hydrogen measurement and ash determina- tion based on silicon and aluminium measurement are described. Energy content can be determined accurate- ly by analysing the carbon content of coal

Jan 1, 1978

Our ultimate resources come from the Sun and the Earth System. At this time we face a world crisis in energy, water and soil resources. Global pollution problems are increasing in almost all nations. There is an urgent need to use our vast knowledge with a new wisdom and this requires new integrated teams of experts to provide the best alternatives for the needed new development problems. These teams must include economists, engineers and a broad spectrum of scientists. Today it is possible to produce clean energy, stop soil erosion, clean water and reduce and use wastes of many types.

Jan 1, 1995

By M Wen, J Gerit, C A. Pelletier, D Muggli

On-land waste rock dumps at BHP Billiton Base MetalsÆ Island Copper Mine (ICM) near the northern end of Vancouver Island, B.C. continue to discharge ARD. These waters, which amount to approximately five million cubic metres each year, are injected into a three-layer, meromictic pit lake for treatment. The top layer is brackish water, replenished by each yearÆs rainfall (amounting to nearly 2 m/year). This top layer of water must meet effluent permit limits for heavy metals. This water eventually exfiltrates through a æbeachÆ waste rock dump, which is 93 per cent submerged along the north shore of Rupert Inlet. The middle and bottom layers of the Pit Lake are saline and currently oxic (2 mg/L dissolved oxygen) and anoxic (0.03 mg/L dissolved oxygen), respectively. Spreading of a liquid fertilizer every ten days throughout the top layer results in plankton and bacterial blooms that scavenge zinc, copper and cadmium out of this layer eventually to become mineral sediment in the bottom of the pit lake. Adsorption on planktonic skeletons and mineral precipitates also scavenges these dissolved metals from the middle and bottom layers to form bottom sediment. Sulfate reduction has recently begun in the bottom sediments. Diagenetic processes in the bottom sediments will eventually transform most of the dissolved heavy metals into insoluble sulfides. Cycling of ferric iron between the sediment and the water column and back seems to contribute dramatically to the biogeochemical metal removal processes. This biogeochemical system serves to maintain the top-layer water well within permit limits for discharge to the environment.

Jan 1, 2003

In open cut gold mining at Mt Magnet and Reedy, grade control sampling is done with inclined RC drilling using one metre samples. In the small open cuts at Rothsay blasthole sampling was successfully used. Underground sampling for gold and copper grades at Rothsay is done using chip sampling. At the Youanmi open pits both Ditchwitch Earthsawing and RC drilling are used.All assay data are interpreted on sections and plans using a customised SURPAC system. Reconciliations of the grade control predictions of tonnes and grade against initial ore reserves, mining production and milling results are carried out monthly.

Jan 1, 1990