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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 deals with the application of table flotation to two unusual mineral dressing problems. Both problems involved the removal of interfering minerals at sizes too coarse to normal froth flotation.The first problem was the removal of arsenical minerals from Broken Hill gravity concentrates without further size reduction. Table flotation without grinding of the original concentrates gave almost complete rejection of the arsenic from the concentrates. A typical test result was a reduction of arsenic in jig concentrate from 0.75% arsenic to 0.007% arsenic.The second problem was to develop a method to produce a high grade calcium carbonate concentrate from coastal dune sands containing about 10% silica and about 80% calcium carbonate. The sands were about 30 mesh British Standard Screen (B.S.S.), and for economic and other reasons it was stipulated that the separation be made without grinding. Again, table flotation gave excellent results. A concentrate was produced containing 99.62% acid soluble material, representing a recovery of 98.69% of the calcium carbonate in the feed with a rejection of 96.44% of the silica.The investigations' were carried out at the Kalgoorlie Metallurgical Laboratory, under the Department of Mines...

Jan 1, 1954

By Miller F. S

The famous Golden Mile of Kalgoorlie in Western Australia was, between 1888 and 19ft, one of the richest and most important gold camps in the world. Annual production, which reached a peak of nearly 1,300,000 oz. in 1903, however dropped to below 400,000 oz. after 1920.Depression seized the camp, and many mines closed down. The output from this old field is now steadily mounting under the stimulus. of a higher price for gold. In 1935 300,000 oz. of precious metal were recovered and the future is bright. Total production from the field is 21,400,000 oz., whereas something like £23,600,000 have been paid in dividends.The Golden Mile has been studied by many geologists. Their somewhat diverse findings were published for the most part in the Australian technical press which, unfortunately, is not sufficiently represented in foreign libraries.The following article is based on an eighteen months' study in the district for Gold Mines of Kalgoorlie Ltd., preceded by four years' experience with almost identical rock types in the, Porcupine district of Ontario. The excellent record of observed fact left by previous invesigators, augmented by talks with observant mining men...

Jan 1, 1937

Operating well designed and maintained surface mine haul roads is the key to minimising truck haulage costs - in itself a significant component of the total cost per tonne mined. Existing and proposed mining operations are subject to scrutiny, both from the economic and environmental perspectives. In the long run, this scrutiny returns improved efficiencies and leaner, 'greener' operations. The focus of this evolving evaluation process should and will certainly fall on haulage operations - simply by virtue of their contribution to overall cost of operations and sustainability impacts. Whilst the end result - improved efficiency and contributions to resource sustainability - is not in itself problematic, it is the route, or process followed to achieve these improvements that needs to be carefully managed. We can be guided on this journey by our understanding of how a road is designed, and, critically, the technological solutions that can contribute to a company's sustainability initiatives. This paper examines the current state of mine road design and operation, together with the economic and environmental issues associated with under-performance. The paper serves as a basis for evaluating the economic and environmental contributions that technology in road design and management can deliver to sustainable operations. Utilising innovation is the key to long-term sustainability and as a means of positioning the industry for the imminent structural changes to the economy and environment, changes which are now within the operating life of many mines, haul roads and haul trucks.

Jun 1, 2010

By Williams K. C

This paper presents a brief account of the plant which has been developed at Port Pirie to recover, by vacuum distillation, the greater part of the zinc content of desilverized lead. The present plant is an experimental unit, which is run in conjunction with the normal refinery practice, but can be cut out of the circuit. It will shortly be dismantled and duplicate units will be built on the sites chosen for the final plant installation.The unit described here has treated flows of 16 to 37 tons per hour of desilverized lead, to recover 90 to 95 per cent of the zinc contained in it. It is not intended here to detail all aspects of the vacuum dezincing operation, nor the developments which precededthe adoption of this design. The essential features of the present plant will be described and, where these are peculiar to the present experimental location, the intended alteration for the final plant will also be mentioned. OUTLINE OF PLANT AND PROCESSLead issues from the continuous desilverizing kettle at about 350° C. containing about 0·57 per cent Zn. It is conveyed by a tiled launder to the preheater, where it is heated to 580-620° C.Hot lead from the preheater enters the vacuum vessel via a barometric leg. From a reservoir holding about 19 tons of lead it falls by gravity in a thin film exposed to high vacuum (20-50 microns)3 and leaves the vessel via a barometric leg, entering the lead pot. The lead leaves this pot at 540-560° C., containing 0·03 to 0·06 per cent Zn, which is removed, together with residual antimony of 0.02 to 0·06 per cent, by a separate final refining process.

Jan 1, 1956

By Dhar B. B, Gupta R. C

Grinding of iron ore is an essential step to utilise ore fines for pelletisation needed for DRI units. While preparing iron ore pellets for DRI production, the iron ore needs extensive grinding which is highly energy consuming step causing the process to become non-viable in some cases. In the present paper an attempt has been made to evaluate grinding performance of thermally treated ore compared to normal ore grinding. Such thermal pre-treatment has been found to reduce the energy requirement with lower consumption rate of grinding media. It has been observed that by applying thermal shock the ore is rendered weak with improved grindability. The stresses generated due to thermal treatment may extend existing micro-cracks in the ore and in some cases it may even nucleate fresh cracks. Experimental studies carried out on thermally treated hematitite ore reveals that the heating to 400¦C followed by water quenching can cause a reduction of 45 per cent in grinding energy. The paper gives the details of the experiment and the Results.

Jan 1, 1999

Esso-BHP have installed a production supervisory control system that is presently controlling the offshore oil and gas facilities on the Barracouta and Marlin platforms from an onshore master station. This control is achieved with a computerized master station onshore which uses a UHF radio system for telemetry and control.The system is designed to control, monitor, and gather data from a large number of oil and gas production platforms and has flexibility to handle future variations in operating conditions.The system will be extended to the Halibut platform late in 1970 and to the Kirlgfish platforms during 1971.

Jan 1, 1971

Geophysical methods are useful non-invasive means of collecting subsurface information on the environmental impacts of resource developments. Techniques such as seismic refraction, ground probing radar and magnetics are well established tools for environmental studies of waste disposal sites. Repeat resistivity surveys, gravity surveys, and infrared or multispectral remote sensing hold great promise for monitoring environmental changes. Examples from New Zealand include geothermal field monitoring, which may involve the use of geophysics for .detecting changes of surface thermal activity, hydrothermal eruptions, induced earthquakes, contamination or depletion of shallow groundwater, and subsurface fluid recharge. Other examples include resistivity monitoring of contained effluent disposal ponds, tailings dams and landfills. Experience has shown that care is necessary to identify the natural variability of the parameter measured before drawing conclusions regarding an observed change.

Jan 1, 1994

By Prosser A. P

The conditions under which vanadium is rendered insoluble by silica in the alkali-roast process have been investigated starting with both slag and reagent-grade materials. The inert phase is a glass formed slowlyfrom soluble NaV03 produced at lower temperatures. It contains approximately 30 per cent V in a partly reduced state; iron is not a principal component. Some of the vanadium in the inert phase is slowly returned to a soluble form by heating in an oxidizing atmosphere below the temperature at which the glass is formed (750°C). As the reaction leading to the required, soluble form of vanadium is also slow between 600 and 750° optimization and control of the temperature profile and atmosphere in the furnace, and the residence time of the solids, are necessary to ensure high vanadium extraction during subsequent leaching.

Jan 1, 1976

By D G. Randall, R Jivanji, J Nathoo, T Reddy

Paradoxically, the increased emphasis on water treatment in mining has generated a new problem û hypersaline brines. Currently brines are either disposed of into ash systems, lined evaporation ponds or hazardous waste sites. Evaporative crystallisation (EC) is an alternative, but the energy requirements can be prohibitive and the salt product is still a waste that must be disposed of. Eutectic freeze crystallisation (EFC) is an alternative technology that is capable of separating aqueous solutions into pure water (as ice) and pure, solidified solutes. It is highly energy efficient and does not depend on the introduction of any solvents. In addition, the simultaneous production of pure ice and potentially saleable pure salt(s) is a major advantage. Although EFC has been shown to be effective in separating a single salt and water, it is still in the early stages of being applied to the multi-component hypersaline brines that are typical of reverse osmosis retentates generated by mining and extractive metallurgy.This paper presents an EFC brine treatment protocol developed by the Crystallisation and Precipitation Unit at the University of Cape Town. The protocol incorporates brine analysis, thermodynamic modelling to establish which salts will freeze out and at which temperatures, followed by experimental studies to determine the kinetic parameters, such as nucleation temperatures, salt yields and crystal purity.Case studies showing the application of EFC for the purification of typical brines containing high levels of sodium, chlorine, sulfate and ammonia (Brine 1) and a mixture of sodium and magnesium sulfate (Brine 2) are covered. Modelling tools were applied to describe the phase behaviour of the multi-component saline systems under different process conditions. Experimental validation was carried out using synthetic brines of different (and increasingly complex) compositions. The results showed that EFC could be used to selectively recover the sodium as a sodium sulfate salt from both different brines. The simulation tools were useful in the analysis and understanding of the process.A preliminary economic analysis showed that the operating costs for EC were approximately nine times those for EFC, but the capital costs were much less- equipment for EC cost about half that of EFC. However, it is important to note that the capital cost calculations for EC are based on a technology that is already well established and with only relatively marginal future equipment cost savings expected. In contrast, EFC is a new technology, with significant future technology improvements expected.

Jan 1, 2009

The alkaline ethylenediamine tetra-acetic acid (EDTA) leach process for extracting tungsten from scheelite (CaW04) ores has been examined for the treatment of low grade (<0.5 per cent WO,) residue dumps. The process has been considerably simplified by applying solvent extraction directly to the leach liquor.Ammonium paratungstate is thereby produced in a one step process and this obviates the need to physically recover EDTA prior to recycling. This modified process should be an economical method of tungsten extraction.

Jan 1, 1983

The early history of the mine is traced from the beginning of shaft sinking in 1886 to the purchase by the Broken Hill Proprietary Co. Ltd. in 1949. A necessary preliminary to mechanisation of the Borehole Seam was development of the Young Wallsend seam, andthis development is described. Surface reorganisation and coal handling arrangements are dealt with in detail. Then follows a description of the Borehole Seam mechanisation, the provision of power supply for this purpose, arid pumping arrangements in themine.INTRODUCTIONStockton Borehole Colliery is in the Parish of Teralba, between the townships of Teralba and Boolaroo, and about 12 miles from Newcastle. The colliery holding, a freehofd area of 2,560 acres, was apparently an original land grant when acquired by Teralba Co-operative Coal Company who decided to mine for coal and named the mine "Teralba Colliery." Shaft sinking was commenced in 1886 but was delayed by financial and water troubles to such an extent that it was not until 1901 that the Borehole Seam was reached.Coal was won until 1904 using a single 16 ft. diameter shaft, ventilation being achieved by means of a wooden boxing down one side of the shaft. This collapsed, and operations ceased until the mine was taken over in 1906 by a company known as "Borehole Colliery Limited," the principal stockholder being the Stockton Coal Company. It renamed the mine "Borehole Colliery." This new company immediately commenced sinking a 13 ft. diameter air shaft. In 1908 the Stocktol1 Colliery at Stockton was abandoned, and during the following year much of its equipment was transferred to Borehole Colliery. The name was again changed becoming "Stockton Borehole Colliery." From this period on, coal was produced from the Borehole Seam by...

Jan 1, 1957

By Met B. E

During the operation of the Parkes process of desilverising, and in the earlier days of the continuous process, gold and silver were removed separately from softened lead bullion. Gold was removed in the Parkes process by a selective zincing, and -in the continuous process by treatment with zinc in a special de-golding kettle, in each case a crust being obtained carrying the gold and a small portion of the silver. Actually the process could have been more correctly termed a de-copperising process, on accountof the relatively large amount of this metal present, and its affinity for zinc, which caused it to enter the crusts produced.The crust was treated in reverberatory furnaces, where the bulk of the copper and zinc was removed in by-products, and the resulting "gold bullion" cupelled to give adore bullion containing approximately 2,000 ounces gold per ton.For the purpose of parting this dore, a small Balbach-Thum plant of 11 cells was used, and once each six months a short campaign was conducted on the accumulated metal.With the development of the process of de-copperising smelter bullion by means of sulphur, when a bullion averaging about .004% copper was constantly available for refining, the need for a separate de-golding process disappeared.The de-golding kettle of the Continuous Process...

Jan 1, 1937

By R L. Brathwaite

The epithermal gold-silver deposits wall poster is one in a series of posters on different mineral deposit types being produced by GNS Science to raise awareness of the characteristics of New Zealand mineral deposits and their prospectivity. Epithermal deposits consist of quartz veins, quartz vein stockworks and hydrothermal breccias that are mainly hosted in subaerial andesitic or rhyolitic rocks of Tertiary age. The deposits were formed at depths of typically less than 1 km and at temperatures between 180¦ and 320¦C, although ore grade mineralisation was generally deposited at less than 270¦C.   In New Zealand, epithermal deposits occur in association with late Cenozoic volcanic rocks in the Northland, Coromandel and Taupo volcanic regions. All of the past and present gold production, estimated at greater than 380 t (along with 1300 t Ag) comes from the Miocene-Pliocene Coromandel Volcanic Zone, where about 50 epithermal gold-silver deposits occur over a 200 km long belt. In Northland, silver and mercury have been produced from hot spring type epithermal deposits, and several gold-silver prospects have been identified. Ore grade gold-silver mineralisation is currently being deposited in several active geothermal fields of the Taupo Volcanic Zone, and extinct geothermal systems occur on the western side of the zone. The active systems have provided natural laboratories to help understand the processes of epithermal mineralisation.

Jan 1, 2005

Working in thick coal seams presents many problems, included in these is obtaining the maximum recovery of coal under safe working conditions. In order to obtain maximum extraction it is important to understand the behaviour of pillars left for support purposes. However it is not always the practice to maintain pillar stability it is often required to design for pillar failure. The greatest hazard of pillar mining is uncontrolled pillar collapse. Many major and relatively minor collapses of pillar workings have been recorded in the history of mining. Notable among the collapses was that at Coalbrook Colliery in South Africa in 1960 (Bryan et al 1964). This led to recommendations on the design of bard and pillar workings in South Africa. (Salamon 1967) These design recommendations were based on the statistical analysis of stable and unstable pillar workings and introduced the concept of probability of pillar failure and safety factor. On the basis of this study a safety factor of 1.6 was prescribed for production panels in South Africa. A general review of pillar design procedures, reveals that a new phase of reinterpretation and modification is in progress. This takes into account for instance the effect method of working, whether by conventional drilling and blasting or continuous miner, has on coal pillar strength, and the necessity to review the methods for increasing depth of working. Also, as more is being understood about overall rock mass properties and advanced computer modelling techniques become more readily available, the mine planning engineer is faced with numerous approaches to pillar design.

Jan 1, 1989

It is easy to demonstrate the importance of aggregates in any conversation about infrastructure and other engineering artefacts. Peoples around the world have made use of stone to enrich and enhance their lives since the earliest days of civilisation. In New Zealand, Maori used hard durable rocks for weapons, tools, and basic structures. European settlement accelerated the use of quarried materials and formed the basis for development of our society as we see it today. Logic might suggest that the quarrying sector would be recognised positively for, and encouraged to continue to contribute to, this underpinning of the way we are. The reality is æNot In Most Back YardsÆ. Why? The rock is where it's always been (often overlooked) and our æsocialÆ environment is today's hard place. For a resource-based business in New Zealand, that environment is principally the Resource Management Act, with the widespread power it has distributed to anyone prepared to invest their time. This coupled with a lack of leadership and direction in the implementation of the Act has created a climate that stifles development and diverts energy and resources to æplaying the gameÆ rather than ælifting the gameÆ. Perhaps the real costs of this are not yet widely recognised. The paper will draw mainly on the experience of endeavouring to consent a ægreenfieldÆ quarry in the Waikato region. This is supported by commentary based on nearly 10 years of ælivingÆ with the RMA at sites across much of New Zealand. RMA Scorecard Summary: Effects based? Rarely. Level playing field? No. Maori Consultation? Could do better. Efficient use of resources? No. Timely? No. Is it working for other sectors? Certainly not the quarrying industry's customers and end users.

Jan 1, 2000

The mechanization of the coal industry in New South Wales involved the introduction of large face and transport machines. The trend is towards still higher capacity units with .greater horsepower and it became apparent that a potential risk of damage to the hearing of workmen existed. In order to assess whether the sound levels were SUfficiently high to impair the hearing of workmen a sound level survey of all major operations in the industry was carried out by the Mining Engineering Division of the Joint Coal Board.The results indicated ·that the operations could be classified into three categories of risk, probably hazardous, of doubtful hazard due to the intermittency of the operations, and of low hazard.Legislation has subsequently been enacted requiring the wearing of hearing preservation aids in some of the probable risk operations.

Jan 1, 1974

Thirty mixed cultures of microorganisms from soil, water and mineral samples from the Groote Eylandt Mining Company mine site were approximately three times more effective in biodegrading manganese dioxide (34± 18 mg Mn++/1/day) than sixteen purified strains (11 ± 10 mg Mn++/1/day) isolated from the primary enrichment cultures. Two pure bacterial genera identified as a Pseudomonad and a Bacillus, with an excess MnOz and nutrient, were able to dissolve 106 mg Mn++/litre/day in mixed culture compared with 29 mg Mn++/litre/day when grown separately.

Jan 1, 1983

The following paper on the development of processes for the treatment of crude ore, accumulated dumps of tailing and slime at Broken Hill, has been prepared by a committee of the Broken Hill Branch of the Australasian Institute of Mining and Metallurgy, with the object of recording, in chronological order, the developments of the various processes which have led up to the metallurgical practice of the present day.

Jan 1, 1930

By A H. Clemens, P Lindsay

Acid producing potential static tests have been undertaken on sample lithologies from New Zealand coal mines, to rank the lithogies into acid producing waste rock and stable non-acid producing waste rock. Results indicated that the main acid producing waste rock in the Waikato coal region are the marine Whaingaroa siltstone and the Glen Massey formations and the main alkaline producing lithologies were the Tauranga group volcanic-derived sediments (A & D) and the Mesozoic basement. Coal ash analysis of 28 samples from 28 mines have also been analysed for reactive S percentage and their base potential has been quantified by the chemical index of alteration (CIA). The results provide mine management in the Waikato Coal region with a classification of problematic and stable waste rock types. XRF and CIA values determined from wash drill cuttings would provide a method of determining waste rock volumes and magnitude of palaeo-weathering underground.

Jan 1, 1999