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By G. Danko, R. Tiwari, J. Knowles

Many excavation and loading tasks require equipment operators to simultaneously coordinate the motion of multiple machine links, in order to achieve complex tool trajectories. Efficiency, ore selectivity, and machine wear, are all affected by the skill level and attentiveness of the operator. A software-based kinematics reconfiguration system designed to assist operators with various tasks has been implemented on a small experimental excavator using our new differential control architecture. Kinematics transformation and feedback control algorithms are being developed and tested using computer simulation, and the results implemented on the experimental excavator. Several task-specific kinematics transformations, including a virtual revolute-to-Cartesian machine reconfiguration and computer-assisted bucket steering and stabilization have been successfully tested. Progress, challenges, results, expected benefits, and planned work are described.

Jan 1, 2006

By G Baiden

The removal of rock blockages in mining operations has long been a risky undertaking, especially in high overhead conditions. Moreover, the assessment of where to put charges and the placement of them has been difficult due to the lack of visibility and safe access to the area. Traditionally, wedging long poles with explosives on them to keep the operator at a relatively safe distance has been the tried and true method of attempting to remove the blockages. Unfortunately, this is not a perfect system as it usually takes several attempts to remove the blockage. Each successive attempt results in even more dangerous conditions for workers and/or damage to the mine due to the successively larger amounts of explosives used until the hang-up finally comes down.Over the years, different ideas have been proposed to improve this process and reduce the inherent safety risks. Some of the technologies that have been trialled include projectiles fired at the hang-up; large, cumbersome arms; and massive amounts of explosives, each of which come with their own inherent safety risks that result in dangerous situations for miners and the mine.After gaining a thorough understanding of the process, Penguin Automated Systems Inc has developed a robotic system that is capable of working in a rock blockage safely. The idea combines the latest in telerobotics technology with 3D scanning and underground geospatial positioning. The hang-up removal is performed by scanning the inside of the hang-up to rapidly develop a geospatially placed 3D model for the operator to use. The 3D model is detailed enough that the operator can attempt to pick the ‘keystone’. A blasting engineer or the operator can then determine the exact position where the explosive charge should be placed in the 3D model and thus at the actual hang-up. The operator, controlling the robotic arm, uses the 3D virtual reality model of the robot system and the actual drawpoint information model to display the location information, the arm can then reach into the hang-up to position the charge using the kinematic model of the robot system. The 3D model is used to provide views inside the hang-up so that the operator can move the arm safely and precisely. This process allows the operator to place the charge (using the 3D representation of the drawpoint) from a long distance away. As the process continues, the end of the arm drills the rock and precisely loads the explosives. The robot then returns the blasting cable to the command station, which is located in a truck at a safe distance from the blockage.This paper will review the development of the system and present the results to date.CITATION:Baiden, G, 2016. Robotic hang-up assessment and removal of rock blockages in mining operations using virtual reality for safety, in Proceedings Seventh International Conference and Exhibition on Mass Mining (MassMin 2016), pp 745–754 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2016

By E. Pardo-Igúzquiza, R. A. Olea

The bootstrap is a computer-intensive resampling method for estimating the uncertainty of complex statistical models. We expand on an application of the bootstrap for inferring semivariogram parameters and their uncertainty. The model fitted to the median of the bootstrap distribution of the experimental semivariogram is proposed as an estimator of the semivariogram. The proposed application is not restricted to normal data and the estimator is resistant to outliers. Improvements are more significant for data-sets with less than 100 observations, which are those for which semivariogram model inference is the most difficult. The application is illustrated by using it to characterize a synthetic random field for which the true semivariogram type and parameters are known.

Jan 1, 2015

A study of drilling data at various stages of development of an orebody show that the semi-variogram, used for calculating the accuracy of block estimates can be ill-defined if too few data are available. The consequencesin this case are to have blocks supposedly more accurately known than is possible at the early drilling stage; such a result being potentially dangerous. However, as the amount of data increases the recalculated, semi-variograms approach the underlying semi-variogram of the deposit and the calculations made using them become more reliable and robust.

Jan 1, 1977

The Coeur Rochester Mine is one of the largest and lowest cost primary silver mines in the United States. In January, the mine surpassed 3.1 kt (100 million oz) of historic silver production. Rochester is owned and operated by Coeur d’Alene Mines, the world’s largest primary silver producer. Rochester is the world’s seventh largest silver mine. It also produces gold — more than 31.1 t (1 million oz) in historic production. Cash operating costs have averaged 8 cents/g ($2.58/oz) of silver since operations began in 1986.

Jan 1, 2004

By Rolland R. Mates

This paper describes the use of post- tensioned rock anchors to reduce the risk of future damage to a residential structure as a result of coal mine subsidence. The project described in this paper was performed by the Office of Surface Mining Reclamation and Enforcement (OSMRE) of the U. S. Department of the Interior. The OSMRE was created to administer Public Law 95-87, the Surface Mining Control and Reclamation Act of 1977. The responsibilities of OSMRE include "reclamation and restoration of land and water resources, adversely affected by past coal mining including prevention, abatement, control of coal mine subsidence. ?('l) Consequently, OSMRE has been addressing mine subsidence problems since its initial subsidence stabilization project in 1979. Stabilization activities have primarily consisted of supporting the overburden material by injecting materials through drilled bore holes into the underground mine voids. Injection of various materials into mine voids, including fly ash mixtures, coal refuse, cement grout, and gravel has proven to be a successful method of reducing mine subsidence-related surface movements, and has been extensively utilized in mitigating mine subsidence problems. However, the cost of drilling for injection can be extremely high in areas where the depth to the coal seam is great.

Jan 1, 1986

By R. Poisel, C. Scavia, Preh A., W. Roth, M. Pirulli

ABSTRACT: Two methodologies for the three-dimensional simulation of the run out of rock avalanches are presented: one based on a granular approach and the other based on a continuum equivalent approach. An evaluation of the possible run out area of the Oselitzenbach landslide (Carnic Alps, Austria) has been carried out applying the two methodologies. The combined use of these two approaches makes it possible a comprehensive assessment of the run out area. RESUME: Deux méthodologies pour la simulation tridimensionnelle de la propagation des avalanches rocheuses sont présentées: la première est basée sur un modèle de type granulaire et la deuxième sur un modèle du continu équivalent. Une évaluation de la propagation éventuelle de l’avalanche de Oselitzenbach (Alpes Carniche, Autriche) a été réalisée en utilisant les deux méthodologies. Les résultats obtenus montrent que la combinaison des deux approches rend possible une analyse plus complète de la phase de propagation. KURZFASSUNG: Für die dreidimensionale Modellierung eines Felsmassensturzes (sturzstrom) werden zwei Methoden, eine granulare und eine kontinuumsmechanische Methode, vorgestellt. Beide Methoden wurden zur Abschätzung der Ausbreitung (runout) der Massenbewegung Oselitzenbach (Karnische Alpen, Österreich) herangezogen. Die kombinierte Anwendung beider Methoden ermöglichte eine umfassende Beurteilung des möglichen Ausbreitungsbereichs.

Jan 1, 2003

By B. J. Buys

Rock bolt integrity is a critical issue for the mining industry because of its influence on the safety of mining operations. Guided ultrasonic wave testing of the defects associated with resin-anchored rock bolts was investigated. Axisymmetrical and three-dimensional finite element models were built, one of a partially encapsulated bolt and the other of a bolt with a simulated local corrosion crack. Experimental bolts were then installed in a testing block and typical responses were compared to finite element models of different defect scenarios. Encouraging results were obtained for the smaller axisymmetrical and three-dimensional finite element models, as well as during the experimental investigation. It is recommended that software with energy-absorbing elements should be utilized to consider higher frequencies and longer bolts. Once the integrity of models such as these has been established, the models could in principle be used to train neural networks for use in commercial equipment to determine the integrity of the installed bolt.

Jan 1, 2009

To provide a means for accurately and reliably warning of impending roof falls or rock bursts and for evaluating support systems. The Approach: Development of a device for measuring rockbolt loads which is not affected by harsh environments nor by eccentric loading conditions and is easily adapted to various size rock bolts. How It Works: The Rock-Bolt Tension Load Cell, developed by the Bureau's Spokane (Wash.) Mining Research Center, is installed on a bolt and sandwiched between a conventional doughnut washer bearing plate and a torqueing nut (Fig. 1). As the bolt takes load, the bearing plate transmits the load axially to the cell through a ball and socket arrangement, compensating for uneven bearing surfaces. The cell body strains in proportion to the applied load: the strain is sensed by welded strain gages as change in electrical resistance. The resistance change is read through a Wheatstone Bridge and, through calibration, the applied load is determined.

Jan 1, 1974

By Russell G. Hood

Rock bolting or anchoring are methods of stabilization which are not being fully utilized in California and probably in other parts of the world due to lack of understanding of the principles, or due to poor results in actual installation. The problem is greater in California because so much of the rock is either soft or badly fractured and broken. Almost any recognized type of rock bolt or anchor will perform successfully is hard, fresh rock, but the problems become many-fold when working in decomposed granites, shales, soft sandstones or other soft, highly-broken rock. There has been an enormous amount of research by manufacturers, consultants, private organizations, and governmental agencies on rock bolting. It would be impossible to discuss all the methods and philosophies of rock bolting in this paper. Therefore, with the indulgence of the experts, I will give only a very generalized coverage on rock bolting techniques. However, My main purpose is to point out some of the problems of rock bolting in soft rock.

Jan 1, 1967

By J. K. Whyatt, B. G. White

A comprehensive survey of mine seismicity and rock bursting during development of two sublevels at the Lucky Friday Mine, Mullan, ID, USA, was conducted to better define rock failure mechanisms and sources of ground control hazards. Survey data included rock burst damage reports, seismic event locations and magnitudes and, for the most energetic events, first-motion information. Several subsets of this database, including large seismic events, rock bursts, and microseismic activity near the face, were analyzed. Elements of the large-event and rock burst data sets were nearly independent. That is, there was no relationship between the risk posed by a seismic event and its energy, although such a relationship is well established for the mine as a whole. All data sets showed that certain geologic features appear to control the spatial distribution of events and the spatial distribution of rock burst risk. The data also suggest that, within the scope of this study. the greatest risk of injury occurs when a pocket of heightened rock burst risk is first encountered and that this risk is controlled when miners adapt their practices to these conditions. Recognition of the role of particular geologic features in the spatial distribution of rock burst hazards provides an opportunity for anticipating, rather than only reacting to, a changing level of rock burst hazard- However, much work will he required to make good on this promise.

By W. R. Crank

[Rock bursts are phenomena associated with mining operations, particularly with deep mining, although they occur throughout a wide rump, of depth, from 600 feel downward. The intensity is usually in direct proportion to the depth, varying from a loosening and sloughing off to a violent rupture, giving rise to the term, "explosive rock." The more or less violent breaking of rock in mine working, tins been variously designated as " flaking," "pressure hoists," "strain bursts," "bumps," "quakes," and "air blasts," which indicate opinions as to cause and effect. The term "air blast" lots probably beat most widely used, and naturally so, as a more or less rapid movement of air often accompanying the more violent phenomena of rock failure. Furthermore, there is an implied if not definitely expressed degree of magnitude in the action designited by a given term and in the cause and character of the action. For example. flaking, pressure bursts, and quakes are terms ranged to indicate action of increasing magnitude; and pressure bursts, strain bursts. bumps, and quakes are ranged according to the cause and character of the action.]

Jan 1, 1929

By G. K. Rogers

The portal, which is the near-horizontal, surface point of entry to an underground excavation, can often be an exceedingly difficult area in terms of ground control. Surface and subsurface failures at portals, as discerned during a study involving over 300 case histories, are unfortunately, common. To aid in the engineering evaluation of portals, the Geomechanics Classification System was appended with discontinuity orientation assessment values and support/excavation guidelines. Also, a design model utilizing RMR predicted rock loads in conjunction with half-dome theory is proposed for the most common type of portal failure. Other pertinent comments and recommendations relating to portal stability are included.

Jan 1, 1989

By V. C. Kelessidis

The interaction between rock and drill bit during drilling has been modeled for many years, but a complete understanding of the phenomena occurring has yet to materialize. Successful models will allow the prediction of rate of penetration in a given environment and optimal selection of drill bit and drilling parameters, thus minimizing exploration costs. In most rock-drilling models the value of the unconfined compressive strength of the rock (UCS) is used in the predictive equations, within the concept of specific energy, and the value of UCS is the percentage of the value of the stress applied on the drilling bit in order for the bit to advance. While the exact percentage depends on the model used and it is not known with certainty, good knowledge of UCS is nevertheless required before any decent prediction can be made on rate of penetration. Determination of UCS, normally done via destructive testing, requires not only the availability of sound rock core samples but also expensive testing and significant time for the test, which frequently are not available for routine drillability predictions. Hence, a multitude of methods and techniques has been proposed for estimating UCS from various indirect and/or non-destructive measurements, or combination of measurements with neural networks, such as point load index, block punch index, unit weight, and apparent porosity, water absorption by weight, sonic velocity, and Schmidt hardness. The many proposed approaches are critically reviewed and the results are compared, and what becomes apparent is that after many years, not only in mining but also in oil-well drilling, accurate indirect determination of UCS is still an elusive goal. An equation to predict UCS from sonic velocity data is suggested based on several data sets reported in the literature. Use of the specific energy equation with UCS or sonic data and utilization of drilling data allows an estimation of the efficiency of energy transfer from the bit to the rock and of the friction coefficient. Analysis of data reported in the literature, both from laboratory and field studies, has shown that this approach is sound and enables the determination of energy transfer efficiencies and friction coefficients, which for the cases studied range between 15 and 30% and 0.15 and 0.30 respectively. Thus, the suggested data analysis approach allows drillers to focus on inefficiencies and optimize drilling practices in future campaigns. Keywords Rock drillability, unconfined compressive strength, prediction.

Jan 1, 2011

By D. F. Malan, Y. Jooste

"SynopsisScattered mining was practised on Kusasalethu Mine (previously Elandsrand Gold Mine) prior to 1998, but at deeper mining levels it was no longer feasible, since it would have resulted in unacceptably high stress levels and energy release rates. Longwall mining was not adopted at these depths as the mine required a more flexible mining method owing to the highly variable grade and the presence of geological structures. A mining method was developed that consisted of dip stabilizing pillars for regional support, as well as bracket pillars to clamp geological structures. A strict sequence of extraction was followed and this, together with the particular layout, was called the ‘sequential grid mining method’. This method addressed two key problems, namely negotiating adverse geology and the erratic grade of the Ventersdorp Contact Reef (VCR) orebody. However, a significant drop in production rates resulted in the need for alternatives and improvements to the original mine design. Modifications to the design were proposed in order to increase production rates, and an investigation to consider the rock engineering implications of these modifications was conducted. The study indicated that the modified method, called the ‘multi-raise mining method’, appears to be feasible and might address some of the production problems that were experienced with the original sequential grid design. An analysis of actual seismic data showed no significant differences between the original sequential grid mining and the implemented multi-raise mining. The numerical modelling of the mining layouts showed slightly higher interim energy release rates (ERRs) and average pillar stress (APS) levels during the extraction process. The final values are nevertheless identical to that of the original sequence. The study also investigated the use of a modelled moment method to analyse future seismic trends. The study illustrated that the expected seismic trends will be very similar for the multi-raise method compared to the original sequential grid mining method. This study is nevertheless considered of a preliminary nature and ongoing monitoring and analysis of seismic data at the mine is required to verify the response of the rock mass to the modified sequence and increased extraction rate. In particular, future work needs to investigate the effect of mining rate (advance rates in individual panels as well as volume of mining in particular raise lines) on the level of seismicity."

Jan 1, 2015

By J. N. Van der Merwe

Due to the approaching depletion of reserves in the Witbank Coalfield, and the fact that the Waterberg Coalfield is as yet under developed, there is increasing pressure to extend the lives of the operating coal mines in the Witbank Coalfield. One potential source of coal is the old pillars, often small and at shallow depth, that were not left with secondary extraction in mind. At face value, some of these pillars appear to be suitable for secondary mining due to their high safety factors. However, it is known that over time, these pillars have scaled and the current sizes are smaller than the as-mined dimensions. It is also known that at shallow depth, the overburden is often less likely to fail during secondary mining, resulting in high abutment loads on the unmined pillars. The paper proposes a systematic method to pre-evaluate those old pillars for the possibility of stooping. The method consists of elements of fundamental methods and newly developed technology. In essence, it revolves around using empirical methods to estimate current pillar dimensions, followed by numerical modelling to investigate the probability of progressive pillar failure and then fundamental methods to determine the limits of applicability of the numerical model.

Jan 1, 2012

By C. O. Brawner, J. Kalejta II

The classical approach to control rock fall and ravel in open pit mining has been to use catch benches. The width and volume of benches is most dependent on the bench height, size of loading equipment, blast damage to the face and mining regulations. This was compatible with open pit slopes of less than about 45°. As our understanding of rock mechanics and blasting control has improved over recent years, much steeper rock slopes can be developed at many open pit mines. However, narrower benches result with less rock fall capacity. The transportation industry has been very successful in using catch fences to protect highways throughout North America and Europe for years. The authors recommend that cable and ring net fences have a potential major application in open pit mining to allow steeper rock slopes with significant economic benefit. This paper outlines the application, design and operation of catch fences in surface mining for specific conditions. Typical case examples are presented.

Jan 1, 2002

By A. Cichowicz

In this study, techniques used to design earthquake-resistant structures are applied to the deep-level mining environment. Earthquake engineers seek to identify the cause of potentially damaging resonance, and design or reinforce structures to reduce these effects. Similar techniques have been used to analyse the dynamic behaviour of the rock mass surrounding a stope in a deep South African gold mine. A three-dimensional seismic array installed in a stope at TauTona Mine (previously Western Deep Levels, East Mine) provided an opportunity to examine the evolution of the wave field close to an underground opening. A set of three-component geophones installed in a borehole above the panel revealed the development of surface waves as wave fronts reached the excavation, and an array of vertical component geophones fixed to the hangingwall provided a two-dimensional map of site effects. While the collected data do not include damaging seismic events, quantitative analysis enabled phenomena which could lead to damage, to be recognized. In the vicinity of the excavation, the energy of the seismic signal is generally transformed from high frequency to low frequency. It was found that seismic events with relatively high corner frequency (150 Hz?200 Hz) usually excite several modes of vibration (30 Hz to 110 Hz), while events with low corner frequency (30 Hz?50 Hz) do not always excite higher modes of vibration in the structure. This implies that the rock mass around the excavation is a complex medium, and should be studied using the multi-degree-of-freedom model. A strong structural effect (due to the excavation shape) was revealed as a low frequency coda wave (at 40 Hz and 60?70 Hz), well developed on the skin of the hangingwall. A strong site effect was revealed by changes in signal properties between hangingwall geophones, exhibiting strong resonances around 160 Hz and in the range 200 Hz to 300 Hz.

Jan 1, 2000

By Nick Barton

When the Q-system was launched in 1974, the name referred to rock mass classification, with focus on tunnel and cavern support selection. Besides empirical design of support, the Q-value, or its normalized value Qc, has been found to correlate with seismic P-wave velocity, with deformation modulus, and with deformation. The Q-system provides temporary or permanent support for road, rail, and mine roadway tunnels and for caverns for various uses. It also gives relative cost and time for tunnel construction for a complete range of rock qualities. There are also indications that Q has captured important elements of the cohesive and frictional strength of rock masses, with Qc resembling the product of rock mass cohesion and rock mass friction coefficient.

Jan 5, 2007

By J Wallis

The stability of a raise bore is often assessed using the rock mass classification system published by McCracken and Stacey as a modification of the Q system. Often the assessment is done using a spreadsheet to manipulate geotechnical log(s) of boreholes. This paper discusses the inherent difficulties with this approach. Recent work by others to provide guidelines to the classification system is discussed. A recent example of the design and raise bore performance at Macraes Gold Mine, New Zealand is presented. A key issue is that a visual assessment of the drill core and/or core photographs is necessary to æground-truthÆ the classification.

Jan 1, 2008