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By Gary M. Bone

The autonomous control of vehicles interacting forcibly with their environment, such as dozers and tractors, is an unsolved and challenging problem. Forces and motions are inherently coupled between the tool and the means of vehicle propulsion. Furthermore, they are often operated within uncertain and unstructured environments, such as those encountered in underground mining. There is a growing industrial interest in the development of robotic vehicles to improve productivity, efficiency and safety in mining and construction. This paper focuses on the modeling and control of autonomous robotic dozing for a material removal operation. A dozing process model has been developed based on observations of both a fullscale dozer and a scaled-down version. The model characterizes the dynamic interactions between the blade position, material accumulation on the blade, material distribution in the environment, and the motions of the dozer. The dozing control objective is to remove the loose material as rapidly as possible by driving forwards at full power while automatically raising/lowering the blade in response to sensor measurements. Two different controllers were developed to meet this objective. The first controller is based on a set of heuristic rules, and the second is an optimal controller based on the dynamic model. An instrumented scaled-down robotic dozer and dozing environment, designed to emulate the full-scale operation, are used to implement the controllers and compare their performances over multiple dozing passes. Experimental results are presented showing that the model-based controller increased the material removal rate by 33% compared to the rule-based controller. Lastly, technologies for full-scale implementation are discussed, followed by proposed future work and conclusions.

Aug 1, 2013

By F. Bosché

Previous research has shown that ?Scan-vs-BIM? systems are powerful to provide valuable information for tracking structural works (progress, quality, safety). However, the transferability of this capability to other construction areas such as MEP works has not been assessed so far. Comparatively, the construction of MEP systems, in particular pipes and ducts, tends to be more flexible with respect to the positioning of individual components, so that Scan-vs-BIM systems could be defeated when tracking MEP installation works. This paper presents recent results on the feasibility and performance of using a Scan-vs- BIM system to track MEP works. The approach followed is presented and then tested with two real-life challenging case studies were conducted simultaneously but totally independently in Canada and Italy. The results show that, as expected, pipes and ducts tend to be more loosely positioned than structural elements leading to a poorer performance of the Scan-vs-BIM system. Nonetheless, it appears that the system works well to assess the level of conformance of site installation works, providing valuable information for estimating emerging performance metrics like ?percent built as-designed?. In addition, the proposed system could also be useful to accelerate and thus reduce the cost of delivering as-built BIM models for in the case of new builds.

Aug 1, 2013

By B. S. Ignasiak, B. N. Nandi, D. S. Montgomery

The growing need to measure the extent of weathering of coking coal in storage and in transit prompted the comparison of the dilatation of coking coal on heating, which is known to be a sensitive index of oxidation, with the composition and volume of the gases produced by a mild pyrolysis of the same coal. It was found that the pyrolysis method had the advantage in that it could be used to study coking coals in advanced stages of oxidation, when the swelling properties had been largely destroyed. Of the various constituents in the pyrolysis gas, the most sensitive indication of coal oxidation was the volume of carbon monoxide evolved per gram of coal. For the coals examined, this index appeared to be at its best when the temperature of pyrolysis was approximately 35oC.

Jan 1, 1970

By J. -C. Sztuke, M. Cao

ABSTRACT Wash water and polyethylene oxide (PEO) were used in the flotation of quartz and coal. Wash water decreased entrainment of –15 µm quartz. The optimum superficial wash water rate was 0.05 cm/s. PEO also lowered entrainment. The combination of wash water and PEO led to a slight further reduction in entrainment. For 1:1 mixtures of –15 µm quartz and –300 µm oxidized coal, the combined use of wash water (0.05 cm/s) and PEO increased the separation efficiency from approximately 30% to > 70%, whereas wash water alone at 0.05 cm/s did not lead to a discernible increase.

Jan 1, 2014

By Renato Macciotta

The argillaceous formation known as the Opalinus Clay is host to the Mont Terri Underground Research Laboratory. The URL was developed to investigate the hydrogeological, geochemical and geotechnical properties of the formation. Underground excavations at the site are characterized by non-elastic and time-dependent deformations. Excavations trending perpendicular to the strike of the bedding presented relatively minor deformations, however, tunnels parallel to the strike of the bedding showed much larger non-elastic deformations. This paper presents an analysis of the measured response of a tunnel trending parallel to the strike of the bedding in Opalinus Clay. The measured convergence is compared to tunnel experience in weak rocks to assess the tunnel stability.

Jun 1, 2012

By L. E. Collins

"In western Canada, many new wells contain a significant fraction of H2S. As well, many older wells become increasingly sour over their operating lifetime. For these reasons, there has been increased demand for linepipe and casing for sour service applications in recent years. This paper will review the metallurgical factors which must be considered in designing steels for such applications. IPSCO’s development of linepipe and casing, and experience in fabricating products to meet test standards specified for sour service applications will be summarized. IntroductionWestern Canada produces the majority of Canada’s domestic crude oil and natural gas. A complex system of pipelines has been built to gather the oil and gas from the fields for transport to refining and/or cleaning operations. The gas carried in these pipelines can be either sweet or sour (i.e. containing no H2S or containing H2S) depending on the nature of the field from which it came. Many new fields contain a significant fraction of H2S and many older fields become more sour as their time in production increases. This uncertainty regarding product condition influences the user’s choice of materials for both casing and pipeline applications.It is well known (Merrick, 1989) that hydrogen induced cracking (HIC) will occur in steel when three conditions exist simultaneously: (1) the presence of H2S gas, (2) moisture, and (3) a susceptible material. Steelmakers can only address the latter of these factors. Development of steels to meet test requirements of sour service has been a major focus of IPSCO’s development work for several years."

Jan 1, 1998

By William J. Davis, R. Blair Hrabi, Sally Pehrsson, Amelia V. Logan, Ross Sherlock

"Abstract - The Meadowbank gold deposits are hosted by a series of polydeformed and metamorphosed auriferous iron formations located in the Neoarchean Woodburn Lake group, western Churchill province, Nunavut. The supracrustal rocks in the Meadowbank area consist of a thick sequence of intermediate-composition volcanic rocks with intercalated iron formation, ultramafic volcanic rocks, and quartzite to quartz arenite. U-Pb geochronology gives an interpreted age of 2711 ± 3 Ma for the host strata at Meadowbank.The intermediate volcanic rocks are predominately volcaniclastic and have a geochemical composition that is consistent with an active continental margin setting. Iron formation deposition was coeval with the intermediate volcanism, as indicated by incorporation of volcanic detritus in the chemical precipitate. The geochemistry of the iron formation indicates that it precipitated from a fluid that at one time was at high temperature (>250°C), reducing, and likely acidic. Intercalated ultramafic rocks rarely show spinifex textures and have trace element ratios that are consistent with mantle plume-related undepleted mantle asthenosphere, likely recording episodic mantle upwelling associated with rifting in an active continental margin. The contact between the ultramafic volcanic rocks and the overlying quartz arenite is a disconformity marked by a quartz pebble conglomerate. However, similar geology on the structural hanging wall and footwall of the contact suggests that the conglomerate does not represent a significant hiatus in deposition, and is more likely a prograding terriginous siliciclastic unit.Three metamorphic events are recognized. The first, M1, is a cryptic greenschist facies event that is pre-D2. The second event, M2, is a mid-greenschist to amphibolite facies, syn-D2 event. M3 is the last event recognized, and is a post-tectonic greenschist facies event that is regional but inhomogeneous in extent, possibly reflecting thermal aureoles around post-tectonic 1.7 to 1.8 Ga Nueltin granites. The structural geology of the area is complex with four phases of deformation recognized, two of which had a significant effect on the geometry of the deposit. All of these regional events are interpreted as Paleoproterozoic in age. Relationships between deformation fabrics and mineralization, as well as the overall geometry of the mineralized envelopes, suggest that the deposit formed during syn- to late-D2. Superimposed on the mineralization are D4 structural elements that postdate gold mineralization.The main control on gold mineralization is replacement of magnetite by pyrrhotite and pyrite in high-strain corridors. The composition of amphiboles and chlorites associated with gold mineralization is remarkably consistent and shows no spatial or temporal variation, suggesting that it was buffered by the iron-rich nature of the host rocks. The bulk metasomatic effect on the intermediate volcanic rocks is characterized by the addition of K2O and the loss of CaO, Na2O, and MgO, with little variation in the total iron content. The elemental losses are likely the result of destruction of feldspars, stilpnomelane, and ferroactinolite, which are relatively common in the unmineralized rocks, and the formation of sericite, chlorite, and grunerite."

Jan 1, 2004

By A. McLean, L. Gao, Z. Shi, Y. D. Yang, K. Chattopadhyay, G. F. Zhang

Levitation melting of metals is one of the emerging applications of magnetic and electric fields in liquid metal refining. The varying magnetic field generates induced current inside the metal droplet and leads to the Joule heating effect and Lorentz force against gravity. This contactless process can avoid contamination from the crucible and can be used to produce high-purity materials. Visualization of the levitation melting process is difficult, and thus generally investigated by mathematical modeling. In the present study, a three-dimensional mathematical model of metal levitation was developed using finite element method for proper understanding of the levitation process. The effects of harmonic magnetic field frequency, coils power input, and sample size on levitation nickel droplet were investigated. Temporal evolution of temperature fields were predicted directly though the model. Levitation and balance condition of the droplet were investigated as well.

Jan 1, 2015

By M. Greyling, C. Panaou, M. Bellino

Commonly the most frequent method of calculating the overall mass balance of a multi mineral platinum-group metal (PGM) concentrator circuit in Southern Africa has been through the use of spreadsheets, typically Microsoft EXCEL®. While there are some advantages in using spreadsheet based mass balances during the conceptual design phase of the project, their use becomes limited in the detailed design phase of the project. This paper discusses the successful application of METSIM® for mass balancing of a PGM concentrator and highlights the benefits gained during the conceptual and design phase of the project.

Jan 1, 2005

By Jarret Thomson

An understanding of groundwater flow is essential for many aspects of mining. This is especially true for the process of shaft sinking through the sandstones of the Manitou Falls Group in the Athabasca Basin of northern Saskatchewan. Experience has shown that the hydraulic conductivities of these sandstones can be relatively high, especially in zones containing natural fractures. To develop a better understanding of the inflow potential into a shaft, a laboratory testing program was undertaken to investigate the hydraulic conductivity of fracture core samples from the Manitou Falls Group. This program involved the measurement of hydraulic conductivities under steady-state flow conditions, while cycling the effective confining pressure across a span that is representative of in-situ conditions. The change in fracture aperture was simultaneously recorded at each confining stress level. It was found that existing relationships relating aperture and flow did not accurately capture the behavior of the samples tested. The effects of fracture staining and infilling were also investigated, and were found to have a notable impact on the hydraulic conductivity.

Jun 1, 2012

By John G. McCamis

The Maritimes Carboniferous Basin is the largest intermontane basin in the Appalachian Mountain System, occupying a total area of 57,200 square miles and containing up to 30,000 feet of late Devonian through Permian .sediments. Deposition began with continental elastics in late Devonian and early Mississippian. Marine deposition is represented by a limestone-evaporite sequence of late Mississippian age. Pennsylvanian and Permian continental rocks deposited largely in flood-plain and swamp environments complete the succession. Marine seismic data disclose several varieties of structure, both halokinetic and tectonic in origin. Recent exploratory drilling in the offshore part of the Basin encountered good reservoir rocks in the Riversdale sandstones, which also provided encouraging shows. The most likely source rocks of hydro~ arbons in the Maritimes Basin are shales in the Horton and Riversdale groups. Potential recoverable reserves of the Maritimes Basin are estimated to be 400 million barrels of oil or 7.8 trillion cubic feet of gas, based on the volume-of-sediment method of calculation.

Jan 1, 1973

By W. E. Oching, M. M. Ghomshei

"Collaboration among Ventilation Engineers, Mine Inspectors, worker representatives, health and safety officers and management is key to an effective operational mine ventilation management. Mine ventilation training, ventilation survey reports for mine stakeholders and interaction with mine frontline workers and management concerning safety, energy saving, assets management and maintenance are effective tools in implementing best industry practices and significant reduction of ventilation operating costs without compromising safety. These approaches may not be new to well established mining companies but the real dilemma is how to implement them effectively and this is what this paper will address.INTRODUCTIONManaging an effective mine ventilation system is becoming increasingly challenging, especially during tough economic times in the mining industry. Management strives for more production while frontline miners work hard to surpass the production targets, thus improving their incentives and above all aiming to enhance the prospects of their job security when the mining industry is facing challenging times. Taking shortcuts by not fully following the safety regulations or industry best practices are often notable, resulting in the rise of Workers Compensation Board claims and temporary shutdowns of active workings, compromising productivity and increasing the operating costs.In accordance with the Mines regulations in various jurisdictions in Canada and the US, it is evident that companies adhere to establishing basic ventilation management systems through the provision of the code of practice, procedures, work practices and standards/guidelines. This is aimed at ensuring the health and safety of underground workers (de Souza, 2017). However, the challenge to many operations is the improper implementation of the mine ventilation regulations including some managers showing reckless disregard for workers safety by focusing on production and not worrying to address ventilation problems (Steven & O'Keefe, 2010). Other challenges facing effective ventilation management include inadequate training of frontline workers on ventilation system and hazards associated with poor ventilation systems such as toxic gases, dust, heat, and underground explosions (Mufson et al., 2010; Suvar et al., 2017); friction between mine managers and the mine inspectors (Mufson et al., 2010), improper maintenance of ventilation system and inventory management, among others."

Jan 1, 2019

By K. Sakai, M. Miyaue, T. Aoki, T. Tani, S. Tanaka, N. Kudo

In the planning stage of a tunnel, due to limited technology in the geological survey and the financial restriction, tunnel supports are often designed from unsatisfactory information, and the tunnel construction is started. Therefore, "Information-oriented construction" is carried out in the construction stage, in which the design is rationally verified and modified by observations/measurements. Moreover, the ground conditions ahead of a tunnel face must be predicted for efficient and safe tunnel construction. The authors have examined effective prediction methods to the ground conditions ahead of a tunnel face under construction of mountain tunnels (Aoki et al., 2010) in view of the established method (Schubert et al., 1995). Though the prediction method of Schubert requires the displacement in the direction of tunnel axis, it is difficult to obtain its accurate data by the electronic distance meter. Then, we have proposed a method that uses tilt sensors installed at the tunnel crown near the face to obtain the slight tilting information. To measure inclination of the tunnel crown, this inclinometer was originally developed as a daily control measurement, such that the geological condition and its possible change behind the face could be detected early, and a steady advance and construction safety could be ensured. This paper describes the method of forward prediction mechanism and advantages of this suggested method. It then presents the typical results of a field verification test at a tunnel under construction and an example of evaluation of the ground conditions ahead of the face based on the 3D numerical analysis in three types of condition changes of ground deformation moduli.

Jan 1, 2015

By Jerry Ran

Many large underground mines using the open stoping method have changed their primary applications of consolidated rock fill (CRF) to paste or consolidated hydraulic fill due to considerations of demand in infrastructure and equipment, system reliability, backfill capacity and material sources. However, some smaller or even large mines still use or consider using CRF for backfill purpose due to factors such as capital expenditure, availability or suitability of other fill types or in some cases local regulatory requirements. As demands on CRF applications diminish among major mining companies, there is a lack of recent literature on application of CRF to open stoping in design and operation. There are several methods being used for fill strength design. Results from these methods have been successfully applied to paste or hydraulic fill. However, the design strength for CRF is much higher than that determined by use of these widely accepted methods. In operation, CRF preparation and placement have significant impacts on the quality of placed CRF and therefore the mining performance. This paper reviews the current fill design methods and their applications to open stoping with presentation of the bench marking data, presents fill failure cases and various CRF preparation and placement arrangements and discusses quality assurance and control programs.

Jun 1, 2012

By Pascal Turcotte

_ Introduction _ LaRonde _ Controlling Instability in Haulage Drifts _ Failure mechanism in drifts walls _ Failure mechanism in drifts back _ Field Behaviour of Support Elements _ The ?Hybrid Bolt? _ Conclusions

Feb 1, 2008

By O. Lundhede

Today, systems and machinery usually are designed to meet only one specific customer?s requirements. One reason for this is that underground automation and smart functions are often developed tightly together with a customer. This is natural, since risk and cost can be shared between the customer and the supplier. Nevertheless, when the automation product develops and the market increase this will cause problems: The highly specialized products will not fulfill the next customer?s demands. In order to cope with this problem, Atlas Copco works towards a common platform. Instead of designing solutions for specific customers, we will lift the abstraction and focus on standardized modules. These modules, or function blocks, can then be combined in a large variety of configurations. The benefits of combining modules into products are, for example: increased flexibility when options are available for many machines; easier commissioning and maintenance since less different spare parts and tools are needed; and easier operation since the user interfaces have a similar look and feel. This paper will present the ongoing work towards standardized modules. We will discuss how our Rig Control System (RCS) allows for modular design at Atlas Copco. RCS has number of standardized modules that are used in different surface and underground mining and tunneling equipment. These modules are also used for optional products such as, drilling, radio-remote control, and telematics systems.

Aug 1, 2013

By Corrie Pitzer

Safety performance in many companies and even industries has stalled in the last decade. Accidents rates are improving but more slowly and yet, serious accidents and fatality rates are not: in fact, these rates of more serious incidents have plateaued or deteriorating. In more dramatic cases, organizations that had ?exemplary? safety statistics, suddenly had a catastrophic or multi-fatality event occurring. Popular books such as In Search of Excellence of Peters and Waterman or Good to Great of Jim Collins created many delusional ?secrets? or recipes, to achieve great performance and yet, most of those ?great? or ?excellent? companies have now declined in their performance, some dramatically and some have fallen from grace, like Fanny Mae, a company Jim Collins identified as a ?great? one, that had to be bailed out in the latest financial crisis. These organizations share several ?delusions? about managing a business, and often, these delusions are created by academics, consultants and authors of popular books about (safety) management. More damaging however is that safety management is defined by a set of key practices or axioms: a focus on human error, compliance to rules and regulations, creating consistency of systems and actions, reacting to accidents and incidents and on prevention of those, measuring safety with performance metrics and rewarding employees on those measurements. All of these axioms contain the seeds of destruction, and they create conditions and dynamics that precede the disaster - and ironically, they are all 'good things' we do in safety management. For example, a mere focus on safety in the business, and the measurement of it, create a culture of repression of mistakes and incidents, leading to a situation where the organization knows incrementally less and less of risks and risktaking behaviour - until the day it all coincides destructively! This paper discusses seven such safety delusions and how they impact on the views and safety management approaches. They are: ??The delusion of (risk) control, that risks can actually be identified, analyzed and mitigated. ??The delusion of compliance, that mere compliance to rules will safeguard the business ??The delusion of consistency, that standard operating procedures will ensure safe operations ??The delusion of predictability, that accidents and trends tell us everything about the risks of the future ??The delusion of human error, that people are the weakest link and that it can actually be dealt with through discipline and enforcement. ??The delusion of statistical trends, that safety is measurable with statistics ??The delusion of invulnerability, that we have achieved high levels integrity and capability to deal wit risks. Organizations that suffered catastrophes all share some or all of these delusions and this paper traces how these played a role in many disasters, ranging from the Titanic, Challenger, Piper Alpha, Bhopal, BP Deepwater Horizon and many more.

Aug 1, 2013

By D. B. Hyma

"The Raglan Ni/Cu property is located on the Ungava Peninsula in Northern Quebec, Canada, at a latitude of61°42' and a longitude of73°40', approximately 40 km southwest of Douglas Harbor. Geological reserves are estimated at 18 million tonnes, grading 3. 1 % nickel, 0.9% copper and smaller amounts of cobalt and platinum group metals.Extensive project development has defined the concentration process, concentrator sizing, tailings and environmental management required for this project.The grinding circuit selected is a fully autogenous primary grind, with pebble crushing and a pebble mill for secondary grinding to produce a product of 80% -70 microns for flotation.The flotation circuit is a simple circuit utilizing roughing, a regrind of rougher concentrate to 80% -20 microns, two stages of column cleaning with a cleaner scavenger bank on the column tails.Concentrate handling options were thoroughly reviewed because of the pyrophoric nature of the concentrate, remote site location and long distance to downstream processing. The preferred option, currently.is to dry the concentrate at Raglan to less than l % moisture and then pneumatically handle the powder.A detailed analysis of tailings placement options, suggests filtered tailings placement to be the preferable route for the Raglan site.INTRODUCTIONThe Raglan Project, as proposed by Falconbridge Limited, will develop extensive nickel-copper deposits in the Ungava Peninsula, Quebec, Canada. The project schedule and construction conditions in the project area are demanding. The Raglan mineral deposits have been the subject of numerous studies and evaluations over the last thirty years and the Phase I 1991 pre-feasibility document includes exploration information obtained in the 1989 and 1990 drilling seasons. This review concluded that an 800,000 tonnes of ore per year mining and concentrating complex located at Katinniq could produce 20,000 tonnes per year of nickel at competitive costs."

Jan 1, 1993

By S. J. Schofield

INTRODUCTION ONE of the greatest and most interesting problems of economic geology is to discover criteria bearing on the persistence of ore in depth. It is a question which is very much to the fore in connection with many of our important mines in British Columbia, and, as is to be expected, it is a most controversial one. The present paper, summarizing the views of the writers concerning the possibilities, in some of the mining districts of the Province, for the persistence of commercial ore to greater depths than have been, or are at present, mined, is offered as a basis for a general discussion on the subject and to call attention to the need for renewed study and research on the problem. Sooner or later-at some depth or other-individual ore-shoots become impoverished and bottom. In many mines where this has happened, either at the same or at a lower horizon, another ore-shoot, which had no surface outcrop, has been encountered and has continued downward until it, in turn, has pinched out. The Kolar (Mysore, India) gold field, for instance, presents interesting examples of this recurrence of ore-shoots at depth (1). For many years these mines have been under the management of Messrs. John Taylor and Sons. On more than one occasion they have persisted in sinking or drifting on barren quartz or along a narrow fracture for many hundreds of feet before values were again encountered. Their earliest experiment in such bold development took place at a depth comparable to that at which most mines in British Columbia are considered to be bottomed. In the past, is has been concluded that the ores in British Columbian mines do not go below approximately 2,000 feet, and to that depth only in a few instances. Consideration of the depth to which ores have been mined in the Province appears to support this view. The figures shown in the accompaning table have been gathered from various sources and are approximate.

Jan 1, 1935

By Abhinav Karanam, Lukas Bichler

Yttria Stabilized Zirconia (YSZ) is a promising thermal insulator for high temperature environments due to its thermal stability and chemical inertness. As was demonstrated with other technical ceramics (e.g., Alumina), addition of Single-Wall Carbon Nanotubes (CNTs) to a ceramic matrix may significantly enhance the mechanical properties of the composite ceramic. In this work, 8 mol% YSZ with 0.2, 0.5 and 1wt% CNTs composites were prepared via Spark Plasma Sintering process. The densification, Vicker’s microhardness, specific gravity and microstructure evolution of the composites were investigated. The results suggest that the addition of up to 1wt% CNTs to YSZ yielded optimal combination of the studied properties. At higher addition levels, the specific gravity decreased and clustering of CNTs occurred, leading to poor densification and a relative loss of performance.

Jan 1, 2014