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By M. Salimov, J. Sattarvand

The conventional visualisation method of remote equipment is through the installation of one or more cameras on the machine, and sending a live feed to the operator’s flat display. However, the performance of the teleoperation can be enhanced using better visualisation through virtual reality (VR). This paper presents the process of the design and manufacturing of a robotic platform that will be used in the next phase of the project for a VR-assisted teleoperated excavator. The robot consists of a loading boom and arm arrangement installed on the undercarriage of a CAT300-9D. All hydraulic cylinders are replaced with electric actuators, and crawling motors are substituted by electric motors. The pieces of the boom and the arm, as well as the bucket were designed in Autodesk Inventor, and manufactured from aluminium sheets using a desktop and CNC machine. Parts are joined by pins and welding as needed. An Arduino-based control system is developed for the robot, and motor controllers are used to convert the power commands from the microcontroller to the high-amperage actuators. The control system is capable of communicating with a wireless Play Station controller to operate remotely. The manufactured robotic excavator is planned to be utilised in multiple autonomy research projects.

Sep 1, 2021

By P. Cheung, J. Gulyas, R. Clary

Over the past 50 years, the use of autoclaves in the metallurgical industry has evolved from final metal recovery (hydrogen reduction) and purification (sulphide precipitate oxidation) to treating whole ores and concentrates. Recent process developments, such as the use of autoclaves for laterite leaching, have necessitated higher temperature and pressure operations, which in turn have seen marked advancements in technology and manufacturing capabilities to keep in step with process demands. This paper will discuss the advances in technology in terms of design, materials and construction of autoclaves and liners, typical dip tube design and geometric layout. This paper will also address specific auxiliary equipment, such as acid and steam injection systems, and components, such as agitator seal systems.

Jan 1, 2004

By C. Geenen

At its Olen site, Union Minière Copper operates a new full-size deposit tank house. A first 200,000 t/y module was commissioned in October 1996, and an additional 130,000 t/y unit started in April 1998. The main objectives of the new tank house project were to produce grade A cathodes starting from anodes with a wide range of compositions and at a minimal operating cost. The tank house uses Isa Process technology. Based on the process parameters agreed upon with MIM, UM Copper developed the basic design and UM Engineering was the in-house contractor for the engineering. The new tank house is equipped with advanced technology polymer concrete cells, automated two-bale cranes and high-capacity machines. The first 200,000 t/y module treats anodes with a more conventional composition at 330 A/m2; the second 130,000 t/y module treats anodes with a high slimes fall (12- 13 kg/t) at current densities up to 285 A/m2. After some teething problems, the new tank house is meeting all set targets. This paper illustrates and comments on the design characteristics and operational results.

Jan 1, 1999

By A G McLean

This paper will first discuss the fundamental requirements for reliable discharge of backfill by gravity alone at high per cent solids. This discussion will include brief mention of the underlying principles of saturated solids flow contrasted to that of stirred tank or dilute discharge systems. Here the need to possess full knowledge of the flow properties of the stored material will be highlighted. In regard to attainment of reliable discharge it will he revealed flow from a backfill silo will only occur provided: ò the flowing material in the converging channel is yielding throughout; ò slip is occurring along the walls; ò an arched stress field is present in the vicinity of the outlet; ò the flowing backfill must be dilating to flow in response to the dilating stress field; ò sufficient dilation water is injected, in the hopper, to eliminate the formation of adverse interstitial pressure gradients; ò sufficient dilution water is injected, downstream from the hopper outlet, to generate a pumpable slurry of maximum per cent solids; ò the silo level must be sufficient to prevent the pump suction forming a rathole; ò the system must be configured and operated to generate stable discharge density; and ò the system must be configured and operated to minimise damage to the pump liners. In addition proper account must be made of the silo overflow weir and settling capacity to match plant throughput. Here opportunity will be taken to highlight the complexity of this multi-phase flow situation as well as the general yet paramount requirements for reliable solids flow. It will be shown that by proper attention to the multi-phase considerations gravity discharge of slurries as a consolidated bed with minimal water content is possible. Such high solids discharge results in greatly reduced demand for process water. In addition pumping costs are reduced as is the delay time associated with the mine drainage operation. Confirmation of successful applications will be highlighted by reference to several recent case studies. In the concluding phase mention will be made of the key yet very simple and effective operation techniques which enhance reliable Discharge.

Jan 1, 1998

This paper will first discuss the fundamental requirements for reliable discharge of backfill by gravity alone at high per cent solids. This discussion will include brief mention of the underlying principles of saturated solids flow contrasted to that of stirred tank or dilute discharge systems. Here the need to possess full knowledge of the flow properties of the stored material will be highlighted. In addition proper account must be made of the silo overflow weir and settling capacity to match plant throughput. Here opportunity will be taken to highlight the complexity of this multi-phase flow situation as well as the general yet paramount requirements for reliable solids flow. It will be shown that by proper attention to the multi-phase considerations gravity discharge of slurries as a consolidated bed with minimal water content is possible. Such high solids discharge results in greatly reduced demand for process water. In addition pumping costs are reduced as is the delay time associated with the mine drainage operation. Confirmation of successful applications will be highlighted by reference to several recent case studies. In the concluding phase mention will be made of the key yet very simple and effective operation techniques which enhance reliable discharge. The simplicity and reliability of properly designed gravity discharge backfill tank systems suggests increased application of this technology by the mining industry.

Jan 1, 1998

The Mammoth Mine is located some five kilometres from the town of Gunpowder which is approximately 120 km north-west of Mount Isa in Queensland.

Jan 1, 1993

By G S. Beros, K M. Edwards

Over the past 20 years drum scrubbers have become a widely adopted technology within iron ore beneficiation plants. Generally, the drum scrubbers in use are considered high-capacity machines capable of accepting larger-sized feed material. Together with a water addition to a desired pulp density and a mild energy input, these large rotating machines effect an attritioning action that removes water soluble clays and other deleterious materials. Within the Western Australian iron ore industry, drum scrubbers have been successfully applied to Channel Iron, Marra Mamba, Bedded and Detrital orebodies. The introduction of drum scrubbers has enabled Western Australian producers to satisfy the substantial increase in demand for iron ore from Chinese steelmakers by making the lower-grade sections of the above orebodies economic. However, despite being a relatively simple unit process, the requirements for successful design and operation of these machines are not fully understood. This paper draws on the collective experience of both authors to provide some points to consider for incorporating drum scrubbers into iron ore beneficiation plant flow sheets.

Sep 18, 2023

By S. A. Bunk, W. P. Wood

In the early 1980's BHP identified several potential gold deposits in West Africa. One of these deposits was located in Mali, near the village of Syama. As a result of extensive explo­ration activities, an oxide ore as well as an underlying sulphide ore was identified. After agreement with the government of Mali was reached the development of the deposit was undertak­en. The plan for the development of the mine included the treat­ment of the oxide ore followed by the treatment of the underly­ing transition and sulphide ore. The development of the deposit was extremely aggressive. Following the approval of the project in early 1989, engineer­ing was started, equipment purchased sitework was started, and the first ore was introduced in December of 1989. This was accomplished in spite of the difficulties of the site. These diffi­culties included: • remote site location without air or road or water access • no existing infrastructure including water, power, or communication • high health risks • limited construction and manufacturing support in West Africa The operation began with a conventional crushing/grind-ing/CIL/elution and electrowinning facility. The facility was designed to treat 2000 metric tonnes of ore per day. After start­up in December of 1989, the operation was improved to the point that plant throughput was averaging nearly 3000 tpd and running at 92 to 93% availability.

Jan 1, 1996

By Sullivan TD, Redman PG

AND INTRODUCTION The Lochiel coal deposit, a large Tertiary soft brown coal deposit in the mid north of South Australia, is currently being investigated by the Electricity Trust of South Australia (ETSA) as a potential source of fuel for a base load power station. Feasibility studies indicated that the proposed dragline method of overburden removal was viable but economically sensitive to both highwail and dump batter angles. The unusual properties of the unconsolidated overburden sediments and the groundwater regime posed a number of intimately related hydrogeological and geotechnical questions which were addressed before and during the excavation of a trial pit. All strata at Lochiel are of soil strength, and artesian aquifers occur above and below the coal. From the initial evaluation of the deposit a number of hydrogeological questions were defined. These related to the rate at which the pore pressure in the silts is reduced by dewatering, the extent of the reduction in pore pressure due to prestripping, and the feasibility of dewatering and depressurising carbonaceous silty sand sequences. The site of the trial pit was selected to answer these and other questions from the basis of a detailed geological, hydrogeological and geotechnical understanding. The trial pit dewatering system simulated a full scale mine dewatering system and included ten pumped wells, twenty drainage wells, and nearly 400 monitoring instruments. It operated from September 1986 to June 1987. The excavation was carried out between February and May 1987.

Jan 1, 1988

By George Moses K, Mahendran K

Grouting is performed in rock masses in order to increase its strength properties and also to reduce the seepage. In the design of underground structures such as tunnels or caverns located in weak rock masses, grouting plays an essential role. Grouting is a complex process demanding high degree of skill and knowledge in understanding of grout flow and requirements for certain geological conditions. This paper discusses the design process for grouting in rock masses adopted for a cavern project and the practical difficulties faced during the execution at site. The design parameters of grouting includes the injection pressure, grout material properties and stopping criteria. The paper also discusses the various tests performed at site to evaluate the efficacy of the grouting process which was initially defined based on the design and previous experiences. The final grouting scheme suiting to the present geological condition is arrived based on the test results. The practical difficulties faced during the execution and the measures taken to overcome these are discussed in detail. This work shows the importance of state of art in the development of a grouting process based on geological and hydrogeological conditions prevailing at site and can be helpful in grouting design for weak rock masses.

Nov 1, 2022

By Francis Kendorski

The Skyline #3 Mine of Canyon Fuel Company in Utah was planning longwall mine development adjacent to and downdip of older mine workings known to be flooded. Barrier pillar geometries and widths were proposed by mining company personnel. Hydraulic conductivity testing suggested that the general characteristics of the local coal seam, dikes, and faults are only weakly conductive and that leakage through the barriers, if any, would be minor. The mechanical performance of the proposed barrier pillar design was evaluated according to (1) published empirical design methods and (2) numerical stress modeling. Comparison of the proposed design, with the range of barrier widths derived from the empirical methods, served as a first-order check on the adequacy of the proposed design. Numerical modeling was used to evaluate conditions site-specific to the Skyline #3 Mine and barrier geometry. Models were developed to quantify the relationship between barrier width and the abutment stresses onto the future workings. The models were also used to estimate the stress distribution within the barrier pillars. The hydraulic performance of the proposed barrier pillar design was evaluated according to (1) published empirical design methods for hydraulic impoundments, (2) empirical method estimates of seepage through coal barrier pillars, (3) numerical hydrogeologic flow modeling, and (4) numerical strain modeling. Using the techniques described above, and based on relevant industry experience, underground observations, knowledge of local geologic conditions, hydrogeologic measurements, and analytical results, the level of geomechanical risk associated with the barrier design as proposed was considered low and the level of hydraulic risk was considered moderate. The largest uncertainty that remained was the possibility that unfavorable geologic structures, such as faults and dikes, would act as conduits for leakage of impounded water into the new workings. Although the study indicated only minor steady-state leakage would occur through a small number of known structures, the presence and full leakage potential of threatening structures in the barrier could not be reliably known until the barrier was mined. One longwall panel has been completed adjacent to the barrier with no evidence of water flow even in fractured zones. Thus, as predicted by the modeling and analysis, it appears that abutment stresses imparted on the barrier during mining did not substantially alter the natural hydrogeologic characteristics, or leakage potential, of the barrier. The longwall coal mine water-barrier pillar design and performance are considered a success.

Jan 1, 2007

By David R. Black

Foundation problems due to collapsible and expansive soils are well known throughout the arid western United States. Millions of dollars are spent annually to counteract the effects of such soils for both new foundations and existing foundations suffering from settlement or heave. Over the last 20 years helical screw piles have come into wide-spread use as a permanent deep foundation element for these problem soils, especially in the arid western United States where, in some areas, they are a standard of practice. Independent research resulting in recognition by every national building code in the United States has legitimized helical screw pile technology. Once thought of in terms of light structural underpinning, helical screw piles of today are designed to take heavy structural loads, vertical and lateral, tension or compression, including seismic loads. With proper pile grouping, design capacities for column loads over 4,500 kN (1,000 kips) are attainable. This paper discusses design considerations specifically dealing with collapsible and expansive soils: soil investigation parameters, predicted settlement and long-term creep, heave in expansive soils, downdrag in collapsible soils, shaft slenderness buckling, maintaining shaft alignment during installation, refusal condition, water migration along the shaft, lateral loading, cyclical loading for seismic loads and machine foundations, corrosion, helix durability during installation, the installation torque vs. capacity equation, and design methodology. The paper concludes with several case histories where helical screw piles were used for new structural foundations and to underpin existing failed foundations in St. George, Utah, Cedar City, Utah, and Denver, Colorado, USA, sites of some of the most expansive clay and collapsible soil in North America. Soil descriptions and performance histories are presented.

Jan 1, 2002

By L. Sletmoen, P. Rocque, E. DeSouza

Plans for achieving planned production rates at the Red Lake Mine High Grade Ore Zone required that the mine ventilation system be upgraded. Time constraints required that only a site assessment of the mine ventilation system be performed followed by recommendations for providing adequate ventilation conditions at the production zone. This paper describes the engineering assessment, design and commissioning of the ventilation system upgrade for achieving increased flows at the high grade ore zone. The work was successfully achieved with minimal capital expenditures and disruption to the mining cycle.

Jan 1, 2003

By Alfredo Valdivia, Dominic Reda, Vojtech Gall

The design and planning for the construction of a new passageway to improve access and circulation to better accommodate anticipated increased passenger flow within Grand Central—42nd Street Station. The passageway includes the break-in of an over 100-year-old station cavern with an innovative design implementing a protective structure above the existing track to allow for safe train operations and passenger circulation during construction. Construction of the new passageway follows the Sequential Excavation Method. This paper will present the innovative solutions that went into the preliminary design and planning considering construction access, site logistics, risk management, structural retrofitting, instrumentation and monitoring, and impact assessments.

Jun 13, 2023

By B. P. Watson

Crush pillars have been incorporated into a mechanized, low-profile trackless system at South Deep Gold Mine. These pillars had to be designed to fail near the face and to ensure that pillar failure is contained within the pillar, to avoid bursting and the risk of high loads being generated during a seismic event, respectively. PoweRite backfill bags were recommended to maintain the integrity of the pillars; except in the main access drives, where the sidewalls were to be supported on 5.6 mm diameter weldmesh and yielding anchors. The results of a trial site investigation exceeded expectations, showing a residual pillar strength of about 37 MPa for a newly formed pillar and 8 MPa for a pillar subjected to seismicity and a closure of more than 300 mm. The introduction of these pillars has improved the rock mass conditions because of the active nature of the support, compared to the previous passive backfill method. Importantly, the pillars have increased mining efficiencies and improved face availability. A potential cost saving to the mine of R140.9 million could be realized over a period of 10 years.

Jan 1, 2014

By Nicolas Denies, Jeroen de Leeuw, Bart Lameire, Jan Maertens, André Vervoort, Flip Hoefsloot, Noël Huybrechts, Flor De Cock

"In recent years, the Deep Mixing Method has increasingly been applied for the construction of earth and water retaining structures. From practice, it has been experienced that there is a real need to develop execution and design rules adapted to the function of the soil mix wall (retaining wall, water barrier, foundation solution or a combination) including the temporary or permanent character of the application. Based on the results of the BBRI Soil Mix project (2009-2013), a design approach has been developed in collaboration with the SBRCURnet. The present paper briefly discusses the principles of this design approach which takes into account the function of the soil mix wall and the characteristics of the soil mix material. The interaction between the soil mix material and the steel reinforcement can be considered in the calculations depending on the function of the soil mix wall. Design and quality control requirements are given in function of the application and take the lifetime of the structure into account. Durability aspects of the soil mix material are therefore considered in the present design approach.INTRODUCTIONSince several decades, the deep mixing method is used for ground improvement works. A more recent application is the use of soil mix as structural elements such as in the case of the earth-water retaining soil mix walls. Since 2000, due to the economic and environmental advantages of the method, this particular application has shown an amazing growth in Belgium and in the Netherlands. A typical excavation (16 m depth), realized with CSM (Cutter Soil Mix) panels, is shown in Fig. 1. For temporary applications, the questions related to the mechanical characteristics of the material, its permeability and its adherence with steel have been investigated with success within the framework of the BBRI Soil Mix project (2009- 2013) (see Denies et al. 2012 for more details). The durability of the soil mix material remains a complex topic while permanent applications are more and more observed in practice. In order to define an obvious design approach, it was necessary to clarify the potential functions of soil mix walls and to establish the requirements related to their design and construction. The BBRI (in Belgium) and SBRCURnet (in the Netherlands) have therefore worked together to publish guidelines in the form of a handbook titled ‘Soil Mix Walls’ (publication foreseen in 2015). In this handbook, a methodology is proposed for the design of the soil mix walls for which the interaction between steel and soil mix can possibly be taken into account dependent upon the application. Each potential function of the soil mix wall is described (e.g. earth retaining wall, cut-off wall, etc.) and the temporary or permanent character of the application is always considered."

Jan 1, 2015

By Daniel Ruffing, Jeffrey Evans

Vertical cutoff, or barrier, walls are an integral part of environmental site remediation efforts. Vertical barriers are commonly deployed to limit the influx of clean ground water and/or to control the off-site migration of contaminated groundwater. The level of detailed design consideration devoted to the vertical cutoff wall component varies widely from project to project and generally decreases with decreasing size and complexity. For those projects receiving minimal design effort, conservative design decisions can lead to unnecessary costs or unanticipated conflicts between the various design considerations. In this paper, the authors discuss several important design and construction aspects of vertical cutoff walls requiring particularly careful consideration during the design phase of the project. These design and construction considerations include the need for and extent of excavation for a key, project target hydraulic conductivity, the use of statistical allowances in the specifications, filter press testing, sand content of in-trench slurry, cleaning of the backfill slope, measurement of stress and strain, the additional of slag in cement-bentonite cutoff walls, and longevity of cutoff walls.

By D Mather

Fibre reinforced shotcrete has long been accepted as temporary ground support in both mining and civil tunnel linings. Greater knowledge and understanding of shotcrete as an engineering material and advances in its quality have enabled designers to eliminate the requirement of a second pass lining. The initial shotcrete can be used as the permanent tunnel lining or be incorporated into the final lining design, rather than ignored and considered as sacrificial.For the initial shotcrete lining to become a suitable permanent tunnel lining it must be able to establish and maintain stability over time when subjected to all possible loads. To ensure this, best engineering practices are required during the design phase of the project to analyse; ground conditions including rock mass properties, ground and ground water quality, rock mass loadings, excavation sequencing, and construction methodologies.The increased durability of steel fibre reinforced shotcrete over traditional tunnel support, in the right ground conditions, makes it possible to achieve a serviceability design life of greater than 100 years (as required in most infrastructure projects). By specifying a good quality shotcrete mix and ensuring adequate quality control for batching, fibre dosing, preproduction testing, excavation sequencing, and application control, it is possible to eliminate the requirement of a secondary lining. The properties of a suitable permanent lining must be well established using suffi cient preproduction testing in combination with post application monitoring.A major benefit of steel fibre reinforced shotcrete in ground support applications is the removal of any requirement for workers to work under unsupported ground. Its use can also significantly reduce, if not eliminate, the manual handling associated with placing traditional reinforcement such as lattice girders and mesh. Both of these benefi ts are significant with the ever increasing focus on health and safety.This paper highlights factors that must be considered in the design and specifications to enable an initial shotcrete tunnel lining to become the permanent shotcrete tunnel lining.

Mar 8, 2011

By Marc-André Villiard, C. St-Onge, V. Silla, J-C Milot

Rio Tinto Fer et Titane (RTFT) operates a metallurgical complex in Sorel-Tracey, Canada. In the Ore Preparation Plant (OPP), ilmenite ore is roasted through four parallel rotary kilns generating 95% of the plant wide sulphur dioxide (SO2) emissions. RTFT proactively set an annual emission cap for SO2 to be achieved by 2015. To achieve this targeted SO2 reductions, a technology evaluation and selection exercise was carried out, followed by detailed engineering and implementation. After a detailed evaluation of SO2 scrubbing technologies, the Circulating Dry Scrubber (CDS) system was selected as the most appropriate desulphurization system for this application. The system was implemented and commissioned from 2013 to 2015. General performance testing conducted in May 2015 demonstrated that the system achieved and surpassed the anticipated design values in terms of SO2 removal efficiency and hydrated lime utilisation. This paper summarizes the SO2 technology selection process, design features of the selected technology, project implementation and final performance testing of the SO2 abatement system.

Jan 1, 2015

By Randy N. Powell

The Pipeline gold ore body was discovered in Lander County, NV in March 1991. Construction of the new mine and mill did not start until early March 1996. The $289-million project was placed on a fast-track development schedule upon completion of permitting and corporate approval. The mine and mill were commissioned 11 months after the start of construction and the project ended up $40 million under budget. Project design and construction management were provided by Placer Dome Project Development Division (PDD). History The Cortez Joint Venture has operated in northeast Lander County since the late 1960s. The business structure is comprised of 60% Placer Dome and 40%Kennecott Exploration. Throughout the years, production has been from several small open-pit deposits— Cortez, Horse Canyon, Gold Acres and now Pipeline.

Jan 1, 1999