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By C. Clark, P. Patton, B. M. Stewart

Handling materials in underground mines continues to be a major safety problem. To help reduce materials-handling injuries, the National Institute for Occupational Safety and Health (NIOSH) at the Spokane Research Laboratory is developing, modifying, and testing equipment to replace the necessity of doing lifting tasks manually. To reduce single-event lift injuries, equipment having mechanical automatic weight sensing and balancing control was investigated. The Coleman manipulator was selected for testing. Modifications to the Coleman manipulator to make it more suitable for underground mine use included mobilization, self-containment, all-purpose gripper attachment, and support jacks. To reduce or eliminate the need to clean off manually the materials that commonly plug grizzly openings (timbers, wire mesh, roof bolts, and other debris), a track-guided pincher arm device was developed. The TGPA attaches to an impact hammer head, and the pincher arms are controlled by the operator of the hammer. Oversized rock can be broken with the pincher arms in the up position; the arms can then be lowered to grab and remove debris. Sweeping action to remove cohesive fines bridging grizzly openings is also greatly improved. This device is especially useful in recessed grizzlies. An industrial gun was tested to evaluate its effectiveness in breaking oversized rock. Boulders up to 76 cm in diameter were successfully broken to minus 33 cm. Although methods to control flyrock need to be developed, an industrial gun may be a safe and inexpensive alternative to breaking oversized rock in certain underground mining situations. Keywords: Mining, materials handling, over-exertion, injuries

Sep 1, 2001

By Hannweg L. A.

In a first for the diamond industry, Koffiefontein Mine in the Free State, South Africa, opted for the front cave mining method to extract a 90 metre high block of kimberlite ore. Block caving, because of its high initial capital requirements, resulting in a negative internal rate of return (IRR),was ruled out as a feasible mining method for Koffiefontein Mine. Front caving is essentially a combination of the traditional block cave and sub-level cave mining methods, but uses two or more levels of retreating drawpoints. Two extraction levels, in the case of Koffiefontein Mine, are spaced 12 m apart vertically, with the upper 478 m level (48Level) acting as the undercut/extraction level, and the lower 490 m level (49 Level) as the extraction level. Caving is achieved by undercutting a small column of ore, which is then drawn, on both the 48 and 49 Levels, until the planned extraction percentage is achieved. The next column of ore is then mined by advancing the undercut (48 Level), and the process is repeated until the entire ore block is depleted to the contact. Caving-by-gravity techniques of mining rely on closely controlled draw of the caved ore to ensure proper caving action and to minimize the dilution of ore with waste material from the open pit. This paper discusses the need for, and implementation of, a draw control system at Koffiefontein Mine — a computerized production management system, and a draw control system based on linear programming, to allow control over the draw rate and mining sequence — a major factor in all production planning to optimize production efficiency, ore recovery and cave management. Keywords: Draw control, Koffiefontein Mine, Front cave, Caving

Sep 1, 2001

By P. C. Schutte, J. R. Smith

The objective of ergonomics is to enhance the effectiveness and efficiency with which human tasks are carried out. Furthermore, the objective is to improve desirable human values. This can be achieved by enhancing safety, reducing fatigue and stress, increasing comfort, increasing job satisfaction, having greater user acceptance and thereby improving the quality of life. Mechanization has influenced the prevalence of injury, mainly due to the application of human physical effort as the power source. With mechanization, the operator’s function is now essentially one of control rather than being an energy source, however the risk of injury has not diminished. Mechanization in itself has introduced inefficiencies, health risks and physiological stress. The major objectives of ergonomics are discussed through examples of acceptable and less successful implementation of ergonomics within mechanized mining. The influence of the machine system on the human is addressed and practical solutions to improve and optimize the interaction of the human and the machine are outlined. Furthermore, practical examples of control and display integration, anthropometric and biomechanic influences on design, orientation, posture and stereotypes are used to accentuate the advantages of the application of sound ergonomics principles to the specialised area of mechanized mining.

Sep 1, 2001

By T. Gibson

It is generally accepted that South African coal mines have gone through the mechanization of most of its underground mines, and while there certainly were a lot of productivity improvements, the lack of visibility on these machines operating underground still leave vast areas for improvement. The average actual cutting time still remains very low, in the 30 per cent area, which leaves significant improvement possible. Currently all analysis is carried out using hand-written reports. Unfortunately this is subjective and often inaccurate because of human interpretation. In addition in order to avoid costly component failure, a monitoring system is required to warn of eminent failures and condition monitoring. The challenge faced was to supply and install a system that was ‘Open’ and could be retrofitted to existing machines in operation because of the current standard of communication links to the underground sections. In addition it was intended to use, existing ‘off the shelf’ software and hardware and adapting this for the harsh underground mining conditions wherever possible in order to reduce costs. As development occurred, as with all technology, doors opened to other opportunities such as, remote access data logging and Internet based reporting. We focused on the Voest Alpine Bergtechnik (VA) range of continuous miners, as need arose to achieve the desired cost improvements because of the strategy of service contracts the subsidiary company, Voest Alpine Mining & Tunnelling (VAMT) offer the mining industry in South Africa. This paper describes a data logging system that has been installed on various continuous miners that provides data in real time, on line, and that could be expanded to any electrically supplied underground mobile or stationary mining machine.

Sep 1, 2001

By B. Zongwane, A. T. Visser

In surface mining operations, ultra-heavy trucks operate on haul road networks which are typically from 10–40 km in length. Road networks for these vehicles have historically been designed and maintained empirically, relying heavily on local experience. Whilst it is possible to construct amine haul road that requires no maintenance over its service life, this would be prohibitively expensive, as would the converse but rather in terms of vehicle operating and maintenance costs. An optimal functional design will include a certain amount and frequency of road maintenance which can be planned, scheduled and optimized within the limits of required road performance and minimum vehicle operating and road maintenance costs. For existing mine haul road networks, which may not be optimally designed and maintained, the problem of identifying existing deficiencies, quantifying their impact and assigning priorities within the constraints imposed by limited capital equipment and manpower is problematic. This is reflected in the fact that most surface mine operators agree good roads are desirable, but find it difficult to translate this into an effective road maintenance system. The aim of this paper is to present a road maintenance management system which utilizes on-board truck diagnostic data in conjunction with computer-based truck dispatch systems. Through a comparative analysis of the various haul road maintenance systems available to a mine, a condition-triggered road maintenance system is introduced. System architecture, evaluation of real-time data, event trigger level determination, specific condition signatures and real-time rolling resistance calculation are discussed. Finally the event, activity, transaction and notification system is portrayed in conjunction with the determination of key productivity indicators and benchmarked road and truck performance. Keywords: Haul road, maintenance, surface mining, rolling resistance, truck haulage.

Sep 1, 2001

By B. S. Spottiswoode

Lack of visibility makes it difficult for continuous miner (CM) operators to judge the desired sump depth. The resulting inaccuracies have proven to lead to significant production losses. This problem of measuring the depth of sump has been addressed in the past and a few measurement techniques have evolved. Despite various attempts, a suitable commercial depth of sump sensor does not yet exist. A system using the Doppler effect has been patented, developed and successfully tested. The method is non-intrusive and involves a beam of microwaves being projected obliquely at the roof. The received signal is analysed with respect to the transmitted signal, yielding the desired measure of displacement. Surface tests have revealed an accuracy of a few centimetres. Underground simulation tests on a load haulage dump (LHD) machine have verified the repeatability under the harsh conditions of interest. The system is presently being installed on a CM where it is to undergo a long-term performance evaluation. This paper presents the theory behind such a system, the hardware developed, the signal processing requirements and an analysis of the test results.

Sep 1, 2001

By T. Vincent, J. Steele, C. Debrunner, M. Whitehorn

This paper presents current work on the development and use of stereovision for underground mining. Information on the calibration of the cameras and the feature-matching algorithm are presented. This system uses an intensity-based approach that evaluated correspondences along the epipolar line. Once features have been identified and their distance from the cameras computed, a three-dimensional map of the muck pile is developed. The approach used here uses a ray-tracing algorithm. This approach provides an uncertainty measure along with the elevation. A discussion of the use of this modelling information in the control of the LHD is included. Keywords: Robotics, automation, LHD, underground mining, vision sensing, task automation, tele-operation

Sep 1, 2001

By G. R. Baiden

Introduction The introduction of teleremote systems to underground mining can provide a significant improvement in the performance of a mine when compared with conventional mining techniques. This paper presents the concepts of teleremote mining in a case study showing how the systems work and the competitive advantage autonomation of mining techniques will provide for underground metal mining operations into the future. This paper is divided into two sections: the Mining Automation Program and What is next? On January 1st 1996 Inco Limited, Tamrock Oy, DYNO Explosives Group and CANMET formed a consortium for the development of teleremote mining equipment called the ‘Mining Automation Program’ or MAP. This program included a five-year research and development agreement that combines the talents of the above organizations to create mining equipment and systems for autonomating mining. The projects are based on the communication system currently sold and marketed by Automated Mining Systems Limited. The main components of the program investigated the development of a positioning and navigation module, autonomated systems using teleremote techniques for development and stoping, and software systems to support the use of this equipment. The program included the establishment of a test mine, at Inco’s 175 Orebody near Copper Cliff North Mine. This facility was unique allowing collaboration of companies and research organizations inthe design and testing of techniques and equipment used to apply autonomation to mining. Since the inception of the project other research alliances have been added to enhance the program. These include the application of ground support (Meyco/ Master Builders), muck pile recognition, the broadening of telecommunications links (PRECARN Associates Inc.-MALTA project) and the collection and processing of drilling core through the automated diamond drilling project (J.K.S. Boyles). MAP began as an idea a number of years ago with the fundamental question ‘Can an ore-body be profitably mined through autonomation?’ The concept was to design mining equipment and systems that would allow the teleremote operation of a mine. Automation was only one componentof this much larger teleremote mining issue. To start with, it was essential to prove or disprove the feasibility of this concept. The fundamental requirements are: • Telecommunications • Positioning • Navigation • Equipment • Software • Electronics • Mining Engineering • Organization. Each of these had to be considered. Technically, the feasibility of the project hinged on the successful development of a high capacity communication network, an accurate underground positioning system, a navigation system and finally the electronics and software that could integrate these. Mining equipment that could perform all the mining functions was the next requirement, along with explosive supplies that could be delivered to the holes teleremotely. Whatever the systems developed, they must be able to work in both bulk and selective mining situations and in varying conditions within a mine. Finally, the organizational issues of a change from our current method of operation to teleremote mining had to be understood. After five years of research and development the answer to the question ‘Can an orebody be profitably mined using autonomation techniques?’ is YES! There are still hurdles to overcome, however, the basic premise has been proven. The development and production of underground tunnels and stopes has been done. There have been interesting outcomes in terms of reduced effort to accomplish mining and the total time to mine. Definitions •Automationis the process by which a machine or system is run continuously including the ability for the system to self-correct. •Autonomationis the same as automation except that the process does not self-correct. •Teleremote operation is the operation of mining equipment over a network from any location out of line-of-sight of the machine. •Equipment Automationis the addition of technology to a machine that allows for unmanned operation of a machine and thus enhances the productivity of the operator. For example, a guidance system that allows a load-haul-dump to drive by itself, thus freeing the operator for other tasks. •Teleremote mining describes a mine process that combines the use of teleremote operation (potentially with some automation), positioning and process engineering, monitoring and control. •Tamrock DataSoloTMis a computerized drilling rig as shown in Figure 1. •Tamrock DataMini™ is a computerized development drill rig used for drifting and construction tunneling as shown in Figure 2.•Tamrock Toro 450™ is a LHD (Figure 3).

Sep 1, 2001

By I. Wigden

This paper discusses system integration and installation of High-Tec systems in underground mines. ABB has the capability to be a System Integrator and co-operates with partners in different areas of technology. Today it is difficult to find one Company that is responsible for the complete Automation System. The design of the system is also dependent on the caving procedure that is currently being used in mines. Most of the engineering must be done during the feasibility study and the design phase. Any mistakes made during these phases will be costly to rectify in the commissioning phase. The paper will also include a presentation of the benefit of using Automation in an Underground Mine, and the importance of integration with the people component. Most of the experience and discussions in this paper are from different technologies that have been developed in Scandinavia and adopted from LKAB in Kiruna. The author of this paper was responsible for the Automation projects in Kiruna Mine during1994 - 1999. These projects include: • Broadband communication of data, audio and compressed video in one data stream. • Control System for Haulage -1045m • Automation of Load Haulage and Dumping machines (LHD) • Control of Production Drilling Rigs from a Central Control Room.

Sep 1, 2001

By P. Valicek, M. Farren, G. Harrison, G. van den Berg, P. van Dorssen, P. Kramers

Full mechanization of the stoping operation using rockbreaking methods other than blasting has been a target of research for decades because of the considerable payoffs in terms of increased face advance rates, productivity and safety. However, the unavailability of economically viable rock breaking tools has prevented progress so far. This has changed with the invention of activated cutting tools, which achieve significantly reduced operating forces, power consumption and wear compared to non-activated tools and thereby permitted the development and evaluation of the first mining system using this technology. Targets for the mining system were a face advance of 100 metres per month on a double shift basis for a 30 metre long panel and eventually fully automated man-free stoping. The purpose of this paper is to describe the design, development and evaluation of the mining system. This was a major collaborative effort between Anglo Platinum’s Rustenburg Platinum Mines Rustenburg Section — Townlands Business Area, Anglo Platinum’s Research and Development Department within the Mining Technology Division, the inventor of the technology Bechem GmbH, the equipment manufacturers Long-Airdox Ltd and Zollern GmbH, and CSIR Miningtek who managed the project. A structured process was followed during the development to minimize the risks involved in using such leading edge technology. The system was rigorously evaluated to ascertain the economic viability of the method and to collect data for the design of a production system.

Sep 1, 2001

By C. Mueller

In many automated mines, multi media video and audio funtionality has to be combined with sensor information or steering commands, which is the idea of a new, PC based integrated and multi media capable control system. The new control system (Multimedia Control - MMC) bases entirely on TCP/IP networking and internet technology. For the first time, this enables the ‘intelligent’ use of video and audio information: pictures and voice sequences may be forwarded on request only, they may be stored if particular events occur (e.g. video black boxes) and sensor signals as well as actions from the automation system can directly be assigned with multi media sequences. MultiMedia Control entirely bases on object oriented software. It uses most modern software technology. As user interface, only a standard web browser is required. This makes the handling of different machines easy. By using mobile web pads, dedicated local operator interfaces are not required any longer. The service staff just connects to the automated equipment by – wireless –LAN to make required adjustments. Customization is easy using an open Application Programming Interface. Software modules may be added to the system without touching or recompiling existing components. The system was prototyped in 2000 using a demo-application. The performance tests showed very positive results both regarding the control system behaviour and the speed/latency timing behaviour of the multi-media information processed. The system now is slightly reshaped to completely meet the final product requirements. It is expected to be available by the end of 2001. Key words: Machine Automation; Control System; Multi Media; Remote Control; Teleoperation; Ethernet; TCP/IP; Internet Technology; Streaming Video; Quality Assurance; Service; Control Centre.

Sep 1, 2001

By C. Mueller

Automation of mining operations is pushed by cost pressure and cyclical product prices. However, until now the different types of equipment were not able to communicate electronically with each other or with central computer systems. Therefore, the International Rock Excavation Data Exchange Standard (IREDES) was launched by major players in the industry. The task of this initiative is to define a ‘common electronic language’ for easy and standardized data exchange. As in other industries, this standard is expected to have significant impact on the use of automation in general and on the markets for third party components and software. The standard’s technical architecture is open and flexible for future applications. It consists of an ‘horizontal’ structure defining ‘Application Profiles’ for different types of data sets. An additional ‘vertical’ structure (‘Equipment Profiles’) implements equipment dependent definitions for each of the applicable Application Profiles. First profiles will be available for Drill Rigs. The standard bases on the XML language thus enabling easy data exchange with commercial databases. IREDES data sets may use storage media as well as networking infrastructures for information exchange. The IREDES work is carried out by the initiative members working jointly together in the IREDES work groups. It is open for participation of all interested organizations. First prototyping applications are expected to start during 2001, the first products may be available in the following year. Key words: Mine Automation; Machine Automation; Data Exchange; Rock Excavation; Standard; Remote Control; Teleoperation; Ethernet; TCP/IP; Internet Technology; Service; Quality Assurance; Control Centre;

Sep 1, 2001

By R. Hummel

In the quest to reduce overall costs and improve operating efficiency, the application of GPS based technology in open pit mining has evolved significantly in recent times. Venetia Mine has been leading the way in the De Beers group in the implementation of these systems and the realization of significant benefits from them. Following on from the successful results and the notable benefits obtained from the Wenco Truck Dispatching system and the Caterpillar CAES system on the loading and dozing equipment, Venetia has implemented the first fully functional and integrated GPS based drill monitoring system in southern Africa to its drilling operations. This paper elaborates on the concept of drill monitoring and how the vision for the application of the system at Venetia has developed and been implemented. The paper further describes the workflow involved, beginning with the initial test work done with SSI Kaltex and the Australian Drill Advisor system through to the final details of the integration of the Aquila system with the CATERPILLAR Computer Aided Earthmoving System (CAES) and the alliance with SandvikRock Tools. Most importantly, the paper details the benefits that are derived from drill monitoring and the use of the information generated by such a system. Venetia has pioneered the move towards smart partnerships and alliances with strategic suppliers within the De Beers group. The area of drilling, as the important start of the entire mining process, has been no exception and the final part of the paper covers how drill monitoring provides vitally important information that enables a supply partnership, to function cost-effectively and profitably for both parties involved. By having the type of accuracy, detail, validity and timeousness in the information being received as a result of the implementation of such a system, better management decisions can betaken, creating a more focused and efficient mining environment. In these times of increasing costs and reduced commodity prices, the mining industry will be required to continue pushing the boundaries on these technology applications in order to remain competitive.

Sep 1, 2001

By M. W. Grodner, J. Maaren, G. Guler, J. K. Schweitzer

The selection of the most suitable mechanized mining strategy has to consider the geotechnical environment in which it will be operating. A mechanized mining method or machine is designed to a given set of specifications to work within an environment. The geological conditions that define this environment are fixed—detailed information of these conditions for design specifications is thus critical. Two major classes of geotechnical parameters are defined—critical and design. The critical controlling factors are a result of mineral composition, size, shape, abundance, assemblage and associated texture, as well as discontinuity type and orientation. Design parameters are specific to each deposit, and their nature cannot be broadly described, as with the critical factors. It is shown that for major deposits in South Africa, namely the Witwatersrand Basin (gold), the Bushveld Igneous Complex (PGEs) and the Karoo Coalfields that by incorporating geological and geotechnical information that appropriate mechanized mining methods can be deduced, and that the performance and design parameters of specific technologies can be determined

Sep 1, 2001

By J. A. Voster

Premier Mine (a part of De Beers Consolidated Mines Ltd) which is situated 38 km to the east of Pretoria, has the largest known diamond pipe in South Africa. The mine started operations in1903. The Premier Mine kimberlite pipe is unique in that it is intersected by a 75 m thick gabbro sill at a depth of 400 m below surface. The current mining method used is mechanized panel retreat caving, which has been successfully used to extract ore from the different mining blocks. All caving at Premier Mine is below the sill and failure to exercise good draw control could cause the early ingress of gabbro waste. Draw control at Premier Mine is crucial as it aids in preventing conditions of isolated draw, which results in the early ingress of waste, compaction of the kimberlite and the loss of ore reserves. To assist, an underground vehicle monitoring and control (VMAC) system was installed to enable the effective management of the draw control function. The system has evolved graduallyin collaboration with a local developer. The data accumulated is used to decide the most effectivedraw point loading pattern in order to achieve sound draw control principles. This is achieved as each load can be related back to the draw point of origin. The VMAC data recorded also relates back to specific load-haul-dumps (LHDs), tunnels, ore passes, as well as indications of dates, times and payloads recorded. An interface exists between the VMAC and a draw control linear program. Premier Mine’s VMAC system is not a ‘dispatch’ system but rather a draw control system that caters for Premier Mine’s specific block cave requirements. Premier Mine has realized that successful automation is not dependent on technology alone but rather on the successful implementation thereof.

Sep 1, 2001

By Penswick D.

From the perspective of management control, most mining operations can be represented by a hierarchy comprising four layers. The base of this hierarchy consists of the individual pieces of equipment that are used to break and transport rock. The next level comprises the coordinated interaction between different pieces of equipment, termed a process. An operation results from the bringing together of different processes within a common discipline, such as mining or hydrometallurgy. Finally, an enterprise is formed when the separate mining, concentrating and smelting business units are combined. To date, much of the literature written on the topic of mining automation has focused on the equipment level, specifically on removing the operator from production mining equipment. This focus should not, however, overshadow advances registered in automation at both the process and enterprise levels. Only at the operations level of the hierarchy has little progress been made. While automated equipment, process management and enterprise resource planning are a current reality; it is argued that the benefits from automation have, to date, been largely elusive. It is further argued that full benefits of automating other levels will only be fully achieved when this ‘gap’ in the mining automation hierarchy has been addressed and an uninterrupted, process-wide information flow across the entire operation is achieved. Furthermore, it will be reasoned that so-called vertical integration can only be achieved with an automated operational level in place. It is believed that all the necessary building blocks are in place and that the industry is ready for this development. The paper concludes by presenting a vision for what operational level automation would achieve.

Sep 1, 2001

By P. A. Corbeil, C. Swart, F. Miller, V. Falmagne

Automation technologies are increasingly adopted in different mines worldwide. This paper presents the technical aspects of vehicle automation applications at two Noranda operating mines. Teleoperation of 5 LHD’s at Noranda’s Bell Allard mine is used in order to meet aggressive mining requirements under difficult conditions. The equipment is performing under high demand for reliability and performance. In order to further increase performance, automated loading has been commissioned on one of the LHD’s and is being tested. Results to date indicate improved performance with respect to an operator through better filling of the bucket, fewer passes at the muck pile and shorter cycles. Noranda’s Brunswick mine is currently commissioning an automated haulage zone where two optically guided trucks transport ore from a remotely operated chute to two ore passes. Expected operational advantages include increased system capacity and enhanced safety and comfort for the operator. Monitoring to date indicates that the trucks can operate reliably under the conditions imposed by mine production.

Sep 1, 2001

By A. Miller, M. Bétournay

The main objectives of the Mine Mechanisation and Automation program (MMAP) are to enhance health and safety in underground mining operations, facilitate mechanization and automation in narrow- vein and deep mines, provide sound science to regulatory agencies and improve mine profitability. The program, which has a unique underground and surface industrial scale facility, is involved in many multi-partner projects, like hydrogen fuel cell applications, electrification and hydraulification of underground mines, reduction of noise and vibration, miner location device, explosive-free blasting and hoisting. The paper presents an overview of the Mine Mechanisation and Automation Program of Natural Resources Canada and some of the main projects.

Sep 1, 2001

By S. Z. Shkundin

An evaluation of the accuracy of tachometric and hot-wire anemometers in mine workings and gas-media ducts is given. The acoustic means of gas flow rates measurement is considered with particular reference to the equations of acoustic waves propagation in aerodynamic fields. The paper defines how it is possible to minimize the error of integrating acoustic anemometers.

Sep 1, 2001

By M. H. Lampen

The SILAG Material Tracking System MTS monitors and controls the complete material flow throughout the plant - and even companywide. The customized system developed by Siemens especially for bulk material handling applications enables companies to track bulk material from the mine to the harbor, to the steel mill or to the power plant. All relevant material data is available at every single step of the material’s journey. SILAG is an open, scalable system based on Windows NT / 2000. Using standard interfaces of Windows NT, like API, ODBC, SQL and socket technology, the system is very flexible and can easily be tailored to meet different requirements. SILAG can be used as a stand-alone solution or - if complete plant control and visualization is required - as a component of a fully integrated automation system with the Win CC HMI system and the PCS7 process control. In contrast to conventional material tracking systems, SILAG offers many advantages. - The Material Tracking System is an object oriented, online to the process, linked system. All changes in the plant during operation e.g. selecting another conveyor route, start and stop etc. will be automatically detected and will influence the calculation. - The systems is able to split and blend material (quantity and quality).Measurements of tonnage, volume or quality analysis can be linked online to the system. Each movement of material is monitored by the system and leads to online recalculations of the images and databases. - All material data is based on 3D-stockpile images, which are calculated by an internal mathematical model based on quantity and quality information. - If a laser scanner is available on a stockyard machine it can be taken to update the profile directly from the piles. - Efficient control and report functions are available on each, free selectable point of the total plant.

Sep 1, 2001