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By Loui Geoffroy, Philippe Gaultier, Martin Piotte, Claude Coache, André Drouin

"Automatic driving at high speed of an underground truck was tested at Brunswick mine in September 1995. Modifications to the truck included: a remote interface to control actuators, front and back video cameras to follow a roof mounted optical guide and proportional hydraulic controls on the steering.The mathematical model of the hydraulic system was adjusted using least square regression. The steering data, used in calculating the regression parameters, were acquired from the moving truck. The automatic steering control used three measured variables: lateral deviation, angular deviation and steering angle. Lateral deviations are obtained using the cameras, which are in continuous view of the guide, while steering angles are acquired from an extensiometer placed at the articulation point of the vehicle. Gain scheduling was used to compensate for vehicle speed and available hydraulic flow. Non-linear characteristics of the modeled hydraulic system were offset using open loop compensation.Speeds up to 23 km/h in forward direction and 13 km/h in reverse were achieved deviaduring continuous testing along one of the mine’s production drifts. Proportional steering was essential in achieving high speeds, as it enabled more precise positioning of the vehicle’s steering direction while reducing the abuses on cylinder and cylinder pins via diminished oscillations about the optical guide at high speeds."

Jan 1, 1997

By Derrick Hunter, Pat Feighan, Keith Chrystall, David Wells

"Equipment which may be remotely operated, has some degree of on-board intelligence, and which for periods of time may operate autonomously, is referred to as telerobotic. Recent advances in electronics, computers and hydraulic equipment have dramatically reduced the cost and simplified the process of converting standard industrial equipment to telerobotic control. The benefits of telerobotic equipment include improved safety by removing the operator from dangerous situations, reduced maintenance costs and increased productivity. This technology has been proven in various military, nuclear, and police applications.The surface mining industry has expressed an interest in automation and is characterized by a willingness to use remotely operated equipment, however, the majority of telerobotic equipment currently in use is experimental or prototypical. Potential applications of telerobotic equipment for surface mining include remote operation of equipment near dangerous high walls and other unsafe areas, utilization of robotic trucks for routine hauling operations, and control of jointed equipment. In addition, component technologies of telerobotic systems are relevant to various forms of condition monitoring, operator feedback systems, and vehicle positioning.Attention must now be directed toward resolving more complex problems associated with enhancing feedback to the operator, improving the man/machine interface, and ultimately, improving efficiency. Removal of the human operator from the work site introduces significant complications in replacing the sensory inputs that an operator normally uses to efficiently run his machinery. These can be difficult to define and even more difficult to replicate remotely and may include restrictions pertaining to vision, hearing, and touch.In cooperation with Defence Research Establishment Suffield and the Alberta Research Council, Robotech Industries Ltd. is pursuing the development of additional technologies to further enhance an operator’s ability to control remote telerobotic equipment. These developments include a head-mounted display, additional control station displays and improvements to coordinated motion control software. Prototypes of these developments are expected to be completed and tested by the fourth quarter of 1997."

Jan 1, 1996

By Konstantin G. Ashkinadze

The paper considers performance of piles supporting transient pipe anchors in heavy industrial pipelines. Events such as pump trips or opening and closing of large valves produce short-term dynamic pulses in the pipeline with variable spectral characteristics. Their magnitude is large enough to cause major damage to the pipeline and its anchors, which face horizontal impact loads amounting to hundreds of kN. Design of pile foundations supporting these anchors is often governed by limitation of deflection of the support to prevent overstressing pipeline connections and equipment nozzles. The maximum deflection does not always correspond to the largest load because the stiffness of the soil surrounding the piles heavily depends on the rate of loading. Faster actions encounter stiffer soil response while loads of smaller magnitude applied slowly may be more critical for the deflection time history of the anchor. A typical transient action has both high- and low-frequency harmonics, which makes the response complex. Using load rate-dependent p-y curves published in literature, the paper develops methods of analysis of pile foundations for transient anchors. Pile displacement amplitude – input frequency – natural frequency correlations and time histories of pile response are constructed for typical profiles of transient actions, considering nonlinear soil response to large horizontal loads.

Jan 1, 2016

By P. M. Lin

This paper presents an overall stabilization method to eliminate the potential of reoccurrence of subsidence over abandoned mine lands. The method considers column grouting at the specific locations inside the subsidence influence areas including the distressed and stress concentration zones instead of grouting' around and beneath the damaged structures. The later method is commonly used for AML subsidence abatement at the present. By using finite element method the conditions of stress distribution in the strata before and after grouting can be calculated. The design of grout pattern includes the location and number of the grouting holes. Based on the calculation, the proposed method significantly reduces the stress concentration, i.e., the potential of reoccurrence of subsidence can be reduced or eliminated. A comparative analysis including number of grouting holes, grout affected area, stress level, and potential of subsidence reoccurrence will also be presented.

Jan 1, 1990

By Martin S. Oudenhoven

This Bureau of Mines report presents the results of a microseismic study conducted in the Climax block cave mine at Climax, Colo. Rock noises created by caving were monitored and their sources located during a 3-month period. A planar array of seven accelerometers, located above the block of ore being caved, detected the rock noise. A computer was used to calculate the location of the microseismic activity, using a traveltime difference method. The accuracy of these locations was estimated to be ±20 feet. An analysis of the data taken during the recording period showed a concentration of microseismic events located in the wall of the cave panel. This concentration of events was found to occur in a "high-silica" geologic forma-tion that cut across the caving panel approximately 200 feet behind the undercut.

Jan 1, 1973

By F. Djahanguiri

The U.S. Bureau of Mines is conducting research on underground stope leaching of metalliferous ores to minimize the environmental impact of ore processing on the surface and to maximize minable reserves. An aspect of this research is to minimize pregnant solution losses and/or groundwater contamination by leach solutions. Bulkhead design and construction are important issues for solution control and stope leaching economics. A reinforced concrete bulkhead was designed, constructed, and tested for solution control in an underground mine near Idaho Springs, CO. This paper presents the bulkhead design methodology and construction procedure.

Jan 1, 1995

By Pratik Goel, Sumanta Haldar

High-speed rail is an emerging area of interest in India. The Government of India is implementing prestigious bullet train projects in various parts of the country. High-speed rail (HSR) will be operating in India at about 320 kmph at an elevated track on a viaduct for most of the ongoing and upcoming corridors. High-speed projects in India necessitate an indigenous solution for design applications for viaduct design. Pile groups are extensively used in viaducts for high-speed trains, as they can be a settlement reducer and increase the bearing capacity. Post-construction settlement of pile foundation for high-speed railway viaduct is a concern of engineers. Limited attention has been paid to estimating the post-construction settlement. This paper aims to propose a prediction of the cumulative settlement of pile groups due to cyclic train loading. A three-dimensional finite element model (3D-FEM) of the pile group is established in Abaqus CAE. A suitable plastic model is used to simulate the subsoil. The pile group is modelled as an isotropic-elastic element. The study examines the influence of cyclic loading time and train speed on the settlement of the pile group. The analysis is carried out considering various single pile and pile group parameters like S/D, Ep/Es, L/D, Pile cap thickness, etc. and finally, an optimum configuration is suggested.

Sep 1, 2022

By Charles Will Wright

ITALY is by- far the poorest in mineral resources of the so-called great pou7ers of Europe. Before the World War this shortage was not so serious as the essential minerals that could not be mined domestically at a profit were bought in the world markets. In those days tourist trade and remittances from Italians abroad helped to provide Italy with foreign exchange. During the World War, when certain mineral products were scarce and when prices rose in some instances to several times normal, the Italian Government began to regulate consumption and imports. It was not until later, when the Fascist regime established the corporate state, that Italy seriously considered adopting a of self-sufficiency. Private industry was grouped under separate corporations, for the principal industries; including mining and metallurgy and the heads of the large producing companies, became members of these corporations. Industrialists were thus able to regulate their own affairs and to advise the Government as to the measures necessary to meet domestic or foreign trade demands upon their industry. Labor was or-

Jan 1, 1939

By H Ishikawa, S Palaniandy

The gravity-induced stirred mill such as the TowerMill is an energy-efficient grinding solution used in secondary, tertiary, and regrinding duties in the mineral processing concentrator. The interest in this technology is emerging, with more than 300 mills installed globally in various grinding duties and commodities for the last 30 years. Although the technology is matured, there are still opportunities for improvement and the development of new knowledge to improve its circuit energy efficiency and reduce water consumption. Recent studies show that a combination of stress intensity, ore hardness, slurry density, and mill feed configuration can be used to evaluate the performance of the grinding circuit. A recent pilot-scale TowerMill test work at various stress intensities shows that a lower operating work index and size-specific energy were achieved at higher agitator tip speed and using medium size grinding media. These outcomes were confirmed through several site trials. A smaller 17 mm grinding media has reduced the operating work index and size-specific energy by 18 per cent and 11 per cent, respectively, compared to the 20 mm in a magnetite concentrator. Moreover, the conversion from top feed to bottom feed configuration has reduced the operating work index and size-specific energy by 13 per cent and 37 per cent, respectively. The circulating load was reduced by 34–38 per cent, leading to a reduction in the dilution water consumption in the hydrocyclone feed sump by 20 per cent. A variable frequency drive offers flexibility to change the stress intensities on the TowerMill, where a 35 per cent reduction in specific energy was achieved when the ore became soft. This paper explores the potential design and operating strategies that can be implemented to enhance the energy efficiency, reduce water consumption and reduce CO2 emissions in the circuit and finally evaluate its impact on the total cost of ownership.

Aug 24, 2022

By P. A. Bepswa

A numerical study done to test the efficacy of heuristics developed for the design of measurement networks for high precision metallurgical accounting is presented in this paper. The heuristics considered were designed to maximise variance reduction of terminal stream measurements through data reconciliation for observable linear flow systems. A complex metallurgical process flow sheet from the mineral sands industry was used as a case study. Monte Carlo type simulations coupled with a non-linear programming based steady state data reconciliation algorithm were used as tools to investigate the heuristics. The results obtained suggested a close correlation between magnitudes of measured variances and the respective levels of variance reduction obtained through data reconciliation for both internal and terminal streams. It was observed that variance reduction through data reconciliation was maximised for terminal stream measurements in networks characterised by high precision measurement of internal streams and/or in flow sheets characterised by high ?stream to node ratios?. Terminal streams attached to highly interconnected parent nodes were observed to experience higher reductions in variance compared to terminal streams attached to less interconnected parent nodes. The results generally highlight the additional benefits of highly interconnected flow sheets and high precision internal stream measurement regimes on the maximisation of variance reduction of terminal stream measurements through data reconciliation. These findings are significant to metallurgical accounting and to process accounting applications in general in that they provide a conceptual basis for design decision making regarding the construction of measurement networks aimed at maximising variance reduction of targeted streams through data reconciliation.

Jan 1, 2014

By A Campbell

Open pit blasting at Ernest Henry Mining has the potential to cause damage to nearby underground workings. This paper is a case study of the blast vibration management project that was conducted to ensure open pit blasting did not adversely affect the stability of upper production levels or cause damage to the underground primary fan units. The two upper levels of the underground mine surround the lower portion of the open pit mine. The remaining underground mine workings are directly below the open pit mine. This paper details the process developed to prevent open pit blasting causing excess vibration in the underground mine. Measurement of test blasts combined with historic blast monitoring data was used to determine site specific blast vibration parameters. Threshold vibration levels for blast-induced damage to underground drives and the fan chambers were developed from benchmarking and non-linear numerical modelling. A Monte Carlo simulation model was used to predict vibration levels in critical underground areas. Blasts predicted to exceed maximum vibration levels could then be redesigned to avoid damage.A scale distance law for determining peak particle velocity (PPV) from the distance and charge weight of blasts was developed. Underground observations were used to develop a site-specific relationship between PPV and ground support/rock mass damage. A Monte Carlo superposition prediction model was developed and compared to measured data to refine input parameters. Standards for redesigning open pit blasts in order to reduce blast vibrations whilst minimising impacts on productivity are described. Non-linear numerical modelling was used to establish the dynamic capacity of the fan chambers, and set a PPV of 250 mm/s as a threshold for damage. The numerical model captured the full dynamic behaviour of the fan chambers and installed support, including transient stresses, strains and induced damage, when subjected to a simulated open pit blast.This case study also outlines a procedure for monitoring and predicting blast vibrations at other mine sites where open pit blasting has the potential to impact on a nearby underground mine.

Nov 8, 2011

By R W. Henley, L Knuefing, M Turner, Y Zhang, M Saadatfar, A Limaye, R Cruikshank, M A. Knackstedt, A Kingston, L Beeching, N Francois

A better understanding of ore fragmentation and the textural features of ore is a key to the energy efficient extraction of targeted minerals from low-grade ore deposits. In this study, X-ray microcomputed tomography (micro-CT) is employed to study mineral liberation during the tensile failure and onset of fragmentation of a copper ore. Our results show that X-ray micro-CT could inform new studies of ore micromechanics and fragmentation at the laboratory scale and may offer new avenues to address current challenges in the design of efficient comminution processes. We present the results of experiments based on a high-pressure apparatus enabling micromechanical studies to be carried out in situ (inside a micro-CT scanner). This platform produces high-quality 3D images of the evolution of a sample of porphyry copper ore during an in situ fragmentation test. A sequence of tomographic images enables mapping in 3D of both the deformation of mineral phases and the fragmentation process. The fragmentation occurs quasistatically through multiple stages starting with an initial tensile fracture splitting the ore diametrically, followed by tensile-activated nucleation and growth of multiple fractures producing a complex fracture network. Coupling breakage with microstructural information enables quantitative determination of the impact of ore texture heterogeneity on fracture patterns and mineral liberation. This microstructural information can be compared to key measurements of the ore mechanical behaviour such as the global deformation energy, strain deformation field and the stress relaxation response. The latter allows one to identify interesting precursor signals of the tensile failure. The copper liberation, fragment size distribution and breakage patterns are statistically characterised and related to comminution mechanisms which are clearly identified in the sequence of tomographic images. The two dominant mechanisms are rock-rock friction/compression induced by fracture closing and compression-driven fragmentation at rock-crusher contact points.

Aug 24, 2022

By Christophe H. Locussol

D.C. United, the professional soccer team located in Washington, D.C., completed a 20,000 seat capacity stadium in July 2018 named Audi Field. The project initially considered a foundation system consisting of roughly 800 prestressed concrete driven piles configured in groups with pile caps. A value engineering alternative proposed in a design-build manner ultimately resulted in the use of 300 single element Auger Cast Piles (ACPs) for the foundation system. The ACPs ranged between 1.5 ft and 4 ft in diameter, were up to 85 ft in length, and were connected through a system of grade beams to accommodate large lateral induced loads. Limitations in conventional analytical methods were encountered during the structural design of the piles due to the complexity of the lateral loading and pile fixity conditions. An innovative approach using advanced finite element modeling that incorporated the framing effects of the grade beams was required to meet the strict movement criteria despite large lateral loads.

By J. A. Finch

For base metal sulphides, iron rejection starts in mineral processing. This review focuses on the changes in plant practice specifically to improve iron sulphide rejection by controlling contaminant ion effects and discusses selected innovations in mineral processing that can be expected to play a role in iron control. One change to control contaminant ions is size reduction (the use of stage grinding and inert stirred milling) and another is system chemistry (order of reagent addition and exploitation of the flexibility of sulphoxy species). Plant examples illustrate the successes, and indicate that there are several options available. The general innovations consider the new tools for measuring gas dispersion properties and quantifying froth characteristics from images. Examples of their application to improve concentrate quality illustrate the potential. Other innovations adapt geostatistics to model variations in ore flotation response to provide feed forward control and rigorously apply the statistical experimental methodology in plant test work. An example from one concentrator shows that significant improvements to reduce the iron content of concentrates can be achieved by applying these basic principles.

Jan 1, 2006

By M. Barsky, E. Barsky

It is generally accepted that the optimal flow velocity for gravity classification is the final particle settling velocity or, which is the same, the particle spin velocity. However, we have found differences between the settling velocities and the spin velocities of the very same particles. Here we present the results of experiments in a cascading gravitational classifier comprising eleven stages. The feed material was introduced at each stage successively, from the first to the eleventh. The optimal flow velocity was determined for each case. From these experiments it follows that the value of the optimal flow velocity depends to a greater extent on the point of introduction of the feed (i.e., on the design of the device) than it does on the interaction between the solid phase and the flow.

Jan 1, 2003

By Karl Gugel, Dante Garcia, Peter Czel, Eduardo Nunez, Joshua Morales, Boris Sullcahuaman

Real-time operational excellence is achieved through the seamless integration of various components. Key aspects include precise instrumentation, real-time data collection, data analytics, and an efficient optimization platform. Additionally, to ensure success, the real-time optimization platform must be incorporated into the site’s internal process control system (Nunez, 2022). This paper provides an overview of practical lessons and best practices for autogenous (AG), semi-autogenous (SAG), and ball mill (BM) grinding. It highlights the implementation of advanced instrumentation, specifically vibration sensors on the rotating mill shell. The paper also delves into the application of advanced analytics necessary for generating new measurements that accurately represent real-time grinding activity in the mill. These Advanced Analytics Measurements (AAM) are compared with well-known grinding curves to determine the optimal grinding point. The discussion focuses on key industry opportunities using real-time mill shell vibration results to derive new correlations and optimize the grinding process.

Feb 1, 2025

By Verônica Scarpini Candido

O uso cada vez mais frequente do poli metacrilato de metila (PMMA), muitas vezes em substituição ao vidro temperado, se deve a sua alta rigidez, praticidade, leveza e transparência. No entanto, as normas de fabricação atuais na indústria de polímeros recomendam testes específicos nesses materiais. O presente estudo tem o objetivo de testar mecanicamente as propriedades do material Polimetacrilato de Metila (PMMA) em condições que simulem um ambiente muito mais agressivo do que o usual. Para tanto foram realizados testes de espectroscopia na região do infravermelho (FTIR), análise termogravimétrica (TGA), testes de tração e impacto Izod, e análise por Microscopia Eletrônica de Varredura (MEV). Os resultados revelaram que o Polimetacrilato de metila (PMMA) manteve suas propriedades mecânicas em tração até a temperatura de 105°C. No que se refere à resistência ao impacto, a temperatura influenciou negativamente no desempenho desse polímero.

Oct 30, 2017

By S A. McManus

With the advances in software speed and capability, many of us now are running multiple scenarios on entire models rather than just testing small areas or a few blocks. In the authors experience both the geological and geostatistical academic theory and our rules of thumb, often prove un-useable or incorrect in the real world we work in. The only way to truly validate and tune our models is to complete the entire model and ‘see if it works’. If it lacks some property we were expecting, then we need to find out why and/or run different scenarios to see what changes. This is not always possible with tight project timelines but we find ourselves doing more and more of this sort of thing, and in so doing, understand that every deposit is different and requires its own ‘rules’ to get valid and useful results. For the purposes of this paper, this process is termed Empirical Geostatistics. Take Clayton Deutsch’s ‘all realisations all of the time’ concept a step back. Before you even think of simulating, test the alternate realisations generated by alternate parameters such as different domaining, varying search neighbourhood parameters etc.

Mar 22, 2022

By M Steinberg, M Amarant

Upstream Classifier are well-known in the iron ore industry for at least 15 years. At present, more than 60 units are in operation in Western Australia. The advantage of this technology is their capability to produce three products with one equipment – iron ore concentrate, iron ore middlings for further processing and slimes (tailings). The principal of this beneficiation process – upstream classification and upstream separation – will always remain. However, the optimisation of the classification and separation efficiency of the equipment itself is a continuous process driven by enhanced automation and instrumentation, design changes and the use of upstream and downstream information and requirements. Besides efficiency, the safety, maintenance and replacement conditions are very important subjects for the operation of an iron ore mine. The aim of this paper is to present a new allflux® upstream classifier design, which has been developed together with several iron ore producer from Western Australia. The new design benefits from its sustainability approach by dividing the entire equipment into small reusable parts. As a result, maintenance is minor, replacement much faster, lifetime much longer and costs much lower. Furthermore, it demonstrates new features to prevent hazardous working conditions such as confined space as well as new fixing devices to speed up the replacement of certain items and parts.

Sep 18, 2023

By L. S. Gertsch

The production of minerals for human use at locations other than the Earth is expected to ?advance ? human prosperity in ? ways that [do] not compromise the potential prosperity and quality of life of future generations? (Brundtland, 1987); in other words, sustainably. This paper examines the interaction of extra-terrestrial mineral production (ETMP) with the following sustainability imperatives: ? The sustainability of human activities on Earth; ? The sustainability of human activities elsewhere; ? Human survival in general, the ultimate sustainability goal. Some of the consequences of mineral production on Earth are widely considered to decrease the future prosperity and quality of human life. Examples include noxious by-products or wastes and unsettling economic up- and downswings. Moving mineral production activities to extra-terrestrial locations, where appropriate, will decrease many of its deleterious effects. Terrestrial mineral production presently is decreasing in some countries and increasing in others, moving from the cheaper and easier ores to more expensive, difficult materials. When the full costs of maintaining the terrestrial environment in a sustainable manner are included, total mineral pro-duction costs must increase. The cost of extracting mineral products from extra-terrestrial sources will be substantially higher, especially in the initial phases, but as the full costs of terrestrial production increase, at some point in the future (different points for different minerals), the curves will cross (Fig.1). This will occur at different points for different materials, a process whose prediction will be complicated by substitution of cheaper materials for some uses as prices of the original material rise. In summary, mineral products from extra-terrestrial sources will tend to increase the sustainability of human civilization, once steady state has been reached.

Jan 1, 2014