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By D. Weston

"IntroductionIn preserving this paper, the author would like to acknowledge the basic development work carried out by the Consolidated Mining & Smelting Company of Canada, without whose initiative the development of the Aerofoll mill would not have been possible. In particular, he would like to pay tribute to the late Mr. C. T. Oughtred, Superintendent of Concentration for Cominco, whose vision and research-mindedness was the chief contributing factor in the carrying alo.ng of the original development.He would like also to acknowledge the help and co-operation of the staff of the Mines Branch, Department of Mines and Technical Surveys, Ottawa, without which the finalization of the un.it and its application would have been many additional years in coming to industry; and the assistance and encouragement given so freely by Mr. C. W. Dowsett, Consulting Metallurgical Engineer, Ventures Limited, and Professor A. M. Gaudin, Massachusetts Institute of Technology."

Jan 1, 1950

By P. Lausch, Z. X. He, J. F. Archibald

"Documented underground fill failures have resulted because of the lack of adequate knowledge concerning fill strength and other physical parameters, as well as to a lack of consistent quality of fill materials being used by operators. On the basis of literature review and correspondence with backfill operators at 18 mines throughout the province of Ontario, non-systematic quality control procedures have been shown to exist, both within different levels of single operations and between separate mining operations, which act to provide inferior engineered fill materials and erratic application response in situ.Assessment of existing procedures set by mine operators for determining backfill physical parameters, and recommendation of optimum fill material testing and manufacturing guidelines are presented in this paper.A series of standard fill characterization test procedures are recommended to provide substantial, though not comprehensive, fill behaviour review. The purpose of these recommendations is to propose industry standards for backfill quality review. Data acquired could be utilized for fill design functions and as a means of comparing fill quality parameters between sites in a regular and more systematic fashion than is presently done."

Jan 1, 1993

By N. A. Beier, R. Amos, Smith. L., C. Atherton, D. R. Barsi, D. Blowes, D. C. Sego

"Waste rock is one of the most abundant materials at mine sites and must be properly characterized and managed to limit acid rock drainage and other harmful byproducts. An experimental waste rock pile—part of the test piles research program—located at the Diavik diamond mine (Northwest Territories, Canada) was deconstructed and sampled to study the spatial variability of material properties. Bulk samples were classified based on the amount of material finer than 4.75 mm. Hydraulic properties of each sample were estimated and particle size distribution analysis was completed. These datasets and classification methods might be used to improve the understanding of hydraulic and geochemical behaviour of the material and to study waste rock at other sites. ¦ KEYWORDS Acid rock drainage (ARD), Material classification, Particle size distribution (PSD), Waste rock RÉSUMÉ Les stériles font partie des matériaux les plus abondants sur les sites miniers et, en tant que tels, doivent être correctement caractérisés et gérés afin de limiter le drainage rocheux acide (DRA) et la pré¬sence d’autres sous-produits nocifs. Dans le cadre du programme Test Piles Research Program, un amas de roches stériles expérimental situé à la mine de diamant Diavik (Territoires du Nord-Ouest, Canada) a été décomposé et mis à l’essai afin d’étudier la variabilité spatiale des propriétés des matériaux. Les échan¬tillons en vrac ont été classés en fonction de la quantité de matériaux plus fins que 4,75 mm. Les propriétés hydrauliques de chaque échantillon ont été estimées et l’analyse de la composition granulométrique effectuée. Ces ensembles de données et méthodes de classement serviront à mieux comprendre le com¬portement hydraulique et géochimique du matériau et à étudier les stériles sur d’autres sites. ¦ MOTS CLÉS classement des matériaux, composition granulométrique, drainage rocheux acide (DRA), stérilesINTRODUCTION Statement of problem The characterization of mine waste rock remains a challenge in active mining sites. The large volume of material and the large size of particles make it difficult to collect representative samples. Sampling techniques are often dis-ruptive to mining operations because they alter the structure of the waste rock pile or interfere with mine traffic. The convention at most mine sites to collect little to no information on waste rock material means that models and predictions of how waste material will behave and interact with the surrounding environment are based on general information that might not be site specific. This could lead to environmental damage or higher costs if environmental effects are underestimated during the construction of waste rock structures."

Jan 1, 2019

The process of gold recovery by gravity concentration is incorporated in the metal recovery flowsheet at seven Newmont Mining Corporation owned mining operations in Australia, North America and Africa. In 2009 gold recovered by gravity processing was equivalent to nine percent of Newmont's total gold sales of 5.3 million ounces. This paper will discuss these applications in detail including a review of plant flowsheets and presentation of recent operating results. Operating performance will be discussed with reference to ore characterisation procedures, interpretation of results, design considerations and optimisation practices as they relate to the recovery of gold by gravity concentration.

Jan 1, 2011

By David J. McDougall

"IntroductionThe production of pig iron, wrought iron bars and castings in Quebec during the 18th and 19th centuries has been so closely identified by historians with the Forges du St. Maurice on the St. Maurice River a few miles north of Trois Rivières (Three Rivers), that one is sometimes left with the impression that it was the only iron works that ever operated in the province. There were however, about twelve others, one of which was so completely re-built that it should probably be considered as a separate entity. All but two were constructed after the midpoint of the 1800s, coinciding with the growing Canadian demand for ""charcoal pig"" for railway car wheels and castings for industry, and about half of them were technically, if not economically, successful. The misconception about the Forges du St. Maurice may have come about either because of its long history of somewhat less than continuous production over a century and a half, or a tendency of Quebec historians to concentrate on events in the French-Canadian rather than the English-Canadian milieu, but whatever the reason, the other Quebec iron work s have been generally ignored. All but one of the Quebec blast furnaces could be described as ""preindustrial"" with capacities ranging between three and ten tons per day, the exception being the Radnor furnace built in 1892 with a maximum production of about 35 tons per day and an alleged capacity of 50 tons per day.Until a railway network was completed in the 1880s, the location of all the Quebec iron works except the Grantham Iron works was dictated by close proximity to adequate ore reserves because horse transport was of little use beyond a ten-mile radius. The other essentials of forest resources (mainly soft woods) for charcoal, limestone for flux and water power, were generally available except within a few miles on either side of the St. Lawrence river. Among the dozen iron works established in Quebec between 1732 and 1880, seven used bog iron ore in charcoal-fired furnaces."

Jan 1, 1983

By N. Parnian

"Carryover of caustic soda (NaOH) in the steam path caused catastrophic failure of superheater 304H stainless steel tubes in a steam generator and led to an unexpected shutdown after just five months of continuous service of petrochemical following the start of production. The cause of the failure was studied, with a focus on the formation of sigma phase in the weld joint and effect of caustic embrittlement on stress corrosion cracking (SCC). The cracks were examined at the seam weld, heat affected zone (HAZ), and Ubend areas. Hardness was measured for the base metal, HAZ, and weld metal, and microstructures were examined using optical microscopy and scanning electron microscopy (SEM). Crack initiation is attributed to gouging on the precipitated carbide at the HAZ and also the formation of sigma phase in the weld metal, as shown by energy dispersive X-ray (EDX) analysis. In addition, cracking was propagated by caustic embrittlement because of residual stresses and hammering. Finally, the characteristic feature of fracture was illustrated by SEM fractography, and consists mostly of intergranular SCC and some quasicleavage transgranular. INTRODUCTIONThree key factors are needed for the initiation and propagation of intergranular stress corrosion cracking (IGSCC): a susceptible material, a corrosive environment, and sufficient stress. Although austenitic stainless steels are susceptible to sensitization and IGSCC, they are widely used in boiler and superheater tubes because of their high corrosion resistance, high oxidation resistance, acceptable mechanical characteristics at elevated temperatures, and low cost.Sodium hydroxide is injected to neutralize acidic constituents in the steam path, but caustic can concentrate in boiler tubes and attack the surface metal (known as gouging) even traces of caustic in the steam can deposit on surfaces and cause local concentrations of several percent (ASM handbook, 1992). Not only sensitized grains but also sigma phase formed in the weld metal can initiate caustic cracking. In this research, the cause of the failure of 304H stainless steel superheater tubes in a methanol petrochemical plant in Iran was studied with a focus on the effects of caustic embrittlement on IGSCC."

Jan 1, 2012

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 Leslie Gertsch

Outline First progress report ? ?Introduction ?Non-terrestrial mining ?Near-term targets ?Stages of mining ?Study procedure Capabilities needed for non-terrestrial mining ?Mining methods ?Mining unit operations ?Typical surface mine operations sequence ?Results to date General effects of gravity ?On fragmentation ?On excavation ?On transport ?Conclusions / Recommendations

May 1, 2013

By P. A. Studemeister

"A trondhjemite stock intrudes a volcanic sequence that has massive sulphide lenses and that is metamorphosed to the greenschist facies at Gutcher Lake, 25 km north of Wawa, Ontario. The stock is 4 km2 in plan and is partly enveloped by an aureole of chlorite-epidote-amphibolehornfels up to 1 km wide. Within this contact aureole, biotite is partly pseudomorphosed by chlorite;epidote and hornblende are mottled by chlorite, calcite, plus quartz; albite has 0% An to 8% An; and hornblende porphyroblasts have actinolite rims. The stock has chlorite pseudomorphous after biotite; and feldspar is mottled by white mica plus calcite and has a clear rim of albite. Fractures filled with quartz, calcite, ankerite, chlorite, white mica, pyrite, and native gold cross-cut the stock and its hornfels aureole. These gold-bearing veins are enveloped by foliated rocks with quartz, calcite, white mica, and chlorite that grade outward from the veins into trondhjemite or hornfels.The stock, emplaced into a submarine volcanic series, emanated heat that caused seawater to convect and formed a contact aureole of hornblende hornfels. The stock eventually intruded its aureole and this culminated with regional metamorphism to the greenschist facies. Regional metamorphism hydrated the stock and its hornfels aureole. Native gold precipitated with quartz along fractures from metamorphic flu ids in response to cooling and wallrock hydration. exploration for this type of gold deposits should focus around felsic intrusions that have albite and that have contact aureoles retrograded by regional metamorphism."

Jan 1, 1985

By A. Shaak

The town of Hedley is some 200 miles due east of Vancouver and lies in the bottom of the Similkameen River valley, at the junction of Twenty Mile creek, at about the 1,700-foot elevation above sea level. The Nickel Plate mine camp is on Nickel Plate mountain at an elevation of about 5,600 feet, four miles slightly east of north from Hedley, to which it is connected by 9 miles of road, and by 10,000 feet of tramway and electric railway. The latter is used both to transport the ore to the 275-ton mill at Hedley and to furnish the mine with supplies. History The Nickel Plate claim was staked in 1898 to cover the sole outcrop of the Nickel Plate system of orebodies. Soon afterwards it was optioned by the Marcus Daly interests of Butte and underground exploration commenced. Early exploration was successful, and a power plant, tramway, and mill were constructed. The mill began operations in 1904. Production under Daly control ensued from June, 1904, to August, 1909, and amounted to 167,000 tons. The Hedley Gold Mining Company was organized and commenced operations in 1909. The capacity of the mill was increased by stages to 200 tons and a steady production, except for short periods in winter, was maintained until 1930. By 1930, gold to the value of nearly $10,000,000 had been produced since the discovery in 1898. The South American Development Company optioned the property in 1932. Active exploration was conducted during 1933 and 1934 by the Kelowna Exploration Company, a subsidiary of the South American Development Company. This work was sufficiently successful that, coupled with the increase in the price of gold from $20.67 to $35.00 per ounce, production re-commenced in December, 1934, and continued uninterrupted until July, i946, when, along with all B.C. gold mines, a strike closed operations. Under the present ownership, the mill capacity was increased to 275 tons.

Jan 1, 1946

By T. N. MacAuley

"The Ingerbelle and Copper Mountain deposits are located near Princeton in southern British Columbia. They are owned by Newmont Mining Corporation's wholly owned subsidiary, Similkameen Mining Company Ltd. The property includes the Copper Mountain mine, a former producer. Ore reserves recoverable by open-pit mining are estimated to be 76 million tons containing 0.53% copper. Production commenced during 1972 at a rate in excess of designed capacity (15,000 tpd). All of the known major copper deposits in this area lie in a 14,000- by 3,500-foot belt of Triassic volcanics (Nicola Group) that is situated between a well-defined syenitemonzonite- diorite stock on the south and a variable intrusive complex on the north. The Nicola rocks consist of andesitic tuffs and agglomerates with lesser amounts of flows and some lensy siltstone layers. The orebodies are essentially disseminated sulphide deposits, although fracture-fillings are also important in many areas. Total sulphide content is usually less than 5%. At lngerbelle, and at Pit 2 and most of Pit 1 at Copper Mountain, the sulphides are chalcopyrite-pyrite. In part of Pit 1 and most of the former underground mine they are chalcopyrite-bornite. At lngerbelle the predominant alteration associated with mineralization is a pale greenish-gray bleaching of the dark andesitic rocks. This has been identified as albitization, with lesser amounts of epidote, chlorite, biotite, scapolite and calcite. This bleaching is plentiful at Pit 2, but K-feldspathization is also evident here. These orebodies can better be classified with pyrometasomatic deposits than with typical porphyry coppers. Their relationship to intrusives, the probably extensive metasomatic replacements, the evidence of pneumatolytic activity, the formation and redistribution of magnetite, and the irregular distribution of mineralization are all characteristic of this class. Deep-seated faults probably acted as channelways for mineralization; fracturing, faulting and rock contacts influenced ore localization in detail."

Jan 1, 1973

By W. F. Harkness, D. Hodgkinson

"A non-destructive testing program was established at Crows Nest Resources (C.N.R.), Line Creek mining operation following an in-service fatigue failure of a front wheel spindle on a large haulage truck.This failure identified a definite need for improvements in the ultrasonic techniques used during the mandatory spindle integrity examinations. Initial investigations using common mining industry ultrasonic examination techniques showed that the smallest detectable cracks were 75 mm in length for the spindle types in service at the C.N.R. site. The Initial findings indicated that inadequate inspection technique design was the cause of the poor performance. To improve inspection reliability it was identified that improved ultrasonic techniques were required. Results using designed ultrasonic techniques were encouraging, with the detection of simulated and natural cracks 12 mm long achieved. The cost benefits associated with the extended spindle life, following the removal of these small fatigue cracks, far exceeded those of the expertise and effort necessary to implement and conduct the N.D.T. program.Introduction During 50 years of evolution, non-destructive testing (N.D. T.) has progressed from a laboratory curiosity to a well accepted and invaluable tool used in the assessment of material integrity. Unlike destructive testing, N.D.T. does not deform or render the material useless. Non-destructive tests may involve many applications, from the determination of a corrosion prevention coating thickness to the examination of a raw material for internal and external deformities.Within the mining sector, highly-stressed components will normally have been subjected to some form of non-destructive test during their manufacturing cycle. These tests are used to ensure the component does not contain material flaws whichmay be detrimental to its service performance.While the component may have assured quality when produced, deterioration by fatigue may occur during an aggressive service life. Large dynamically-loaded components such as haulage truck front wheel spindles are , in particular, prone to this service related problem."

Jan 1, 1987

By J. Paraszczak

ABSTRACT Diesel-powered loaders are a pillar of modern underground metal mining. As these mines are getting deeper and hotter and the emission regulations stricter, ventilation costs are soaring, affecting production cost. Also, the cost of diesel fuel is expected to rise. These may make the use of diesel engines more problematic. Electric load-haul-dump machines (LHDs) are an interesting alternative. This paper compares features and performance of diesel and electric, cable-powered LHDs. It overviews equipment offerings, and compares, analyzes and discusses technical parameters, operational problems and cost issues. The paper gives some conclusions about electric LHD applicability and performance, indicates possible applications, and suggests further research work.

Jan 1, 2013

By M. Gyenge, O. F. Coates, K. Barron

"It is suggested that artificial supports might be used to increase, with safety, the angle of hardrock open-pit slopes. Guidelines for designing such a support system, based on a simplified analysis, are given. The installation, construction and instrumentation of a trial support system is described and a breakdown of the construction costs is given. On the basis of this cost analysis, the economic benefits derived from reduced waste-rock excavation are compared with the support costs for a typical mine. In an example, it is shown that the slope angle in an open-pit mine 500 ft deep, with benches 50 ft high by 30 ft wide, could be safely increased from 37Yz degrees without support to an optimum of 53 degrees with support. In this case, the support costs would be approximately $900 per linear foot of pit wall and the savings due to decreased excavation of waste rock (at $0.34/ton) would be approximately $1,900 per linear foot, yielding an increased margin of profit of approximately $1,000 per linear foot of pit wall. This figure could be increased to $6,000 per linear foot if the steeper slope were used to extract more ore.More than 50 per cent of the support costs are accounted for by diamond-drilling the holes for the deep cable anchors. The use of percussion drills for this purpose would seem to offer a means of significantly reducing the support . costs and thus further increasing the profit margin available."

Jan 1, 1971

By G. Stafford Whitby

N ATURAL gas is found in several provinces of Canada, particularly Ontario, New Brunswick, and Alberta. The largest producer is Alberta, and there the most important field is the Turner Valley, where some low-gravity crude oil and naphtha are associated with the gas. Last year there was produced from the Turner Valley field an average of 3,462 barrels, or about 450 tons, of oil a day. The gas flow from the wells in this field bears such a high ratio to the oil which comes from them that, despite the enforcement of a measure of conservation, it amounted to the vast quantity of 6,000 tons a day, or more than 2,000,000 tons a year. Prior to the application of any conservation measures, the gas flow was at one time of the order of 12,000 tons a day. The heat content of one ton of the gas is almost equal to that of two tons of coal. A certain amount, say, 10 per cent," of the gas is used in Calgary and surrounding towns and in re-pressuring the Bow Island gas field, but the greater part of it goes to waste. What are the possibilities of making use of this waste gas, in whole or part? The possibilities of using it profitably as fuel for domestic and industrial purposes have undoubtedly been carefully considered by the Company which now distributes a part of the gas to cities and towns in Alberta. But the relative sparness of the population and the cost of pipe lines makes such possibilities strictly limited. There are, however, distinct possibilities of making use of at !east a part of the gas for the production of a variety of chemical products and of liquid motor fuel. The present paper is devoted to outlining some of these possibilities. About three-quarters (by weight) of the Turner Valley waste gas consists of methane, the lightest and, chemically speaking, the simplest of hydrocarbon gases. The remaining quarter consists of heavier hydrocarbon gases-ethane, propane, and butane. Formerly, naphtha was separated from the well gas by a simple process of self-refrigeration. The gas coming from the wells at a pressure of, say, 1,200 to 1,800 lb., was passed through simple cylindrical vessels fitted with baffles and known as 'separators'. The pressure was allowed to drop to, say, 300 lb. in the separators, and the cooling effect secured by this expansion brought about separation of the naphtha. The naphtha thus obtained was 'wild', that is, it had a high vapour pressure owing to the presence in it of dissolved and liquefied gas. In order to reduce the vapour pressure to a level at which the naphtha could be shipped, this gas was removed either by distilling it out through a 'stabilizing' column or, according to the practice at many wells, merely by allowing the naphtha to 'weather' in open tanks (heated by coils if necessary) until the gas had been driven off in to the air.

Jan 1, 1936

By Wei Wang

The SMCO copper plant is located in DR Congo, and was designed by China NERIN Engineering Co., Ltd. The process is a typical hydrometallurgical plant with Leach-SX-EW, with the project treating the oxide minerals with agitation leaching, followed with three stage of solvent extraction and two stages of stripping, and using permanent SS cathodes to produce LME grade copper. Because of the special characteristic of the ore, what contains 2 different type of oxides (one high carbonate oxide and the other low carbonate), there are several new technical measures that have been developed and adopted for the plant. For example, different grinding, leaching, and filtering are used to treat different oxides. This paper, presents the project process, engineering design, construction and commissioning. The paper also describes some of the problems encountered during plant commissioning, such as the agitation leaching tank issues, and corrosion in the settler-mixer. This paper discusses some NERIN solutions to these problems, and explains the use of the CN filter, which is used to filter PLS to treat high level suspend solids, instead of the traditional sand filter. Finally, this paper also proposes steps / measures for further improvement for future plant operation.

Jan 1, 2014

By A. del Campo A.

The roast segregation process, which was patented in 1974, makes use of a set of chemical reactions that are different from the traditional sequential oxidation of iron and copper sulfides used by all modem pyrometallurgical processes to treat copper concentrates. It allows metallic copper to be obtained via sublimation of copper chloride at temperatures in the range of 700-800 OC. In addition it avoids melting the concentrate, doesn't require transferring molten materials, doesn't need flux addition and allows nearly all of the sulphur to be removed in one stage as a high-S02 gas stream. Most importantly, it allows a decrease in the use of energy to approximately 6 million BTU/ton of anodes. This represents a saving of approximately 40%, compared to the potential of the most advanced processes presently used. Such a promising process has been waiting for its first industrial application for more than 30 years. This article examines the technical difficulties that have delayed application of the roast segregation process to beneficiate copper concentrates. Special emphasis is made on material handling aspects, discussing the possibility of using a well designed mass flow silo as the main processing vessel to carry out the segregation stage. Cu2007

Jan 1, 2007

By Lyle F. Smith

With the demand for larger diameter raises under all ground conditions and the increasing price of drill rods and operating costs, it was evident that there was a need for a raise borer with a variable-speed drive and fast-response torque limiting control. The raise boring machine described in this paper was developed after several years of market research and discussions with mine operators and construction contractors. This paper discusses the Ingersoll-Rand raise borers with the solid-state controlled DC motor drives. These machines have gained wide acceptance in the five-year period since being placed in operation and are designed to accommodate the range of raise diameters and lengths most required today.

Jan 1, 1978

By A. Rousselet, H. Gilbert-Tremblay, A. Berton

"Robex Resources interrupted production at the Nampala Mine in September 2014 following throughput and gold recovery results which were below expectations during the first months of operation. After a thorough plant audit, an important brainstorming took place in order to identify an economical path to resume production. It was clearly identified that a significant investment was necessary at the concentrator prior to restarting the plant, namely the addition of a ball mill and a new elution system.The mineral processing simulation software USIM PAC was used in order to simulate the grinding circuit in design. The simulations’ outputs allowed the ball mill characteristics and the surrounding classification devices to be designed with more accuracy. Many ball mills available from second hand retailers were therefore studied in the simulated circuit. The chosen ball mill, which was in perfect condition, had the advantage of being available for rapid delivery on site.The paper first describes the ball mill sizing method in comparison with the conventional Allis Chalmers method. It then describes the phase 2 concentrator start-up (that took place in 2016) with the commissioning of the ball mill, the classification circuit, the gravity concentration, the four (4) new carbon-in-leach (CIL) tanks, and the Zadra elution system (The phase 1 start-up took place in 2014). It finally provides production data compared to expected simulation data, as commercial production was reached in January 2017.IntroductionDesigning a new concentrator or new equipment within an existing concentrator requires significant efforts to identify possible bottlenecks and their causes (i.e. limiting equipment or sectors) and accurate sizing of major equipment can have a tremendous impact on the economy of the whole project. In the presented case study, the ball mill was the critical equipment and oversizing it could have brought the Capex to a level where the project would not have gone through. Inversely, undersizing the mill could have resulted in lower production and therefore no economic viability for the project once it is in operation.During engineering studies, equipment sizing often relies on a static mass balance and one-by-one sizing of all pieces of equipment. The sizing is then left to the equipment manufacturer or in the case of mills, evaluated with empirical models mostly relying on the Bond equations (Allis Chalmers method) [Rowland and Kjos, 1978]. This methodology shows the disadvantage of not considering interaction between equipment in a mineral processing circuit, especially when recirculation occurs. Also, it has the disadvantage of not using the more advanced grinding models that include the use of the whole particle size distribution as well as phenomenological components by only using limited parameters in the ore particle size distribution (i.e. the P80). This can be explained by the lack of data that sometimes needs to be gathered in order to tune the more advanced models but also by the conservative mindset in mineral concentration engineering which does not always favor the use of process simulation. In many aspects of process engineering, Soutex has demonstrated its affinity to using simulation in order to size equipment with more accuracy, consider process variability, simulate complex systems, and study supply chain management (Berton et al., 2015)."

Jan 1, 2018

By D. C. Reid

This paper describes the latest results in research and development currently being undertaken by the CSIRO Mining Technology Group to advance the automation capability of continuous mining equipment in underground coal mining operations. This research delivers enabling technologies that are essential in achieving increased roadway development rates as well as providing a safer working environment for underground mine personnel. Details are presented on technical developments and results of large-scale above-ground experiments conducted under field-realistic conditions. These experiments demonstrate the performance of the ?self-steering? capability which will enable a continuous miner (CM) to automatically maintain a given mining heading and mining horizon under production conditions. A primary technical requirement of this automated functionality is the means to accurately determine both the location and orientation of the CM in real-time. Test results of a high performance navigation system utilising vehicle motion aiding technologies are presented. This system combines high performance inertial sensors, and custom-developed radar to achieve a navigation-grade guidance system. Comprehensive performance evaluation has been conducted using a scale skid-steer mobility platform operating autonomously through a typical roadway development mining pattern with a total path length of 2700 m and mission duration of 112 min. Results from this evaluation demonstrate that the sustained accuracy of the navigation system exceeds the original project expectations and is well suited to the requirements for this underground mining application. There are presently no known alternative methods for providing a practical and accurate three-dimensional guidance solution in this application. This achievement represents a significant milestone in delivering a step change improvement in underground coal mining roadway development.

Aug 1, 2013