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By E. Trickey

In the mining industry there exists a constant drive for increased safety and productivity and decreased operating costs. This acts as a driver for implementing advanced technology. As more and more mining operations turn to new technologies, an observed bottle-neck for technology advancement has been the limitation of machine vision solutions available. LiDAR has been seen as a possible solution to the machine vision problem. In the past, a few studies on machine vision solutions have been undertaken by various groups involving scanning laser range-finders and millimetre-wave radar. These studies have done little more than highlight the limitations of both technologies in the mining environment. Little work has been done, however, exploring the applicability of LiDAR imaging technology for mining applications. Neptec Technologies Corp. has developed an obscurant-penetrating LiDAR (OPAL) sensor technology which overcomes the limitations faced by traditional LiDAR sensors when operating in a dusty environment, as well as advanced 3D real-time intelligence (3DRi) data processing algorithms that enable the real-time exploitation of 3D imaging data with sensors mounted on moving vehicles. Working with Teck Resources Ltd. and Barrick Gold Corporation, Neptec is adapting the OPAL sensors and 3DRi technology to mining applications. This paper highlights a number of real-time OPAL/3DRi based mining applications demonstrating how this technology overcomes the limitations of traditional LiDAR to provide a real-time machine vision solution that supports mine machine autonomy.

Aug 1, 2013

By S. Hill

For a mining operation, the determination of the best place to build haul roads is typically done by hand, or with the assistance of rudimentary shortest path optimisation algorithms. Straight line, point to point, modelling of costs is often used with distances multiplied by constants that are based on rise of the road between the points. Failings of this approach are that straight line approximations are notoriously poor as they do not take into account areas where a truck cannot travel. In addition, the rise and fall of the road may vary considerably over the truck journey meaning acceleration/deceleration and varying truck speeds are not taken into account. Lastly, the use of rudimentary optimisation algorithms means properties a truck must obey such as minimum turning circles, line of sight restrictions or even that the truck must travel forward at all times are not taken into account. Thus solutions generated may not be feasible, let alone optimal. In this paper we discuss a state of the art parallel Artificial Intelligence tree search technique for solving haul road location problems. As well as the above properties, factors such as road utilisation, cut and fill, and construction costs are taken into account. The combination of advanced modelling and fast computing and optimisation techniques produces significant benefits both in terms of time to generate roads and cost savings. Preliminary results where this method has been used are discussed.

Aug 1, 2013

The dynamic breakage process of rocks by the impact of a hydraulic hammer is more complex than one normally assumes. It is even more difficult when one has to conduct the breakage under water. In such cases one does not know exactly what the surface topography and composition are at the bottom of the sea or river and, hence, it is more difficult to select the best position of the hammer before starting the hammering. Typically, an industrial hammer has a diameter of about 250 mm, a length of about 1.25 to 1.75 m and a mass of several tons. The hammer frequency can be up to 50 impacts per minute. The general principles of rock hammering can be easily summarized, but this knowledge is not sufficient to adapt adequately the method for less common rock conditions (e.g. less brittle rock, presence of vertical and subvertical fractures, etc.). That is the reason why we initiated a research project, whereby a scale model has been developed to conduct experiments in the laboratory and whereby discrete element simulations are being conducted. Both aim at a better understanding of the basic mechanisms of rock hammering. The scaled experimental model allows varying the impact energy and the static weight independently. Within the experiment, the hammer is in contact with the rock specimen under a certain confining pressure and with a certain contact pressure due to the static weight. A weight falls on the hammer, creating the dynamic action or impact; the height over which the weight falls can be varied. The penetration is recorded after each impact. After a certain penetration the test is stopped and the internal crack patterns are described. Some simulations have been conducted, allowing the modeling of individual fracture initiation and growth during the penetration of the hammer by either a constant displacement rate (using the UDEC-code) or by introducing the dynamic process (using the PFC-code). Some of the observed features in the laboratory experiments can be visualized in the simulations. However, further research is needed to allow the simulations being an adequate tool to well understand the dynamic process in laboratory experiments, as well as the in-situ behavior.

Aug 1, 2013

By Ali Montaser

Hauling trucks are important part of equipment fleets for large earthmoving operations such as those encountered in dams and highway construction projects. This paper presents an automated methodology for tracking and estimating productivity of hauling trucks fleet operations in near-real-time. Recent advancement in automated site data acquisition technologies made their use in tracking and monitoring of construction operations feasible. However, these technologies fail to track hauling truck fleets due to the change in the cut and fill locations from one cycle to another; making tracking and progress reporting difficult and inaccurate. In addition, there is very little work done utilizing data sensed directly from equipment, for example sensing when truck dumping bed is raised during the dumping process. The technologies deployed in the developed method are Radio Frequency Identification (RFID) and equipment control sensors. Low cost passive RFID tags are attached to hauling trucks and fixed RFID readers are attached to loaders or excavators. The read range of the used RFID tag is centimeters, to be activated only when a loader with an attached RFID reader is loading a truck. On the other hand, control sensor is connected to the truck control system and operated by the motion of its movable bed. The function of control sensors is to record the signal time when the truck operator gives order to the truck control system to raise or lower truck bed. The captured data is then transferred wirelessly from the RFID reader and control sensor to a computer housed in one of the temporary offices onsite and subsequently to the main server in the contractor?s head office. Fusing the data captured from RFID reader and control sensor is used to identify loading, travel, dumping and return time that constitute the hauling truck cycle time. The collected data is analyzed and processed automatically, without human intervention, to calculate the productivity of the hauling truck and to report it directly to onsite personnel. Relational database is developed to support the implementation of the proposed method. The developed database is used to process the data captured by the RFID and the control sensor to calculate the productivity achieved in cutfill operations in near-real-time. The developed methodology is expected to facilitate early detection of discrepancies between actual and planned performances.

Aug 1, 2013

By C. R. Tang

Due to the current lack of sufficient occupational hazards supervisory staff in China, an occupational hazards supervision regulatory framework is proposed, based on the cloud. Data on respirable dust, noise, heat, toxic and hazardous substances and protection facilities are uploaded to private cloud computing data and service centers to build an occupational hazards supervision system. This system promotes occupational hazards governance. Complex reports are generated. Through the establishment of an occupational hazard supervision data threshold, the dynamic regulation of occupational hazards is accomplished. The main characteristics of this approach are low cost, ease of expansion and maintenance, and strong performance.

Aug 1, 2013

By D. J. Lucifora

Monitoring-While-Drilling (MWD) is a proven technique that records instantaneous on-drill parameters which can be used to supply contextual information for in-situ, down hole conditions, such as: changes in geology, the presence of pre-existing fractures and dynamic alterations, down hole conditions including bit bailing, bit blockages and bit wear, and improper drill operation. This technique has been widely used in the oil and gas industry and, eventually, it was transferred to the mining industry. A challenge when analyzing and interpreting MWD data is in utilizing proper filtering which enables one to properly eliminate any ?noise? from the signals of interest. Overall the importance of MWD data is that, through the collection of operational field-based data, a dataset can be acquired which allows experimentation and analysis to be carried out. Such a dataset is often impossible to replicate in a laboratory setting. If successful, and through iterative refinement, any promising method can eventually be implemented on-machine and using real-time monitoring techniques. This paper will provide a state of the art review of presently used MWD techniques and applications in industry. The paper?s primary focus will be on shallow, mining-style, blast hole drilling but will also take into account techniques and applications utilized in oil and gas drilling which have not been adopted in the mining industry. In the cases where MWD techniques and applications exist solely in oil and gas drilling the paper will examine and comment on the potential utility of technology transfer to mining applications.

Aug 1, 2013

Over five decades ago Kitchener et al. in England and La Mer and Healy in the US were advancing our understanding and application of flocculants, primarily related to water treatment and filtration of sludge. This paper identifies the beneficial uses of flocculants in the mining industry and revisits some less common applications. Flocculants are used in unique ways in the mining industry: (a) to increase the effectiveness of sediment ponds to achieve discharge compliance; (b) to eliminate air emissions and costs associated with concentrate drying; (c) to reduce soil loss by applying a flocculant to erodible soils, and reducing wind and water erosion; (d) to remove/thicken metal precipitates in acid rock drainage treatment; and (e) to enhance clarification and thickening in mineral processing. The mechanism of how flocculants, coagulations and potentially-determining ions function is described and how their use can be controlled and optimized. The potential toxic effects of flocculants and coagulants when used to achieve effluent permit discharge compliance for suspended solids is discussed. A review of numerous best management practice (BMP) guidelines for the design and operation of sediment ponds treating mine site runoff to remove total suspended solids (TSS) and turbidity revealed an absence of a predictive methodology to address regulatory discharge compliance for TSS concentration, turbidity and flocculant-induced toxicity. An essential component of pond design is the need to determine whether flocculants and/or other settling aids are required based on the site-specific soil particle size distributions upslope of the pond. Procedures are provided to predict the need for settling aids and estimate pond discharge quality and downstream impact for TSS, turbidity, toxicity and sub-lethal toxicity. The need to develop BMP guidelines are discussed for (a) the application of flocculant to surface soils to reduce erosion, (b) the application of flocblocks to increase the ?sediment control? aspects of erosion and sediment control, as part of the mine site erosion control plan strategy and (c) the application of flocculant to silt socks to treat mine site runoff.

Aug 1, 2013

By C. R. Tang

The respirable dust real-time monitoring equipment export information is complex, and electromagnetic wave wireless transmission is affected largely under mine conditions. The respirable dust concentration information transmission method based on led light equipment is proposed. The respirable dust concentration data of the individual real-time monitoring equipment is encoded to fit the system transmission; the encoded signal is modulated onto the LED mine lamp; the light signal is transmitted by the spatial channel; the signal is received by the receiver to the photoelectric conversion to restore the respirable dust concentration data for subsequent processing. Simulation and verification experiments showed that the respirable dust concentration information transmission method based on led light equipment can achieve the LED miners? lamps visible light wireless data transmission.

Aug 1, 2013

By E. Brzychczy

Artificial intelligence techniques are ever more frequently implemented in the modern world. One of their numerous uses is supporting enterprise management. Intelligent techniques and intelligent information technology (IT) systems can be implemented in mining-related issues as well. The author of this article concentrates on supporting the process of planning mining operations by intelligent systems and techniques. The author also underlines the importance of knowledge accumulation in a mining enterprise (especially tacit knowledge) as well as its efficient storing and using. Additionally, the author provides a short description of characteristics of intelligent IT systems and indicates their capabilities in planning mining operations. She presents two solutions, namely: an advisory system which supports the process of planning preliminary works and exploitation works in hard coal mines, and a method of modeling and optimizing mining operations. Finally, the author indicates a few possible future development trends of intelligent systems - the intelligent systems of decision support.

Aug 1, 2013

By Amir Zavichi

Today, with the necessity of timely, on-budget and high quality completion of projects, proper use of construction equipment is essential to ensure project success. Construction equipment places a large monetary burden on the project and if not utilized efficiently, it can result in economic losses. Cranes are one of the most important and expensive operational devices on construction sites. They play a central role, and often activities that rely on crane services fall on the project?s critical path. Currently, material-handling scheduling is done by the crane operator or by an on-duty superintendent using his/hers personal judgment, making the process manual and timeconsuming. Thus, developing an optimal schedule, which considers different dynamic constraints in construction job site, may not be possible based on the current practice. This leads to longer operation times and a negative impact on project cost. This paper presents the latest results of an ongoing study, which aims to design and implement a nearreal time crane operation decision support system to be utilized directly by the crane operator or as an aid for the superintendent in scheduling optimal operation services. This system has several advantages such as maximizing the efficiency of crane operations, guaranteeing the best operation possible to reduce the crane?s travel time, reducing crews and equipment idle time, and minimizing the dependence on subjective human judgments.

Aug 1, 2013

By X. Wu

Tunnel Boring Machines (TBMs) are widely used for tunneling in urban areas because of their high advance rate, precise as-built profile and minimal impact to buildings and traffic on the ground. For a tunnel built by a TBM, there are strict requirements on alignment control and safety. To meet these requirements, it is important to monitor the position of the TBM. In the current practice, the TBM position data, including advance distance and line and level deviations, are reported manually to the managers on a daily basis. To interpret and analyze the position data, the managers also need to refer to various construction drawings. This practice is untimely, inefficient, and error prone for decision making. To improve the current practice, an automatic approach for real-time as-built tunnel product modeling and visualization is proposed, based on TBM position and orientation data autonomously sourced from the Virtual Laser Target Board (VLTB) TBM Guidance System developed at University of Alberta. Related information of the tunnel project, such as the as-designed alignment, soil layers, the ground, existing utility lines, is also visualized together with the model of the as-built tunnel. The modeling algorithm is presented step by step. Its application in a real-life drainage tunnel project is discussed and limitations are also identified.

Aug 1, 2013

By V. Budinsky

In recent years the global mining industry has addressed its social and environmental responsibilities and numerous factors have contributed to this. Corporate Social Responsibility (CSR) is an important part of mining company strategy for practical implementation of the goals of sustainability, transparency, accountablity and good relationships with stakeholders:- investors, employees and communities. A key stakeholder for all mining companies is the local community which is affected by the mining operations. Companies must identify the emerging social and environmental trends, study the interests and concerns of various communities, address their needs and maintain a positive relationship. The CSR programmes of Czech coal mining companies are focused on surrounding community initiatives and sustainable responsible business. Mining in the Czech Republic is subject to strict rules and regulations and supervised by the State Mining Authority. Mining projects undergo rigorous approval procedures which encompass all operational measures at the different planning levels ? such as public participation in the authorisation process for mining projects, the application of the Environmental Impact Assessment Directive, environmental sustainability programmes, innovative solutions and flexible options offered by the mining company. One very important part is the preparation of the mining-technology preconditions and developing the integrated planning process in which all socially and politically relevant subjects in the mining operation surroundings are included. In an in-depth debate, all stakeholders may jointly develop the concept, in accordance with democratic principles. The optimally conducted dialogue process needs broad communication bases, including setting up theme-related joint taskforces, together with good moderation and the highly qualified support of technical experts. Using a case study of Severoceske doly a.s. Chomutov (SD Company) and the Czech Coal Group ? Czech leaders in the extraction of brown coal, this paper aims to examine the community development approaches and the CSR effectiveness of large scale mining companies. This paper brings a review of CSR and other such voluntary initiatives in the mining industry's proactive steps to contribute to societal well-being in a meaningful way. Key studies are provided by the projects ? Region with Better Perspective?, ?Stop Dust for Healthy Brezno Village?, ?Clever Heads for the North? and ?Coal Safari?. CSR issues are managed throughout all stages of the mine operation and beyond, long after the mine closes (e.g. post-closure programmes of new landscape, alternatives for reclamation including generation of lakes in former surface mines, conceptualization of industrial heritage). Communities need to be given the opportunity to help themselves through participation in CSR projects rather than being recipients of financial gifts from the company. A fair balancing of interests is the basis of any successful cooperation.

Aug 1, 2013

By Hong-wei Ma

With social development and technological advancement, mine rescue robots used in complex environments have developed as a research hotspot. This paper reviews the progress of research on coal mine rescue robots, and key technologies of rescue robot design are put forward, such as mechanical structure, self-navigation and self-orientation, multi-sensor information fusion, multi-robot cooperation, and wireless communication technology.

Aug 1, 2013

By Du Xinfeng

The resource quantity of the low rank coalbed methane (CBM) accounts for 47% of the total resource quantity of CBM in China. Compared with the exploration and development of the high rank CBM in Qinshui Basin, China and the low rank CBM in Powder River Basin, USA and Albert Basin, Canada, the exploration and development of the low rank CBM are still in the initial test stage. In this paper, on the basis of analyzing the mining geological conditions such as that the Huanglong Jurassic Coalfield is largely situated in the hills and gullies zones, and the coal reservoir has the features such as the low metamorphic degree, large coal seam thickness, simple coal matrix texture, high permeability and small CBM content and so on, it discusses the key technologies such as the development pattern of CBM, well location arrangement, drilling and well completion technology and fracturing technology and so on. It indicates that the underbalanced drilling and the cavity well completion based on the reservoir protection will be the development directions of the CBM development technology in this area.

Aug 1, 2013

By Sang-Kyun Woo

The electric power conduit (EPC) in Korea has been constructed since 1978. Facing the challenge of safety and sustainability of the EPC, it is urgent to develop an inspection strategy and maintenance system for the structure based on the concept of life-cycle management. This paper introduces the newly developed mobile inspection and diagnostic system of the EPC. The novel aspect of this particular system is the integration of non-destructive mobile inspection techniques with BIM (Building Information Modeling) and LBS (Location-Based Service). BIM is an ideal tool and platform for developing an inspection and diagnostic system, and RFID (Radio Frequency Identification) is a useful tool to construct USN (Ubiquitous Sensor Network) for LBS. The goal of this research is to establish an EPC inspection and diagnostic system concept based on BIM and LBS using RFID. In this research, a BIM model of OPENTBM tunnel for EPC will be established to show the integration of 3D CAD with the inspection data. An EPC?s maintenance database, which includes the deterioration types of the structure, inspection records, and repair methods, was designed to interact with the BIM. The system will be implemented by the BIM with the related database, in which the construction geometry and all related information are stored. The proposed system was designed to utilize the inspection and diagnostic system under the USN environment using RFID in EPC directly.

Aug 1, 2013

By A. Grimod

Rockfall drapery systems are commonly used as a simple, fast and cheap measure against the rock falling trajectories affecting very steep slopes. The system basically consists of a steel mesh, which is held on the top edge with a longitudinal cable fixed by means of a suitable number of anchors. The effect of this kind of intervention is to control the falls of the rocks, which are driven toward the bottom with slow velocity, or are stabilized on place. It can be used on any kind of slope to protect sensitive target in the mining industry, roads and railways, and inhabited areas. The falling blocks, typically smaller than 0.6 - 1.0 m in diameter, pile up into a trench (or into a ?pocket of mesh?) at the bottom. In comparison to other types of rockfall interventions, the simple drapery is cheaper, and its maintenance is easier, but on the other hand it cannot be considered the remedy for shallow instabilities, because it can only mitigate the effect of the falling trajectories. The design of simple draperies requires the analysis of several factors like the slope features (height, gradient, morphology), the geological and dynamic features (nature of the ground or rock, type of instability, erosion problem, blocks size), the environmental condition (presence of vegetation, aesthetical problem), the installation problem (accesses to the slope, safety for the workers, safety for the surrounding areas) and finally the performance required (temporary or permanent intervention, required maintenance, cost). Finally the most problematic design-step is the choice of the suitable mesh, the top longitudinal cable, and the top anchors type. Because of the highly variable nature of rockfall behaviour these structures cannot be standardized, but they have to be analyzed and designed for each case. Maccaferri has developed a new software application (MacRO 2) has a practical tool to define the mesh and the related supporting structure composed by up-slope cable and anchors. The software, based on the approach proposed by Muhunthan B. et al. (2005), allows designers to verify the top longitudinal cable, the anchors, and the mesh drapery, and to plan for maintenance procedures. Even if the method seems quite simple and rough, it is effective and lets the designer correctly foresee the materials and the geometrical features to be used on the interventions. This paper analyses the condition for the simple drapery installation, the main steps for the calculations, and it will present a case study in a U.S. mine. Nevertheless, even if the software allows a quick and simple calculation approach, onsite observations are always recommended in order to achieve a good design, with the ultimate goal of protecting property and human lives.

Aug 1, 2013

By R. Blazej

Machinery Systems Division (MSD) in the Institute of Mining Engineering at Wroclaw University of Technology specializes in belt conveying systems analyzing, calculating and design. Within the division operates the certified Laboratory of Belt Transportation (LTT) and Laboratory of Rollers. Since few years, a group of several people have begun work on developing a comprehensive system for the automatic evaluation of condition of conveyor belts working in the mines. Group uses both magnetic devices developed by specialized companies servicing belts and its own machine vision system developed for assessment of belts covers and edges during belt movement (up to 7 m / s) on the specially designed for this purpose the test conveyor. Recently they have got the research grant funded by the National Centre for Research and Development (NCBiR) for development of the system for automatic diagnosing of conveyor belts? condition and aiding of rational belt management. On the basis of previously created diagnostic tool called ABCDE (Automatic Belt Condition Diagnostic Equipment) the five modules: vision-A magnetic-B, preventive-C, forecasting?D, and determining safety factor-E will be developed. They will automatically interpret data about conveyor belts? condition to indicate the extent and timing of repairs, to prevent failures and to select the optimum moments for their replacements. The system will use results of ongoing research & development and planned research concerning modeling of belt wear using evolutionary genetic algorithms. The reached stage of research can not yet allow to start the implementation work by potential users. It is therefore necessary to pursuit research in real scale, the development of new modules (C-E) and intensive testing of the system in working condition with system calibration to optimize the economic effects.

Aug 1, 2013

By Chen Feng

Compared to widespread successful deployment of robotic manipulators for repetitive and hazardous tasks in related industries such as manufacturing, the construction industry has achieved relatively limited benefits from robotics and soft automation. Unlike manufacturing, where robotic solutions benefit from the structured layout of the environment (e.g., factory assembly line), construction robots face unique challenges that arise from the rugged, dynamic, and unstructured environment of the work site, as well as the uncertainty and evolving sequence of occurring on-site events. This challenges any intended construction robots to not only replicate basic human motion, but also be capable of sensing and adapting to environmental changes, and making decisions based on the evolving state of the environment. Building upon recent advancements in robotic mapping, computer vision, and object recognition, the authors propose to introduce autonomous behavior at the basic task level for on-site construction robots to address these challenges in a flexible and extensible manner. This paper reports the outcome of the first phase of this research - a structured methodology for improved design and development of basic task automations - and focuses on algorithms developed for mobile robot navigation and relative pose estimation. The algorithms are implemented on a prototype mobile robotic platform, and evaluated in several experimental scenarios.

Aug 1, 2013

Risk management has taken on renewed vigor since the economic crisis of the late 2000s. The resources of governments, individuals, and corporations are being stretched to a point where only the most promising projects move forward. Risk management is a crucial part of the decision making process, yet it remains a broad term that includes disciplines from engineering to finance. A collaborative effort will be necessary to ensure that the most auspicious and appropriate projects are the ones moving forward. Risk management can be quantified to an extent by comparing the likelihood of an instance with the result of consequence of the instance occurring. In this manner it is possible to assign risk factors to instances and ultimately, begin to associate monetary value to the instance. Carbon sequestration is an emerging field that has a number of unique challenges. Risk management and mitigation must be an integral part of the overall picture. This begins with the planning and design phase, continues through implementation and production, site closure, and does not cease until termination of liability. The ability of carbon sequestration projects to successfully assess, mitigate, and recover from leaks will be a decisive characteristic of overall success. The costs of mitigation and failure will need to be analyzed on a test level, but will still need to be reliable enough to extrapolate to a commercial level operation. This paper will build a risk management profile based on case studies and field tests in Tennessee and Virginia. These tests are scheduled to commence in late 2013 and consist of small-scale injection tests in unconventional storage reservoirs with an emphasis on enhanced coalbed methane (ECBM) recovery and enhanced gas recovery. The ultimate goal will be to provide a clear and concise direction to move carbon sequestration from the test phase to commercial scale. While it is necessary from a risk management perspective to analyze all risk points, the scope of this paper will focus on pre-injection risk assessment for carbon dioxide (CO2) leakage potential. Despite the differences between the two tests, CBM compared to shale among other differences, a framework for analysis and mitigation can be developed pertaining to leakage risk. The probability of each type of failure will be assessed and analyzed, and plans to mitigate or reduce these risks will be reviewed.

Aug 1, 2013

By Limao Zhang

This paper presents a BIM-based Risk Identification Expert System (B-RIES) for metro construction, composed of three main built-in subsystems: BIM extraction, knowledge base management, and risk identification subsystems. The engineering parameter information related to risk factors is extracted from the BIM of a specific project where the IFC standard plays a bridge role between the BIM data and metro construction safety risks. An integrated knowledge base, consisting of fact base, rule base and case base, is established to systematize the fragmented explicit and tacit knowledge. A hybrid inference approach, with case-based reasoning and rule-based reasoning included, is developed to improve the flexibility and comprehensiveness of the system reasoning capacity. During the safety risk identification process, B-RIES is able to improve the inefficiencies in engineering information extraction, reduce the dependence on domain experts, and facilitate knowledge sharing and communication among dispersed clients and domain experts. A typical safety hazard identification in the Mingdu station, located in the Wuhan Metro Line Two, is presented in a case study. The results demonstrate the feasibility of B-RIES, and its application potential. B-RIES can be used as a decision support tool to provide guidelines for safety management in metro construction, and thus increase the likelihood of a successful project in a complex environment.

Aug 1, 2013