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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 W. Barbarowicz, H. E. Uhland

AT the Noralyn mine and mill of International Minerals & Chemical Corp. in Bartow, Fla., process instrumentation has been incorporated in three departments-mining, flotation, and preparation. Use of the dragline is the most difficult aspect of the mining operation to control automatically. At the Noralyn mine there are two draglines, a Bucyrus-Erie 1250-B with 29-yd bucket and 235-ft boom and a Bucyrus-Erie 1150-B with 21-yd bucket and 215-ft boom. These are equipped with a minimum number of instruments, but further instrumentation would increase the operator's efficiency.

Jan 7, 1957

By Lorenzo Bacchetti

Automatic yards with ad-hoc WMS (Warehouse management software), are the key for a modern and efficient warehousing which can face today logistic challenges. WMS boosts the traceability of material while optimizing the storage space. The operations in the yard are safer and logically organized according to algorithms that are specifically adjusted case by case. WMS can easily handle multi-cranes yard avoiding conflicts and increasing accuracy of positioning with decreased number of movements. The synergy of automatic cranes and WMS reduces bottlenecks and speeds up the preparation of deliveries with an overall improvement of warehousing and shipping scheduling.

Oct 1, 2019

There are multiple stages in a mining operation that a mining engineer has to draw polygons to be used as operation guidelines. These polygons are drawn by hand and based on engineer?s experience. However, having automatic procedures for forming the shapes can increase the quality and decrease the efforts required. These shapes need to be homogenous in grades and rock types so that the quality and dilution of material sent to the plant can be estimated with the good approximation. In this paper, a clustering algorithm with shape control is introduced which can provide reasonable guidelines for all the aforementioned shapes by manipulating its parameters. At the end, implementations of the algorithm on a small part of a gold deposit with different mining strategies is presented and evaluated based on homogeneity of grade, rock types and determined destinations as well as the shape.

Feb 27, 2013

By P. Lenegan, R. Masethe, R. I. L. Ferreira

Underground mining in high rock-stress environments can induce unanticipated dynamic rockmass deformation, posing a serious risk to the workforce. Data collected by seismic networks are imperative for the design-as-you-mine process. Often an inappropriate assessment of the seismic hazard is done when unnecessary data are included in analytical techniques, particularly short-term time frames. Depending on the methodology or application of data analysis and interpretation, some of the information may not be relevant and even detract from the objective. By using the spatial event clusters associated with active workplaces to define the shape and size of the polygons for data selection for subsequent analysis, a problematic subjective component can be eliminated. The mining of tabular reefs in South Africa, be they gold- or platinum group metals, is very extensive, and underground workplaces are often widespread. Production stoppages are very costly, especially for marginal mines, so there is just cause not to evacuate an entire operation’s workforce following the occurrence of a large mining-induced seismic event. A rationale based on the damaging peak particle velocities (PPV) of the past seismicity can exclude the unaffected underground personnel and allow a quick orderly withdrawal where required. Micro-deformation may precede rockbursting, which can occur on-shift close to the workface. A mine-wide array of geophones suitable for the accurate location and analysis of seismicity may not be able to detect these higher-frequency emissions. Inexpensive but fit-for-purpose accelerometers, providing real-time, continuous measurement of acoustic rockmass deformation near the workplace, integrated through underground and surface communications networks, are shown to record ‘rock-talk’, clearly distinguishable from the instrument background noise, which can be in the order of hours leading up to an imminent damaging seismic event.

Jan 12, 2025

By K. Norrena

Grade control in open pit mining requires the specification of dig limits that account for mineral grades, economic costs, and selectivity of mining equipment. Visual identification of ore rock types is ideal, but this is not always possible in lower grade disseminated deposits where ore/waste contacts are not visually discernible. In this case, conventional grade control practice consists of a two-step procedure (1) create a map of mineral grades at some selective mining unit scale, and (2) determine practical ore-waste boundaries or dig limits on the basis of the gridded block grades or assay information. This procedure is laborious, depends on a subjective assessment of where the boundary should be, and may be economically sub-optimal. We pose the determination of dig limits as an optimization problem and solve that problem with the technique of simulated annealing. Simulated annealing has the unique advantage of being able to combine multiple non-linear constraints into a single objective function. We use maximum profitability and the ability of the equipment to mine the proposed dig limits as constraints in the determination of optimal dig limits. We require a map of expected profit for eah block. Geostatistical techniques are recommended, for mapping expected profit but not necessary. Geostatistics will provide a quantification of the uncertainty in the grades within rock types using all available blasthole samples and exploration drilling. Some variant of L-optimal estimation or kriging can be used to determine the block-by-block classification that is economically optimum. We also need the expected profit for each block. It is unrealistic to assume free selection, that is, each block cannot be extracted independently of its neighbors. The optimal balance of ''accepting dilution'' and ''wasting ore'' is achieved to maximize profit subject to equipment constraints.

Jan 1, 2001

By Peter Ay, Harry Pempel, Satya Narra, Mike Müller, Jens Markowski

"Within the next few years major changes in mobility are expected. Increasing numbers of electric powered cars, electrobikes and E-Scooters define the transport sector. Recently lithium based traction batteries as storage medium have led into matrurity of series production combining high electrical efficiencies with low weights and compact dimensions. Due to the relatively young development with lithium batteries utilization, only few investigation were conducted regarding their recycling. Conventional battery recycling processes can not be applied due to differences in design and chemistry. So an automated disassembly and processing procedure for lithium traction batteries has been developed in the R/D-project ""Li-WERT"". Instead of complete smelting of the batteries without pretreatment, an automated disassembly and specific treatment of the material streams was realised, adjusted to the needs of the subsequent recovery technologies. A higher quality, with reduced expenses for the separation of fine-grained or fused material mixes, can be obtained for the individual components. The automated disassembly using an industrial robot significantly reduces dangers for the operating crew. The selective disassembly and beneficiation allows full recovery of the fractions. The batteries will be disassembled to cell level by the industrial robot. Anodes, cathodes, and separation layers are isolated and processed. The technology is designed, that no waste is generated for disposal. The pelletised cathode coating and the other separated metals (stainless steel, copper, aluminum) can be used in respective metallurgical plants. Circuit boards and plug contacts are also coveted secondary raw materials for reuse. The process is modular and offers high flexibility, e. g. for new battery types/ sizes by quick adjustment of the robot and tool change. Adaptation to other cathode materials (e. g. Li[FePO]) is possible. After finishing the R/D-project, a pilot plant for demontage was realised in 2013."

Jan 1, 2014

By L. G. Morrell

Introduction A Self-Dumping cage which combines the features of a small skip and a cage has been used in a vertical winze between the 2,000 and 2,500 levels at the Coniaurum mine for the past three years, during which time its success has been demonstrated by uninterrupted service and low maintenance charges. lt was designed by John Reddington, mine manager, and was built under his supervision in the Coniaurum mine shops. Being new in many of its operating features, a small-scale model was made and tried before the final construction was undertaken. The mechanical performance of the model suggested a few minor changes that were incorporated in the final drawings. During its three years of use, the automatic dumping device has saved the expense of deck-handling of the cars. This actually represents a gross economy of something over four times the cost of construction and installation, which totalled $1,325. The cage, empty, weighs 2,200 pounds, of which 500 pounds represents the weight of the dumping accessory and necessarily heavier construction. Besides a considerable financial saving, the time saved in unloading increases the daily hoisting capacity of the winze. In raising ore from the 2,500 level, five minutes are required for a complete trip. Allowing one minute for the alternative of decking, we believe that the automatic dumping has increased the capacity of the winze hoist nearly 20 percent.

Jan 1, 1933

By Adabala Raja Venkata Sai Naresh, Radhakanta Koner

Particle size distribution (PSD) is an essential parameter in assessing the overall efficiency of blasting operations in mines and the subsequent mine-to-mill process in the mining industry. Despite some drawbacks of 2D image analysis techniques in accurately estimating particle sizes in PSD, the mining industry has relied on them for the last three decades. This study proposes the 3D rock fragmentation measurement (3DFM) technique for deducting the accurate dimensions of 3D rock particles for the PSD. 3DFM has utilized different processing algorithms. Images of different views of the non-touching rock particles of varying sizes have been acquired as a data acquisition step of structure from motion technology for generating sparse point cloud. Dense point cloud reconstruction is used to avail finer details of the point cloud using clustering views for the multi-view stereo algorithm. Random sample consensus (RANSAC) algorithm coupled with an unsupervised classification using the density-based spatial clustering of applications with noise (DBSCAN) classifier is employed to extract the rock clusters from the 3D point cloud. Finally, the accurate rock sizes are derived using the hybrid bounding box rotation identification (HYBBRID) algorithm with a root mean square error (RMSE) of 0.10 cm for length, 0.10 cm for breadth, and 0.32 cm for depth. The PSD of rock fragments obtained from the proposed 3DFM technique is found to be matching with the results of mechanical sieving and manual gauging with an R2 values of 0.98 and 0.99, respectively. The 3DFM method can be considered cheaper, more accurate, and computationally faster in determining the rock dimensions for the PSD determination method to enhance the productivity of the mining industry.

Dec 29, 2023

Reduce the danger to personnel and destruction of equipment caused by fires on surface coal augers. Approach: A reasonably priced reliable system which automatically senses a fire and activates dry chemical extinguishers, has been built and field tested. How It Works: Heat sensors mounted in the engine compartment and hydraulic hose areas detect the fire, usually before the operator does. This causes the system to automatically discharge A-B-C class dry chemical extinguisher through a fixed piping system.

Jan 1, 1976

To alleviate the hazard to personnel and danger to equipment caused by fires on large, mobile vehicles. The Approach: A system which automatically senses a fire at its early stage of development, warns the driver of the danger, and activates fire extinguishers in the zone of combustion, How It Works: The automatic fire protection system utilizes both thermal and optical sensors to detect the heat or light given off by a fire in the area of concern (Fig. 1). The system warns the driver of the hazard and then automatically extinguishes the fire with pressurized S-C class powder. The system can also be activated manually from the operator's cab or from ground level. Further, the automatic sequencing of the system can be manually overridden by the driver if he determines that the fire sensors have malfunctioned to cause a false alarm.

Jan 1, 1974

To develop a system which will effectively detect and extinguish fires in underground fueling areas while also providing a warning for nearby miners. Approach A system involving optical fire sensors. automatically-released dry chemical and aqueous film-forming fluid (AFFF) fire suppressants, and automatic alarms was designed from off-the-shelf, state-of-the-art components, and was in-mine tested at two mines in the two typical underground fueling area situations: fuel transfer areas and fuel storage areas. How It Works As mines become more mechanized, the number of fire hazards increases since fueling areas are more abundant. Fire hazards are especially serious in deep mines, since escape time is longer. To help solve this growing problem, the Bureau of Mines, in cooperation with the Mine Safety and Health Administration (MSHA) and the National Fire Protection Association (NFPA), has developed and in-mine tested a cost-effective fueling area fire protection system. The system was designed to be rugged enough for reliable, long-term use, yet to utilize state-of-the-art, off-the-shelf components to maintain cost-effectiveness. The system consists of cross-zoned, ultraviolet flame sensors used for quick response to fire, and a dual-agent fire suppression subsystem. A dry chemical is used for fast fire -knockdown," and AFFF (or "light water") is used for long-term, fire-securing capability. The basic components of the system are shown in the schematic illustration.

Jan 1, 1982

By G. Guzman

In the framework of the optimization of Teniente Converter operation the new system of automatic flux feeding through gar-gun was implemented in the Potrerillos Smelter, Codelco Chile, Salvador Division. The control algoritm based on simple iron and silica balance adjusted by empirical coefficients was incorporated in the logical programmer. The programmer works in real time gathering information from the plant instrumentation events and introduced chemical assays of concentrate, slag and flux. Through the auto-tuning of the automatic operation the criterions of optimal flux dosage were determined. Four month of operation of the automatic flux feeding system demonstrated the stabilization of magnetite content in the slag in the narrow range from 18 to 20% and the decrease of flux consumption, corresponding to annual savings US$ 340,000. Additionally, the automatic system helps operators in the control room in fast determination of optimal fluxing and avoid the errors in flux dosage affecting the slag quality and its impact on refractory wear.

Jan 1, 2007

By J. Lee

A monolithic caisson is one of the major structural components commonly used in the construction of docks, breakwaters, and container terminal quay walls. Since the structure of monolithic caissons is typical and somewhat simple, its design process is also typical and repetitive, but still time consuming. To reduce the total time and enhance productivity, we developed a parametric model in Revit to automatically generate a 3D model of a monolithic caisson. It is designed to generate the Revit model of a caisson with concrete body and reinforcing bars. The size of caisson, the number of reinforcing bars, and the space between reinforcing bars are automatically changed when users update parameters. This paper presents how we developed this parametric family in Revit for monolithic caisson design and how it would enhance its design process.

Aug 1, 2013

By J. Lee

As the usage of BIM increased in the construction industry, some construction owners started exploring the use of BIM for maintaining their facilities. Construction Operations Building Information Exchange (COBIE), a spreadsheet data format suggested in 2007 to manipulate building information, is considered as one of the solutions that would facilitate the process of transferring information from BIM to applications for facilities management. Several BIM and Computer Aided Facilities Management (CAFM) applications offer functions to export or import the COBIE data. To facilitate the process of generating the COBIE data out of Building Information Model, some add-in applications, such as COBIE Toolkit for Revit, also were developed. However, most of these applications handle a limited amount of COBIE data. Professionals using these add-in applications therefore sometimes end up spending a significant amount of time to add additional data manually to the COBIE data file. To automatically get a data-rich COBIE file, we developed a prototype application that extracts information from Revit, which is one of the BIM authoring tools, stores them in an external database, and then produces the COBIE file using information stored in the database. We applied our application to a pilot project and produced 8 COBIE worksheets automatically, which demonstrated a significant amount of time saving. This paper presents how our prototype application produces 8 COBIE data sets automatically. It also addresses our attempt to handle more COBIE data sets.

Aug 1, 2013

MULSIM/NL and La Model are displacement-discontinuity programs which have been used quite successfully in the past to provide detailed structural models of various single and multiple-seam mining situations. However, both of these programs required fairly complex details of the mine plan and topography to be manually input into the program, often taking several days of work. Recently, automatic mine and topographic grid generation capabilities have been added to the MULSIM/NL and La Model programs, reducing the input time requirements from days to hours. This paper discusses the algorithms used for the automatic grid generation and demonstrates the utility of the new capabilities with a case study.

Jan 1, 2003

There are presently in use many grinding mill control schemes and concepts. This paper presents one operating method of controlling the particle size of the cyclone overflows for proper metallurgical results and controlling the level of the cyclone feed sump and new feed rate to obtain lowest unit cost of finished (ground) material which is usually at the maximum grinding mill throughput. This system stresses simplicity of field instrumentation and control strategy. Both of these factors lead to better operator understanding and acceptance. The low capital investment of this system also makes it more attractive at the Buick Concentrator when compared to other more complicated systems utilizing mass flow measurement and a computer to calculate circulating load and infer particle size. Furthermore, it has the advantage of utilizing an actual measurement for control, rather than a difficult-to-maintain inferred value. There are several reasons for maximizing mill throughput at Buick. The milling rate before automatic control was too low when compared to mill throughput increases planned for the future. Through this new operating system, it appears Buick will not have to make major changes of mill motors and speeds to meet the increased? production rate. Also, since power costs continue to escalate, it is desirable to maximize the throughput to the grinding circuit and reduce overgrinding to achieve a reduction in power cost per ton of ore milled. Presently, 45% of the concentrators' total power is consumed in this grinding circuit.

Jan 1, 1977

By Terry E. Perkins, Len Marnewecke

Installation of a relatively simple, low-cost analog mill control system at Amax Lead Co. of Missouri's Buick concentrator has paid off handsomely. The system, which provides the capability of handling mill circuit upsets and ore changes while maintaining a desired particle size, is expected to generate annually a return on investment of several times its capital cost. In addition, the system stresses simplicity of field instrumentation and control strategy, leading to better operator acceptance and understanding, and its capital cost makes it very attractive for the specific installation when compared to more complex schemes using mass flow measurement and computers for calculating circulating load to infer particle size. This system has the advantage of utilizing an actual measurement for control, rather than a difficult-to-maintain inferred value.

Jan 2, 1978

By Donald D. Murphy

My first contact with underground, bolt conveyors came when I was hired as a draftsman by the La-Del Conveyor & Manufacturing Company in 1935. At that tine relatively few nines were using haulage belt conveyors. Wore they were in use, they were usually loaded by chain or shaker type room conveyors which in turn were hand loaded at the working face. Duo to the low room tonnage, a gathering belt might receive who output of from six to eight rooms. For several years belts 26 and 30" in width were the favorites for coal mine use. Belt speeds very seldom exceeded 200 ft. per mm. at that time. Conveyor lengths for the majority of units lay between 1.000 and 2000 ft. For a number of years 25 H.P. drives were adequate for those conveyors. From 1940 until about 1950 loads and speeds went up slightly and 40 H.P. drives became the standard. Since the majority of mines were then using direct current power systems, we were able to use controllers with 3 or more steps of starting resistance. The slow belt speeds coupled with relatively long starting cycles kept the rate of acceleration low and gave us smooth, easy starts.

Jan 1, 1963

By William Petruk

A fully automatic image analysis system that consists of a microprobe, an energy dispersive x-ray analyzer, and an image analyzer was developed at CANME:I' to determine mineral behaviour that affects beneficiation. The interlacing between the instruments permits automatic identification and characterization of minerals in samples of unbroken ore pieces and of mill products. Different types of information are obtained for minerals in samples of unbroken ore pieces than in samples of mill products, and are used differently. For unbroken ore pieces size distributions are determined for discrete mineral grains to predict a grind at which they might be liberated, and other measurements are Irade to predict the percentage of mineral that occurs as nonrecoverable grains. For mill products the minerals are analysed to determine percentages that (1) are free, (2) are likely to be recovered in concentrates, (3) are likely to be lost to tailings, and (4) could be liberated with regrinding. The image analysis data for mill products are processed by a mineral-metals balance program to determine the distributions of free and unliberated mineral grains at each point in a concentrator, pilot plant or bench test. For samples containing trace minerals, such as gold, an automatic search technique is used to scan the entire area of the polished section for the trace mineral grains. The identified trace mineral grains are characterized with regard to size, liberation, and other properties.

Jan 1, 1988