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From some of the largest tunnel projects in the some of the most vibrant cities, to smaller projects in remote corners of the globe, the Robbins Co. announced two tunneling projects in which its tunnel boring machines will be used. Robbins earth pressure balance (EPB) machines undercut Downtown Zhengzhou. Zhengzhou, a city of 7 million people, is set to become a crossroads for rail commerce in China. The country?s future main routes, traveling between Beijing and Guangzhou (North-South), and between Xuzhou and Lanzhou (East-West), will intersect in the city. The plan includes up to four rail lines in Zhengzhou itself, which will eventually link up to the national lines. Excavation of Zhengzhou Metro?s new Line 1 tunnels began on Sept. 28, 2010, when the first of two 6.3-m (20.7-ft) diameter Robbins earth pressure balance (EPB) machines was launched from a 16-m- (52-ft-) deep shaft.

Jan 1, 2010

By A. M. Gaudin

This year the American Institute of Mining, Metallurgical and Petroleum Engineers has chosen to give me its Robert H. Richards Award, a distinction which is widely regarded as the highest honor in the field of mineral engineering. I am deeply moved by this tribute, which suggests not only regard for my service to the profession but also the affectionate esteem of my fellow mineral engineers. You have made me happy at the prospect of the permanent association of my name with that of Robert Hallowell Richards and of the distinguished recipients of the award, Arthur Fay Taggart, Frank R. Milliken, John F. Myers, Edward William Englemann, C. Harry Benedict, Edward W. Davis and Arthur W. Fahrenwald. I wish to thank you all for an honor so generously bestowed. Professor Richards is known to us all as a legendary figure, and we can read about him in the Richards Memorial Volume of our Transactions. Some of us have even had the good fortune of knowing him. I count myself among those lucky few. In its intangible attributes the Award recalls those things for which Professor Richards stood: for Science in Art, for thoroughness, for meticulous accuracy, for bold imaginativeness, most of all for professional integrity. Now, as in his day, these attributes are central to an engineer's creed. They are appropriately needed in a formulation of a definition of the mineral engineering profession.

Jan 6, 1957

By AIME AIME

TRAINED as a mining engineer and with no little experience in the field of mining, his interests and activities later transferred to the alloying, fabrication, and physical metallurgy of nonferrous metals, principally silver, Robert H. Leach represents in his professional life both of the major phases of the fraternity of mining and metallurgical engineers. In his personal characteristics, his wide circle of true friendships, his kindly, sympathetic interest in the problems of his fellow engineers, be they the junior men of the mineral industries or the mature and experienced men, he typifies the characteristics and attitude so desirable in the professional man.

Jan 1, 1939

NEARLY one hundred members of the Mining and Metallurgical Society of America and friends of Professor Peele met at dinner at the Aldine Club, New York, on the evening of April 26, to take part in the ceremonies attending the presentation of the Society's annual gold medal. This had been awarded to Professor Peele by the Society in recognition of his laborious and painstaking work as Editor-in-chief of the monu-mental "Mining Engi-neers' Handbook. Carl A. Meissner acted as toastmaster. W. Y. Westervelt, a student and lifelong asso-ciate of Professor Peele, then recounted some of his friend's early exploits, be-ginning with his mining adventures in the paternal cellar, whereby the neces-sity for adequate ventilation was indelibly impressed on his mind. Graduating from the Columbia School of Mines in 1883, Robert Peele for several years followed the typical mining career, as assayer and superinten-dentatan outlying Colorado mine; mill foreman and assistant superintendent of the Silver King, in Ari-zona; in charge of a mine at Fairplay, Colo.; and superintendent for the Ore-gon Gold Mines Co., at Cornucopia. At intervals during this experience, he spent parts of four years on two mineral investigations m in Peru, Bolivia, Colombia, and Dutch Guiana. He i was called to Columbia as Adjunct Professor of Mining in 1892, and became Professor in 1904. During his sabattical leave in 1903 he travelled around the world, r stopping at some of the most important mining cen-ters, and in 1910 he renewed his acquaintance with South Africa and South America.

Jan 6, 1923

By G. Danko, R. Tiwari, J. Knowles

Many excavation and loading tasks require equipment operators to simultaneously coordinate the motion of multiple machine links, in order to achieve complex tool trajectories. Efficiency, ore selectivity, and machine wear, are all affected by the skill level and attentiveness of the operator. A software-based kinematics reconfiguration system designed to assist operators with various tasks has been implemented on a small experimental excavator using our new differential control architecture. Kinematics transformation and feedback control algorithms are being developed and tested using computer simulation, and the results implemented on the experimental excavator. Several task-specific kinematics transformations, including a virtual revolute-to-Cartesian machine reconfiguration and computer-assisted bucket steering and stabilization have been successfully tested. Progress, challenges, results, expected benefits, and planned work are described.

Jan 1, 2006

By H. Salamanca

Recently, the mining industry has become one of the leading target markets for the technology industry as they need to innovate in their productive processes in order to boost productivity, reduce operation costs, increase operation safety, and improve the quality of life of their workers. This work presents the technological developments that HighService has done in different stages of the mining productive processes to include robotic manipulators in their automation solutions as well as the development of new equipment and sensors. The robotic technology integration is presented in different applications such as handling and selection of cathodes in E-W machines, automation of base plate maintenance, automation of cathode stripping machine, and multi-tools handler for liner bolt replacement in SAG mill liner maintenance activities. The proposed solutions show technical and economical viability with low initial investment and short implementation period of six (6) to ten (10) months. The results have been validated in plant, obtaining higher production rates and availability.

Jan 1, 2007

By Keith S. McIntosh

The fire assay process for the quantitative recovery of platinum group elements (PGE?s) prior to subsequent analysis traditionally is a time-consuming process. Samples derive from various ore types and contain PGE?s at the ppm or ppb levels, making concentration of the elements mandatory before assaying. Traditionally sample turn-around times are of the order of 24 hours. The whole sequence of sample preparation, fire assay and subsequent analysis of PGE?s have been automated by Anglo Platinum. Some of the major challenges on the road to automation will be discussed and the novel solutions that were implemented. The engineered solution included robotic automation of the whole sequence, from sample preparation, up to the final element by element assay. The final system allowed for rapid (less than one hour) and accurate analysis of PGE?s even in streams containing very low levels, such as flotation tailing streams and drill core samples.

Jan 1, 2006

By G Baiden

The removal of rock blockages in mining operations has long been a risky undertaking, especially in high overhead conditions. Moreover, the assessment of where to put charges and the placement of them has been difficult due to the lack of visibility and safe access to the area. Traditionally, wedging long poles with explosives on them to keep the operator at a relatively safe distance has been the tried and true method of attempting to remove the blockages. Unfortunately, this is not a perfect system as it usually takes several attempts to remove the blockage. Each successive attempt results in even more dangerous conditions for workers and/or damage to the mine due to the successively larger amounts of explosives used until the hang-up finally comes down.Over the years, different ideas have been proposed to improve this process and reduce the inherent safety risks. Some of the technologies that have been trialled include projectiles fired at the hang-up; large, cumbersome arms; and massive amounts of explosives, each of which come with their own inherent safety risks that result in dangerous situations for miners and the mine.After gaining a thorough understanding of the process, Penguin Automated Systems Inc has developed a robotic system that is capable of working in a rock blockage safely. The idea combines the latest in telerobotics technology with 3D scanning and underground geospatial positioning. The hang-up removal is performed by scanning the inside of the hang-up to rapidly develop a geospatially placed 3D model for the operator to use. The 3D model is detailed enough that the operator can attempt to pick the ‘keystone’. A blasting engineer or the operator can then determine the exact position where the explosive charge should be placed in the 3D model and thus at the actual hang-up. The operator, controlling the robotic arm, uses the 3D virtual reality model of the robot system and the actual drawpoint information model to display the location information, the arm can then reach into the hang-up to position the charge using the kinematic model of the robot system. The 3D model is used to provide views inside the hang-up so that the operator can move the arm safely and precisely. This process allows the operator to place the charge (using the 3D representation of the drawpoint) from a long distance away. As the process continues, the end of the arm drills the rock and precisely loads the explosives. The robot then returns the blasting cable to the command station, which is located in a truck at a safe distance from the blockage.This paper will review the development of the system and present the results to date.CITATION:Baiden, G, 2016. Robotic hang-up assessment and removal of rock blockages in mining operations using virtual reality for safety, in Proceedings Seventh International Conference and Exhibition on Mass Mining (MassMin 2016), pp 745–754 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2016

By Unal Artan

It is well known in the robotics community that the ability to determine the position of vehicles in real time is a key enabling technology required for automation, traffic management, and to ensure safety in the presence of multiple vehicles. Because of this, the introduction of global positioning systems (GPS) has had a remarkable impact on the surface mining industry, enabling real-time tracking of mobile assets, improved safety, and production optimization. Unfortunately, satellite-based GPS is not available underground. This paper reports on the preliminary results of a study to develop a robust method for globally consistent mapping of large-scale underground mine environments. We believe that this may additionally become the first step towards the development of a novel underground positioning technology. Presented are preliminary results from data collected at two underground mines using an Atlas Copco ST14 LHD machine.

Oct 1, 2009

By Mark C. Russell, Charles T. Russell, Brooke Colburn, Parker Bailey, Desiree Bernhard, Kaito Durkee, Tristen Cutshall, Rob P. H. Urselmann

Hypersonic tunnel boring (HTB) uses directed, high velocity projectile impacts to remove rock. HTB is highly independent of rock strength and targets hard, abrasive rock and variable rock environments. This paper discusses history, theory and presents test (2×2 m and .75×.5 m tunnels) field trial results and technical and economic evaluation. The HTB tests are compared against the historic ‘project REAM’ and the concept against tunnel boring machines and drill & blast in design studies for full-scale 12 m and 4.5×5.5 m tunnels. The positive results indicate that under these conditions HTB can replace Drill & Blast and Tunnel Boring Machines.

Jun 13, 2021

By S. Flewelling, M. Scobie, G. R. Baiden

"SynopsisA feasibility study to develop a research program, the Mine Automation Plan (MAP), was recently completed. This was undertaken by a team comprised of Inco Ltd., Falconbridge Limited, the Canadian Centre for Automation and Robotics in Mining (CCARM) and the Centre for Resource Studies (CRS). The study was sponsored by PRECARN Associates, which is a consortium of thirty-six Canadian companies focussed on research and development in artificial intelligence and robotics. PRECARN Associates was formed in 1987 when a number of research proposals were funded in the fields of process control systems, robotics systems and intelligent engineering systems. In July 1991, PRECARN accepted the next round of proposals for research. The MAP project was one of the successful proposals, being awarded $100,000 for the development of a feasibility study defining a long-term R&D plan for underground hardrock mining automation.The development of the feasibility study started by addressing the fundamental structure of the mining process, and its relationship to the metallurgical process, over-all infrastructure support and management systems (Fig. I).Mining may be considered as comprising five subprocesses: (I) delineation; (2) development; (3) production; (4) backfilling; and (5) infrastructure support services. Within these subprocesses many applications for artificial intelligence and robotics exist. The mining process is dependent upon the interaction between the physical mining process and information. For example, the delineation process is dependent on geomechanical, geochemical and geophysical techniques to develop a model of the orebody based upon access to such data. This same relationship between the physical and information models holds true through the development, production, backfill and infrastructure support systems.The foundation for the MAP study has been the recent development by Inco Ltd. of an underground communications system (Fig. 2). The system has the ability to supply high bandwidth communications, over voice, data and video to mobile and stationary locations within the mining operation. It is seen to be the future backbone of a comprehensive, automated information system which should permit the application of the concept of Computer Integrated Manufacturing (CIM) to underground mining. CIM, through the automated flow of information, has been successful in integrating the engineering, production and various support groups in manufacturing."

Jan 1, 1994

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

For a variety of reasons, the need for automation of underground mining equipment is growing dramatically, e.g., improved safety and health, availability of labor, deeper mines, and desire for more focused excavation. While there has been tremendous progress made in this direction, much needs to be done to reach the holy grail of an autonomous mining machine. This paper reviews a number of technological developments and presents research and development needs for future development. A report on our current project for the Western Mining Resource Center at CSM is included.

Jan 1, 2000

By E. Pardo-Igúzquiza, R. A. Olea

The bootstrap is a computer-intensive resampling method for estimating the uncertainty of complex statistical models. We expand on an application of the bootstrap for inferring semivariogram parameters and their uncertainty. The model fitted to the median of the bootstrap distribution of the experimental semivariogram is proposed as an estimator of the semivariogram. The proposed application is not restricted to normal data and the estimator is resistant to outliers. Improvements are more significant for data-sets with less than 100 observations, which are those for which semivariogram model inference is the most difficult. The application is illustrated by using it to characterize a synthetic random field for which the true semivariogram type and parameters are known.

Jan 1, 2015

By D Brown, Z Tabor

Projects must be flexible to account for the rapid development of new technologies and changing stakeholder expectations. Coupled with calls for bleeding-edge solutions, customers, shareholders, and regulators demand robust, safe products and systems-of-systems. Developing and integrating these solutions is becoming increasingly complex and maintaining the flexibility required to ‘pivot’ to effective solutions can be a serious challenge. The necessary flexibility is fundamental to the Agile ethos, and this family of methodologies therefore offers a potential solution to this challenge (Beedle et al, 2001). These have traditionally been delivered with systems engineering applied through a Waterfall methodology. Agile Systems Engineering combines both approaches and presents a means to achieve these goals without compromising flexibility, quality or safety. A robust methodology for the application of Agile Systems Engineering is required to enhance practical outcomes and reduce risk for real-world mining projects.

Sep 1, 2024

By G. K. Mann

Fragmentation analysis of blast or crushed rock material is a time-consuming and costly process. During the last two decades, the mining industry has been investigating image-based analysis systems as an alternative to generate fragmentation results. Many image-based techniques and commercial products have emerged during the last few years, and the mining industry has recently begun using these tools for real-time estimation of size distributions. Some existing systems require manual image editing to add or delete edges (or net) before executing the fragmentation analysis routine. This manual procedure may take hours of time for each image analyzed. Reliable and robust image segmentation should be able to handle a wide range of rock textures and sizes under a variety of lighting conditions. This paper describes a novel software application, which has the capability to autonomously capture images and analyze them to generate the particle size distribution. The system can also process a batch of images captured during a fixed duration of time and produce the overall particle size distribution. The new method has different layers of segmentation modules, which allows the system to operate under a wide range of rock textures and lighting conditions. A new grey-level slicing technique is developed which can perform under a range of illuminating conditions. The Canny-based edge detection technique is used to segment rocks appearing in dark regions.

Jan 1, 2006

"In addition to outstanding technical sessions and networking opportunities, the SME Annual Conference and Expo offers attendees a chance to see the latest and greatest technology that the industry has to offer. The 2017 SME Annual Conference and Expo was no exception as 575 companies filled 756 booths from Feb. 19-22 in Denver, CO. The following is a look at some of the vendors that were on hand.AIL MiningThe Edge, featured by AIL Mining at the 2017 SME exhibit, is a four-flange structural liner designed to be an alternative to structural plate’s traditional lapped seams and to help mine operators build more efficiently and safely. It is ideal for creating underground structures, such as mine shafts, ventilation raises and escape ways. The Edge is available on SuperCor structural steel plate — 10 times stiffer and five times stronger than traditional steel liner plate. It facilitates curved structures, both horizontal and vertical, and eliminates the need for ring beams. It is ideal for remote sites. For added safety, structures can be assembled from the inside, and the leak-resistant structures can be dismantled and removed easily. Brackets can be attached to mine shafts or vent raises to support Alimak rails or climbers. Similarly, brackets or hangers can be attached to drifts or tunnels to support mine air, water or electrical utility services.ArcadisMining companies spent nearly $12 billion on water infrastructure worldwide in 2014, reflecting the industry’s heightened concern about environmental issues and social, regulatory and political risks.So, with an increasing focus on water reuse and recycling, mining companies must have effective water management plans that include sustainable solutions. Also, many water quality issues fall under both state and federal regulatory jurisdictions. To solve these problems, Arcadis provides comprehensive ground- and surfacewater technical support in a complex hydrogeologic setting. It can characterize the nature and extent of mine-related constituents in ground water and surface water, as well as the complex interactions between the two waters, and prepare the operational permits needed by mine and tailings facilities. As an example, Arcadis constructed a hydrogeologic and geochemical conceptual site model that improved site understanding for a molybdenum mine in the western United States that spanned several watersheds. It also provided technical support for permitting and compliance issues, allowing the mine to return to active production."

Jan 5, 2017

Strategic planning in mining is an important value accretive process. One of the most important aspects during the planning phase is determining the correct mine and plant design. The traditional mine site design (mine, plant, stockpiles, dumps) develops a fixed system for one set of conditions or expected values. A robust design is a fixed system that is designed to deal with a large range of conditions without changing the system design. A flexible design changes the system dynamically in response to changes in uncertainties. It is hypothesised that a robust design generates less value than a flexible design as it fails to realise the value of actively managing the operation. One of the most critical aspects in creating strategic value from a project is embedded in the design of the system. A flexible design has components that allow the design of the system to change over time. An operational plan is proposed as a hybrid of a robust and flexible design. This paper seeks to compare these different design methodologies. An analysis of the same case study is undertaken to compare these approaches, showing an a traditional net present value (NPV) of $1678 M, robust design NPV of $1787 M and an operational plan NPV of $1867 M - an increase of $170 M.

Dec 6, 2010

A study of drilling data at various stages of development of an orebody show that the semi-variogram, used for calculating the accuracy of block estimates can be ill-defined if too few data are available. The consequencesin this case are to have blocks supposedly more accurately known than is possible at the early drilling stage; such a result being potentially dangerous. However, as the amount of data increases the recalculated, semi-variograms approach the underlying semi-variogram of the deposit and the calculations made using them become more reliable and robust.

Jan 1, 1977

The Coeur Rochester Mine is one of the largest and lowest cost primary silver mines in the United States. In January, the mine surpassed 3.1 kt (100 million oz) of historic silver production. Rochester is owned and operated by Coeur d’Alene Mines, the world’s largest primary silver producer. Rochester is the world’s seventh largest silver mine. It also produces gold — more than 31.1 t (1 million oz) in historic production. Cash operating costs have averaged 8 cents/g ($2.58/oz) of silver since operations began in 1986.

Jan 1, 2004

By Rolland R. Mates

This paper describes the use of post- tensioned rock anchors to reduce the risk of future damage to a residential structure as a result of coal mine subsidence. The project described in this paper was performed by the Office of Surface Mining Reclamation and Enforcement (OSMRE) of the U. S. Department of the Interior. The OSMRE was created to administer Public Law 95-87, the Surface Mining Control and Reclamation Act of 1977. The responsibilities of OSMRE include "reclamation and restoration of land and water resources, adversely affected by past coal mining including prevention, abatement, control of coal mine subsidence. ?('l) Consequently, OSMRE has been addressing mine subsidence problems since its initial subsidence stabilization project in 1979. Stabilization activities have primarily consisted of supporting the overburden material by injecting materials through drilled bore holes into the underground mine voids. Injection of various materials into mine voids, including fly ash mixtures, coal refuse, cement grout, and gravel has proven to be a successful method of reducing mine subsidence-related surface movements, and has been extensively utilized in mitigating mine subsidence problems. However, the cost of drilling for injection can be extremely high in areas where the depth to the coal seam is great.

Jan 1, 1986