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By Yutaro Fukase

Various types of service robots have recently been developed for guarding facilities, caring for the elderly, carrying objects, and cleaning buildings. As barrier-free facilities improve and their use expands, these robots have more space within which to move inside buildings. Yet robots that move autonomously rely on position-detection systems. Though improving rapidly, these systems are far from perfect in determining positions in certain situations, especially when robots navigate large areas or cross various locations. Our group is working to solve this problem by developing a position-detection system using random-dot patterns on a floor. First, we construct a floor with a random-dot pattern and register the positions of all of the dots into a database. As the robot moves across the floor, a camera on the robot captures an image of the floor beneath it and crops the dot pattern in the image. The cropped dot pattern is matched to the dot patterns in the database to determine the position of the robot and the direction in which the robot is facing or moving. In this paper we propose a self-localization system and matching algorithms derived from a space technology and present the results of several experiments.

Aug 1, 2013

By T. R. Eger

The Load-Haul-Dump (LHD) vehicle is a trackless, free-steered vehicle used in underground hardrock mining to move large quantities of ore/rock to haulage trucks, ore dump locations, or crushing stations. The purpose of this paper is to show, through case study examples, how principles of human factors can be applied to improve the overall design of the LHD vehicle to enhance line-of-sight (LOS), improve posture and decrease whole-body vibration exposure (WBV). Vehicle modifications (larger cab windows, lower engine profile, smaller buckets, angled radiator profile) can lead to improved line-of-sight. The use of secondary viewing devices, such as cameras, can also improve line-of-sight and allow the operator to adopt a more neutral sitting posture. Seating systems that are suited to the underground mining environment can result in vibration attenuation and less vibration transmitted to the LHD operator. The connection between vehicle design, line-of-sight and driving posture needs to be considered in order to continue to improve the design of the LHD and enable the operator to work in a neutral posture with minimal vibration exposure. Changes leading to improved line-of-sight, vibration reduction, and a neutral sitting posture will lead to fewer LOS related accidents and decreased risk factors for musculoskeletal injury.

Aug 1, 2013

By A. Ingelson

Conflict over mineral development and its impacts on indigenous peoples occurs in many countries around the world. Canada, Bolivia and Peru have experienced mine development for centuries in areas where indigenous communities have been and continue to be affected by the mining industry. On a global basis the mining industry continues to face the challenge of implementing meaningful consultation programs with indigenous peoples. Many governments around the world have adopted sustainable development as a policy and one important element of sustainable development is minimizing social conflict. John Moffet and Francois Bregha (Moffet & Bregha, 1996), in their analysis of the role of law reform in promoting sustainable development, noted that stakeholder participation can reduce this type of conflict. Social conflict can result in expensive litigation and costly project delays for mine developers. Meaningful consultation with indigenous peoples in areas where mine development is proposed can be a critical factor in securing a social licence to operate. A report released by the United Nations in 2005, outlined the elements of a concept called ?free, prior informed consent? (FPIC) that promotes more sustainable development. FPIC provides that mineral exploration and mining should not proceed unless the mining company has secured the consent of the relevant indigenous group(s). This paper employs a comparative approach to evaluate the extent to which three active mining nations, Canada, Bolivia and Peru, require consultation with indigenous residents and adhere to the principle of FPIC. The comparative approach assists in the identification of those consultation elements in the legal regimes of each country that can minimize social conflict in mineral exploration and mine development and therefore contribute to more sustainable development. First, we examine the legal requirements to consult with and accommodate indigenous communities in Canada, a country with a long history of mineral development over a large geographic area that has entrenched in its Constitution the protection of indigenous peoples? rights. We then turn to an analysis of Bolivia, one of the most indigenously conscious mining jurisdictions that has followed the Canadian lead in entrenching constitutional protection for indigenous peoples. Third, the approach to consultation with indigenous peoples in Peru, a nation that has not adopted the Canadian and Bolivian approaches to constitutional protection of indigenous peoples rights, is considered.

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 Ch. Enkhbold

Underground mining of minerals is becoming an increasingly complicated technological and ecological problem. It can be explained both by worsening of geological conditions of mining and by a specific character of mining industry, which, in contrast to processing branches of industry, intrudes into one of principal components of the nature ? the Earth's interior. At a traditional organization of mining industry, the entire volume of the produced rock mass is brought to the Earth's surface, where valuable components are extracted. This entails not only power over expenditure for long-distance transfer (especially in the vertical direction) of the waste rock forming a part of the original mineral, but also the formation of huge volumes of worked-out spaces. The latter leads (nature cannot stand emptiness!) to an irreversible development of geomechanical processes of shifting of overlying rock masses resulting in an irreparable damage of all surface structures located on the territory undermined by deep mining. Owing to their high productivity combined with low power consumption and instrumental compactness, novel bifunctional technological processes of minerals dressing successfully solve the problem of rock mass processing in underground conditions with subsequent operative disposal of final tailings of such underground dressing in the worked-out space. Besides, an integration of two processes into one is achieved, for example, a decrease in the rock mass coarseness with a simultaneous precise separation of valuable and waste components.

Aug 1, 2013

By Dong-min Lee

As the construction industry is becoming more large-scaled and complex, the BIM technology has been utilized throughout the industry. Since 2008, the construction industry in South Korea (Korea) has required carrying on BIM-based project continually. According to this trend, BIM S/W market, as well as BIM library market is also gradually activated. Many countries have already been establishing Web-based BIM library market, also Korea has been trying to establishing this Web-based BIM library market. In this study, through market research of Web-based BIM library market of advanced countries including the U.S.A. and U.K., establishment strategy of BIM library market to be derived by late starters that introduce BIM such as Korea, Japan and China was deduced based on current establishment status of BIM library market in Korea. In addition, deal with an issue that a clear revenue-sharing system between business principals of Web-based BIM library market is not available at the current stage was presented as a factor of inhibiting activation of BIM library market. So in order to offer a reasonable revenue-sharing strategy in BIM library market as conceptual level, a methodology and process of applying Game theory being used for deriving. It is expected that a reasonable revenue-sharing model between business principals would be presented as its standard of BIM library market to be more activated in the future.

Aug 1, 2013

By Frederick Bird

This paper is based upon a review of studies of mostly Canadian mining companies in Chile, northern Canada, Tanzania, Guatemala, Ghana, Sierra Leone, and the Democratic Republic of Congo. In spite of often well-meaning efforts most mining firms produce wealth in developing areas that largely benefit those immediately involved, sometimes neighboring communities, and often those in the governing strata. Typically mining takes place in enclaves and fosters enclave development, rather than the kind of inclusive wealth development favored by the recently UN published Inclusive Wealth Report. One way by which mining operations can foster more inclusive wealth development is to adopt much broader approaches towards the construction of the various physical and social infrastructures ? roads, water, electricity, health services, schools, security ? required for their own operations by collaborating with diverse regional, provincial, and/or national agencies and businesses to develop these infrastructures for larger populations and areas beyond the immediate sites where they are operating. Established mining firms can also foster more inclusive wealth development by establishing more formal, collaborative relationships with artisanal miners.

Aug 1, 2013

By Lassaad Hazzar

The ultimate lateral resistance of piles in cohesive soil is studied using the well-known finite difference code, FLAC2D. The Modified Cam Clay (MCC) constitutive relation is adopted in the analyses to model the cohesive soil behavior, whereas the structural pile model with three degree of freedoms, available in FLAC2D library, is adopted to model the piles. The reliability of Broms's method, still used in the current design practice of piles under lateral loads, is verified. Comparisons between the ultimate lateral resistances of piles and those deduced from the graphs proposed by Broms (1964) are presented in graphs. Different factors thought to affect the lateral resistance of piles in cohesive soil, not adequately considered in Broms's method, such as clay stiffness, pile length, pile diameter and axial load are parametrically studied. A special concern is devoted to elucidate the effects of over-consolidation ratio (OCR) on the ultimate lateral resistance of piles in cohesive soil.

Aug 1, 2013

By Angeles Mendoza Sammet

Based on the analysis of issues associated to conflicts between communities and mining companies in Mexico, this paper suggests actions to make mining more sustainable in Mexico. Interviews with key informants and a revision of documental information available on the internet provided information on 15 cases of conflicts in various parts of the country. The issues varied from incompliance with environmental law to assassination of community members opposing mining. The analysis concludes that mining is not sustainable in Mexico. Both mining companies and the Government of Mexico can make changes to improve sustainability. Mining companies could take a proactive approach and engage in consultation with communities before starting operations. Sharing information with communities on environmental management programs and monitoring results can be a way to start building trust and demonstrate environmental commitments. Companies can implement and evaluate CSR policies to ensure that all staff and contractors are trained on them to reduce and/or prevent corruption and violations of human and indigenous rights. Only 3 of the 15 companies had clear social responsibility policies or sustainability targets, but no reports evaluating them. Complying with the law does not make a project sustainable because of corruption, deficient enforcement, and gaps in legislation. The Government of Mexico should address the following points to make mining more consistent with sustainable development. Update the mining legislation to introduce sustainable development principles and consultation. Incorporate the notion of Free, Prior, Informed Consent (FPIC) for Indigenous People (IP) on all applicable Mexican laws or regulations. The government should not grant concessions on protected areas or indigenous lands without extensive meaningful consultation with the public, IP and land owners. Finally, it is vital to increase SEMARNAT?s capacity to review impact assessment reports and inspect and monitor environmental compliance along the life cycle of projects.

Aug 1, 2013

By Marketa D. Evans

The mining industry has a significant opportunity to capitalize on its past learnings in order to build better social relationships. The industry?s relationship with society is both critical and under pressure. Rising levels of public opposition and social conflict are already having material impacts on operations around the world. Industry has an opportunity to shape the future direction of this social engagement, build public trust and proactively respond to a material risk to operations, but first it needs to better understand the nature of the challenges and the urgency of addressing them.

Aug 1, 2013

By Adam Jordens

Along with gravity separation and froth flotation, magnetic separation is one of the most common techniques for separating minerals. Minerals are separated by a magnetic force that is dependent on a combination of the applied magnetic field, the magnetic field gradient and the magnetic properties of the minerals themselves. Minerals may be classified as diamagnetic, paramagnetic or ferromagnetic based on the way they interact in a magnetic field. The magnetic susceptibility of a material may be determined by using a vibrating sample magnetometer to determine the magnetic moment of the material in an applied magnetic field and then converting this measured moment into the material?s magnetic susceptibility. In the case of rare earth minerals, magnetic separation is commonly used to remove ferromagnetic iron-bearing gangue minerals and to concentrate paramagnetic valuable minerals such as monazite and xenotime. These magnetic separation steps are frequently preceded by a gravity separation step as many iron oxides and rare earth minerals have specific gravities that are much larger than those of typical gangue minerals. By varying the magnetic field intensity it may be possible to use magnetic separation to selectively separate the paramagnetic and ferromagnetic minerals that report to the concentrate after gravity separation. Test work on a Canadian rare earth ore has shown that a gravity concentration step using a Knelson concentrator was able to selectively concentrate heavy magnetic minerals as evidenced by increased recoveries, relative to the Knelson tailings and fresh feed, after processing through a wet variable intensity magnetic separator. Mass pull to the Knelson concentrate was 4.5 % and the magnetic recovery of this concentrate, at 0.94 T, was approximately 40 % higher than the magnetic recovery from the Knelson tailings (70 % versus 30 %). The products of the wet high intensity magnetic separation were also analysed using a vibrating sample magnetometer to determine the magnetic susceptibilities of the various concentrate and tailings products.

Aug 1, 2013

By Mousa Mohammadi

Due to operational advantage of dragline in simultaneous excavation and back-filling, the equipment has gained vast importance in open-pit mining. Besides, absence of auxiliary haulage units and a myriad of other benefits are also credited in favor of excavation of muck piles by the draglines. However, the aspects of production, productivity and economics are of utmost significance in dragline operation and planning. In this light, the present paper is an endeavor to analyze availability and utilization of dragline operations. The paper presents a good amount of data for 4-draglines operating in one of the major opencast projects in India. The study reveals the trends of availability and utilization of these draglines during last 11-years. Furthermore, the study also highlights the salient reasons for loss of available hours and for idling of the draglines. Some startling information and facts have been illustrated in form of graphs and pie charts.

Aug 1, 2013

By A. Vervoort

The concepts of geostatistics are commonly difficult to understand for students, even for those with a strong mathematical background. A main problem is certainly the link between the variation of the parameter value in space or time, and the calculated experimental semivariogram as a function of the interdistance, but over the entire area. Another problem is to differentiate between directional and omnidirectional semivariograms and the way they have to be interpreted. Furthermore first time users of geostatistics often do not want to struggle through different books with the whole geostatistical background before using it. Too often this leads to using geostatistics as a black box with all the risks linked to it. That is the main reason that we developed some interactive tools based on the free public domain software R. We aim by developing three different modules to assist individual first time users, but also regular students and teachers to get a feeling of the importance of the various aspects in conducting a good geostatistical study. The modules show directly e.g. the impact of deleting, moving or adding data points, of changing parameters of the semivariogram model and of the geometrical parameters during kriging. The first module allows making the link between the variation of the parameter values in one direction and the calculated experimental semivariogram, and this for different given datasets. The second module covers two dimensional datasets and apart from calculating the semivariogram values, models can be fitted to the calculated data. A distinction can be made between omni-directional and directional semivariograms, including the effect of the tolerance on the angle and lag-distance. The third module focuses on ordinary kriging of point values in two dimensions. The aim of the interactive tools developed is limited to educational purposes only, i.e. to visualize some basic concepts for different pre-selected types of spatial variation. They do not intend to do a geostatistical study on a certain dataset (for this purpose there exists already a broad spectrum of good software packages). The original intention of developing the three modules was aimed at users with no or a limited amount of geostatistical experience. However, these modules seem also very useful to remain critical for experienced users. One should never forget that in a real application one does not have a complete view of the phenomenon studied. The geostatistical interactive modules can be accessed through: www.bwk.kuleuven.be/geostatistics . We compiled a manual to facilitate the use of the modules and to guide the user we formulated several questions to be solved for each module.

Aug 1, 2013

By N. Razavinia

Most mining and metallurgical industries produce relatively large quantities of low grade waste heat which they vent, for the most part, to the environment. To date, little is being done to recover some of this heat and transform it from low grade to a high grade energy form such as electricity. A few decades back this was also true of paper, plastics and metals. Recycling was not a prominent activity. Today, we all know that it is and that recycling is a must for sustainable development. To this end, we feel that we are now at that point in time when the recycling of waste heat to electricity must be given serious consideration. By recycling waste heat one can achieve at least one if not two of the following benefits: 1) reduction in the carbon footprint ? by improving the overall energy efficiency of a process, and 2) production of electricity at an economically viable cost. We have developed a process that captures, concentrates and converts (3 C?s) waste heat to electricity. The process comprises 3 distinct interacting units. The first unit captures and concentrates waste heat using heat pipe technology. The second unit converts some of the concentrated heat to mechanical work which can then be readily converted to electricity. This unit is based on the classical piston/cylinder engine arrangement that is widely used by consumers to power systems with compressed air, for example. The third unit of the process dissipates the heat that the engine cannot convert to high grade energy. It also uses heat pipe technology to achieve this. The combination of the 3 units forms a unique system for recycling waste heat. This paper describes the system and it presents some results that show how the system can be made to be economically viable.

Aug 1, 2013

By A. Bascetin

The mining industry in Turkey has been developing in the last 10 years. Mine wastes and tailings have thus been increasing, depending on the rising production rates. There are many problems related to accidents that occur in tailings damps. In this study, the applicability of the surface paste disposal (SPD) method for a Pb-Zn mine in western Turkey was examined. Density was 3.084 and specific surface area was 0.899 m2/g. The mill tailings have very low plasticity and show characteristics of clays and silts in terms of the Unified Soil Classification System. The particle size distribution of the tailings was 39.2% particles finer than 20 µm. The results of this study showed that the physical and chemical properties of mill tailings make them suitable for SPD.

Aug 1, 2013

By Mory Ghomshei

As fossil fuels become depleted over the next century, it is imperative that Canada and other countries examine ways to transition to other sources of energy, particularly renewable resources. A critical obstacle to developing Canada?s renewable energy resources is the scarcity of infrastructure to wheel the generated electricity to a viable market. For each megawatt of renewable electrical power, a maximum of 1 km of connecting power line is typically feasible. This means that hydropower, geothermal, and wind power projects with capacities up to 100 MW must be located within a maximum of 100 km of a main power line in order to be economically viable. With a total length of about 1200 km, the proposed Northern Gateway oil pipeline project creates an excellent opportunity to become a corridor that can seed renewable energy projects in Northern British Columbia and Alberta. Utility companies must build new infrastructure to provide the electricity for constructing and operating the proposed pipeline. The pipeline and linked power line infrastructure therefore, should be designed and built with consideration to create an energy highway to the significant renewable energy resources, such as hydro, wind, and geothermal, in the vicinity of the proposed pipeline. Some of the important renewable energy resources in northern British Columbia can be developed in connection with the proposed pipeline. It is estimated that close to 2,500 MW of commercially viable wind, geothermal and run-of-river power resources are present in the proximity of the proposed pipeline corridor. While oil flows westward from the Alberta bitumen fields, the generated green power can flow eastward to help the Canadian oil sand industry to offset as much as 10 Megatons of carbon emissions per year. The generated carbon credits are equivalent to 75% of the emissions associated with extraction of the 525,000 barrels per day of oil from oil sands, intended to be carried by the pipeline.

Aug 1, 2013

By J. Chretien

The ability to continuously monitor the air quality within a mine has become instrumental in becoming a low cost producer. The many considerations involved in monitoring air quality include sensor type, hardware placement, as well as data storage medium. BESTECH has had the opportunity to gain insight into these air quality monitoring considerations through deployments of NRG1-ECOTM, a minewide energy consumption optimization system. This paper explores the particular challenges overcome through these installations, and provides a set of guidelines for mines that want to maximize data capture while minimizing costs. It provides a view of additional benefits of air quality monitoring, such as ventilation control, reporting and trending.

Aug 1, 2013

The effect of long term exposure of full size bolts to corrosive environments is presented. A special test rig was used to test four bolts under different loading conditions. Four, X-grade identical profile bolts, each of 21.7 mm core diameters (23.7 mm full diameter) were subjected to prolonged corrosion testing using acid sulphate water. The pH value of the circulated water varied between 3.4 and 4.3. The corrosion exposure test period lasted three and half years. Two bolts were axially loaded to 10 and 20 tonnes force respectively, the third bolt was subjected to a 360 Nm torsion load and the fourth bolt was left unstressed to act as a reference bolt. After the test period ended, the bolts were stripped of their corroded coatings and weighted for weight loss. The diameter of each bolt was subsequently measured, and the loaded bolt samples were first tested non-destructively for tensile cracks and then tested for tensile failure. No cracks were found on post corrosion bolts tested non-destructively. The failure strength reduction on all four post-corroded bolts was significant, varying between 21% and 39%. The onset of corrosion was not confined to the targeted mid-section length of the bolt, however, the severest corrosion occurred at the anchored ends of the bolts.

Aug 1, 2013

By Tony Szwilski

Using Unity 3D as a collaborative multi-user virtual on-line environment, an interactive virtual underground mine platform (IVUMP) is being developed to provide on-line access to mine safety preparedness training with a focus on mine emergency response exercises (MEREs). Communication and information flow among MERE participants and their actions can be monitored, recorded and evaluated. A mine ventilation simulation utility VFIRE is being incorporated to enhance the realism and interactive nature of the ?in-world? exercises as well as extend its functionality to include training in real-time ventilation and fire control.

Aug 1, 2013

By Corrie Pitzer

Safety performance in many companies and even industries has stalled in the last decade. Accidents rates are improving but more slowly and yet, serious accidents and fatality rates are not: in fact, these rates of more serious incidents have plateaued or deteriorating. In more dramatic cases, organizations that had ?exemplary? safety statistics, suddenly had a catastrophic or multi-fatality event occurring. Popular books such as In Search of Excellence of Peters and Waterman or Good to Great of Jim Collins created many delusional ?secrets? or recipes, to achieve great performance and yet, most of those ?great? or ?excellent? companies have now declined in their performance, some dramatically and some have fallen from grace, like Fanny Mae, a company Jim Collins identified as a ?great? one, that had to be bailed out in the latest financial crisis. These organizations share several ?delusions? about managing a business, and often, these delusions are created by academics, consultants and authors of popular books about (safety) management. More damaging however is that safety management is defined by a set of key practices or axioms: a focus on human error, compliance to rules and regulations, creating consistency of systems and actions, reacting to accidents and incidents and on prevention of those, measuring safety with performance metrics and rewarding employees on those measurements. All of these axioms contain the seeds of destruction, and they create conditions and dynamics that precede the disaster - and ironically, they are all 'good things' we do in safety management. For example, a mere focus on safety in the business, and the measurement of it, create a culture of repression of mistakes and incidents, leading to a situation where the organization knows incrementally less and less of risks and risktaking behaviour - until the day it all coincides destructively! This paper discusses seven such safety delusions and how they impact on the views and safety management approaches. They are: ??The delusion of (risk) control, that risks can actually be identified, analyzed and mitigated. ??The delusion of compliance, that mere compliance to rules will safeguard the business ??The delusion of consistency, that standard operating procedures will ensure safe operations ??The delusion of predictability, that accidents and trends tell us everything about the risks of the future ??The delusion of human error, that people are the weakest link and that it can actually be dealt with through discipline and enforcement. ??The delusion of statistical trends, that safety is measurable with statistics ??The delusion of invulnerability, that we have achieved high levels integrity and capability to deal wit risks. Organizations that suffered catastrophes all share some or all of these delusions and this paper traces how these played a role in many disasters, ranging from the Titanic, Challenger, Piper Alpha, Bhopal, BP Deepwater Horizon and many more.

Aug 1, 2013