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By A. Makinen

There is an increasing trend between increasing consumption of water and the production of metal concentrate. Along with this trend we see that ore grades are declining and getting more complex to concentrate around the world. This will not only complicate processing but also generate new requirements for the management of water and waste streams on mining sites. The mining industry is a large user of water and its water consumption is growing rapidly. The processing of lower quality ores requires greater volumes of water. For these reasons, the need for efficient use of water and water management at mine sites is becoming more urgent. The perception of water in the mining industry has changed from thinking about it only in terms of "water treatment" to actually seeing it as a valuable resource, a resource that needs proper management. This resource management needs to involve various aspects, such as optimizing water usage of the entire mine or concentrator site, minimizing fresh water usage, minimizing or eliminating waste generated in water treatment and implementing practices for water reuse and water recycling. This paper presents trends and new developments relating to waste and water management in the mining industry.

Jan 1, 2015

By Jan Butra

Longstanding mining of copper deposits in the Legnica-Glogow Mining Basin, Poland has accumulated broad experience concerning the impact of geological and mining conditions on seismic and rockburst hazard. Methods of rockburst prevention for deep copper mines have been developed based on gathered data. Methods of rockburst hazard evaluation and rockburst control constitute a set of rockburst prevention measures. Due to their nature and location within the production process, prevention methods can be passive or active. Active methods of rockburst prevention consist of the liquidation of stresses in the areas where they are concentrated through controlled generation of rock-mass tremors and rockburst by blasting works (group extraction blasting, release blasting in the rock mass and pillars able to accumulate the stress, as well as in the roof and floor). Group blasting works as a basic method are very effective in copper mine conditions. Provocation of dynamic events makes it possible to control the timing of their occurrence. In Polish copper mines, all blasting works are made during the absence of miners in the mining fields. Daily distribution of both the number of recorded strong seismic events and volume of energy released, confirm the advisability of using this kind of rockburst hazard prevention. The rockburst hazard prevention methods developed over 40 years of copper deposit extraction are economically reasonable and offer sufficient effectiveness under high rockburst hazard conditions.

Aug 1, 2013

By John C. Luck Jr.

"DEVELOPMENT of oil emulsion mud dates back to the early days of rotary drilling when oil was added to the drilling mud solely for the purpose of freeing stuck drill pipe. After the drill pipe was freed, and drilling resumed, this oil was considered a contaminant. Efforts were made to remove the oil but some of it remained and was emulsified with the drilling mud, thus forming a mechanical emulsion.During the late 1930's, operators found that adding crude oil to drilling muds seemed to alleviate 'sticky-hole' problems and so oil was allowed to remain in the mud. This practice was adopted when it was found that faster drilling rates and longer bit life were obtained. These observations led to the development of emulsion drilling muds. During the past five years their application has become more widespread because of the lower fluid losses obtained, greater lubrication qualities, faster penetration rates, and generally better hole conditions.An emulsion may be defined as a two-phase system consisting of a mixture of either finely divided oil droplets in water or of finely divided water droplets in oil. The surrounding liquid is known as the continuous phase. The emulsifiers reduce the interfacial tension, making the droplets tend to repel each other so that they remain dispersed and stabilized. These emulsions are classified as oil-in-water or as water-in-oil, depending upon whether water or oil, respectively, is the continuous phase. Briefly, close inspection shows that they consist essentially of globules of• the one liquid suspended in a continuous mass of the other liquid. Oil emulsion muds are usually of the oil-in-water type. Two basic types of emulsifiers •commonly used in Canadian muds are soaps and lignites."

Jan 1, 1954

By Greg Gosson

"Early efforts to develop formal reporting systems to quantify and classify mineral deposits date back over 100 years. (e.g. Hoover 1909: “Proved, Probable, Prospective Ore”). This was at first driven by mine operators’ need for reliable estimates of what their mines could produce. Disruption of transportation routes by world wars prompted western governments to recognize the need for assessments of strategic sources of metals and minerals that could support domestic industry during times of crisis. Categories were created to quantify mineral potential which were additional to those of mine reserves. Terms such as hypothetical and undiscovered resources entered the lexicon. Capital markets serving the mining industry were traumatized during the latter part of the 20th century by undisciplined and fraudulent disclosure by exploration companies of mineral deposit potential. Government securities regulators pressed for the development of credible reporting codes (e.g. SEC Industry Guide 7: 1981; JORC 1989; SAMREC 1994, CIM 2000). Representative organizations from the major western mining countries generally agreed that there should only be three categories of mineral resources (measured, indicated, and inferred) and two categories of mineral reserves (proven and probable). This was formalized in 1997 with the “Denver Accord”. Acceptance of the standard terminology may have been the easy part, because the challenge for the 21st century is to get general industry acceptance and agreement of the principles behind the definitions of each category. There has been noticeable movement towards this objective in the last few years. This is reflected in part in the updated reporting codes by JORC 2004, CIM 2005; SAMREC 2007; SME 2007; and PERC 2008, and the development of the CRIRSCO International Reporting Template 2007."

Jan 1, 2003

By M. J. Bunyard, I. Mullany

"The pressures on mine operators are varied and constantly increasing, declining ore grades, more remote locations and increasing environmental concerns. The challenge facing the mining industry is to find new ways to process ores which are more efficient and less costly and to control them better. This requires a fundamental rethink in the way in which projects are developed, it is no longer good enough to just copy what has been done before. The process starts with the surfacing of the primary underlying constraints for the project and the establishment of new design principles to address these. The generation of new design criteria and processing options follows the well-established path of brainstorm, focus, brainstorm, refocus and economic evaluation. The aim is process intensification, doing more with less, as early as possible and better use of plant data. The methodology requires a complete geometallurgical understanding of the orebody to facilitate the evaluation of viable processing options. Examples of early stage processing considered are blast optimization and ore sorting to reject waste and reduce processing costs. Mine to mill integration, which starts with the optimization of blasting for separation, offers another way to significantly reduce operating costs and increase efficiencies.VALUE MODEL The mining industry has, over the past decade, experienced an unprecedented cycle of increased commodity prices and investments in new mining and processing capacity followed by a market collapse and fall in prices and confidence. Whilst there are now some signs of a return to investment in new capacity, the metals and mining industry is still wrestling with eroding margins and investor demand that companies achieve the full value of their assets. Metals and mining companies must work on all available levers to deflate their costs back to more manageable levels and capture the full value for their products. Levers include optimizing external spending, re-thinking make vs buy trade-offs, debottlenecking, improving availability and operating time of key equipment, more accurate and agile planning processes, value-in-use optimization, and tighter performance management. Figure 1 is a diagrammatic representation of a company’s value model. The three goals of a successful mining enterprise are social acceptance, environmental acceptance and sound financial returns to shareholders. Some of the KPI’s used to measure the success or not of achieving these goals are shown in the translation layer."

Jan 1, 2017

By Xiaoguang Zhao

The coal mining area in Northern Shaanxi, China, has been taken as the study area, and the damage mechanism of the ecological environment is discussed on the basis of analyzing the characteristics of natural eco-environment and resource development in this area. Mining subsidence is taken as an example, and by using the Gray Correlation Analysis method, the key impact factors have been selected. An assessment model with fuzzy comprehensive evaluation has been constructed, and 12 coal mines have been quantitatively assessed. This paper also constructs an ecosystem health assessment method and index system in the coal mine area on the basis of ecosystem health theory, and assesses the ecosystem health status in the Shenfu coal mining area from 2000?2006. The research results are expected to help the eco-environment protection process in the designated coal mining area.

Aug 1, 2013

By M. Cala

Underground coal gasification is technology which enables energy to be extracted from coal beds where mining by means of classical methods is either impossible or uneconomical. The process of coal gasification itself is a complex phenomenon which includes chemical and physical processes: thermal, hydrological and mechanical. Additionally, the analysis of underground coal gasification is difficult to carry out for environment reasons, this being due to the local characteristics of the areas where it is carried out. This paper deals with interaction of geo-reactor with surrounding rock mass, it omits the chemical processes inside geo-reactor itself. Due to the complexity of the processes proceeding and during underground coal gasification coupled with minimal practical experience in using this technology, it is difficult to estimate its influence on the surrounding rock mass. Within this scope, the use of numerical programs can be useful. This paper presents a trial of modeling the processes accompanying underground coal gasification. The processes proceeding and during the underground coal gasification are characterized, and the significant, specific phenomena are discussed, with respect to the influence on the surrounding rock mass. For the chosen processes, examples of numerical calculations are presented. These enabled conclusions to be drawn and also provided directions for the modeling of the underground coal gasification processes.

Aug 1, 2013

By H. Wotruba, J. Heizmann

"The use of shotcrete is a mandatory means for rock support and therefore for safety in many underground mining operations. If shotcrete gets into the flotation feed though, it can negatively influence the flotation process. This especially occurs when sublevel stoping, cut-and-fill or room-and-pillar methods are applied because as the mining face moves on, formerly applied shotcrete layers are mined together with the ore.As shotcrete does not differ significantly from fluorspar ore in its physical properties it gets moved through the comminution process and is fed to the flotation plant like the ore. To prove the influence of shotcrete on the flotation process, a laboratory test series was conducted at the Unit of Mineral Processing (AMR) of the RWTH Aachen University. The shotcrete grade of the flotation feed was varied between 0 and 10% through addition of pure shotcrete. Flotation parameters and also reagent dosage were held constant apart from the addition of the pH regulator, which was dosed to reach a constant pH of 8 at the flotation start. Results showed that with increasing shotcrete grades in the flotation feed the fluorspar recovery as well as general mass recovery decreased. The enrichment factor of Fluorspar also decreased with increasing shotcrete grades in the feed.In an effort to eliminate the shotcrete contamination of the flotation feed, a feasibility study for use of sensor-based sorting prior to the comminution process was conducted. Rock sorting not only reduces the bad influence of shotcrete on the flotation process, but also reduces comminution costs. INTRODUCTIONShotcrete is used in underground mining on a regular basis. It is used for rock support and therefore to increase safety in the underground mining environment. In mineral processing the presence of shotcrete can cause difficulties for example in the concentration processes. In flotation the highly sensitive reagent mixtures can be disturbed by the chemical activity of shotcrete and therefore recovery rates and selectivity of the process can suffer.Shotcrete is a special form of concrete which is applied pneumatically with high velocities and is compressed by its impact energy. Since the process is especially suitable for work in difficult environments and overhead areas, it is established in underground mining for many years. Shotcrete is not only applied in pre-processing of the mines, but particularly of use for cut and fill, as well as room and pillar mining methods. There it is used to secure excavation chambers. When the mine face is secured with shotcrete and subsequently the mining continues, the applied shotcrete will automatically be mixed with the ore."

Jan 1, 2016

By T. Wajima

"A novel carbonaceous adsorbent for recovery of nickel from nickel plating waste solution was prepared from rice straw using sulfur impregnation. The rice straws were cut to 1 cm pieces, and then immersed in 0.01 - 3 M K2S solution to prepare sulfur-immersed materials. The immersed-materials were heated at 100-700 ºC in nitrogen gas to produce the sulfur-impregnated carbonaceous adsorbent by pyrolysis. The contents of carbon and sulfur in the adsorbent and abilities of adsorbent to recovery nickel from aqueous solution were examined. The contents of carbon and sulfur in sulfur-immersed materials are almost same as those in raw material. In pyrolysis, with increasing the heating temperature to 200 ºC, the contents of carbon and sulfur are almost constant, and then above 300 ºC those increase. The recovery for nickel using raw material, sulfur-immersed material and the product pyrolyzed at 100 - 200 ºC are almost same, and with increasing the heating temperature to 400 ºC, that of the product increases, and above 500 ºC that of the product decreases. In immerse step, with increasing K2S concentration, the carbon content of the product at 400 ºC gradually decreases, the sulfur content of the product increases, and the recovery for nickel using the product gradually increases and then above 1 M K2S decrease. The product prepared from material immersed in 1 M K2S solution at 400 ºC indicates a maximum recovery for nickel ion. The product can adsorb nickel ion in nickel plating waste solution coexisting with phosphate ion, and adsorbed nickel ion in the product was deposited as nickel metal after heating at 1000 ºC under N2 atmosphere.INTRODUCTIONRice is the second world’s largest cereal crop after wheat, but produces large amount of straw residues, of about 330 million metric tonnes. Rice is a widely grown crop in Asia, and rice straw is produced as a by-product of rice production. In most parts of rice fields, open-field burning of rice straw is commonly practiced in the region when there is limited time to prepare a field for the next crop. However, open-field burning of crop residues is an uncontrolled combustion process during which air pollutants are emitted into atmosphere. These air pollutants have significant toxicological properties and are potential carcinogens (Gadede et al., 2009). Although wildfires are prohibited in cultivation fields of most countries, farmers usually keep on burning their crop by-products. Biomass burning is an important source of aerosol particles which may affect local and regional air quality (Gao et al., 2011), and also contribute to global climate changes."

Jan 1, 2016

By N. W. Hendry

ABSTRACT Exploration by geophysical methods and diamond drilling of an occurrence of chrysotile asbestos, located ten miles east of Matheson, Ontario, was commenced on March 25th, 1949, by the Canadian Johns-Manville Company, Limited. The asbestos is associated with a narrow sill-like body of basic and ultrabasic rocks which strikes northwesterly across portions of Munro and Beatty townships. To date, asbestos zones of commercial interest, many hundreds of feet in length, width, and depth, have been outlined by diamond drilling along a 2-mile length of serpentine. The fractures occupied by the asbestos veins are closely associated with the regional faulting in the area. The mining of the first occurrence, or A orebody, will be by open-pit methods. Milling will commence at a rate of 50 tons an hour. INTRODUCTION OCCURRENCES of chrysotile asbestos in Munro township have been known at least since 1914 and references to them appear in reports published by the Ontario Department of Mines in 1915 (1) and 1919 (2). J. G. Ross (3) in his excellent publication on Chrysotile Asbestos in Canada, mentions an occurrence in Munro township. The area was first mapped in detail by J. Satterly, of the Ontario Department of Mines, in 1944, and brief mention is made of chrysotile asbestos in Satterly's preliminary report (4), which was published the following year.

Jan 1, 1951

By R. MacRosty

The demand to increase production levels in smelting furnaces has driven the increase in the power levels. Consequently, greater cooling capacity of the furnace shell has been necessary, resulting in the widespread use of water-cooled elements to protect the refractory linings. Since water ingress into the furnace is an explosion hazard, monitoring and maintenance of the water-cooled elements is of key importance. Some of Hatch's recent research and development efforts have been focused on methods to provide an increased level of monitoring of water-cooled furnace elements; this paper focuses on two technologies developed for this purpose. The first involves the installation of a fibre optic temperature sensor in a water-cooled tapblock. The sensor is capable of providing high accuracy temperature measurements with a fine spatial resolution throughout the tapblock. Hatch has already developed a diagnostic system that uses multivariate statistical analysis to interpret the large quantities of data generated by the sensor. A second technology under development is concerned with enhancing the operating integrity and safety through detection of leaks in the water circuits. A successful leak detection strategy requires minimal maintenance and the ability to detect minute leaks. An instrument that meets these criteria has been investigated and is currently under development. This paper focuses on the technology and results from the test work that has been completed to date.

Jan 1, 2007

By J. -C. Sztuke, M. Cao

ABSTRACT Wash water and polyethylene oxide (PEO) were used in the flotation of quartz and coal. Wash water decreased entrainment of –15 µm quartz. The optimum superficial wash water rate was 0.05 cm/s. PEO also lowered entrainment. The combination of wash water and PEO led to a slight further reduction in entrainment. For 1:1 mixtures of –15 µm quartz and –300 µm oxidized coal, the combined use of wash water (0.05 cm/s) and PEO increased the separation efficiency from approximately 30% to > 70%, whereas wash water alone at 0.05 cm/s did not lead to a discernible increase.

Jan 1, 2014

The principles and utility of in-situ coal gasification are discussed, and a first field test conducted by the Alberta Research Council in 1976 near Forestburg, Alberta, is described. The test was carried out in a 12-ft subbituminous coal seam under 60 feet of cover. Within this seam, a 30 by 60-foot block , containing approximately 650 tons of coal, was delineated by four injection/production holes which were oriented to take advantage of the natural fracture system in the coal. Linkage between holes was established by reverse combustion and gasification was accomplished by injecting air into the ignited coal. No steam was injected but operating pressures were adjusted to utilize formation waters for partial carbon -steam gasification. The coal gasification runs lasted six weeks and gasified an estimated 900 tons of coal ,' during sustained periods of gasification, a fuel gas with heating values of between 110 and 150 Btu/scf was obtained. Plans are now being developed for excavating the test site and inspecting the subsurface cavities created by gasification.

Jan 1, 1977

By T. Johnson, K. Lambrych, D. Kelley

Materials for construction of equipment used in hydrometallurgical plants are selected based on a combination of their ability to perform as required in aggressive process environments as well as their cost. As a material of construction, fiber reinforced plastic (FRP) has been shown to provide equal if not improved durability relative to alternative materials such as corrosion resistant alloys at a considerably lower cost. This is particularly true in the case of equipment used in acid leaching processes for copper, cobalt, nickel and rare earth elements. The selection and extensive use of FRP over alloys in new hydromet plant construction in North and South America illustrates this advantage of FRP effectively. This paper will compare corrosion performance and cost of plant equipment fabricated with stainless steel alloys and FRP made with Epoxy Vinyl Ester thermoset resins. Real world case histories for FRP piping, storage tanks, extraction vessels, and electrowinning cells combined with laboratory based corrosion studies will be reviewed to demonstrate how FRP materials are selected for hydrometallurgical equipment.

Jan 1, 2015

By A. A. McCloskey

APPROXIMA TEL Y 95 percent of Waite-Amulet's Lower A orebody will be mined by diamond-drill stoping. This method of stoping was developed, and has been successfully applied, at the Noranda mine in recent years(1) and is now used in several base-metal and gold mines in north-western Quebec and in other parts of Canada, South Africa, and Australia. The purpose of this paper is to deal with the features of the Lower A ore-body which led' to the adoption of this method of stoping, and in addition to give a general description of stope layout, stope development, main haulage development, chutes and grizzlies, diamond drilling for stope blasting, diamond drilling and equipment, primary blasting, secondary blasting, haulage and loading, ore pockets, pumping and drainage,. and shafts at Waite Amulet. Figure 1 is an isometric projection of the orebody, illustrating the mining system. The factors that led to the adoption of diamond-drill stoping of Lower A orebody are as follows: (1) Safety.0 (2) Size and shape of the orebody, and depth of the orebody below surface. (3) Strength of the hanging-wall, footwall, and sulphide ore. (4) Continuous ring-drilling from sub-level drifts, with no delay for blasting. (5) Large-tonnage blasts at the end of Saturday afternoon shift, after ali men are out of the mine. (6) Sub-levels may be retreated from top to bottom simultaneously, or lower sub-levels may be retreated first without any change in the ring-drilling la yout. (7) Large stopes up to 100 feet wide can be mined, leaving substantial pillars up to 60 feet in width, which may be partially recovered by âiamond~drill stoping or by other stoping methods. (8) A large tonnage may be drilled-off in advance of blasting, but only a supply of unoxidized ore for flotation treatment is blasted. (9) Better ventilation during working shifts. (10) Gravity flow of all broken ore to grizzlies located in the footwall of the orebody. (11) Electric blasting by a crew of two men.

Jan 1, 1941

By P. Cleyle, J. H. Masliyah, R. S. Chow, Z. H. Xu, Z. A. Zhou

Bubble nucleation in water under dynamic conditions was investigated using an autoclave at an air saturation pressure of 7 atm. Agitation during air saturation of water was found to be crucial in enhancing tiny bubble formation. More bubbles nucleated on hydrophobic surfaces at a higher agitation rate, due to cavity formation by the more intense hydrodynamic conditions. Flotation recovery of bitumen from oil sands demonstrated a significant role of bubbles nucleated in water: more than 50-170% increase in bitumen recovery from different oil sands was obtained by using air supersaturated than the regular water.

Jan 1, 2009

By Kevin P. Plucknett, Z. Memarrashidi

"In the current work, factors influencing the corrosion mechanisms of TiC and Ti(C,N) based cermets are reviewed. Cermets were typically prepared with 30 vol.% of metal binder, in the form of various in-situ reaction-formed Ni3Al alloys. Commercial WC-Co hardmetals were also examined as baseline materials. The assessment of corrosion involved a variety of electrochemical measurements, including open circuit potential and potentiodynamic polarisation. The corrosion potential and current density were determined, following Tafel extrapolation, allowing estimation of the corrosion rates. Post-corrosion characterisation involved scanning electron microscopy analysis and associated energy dispersive X-ray spectroscopy of the sample surfaces. It is demonstrated that the primary corrosion mechanism for this type of cermet is dissolution of the metallic phase during oxidation attack, and thus this response can be expected to increase with the amount of binder in the cermet, although degradation can be subtly affected by composition (i.e. alloy composition, C:N ratio, impurities in the ceramic phase, etc.) and test procedure (i.e. aerated vs. de-aerated electrolytes). It was observed that addition of N content into the ceramic phase is beneficial to the corrosion characteristics of TiC based cermets, through significant refinement in the grain size of the hard phase. Similarly, elimination of impurities, such as W in selected TiC powders, also improves the corrosion resistance.INTRODUCTION Cermets are prepared using the combination of a hard, high elastic modulus ceramic phase with a ductile, high toughness metallic binder. This pairing of hard and ductile components ensures wide application of cermets in demanding wear environments. These materials are consequently used industrially in both bulk and coating form. The most common example of such a composite system is based on the use of tungsten carbide with a cobalt-based binder (WC-Co), which has been widely examined over the past 80 years. However, while WC-Co has been shown to exhibit an excellent combination of high strength and wear resistance, the corrosion and high temperature properties of this material are relatively poor. In addition, WC-Co possesses a high density (~13–14 g/cm3), which makes it a less desirable option when the component mass is a design factor (i.e. use in aerospace). In particular, the aqueous corrosion response of WC-Co limits its use in wear environments where combined corrosive degradation may occur (i.e. tribo-corrosion scenarios). Alternate cermet systems are therefore being actively developed due to these performance limitations."

Jan 1, 2017

By Cesar A. Urbano Jr., Gretchen T. Lapidus

A series of experiments examined silver extraction from a high-grade sulfide concentrate employing thiourea solution. Thiourea was initially oxidized with hydrogen peroxide (H2O2) to form formamidine disulfide (FADS) and used to extract silver from the as-received concentrate and after various pretreatments. Very low recoveries (~30%) were obtained with the as-received concentrate due to competitive cementation reactions by metallic iron and easily oxidizable copper phases. Over 80% Ag recovery was obtained when the concentrate was pretreated to remove this iron and copper. The results suggest that an oxidative acid pretreatment of this concentrates significantly improves silver recovery upon leaching with thiourea.

Jan 1, 2014

By J. G. Stevens, S. W. Colley

"Selective separations of metals and ions in mineral extraction and refining are becoming more challenging as ore bodies become more complex and environmental pressures increase. The separation and containment of mercury produced in gold mining are a factor in the profitability and operability of mines. This paper will discuss the development and implementation of the Johnson Matthey HgFree selective mercury removal process. The process is designed to selectively recover co-leached mercury from either heap leach pregnant solutions at ambient temperature and low mercury concentrations, or electrowinning pregnant solutions at elevated temperature and high mercury concentration, without affecting gold or silver recovery. The process utilizes a highly selective adsorption-desorption step in which mercury is removed quantitatively by the HgFree adsorbent without adsorption of gold, silver or other metals present. Development of the original HgFree adsorbent has resulted in a process whereby mercury can be recovered as an inert salt and is never present as the free metal. The HgFree adsorbent can be regenerated and recycled in situ, and is capable of being reused multiple times. The overall process is compatible with existing gold mining and recovery practices and offers significant environmental and sustainability benefits, including reduction or elimination of the need to retort mercury with a subsequent reduction in potential mercury air emissions. Development of the HgFree adsorbent and process will be discussed along with a pilot operation at two operating mines.INTRODUCTIONMany gold ore bodies contain high concentrations of mercury which when extracted with cyanide, co-extract with the gold and other metals. This mercury is carried through the process with the gold, posing environmental and technical issues when it is separated from the doré. This paper describes a method to selectively adsorb mercury from the gold recovery circuit while it is in a soluble form, leaving gold to be processed as normal. The removal of mercury from the circuit eliminates the need for mercury retorting of doré and so reduces the potential environmental impact of fugitive emissions of elemental mercury."

Jan 1, 2016

By D. C. Reid

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

Aug 1, 2013