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By Kjell Winther

"Hydralift Scanmec introduced early in the eighties a new and different mill design for very large grinding mills. The design described has actually no size limitation upwards and is so far suggested with motor power up to 40 MW. The mill is furnished with gearless ring motor drive transmission. It is totally fabricated, without heavy castings. The first installation, an 8, 1 MW ball mill dia. 6,5 m x 9,65 m length, has been in continous operation in 13 years without problems. Total grinding costs has been reduced with 3 0% compared to traditional smaller mills. Reductions has been achieved in maintenance cost, power consumption, liner wear and grinding media consumption.So far 3 ball mills of the described design are delivered and in operation, one grinding Iron ore and two grinding Nickel ore.IntroductionThe design of mills for mineral ore dressing has basically been unchanged since grinding in mills started some I 00 years ago, in spite of the fact that mills have grown larger and larger. This has resulted in structural and mechanical problems, causing expensive failures and loss of production.Hydralift Scanmec engineers were designing mills for more than 20 years according to the old «rules». As they experienced interest for an increase in the mill size at the time when reports about failing mills were published, they started analyzing the different mill parts to find new solutions. One goal was to only use elements from proven technology in the new design. Two key items were ring motor (wrap around motor)(Isch et al. 1977, Meintrup and Klein 1982, Ranze 1983) and large diameter pad bearings (wrap around bearings)(Fuller 1984), both acknowledged from other industries."

Jan 1, 1995

By Tom Olsen, Tom Ohrling, Peter Taggart, Chris Martin

"North American Palladium commissioned the new concentrator at the Lac des Iles mine in the summer of 2001. The 15,000 tonnes per day mill replaced the existing 2,400 tonnes per day facility, as part of a major mine expansion.At Lac des Iles, the grain size distribution of the platinum group minerals (PGM) is bi-modal. Roughly two-thirds of the PGM are relatively coarse-grained, and often associated with fast floating copper and nickel sulphides. The remainder is ultra-fine, and locked in silicates, which poses a special challenge to the metallurgist. The previous mill typically recovered just the fast-floating mineralisation, but to achieve target recoveries, the new mill has to recover a substantial amount of the ultra-fine PGM. The metallurgical challenges associated with the recovery of fine-grained PGM in the talcous Lac des Iles ores, are described.The paper describes the approach used in circuit optimisation, and how metallurgical and operational optimisation raised palladium recoveries by more than 6% in six months, by tuning the circuit to recover some of the ultra-fine PGM mineralisation.BACKGROUNDThe Lac des Iles mine, owned and operated by North American Palladium Limited, is located about 115 kilometres north of Thunder Bay, Ontario. The mine originally opened in December 1993, and prior to 2001 included a mill capable of handling 2,400 tonnes per day of ore delivered from the nearby Roby pit.Following an intensive exploration programme conducted in 1999, and a detailed feasibility study, conducted in 2000, North American Palladium initiated a mine expansion project, the objective being to expand milling throughput from 2,400 tonnes per day to 15,000 tonnes per day. This required construction of an entirely new mill, which was commissioned in May 2001."

Jan 1, 2003

By F. Flynn, P. Downey, G. Ritson

"Bell Creek Mill which has been in continuous operation since 1987 has undergone numerous operational changes in the past three years. The addition of over 2. 5 million tons of resource at over 13 git from Hoyle Pond Mine precipitated an expansion program for the Bell Creek Mill. This paper discusses the major changes that have occurred over the past two years to increase throughput and efficiencies. In addition, the refractory ore treatment options are also discussed.IntroductionThe Bell Creek Mill is located in the Timmins Goldcamp approximately 8km NE of porcupine Ontario. (Fig I.)The mill was originally constructed by Camamax in 1987 to treat the Bell Creek ore at a design throughput of 350tpd. The flowsheet (Fig 2.) consisted of two stage crushing, grinding, thickening, leach and drum filtration with gold recovery by Merrill Crowe.As ore depleted at Bell Creek, the Mill was purchased by Falconbridge to process ore from their Hoyle Pond property. Kinross purchased the Hoyle Pond property and Bell Creek Mill from Falconbridge in 1992.The successful exploration program at Hoyle Pond has led to several expansions and process design changes, with further changes planned over the next twelve months.In 1994, the mine produced 61,865 oz. of gold at an average cost of 197US$ per oz. In 1995 production was 91, 611 oz. at a cost of 187US$ per oz. Projecting the nine months ended September 30, production for 1996 will be 155,000 oz. at a cost of 165US$ per oz.In early 1997, the CIP expansion will be complete, with a target of 175,000 oz. at a cost of 176US$ per oz for 1997. The mill throughput will have increased from 400tpd to 1500tpd between 1994 and 1997.The changes to Bell Creek since 1994 have been numerous with very little of the existing equipment still in operation. The total cost of the expansion to date is 15 million C$. This paper discusses the major projects carried out during in this time. The focus will be to highlight the justification of each project, the design and engineering, some of the initial start-up problems and solutions.Figure 3 shows a plan of the existing mill facility together with the various additions that were carried out."

Jan 1, 1997

By Andre L. De Vegt, Cees J. N. Buisman

"For the past eight years Paques has been engaged in the development and installation of treatment systems based on biotechnological processes to remove sulfur compounds from water, air and gaseous streams. Metal and sulfate can be removed from mine waters using two biological steps:1. Sulfate reducing bacteria convert sulfate to hydrogen sulfide (H2S). The H2S reacts with the dissolved metals to form insoluble metal sulfide precipitates.2. Sulfide oxidizing bacteria convert excess H2S to elemental sulfur.Paques has designed and installed a groundwater treatment system for the Budelco zinc refinery in the Netherlands to remove metals and sulfate as described above. The system has been operating since May 1992 treating a flow of 5000 m3/d. A test program, utilizing a large scale pilot plant, will commence in November 1995 at a copper mine in the U.S.A. to remediate groundwater contaminated with sulfate and heavy metals. Biological reactor performance and selective metal recovery will be studied. Sulfur dioxide (S02) can be removed from fluegas using a combination of scrubber technology and the two biological steps. The end product is elemental sulfur. A commercial size biological desulfurization plant has been in operation since July 1994 treating 50,000 Nm3/h of fluegas. Sulfide can be removed from mining waters or anaerobic wetlands using a THIOPAQ® Sulfide Oxidizing reactor.lntroductionSulfur can be present in various water and gaseous streams in a mining operation. In many cases the sulfur compounds have to be removed because of toxicity, corrosive properties and contribution to acid rain. Mine waters can contain dissolved heavy metals. An efficient way to remove dissolved metals removal is the precipitation as metal sulfides. Paques has developed and installed treatment systems based on biotechnological processes to remove sulfur compounds from water, air and gaseous streams. These treatment systems biologically convert sulfate to hydrogen sulfide (H2S) which can be used in heavy metal precipitation. Excess H2S is biologically converted to elemental sulfur. This paper provides an overview of these newly developed biotechnological treatment systems."

Jan 1, 1997

By H. Wyslouzil

"The Kelsey Centrifugal Jig is a gravity separation device which utilizes the principles of the conventional mineral jigs but with the additional feature of being able to vary the apparent gravitational field. This is accomplished by utilizing the specific induced movements of the conventional jig within a centrifuge.Pilot plant trials have been underway since July 1988 to evaluate the potential applicability of this technology to various process streams at Rio Kemptville Tin.The grade/recovery relationships for samples treated in the jig were consistently better than results obtained from tables. Recoveries of more than 90% were attained at concentrating factors ranging up to 20. When compared with electrostatic separators, the jig achieved equivalent metallurgical results in a two stage process, without the expensive requirement of filtration and drying. Recoveries exceeding 96% were achieved with final concentrate grades averaging higher than 60% tin.INTRODUCTIONMineral jigs have been used for hundreds of years. Many different types have been developed, and each one has numerous variations. In recent years, the idea of applying centrifugal forces to conventional jigs has been put to practical tests and today a number of units are in commercial production. In principle, by enhancing the apparent gravitational field, it should be possible to recover finer particles by overcoming viscosity and surface effects which tend to limit existing gravity devices. In addition, it may be possible to use gravity to separate minerals with much smaller specific gravity differences."

Jan 1, 1990

By E. Lampard

Mines must manage variability from within their operations as well as those imposed upon them by external forces. This paper provides a framework to manage both internal and external variability through the review and adjustment of the mine plan where applicable to minimize lost production and maintain operational safety. KEYWORDS Mine plan, mine schedule, variability, safety, lost production, float days, update, adjustment, operations, Maintenance

May 1, 2011

"Drilling twinned holes is a traditional technique used for verification of intersections of high-grade mineralization, testing of historic data, or confirmation of drillhole data during geological due diligence studies. Twinned holes can also be used for special tasks such as correcting earlier data that are recognized to be biased. Successful implementation of the twinned-holes technique requires thorough planning. Experience suggests that good practice is to drill twinned holes no more than 5 m apart. Many unsuccessful twinned-holes programs could possibly have failed because the twinned holes have been drilled too far apart.Twinned holes are best compared by mineralization intersections and, if the data and geological characteristics of the deposit permit, by samples, equal-length composites, or geological units. Variables to be verified by twinned holes should include the thicknesses of the geological units of interest (e.g., mineralized thickness) as well as the presence of significant geological features (e.g., ore/mineralization contacts, alteration, etc.).A formal, rigorous analysis of twinned-hole data is essential. Repeatability of sampling, analytical results, and bias must be analyzed and statistically quantified. The number of twinned holes required for conclusive statistical and geostatistical analysis can be as high as 20-30, in particular where the studied variables are characterized by high short-range (local) variability.The efficiency of this approach is demonstrated by several examples of successfully applied twinned-hole projects, including applications to orogenic gold, mineral sands, bauxite, and iron ore deposits."

Jan 1, 2009

By Tim Martin, Dave Tahija

"In April, 2014, Hecla's Greens Creek mill, near Juneau, Alaska, switched from sulphuric acid to the use of dissolved carbon dioxide for lead flotation circuit pH control. The Greens Creek mine uses paste backfill, in which mill tailings are mixed with cement and used to fill mined areas. Some backfill inevitably becomes part of mill feed during subsequent mining cycles, resulting in high feed pH levels and increased dissolved calcium in the lead flotation circuit. Sulphuric acid is traditionally used to lower pH in such cases but it produces undesirable side effects, including poorer lead-zinc separation and unstable froth. The amount of sulphuric acid used at Greens Creek was limited due to these effects, resulting in higher than target pHs when feed backfill content was high. Dissolved carbon dioxide can be added without these limitations so pH levels have been under much better control since the switch. Additionally, lead-zinc separation and froth characteristics have significantly improved.IntroductionThe Greens Creek Mine, owned by Hecla Greens Creek Mining is an underground mine located on Admiralty Island near Juneau, Alaska, producing silver, gold, lead and zinc in the form of lead and zinc flotation concentrates and a gravity gold concentrate (McDonald, Morgen & Hancock, 2012). The lead and zinc concentrates are produced in conventional flotation circuits preceded by a graphite removal flotation step.The underground mine utilizes cemented paste backfill, of which a certain amount is inevitably re-mined in later mining cycles and returned to the mill, mixed with fresh ore. The Portland cement used in the paste backfill is highly basic so that, from the point of view of the mill, the net effect is to introduce a good deal of lime to run-of-mine mill feed, producing a very high natural pH. This high pH needs to be lowered to obtain good metallurgical results."

Jan 1, 2016

By D. J. Hallbom

This paper presents a novel methodology for the hydraulic design of mine backfill distribution systems. The ?operating range? method uses the concepts of the hydraulic grade line and equivalent pipe length to determine flows and pressures as the pipeline route and static head change over the life of the mine. The operating range method is easy to learn because it is semi-graphical and uses well-known design concepts (e.g., the hydraulic grade line) and slurry design models (e.g., the Durand deposition velocity model). However, by changing the paradigm in which these concepts are used, the operating method allows all potential pipeline cases to be analysed simultaneously without the need to know the exact pipe routing. It also allows the hydraulics engineer to quickly identify ?pinch points? and ?slack flow? zones, to estimate the effect of changing the size or length of any given section of pipe, to assess the impact of changing the material properties of the backfill slurry, to size the slurry pumps, and to size and locate rupture discs when required.

May 1, 2007

By Deon van Tonder, Chuck Edwards

"Solvent extraction is used in many acid leach uranium circuits to upgrade and purify the uranium bearing solution prior to final product precipitation. A number of strip options are available to recover the uranium from the loaded organic. This paper compares some of these options on the basis of typical capital and operating costs for both the solvent extraction circuit and downstream uranium processing, and also considers other related issues. The aim is to provide an objective comparative assessment of these options that could be used as a qualitative guide in process selection or improvement.INTRODUCTIONIn the 1950s the uranium industry was the first industry to adopt solvent extraction (SX). Since then, the flow sheets have advanced. Notable was the introduction of tertiary amine extractants by General Mills during the late 1950s and 1960s (Mackenzie, 1997; Mackenzie, 2005), which is still today considered ‘state of the art’ technology. Initially solvent extraction was done in combination with ion-exchange, such as in the Eluex flow sheet, followed later by the adoption of direct solvent extraction from pregnant leach solution (PLS). From a strip-precipitation perspective ammonia strip followed by ammonium diuranate precipitation was widely adopted as the norm in the uranium industry. More recently alternative strip systems have been receiving increasing attention due to the environmental, health and safety issues associated with ammonia and the resulting calcined uranium oxide product. This paper explores some of these alternative options in comparison with the ammonia route.It is important to acknowledge that each operation is unique, and therefore the information and philosophy outlined in this paper serve to provide a general guide that can be potentially applied and adapted to any site or project."

Jan 1, 2013

By Randy Clarkson

"Free gold particles occur in many base metal and precious metal mines throughout the world. Occasionally mine operators are unaware of the presence of free gold particles in their ores because they have not seen free gold hand specimens or at the working face of the mine.Due to the high density and malleability of gold, large circulating loads of free gold particles can build up over time in grinding circuits. This gold is often deposited in unintended traps throughout the mineral processing system.These unidentified free gold deposits represent a serious security risk as well as inaccessible inventory of gold. Deposits of free gold particles often remain undetected by mine management until they are accidentally discovered while repairing mill equipment. The trapping and subsequent release of gold particles can frustrate attempts to calculate accurate metallurgical balances.Nuclear tracers have been used to determine the free gold recovery efficiency of gravity recovery equipment, drills, and sampling equipment (Clarkson, 1994, 1997, 1998, 1999 and Walsh, 1986, 1992). In 1995, the author used radiotracers to locate and eliminate gold traps at La Mine Doyon (Clarkson, 1997). In 1998 and 2001, the author also salted mineral processing circuits at Royal Oak's Pamour Mine in Timmins (Clarkson, 1999) and at Gold Corp’s Red Lake Mine in Ontario with radioactive gold particles.The gamma and X-ray radiation from gold's nuclear isotope (Au198) were detected through steel, in pipes, and in moving equipment with scintillometers. The radiotracers proved to be a safe, rapid and accurate method of identifying gold traps, improving security, determining the recovery efficiency of Knelson gold concentrators and estimating retention times of gold particles in various processes."

Jan 1, 2003

By Graham Davey

"Low speed stirred milling has been employed for many years in the metalliferous and industrial minerals industries. High speed stirred milling is a relatively new method of grinding in the metalliferous process industries. However it has been it has been in wide spread use in the industrial mineral field for over 30 years for various minerals. Many existing metallurgical operations are looking to maximize economic return from existing deposits, requiring new thinking and technologies. By combining low speed and high-speed milling fine and ultrafine grinding efficiency and operating costs can be improved.The correct selection of different fine grinding technologies is covered, when each mill is applicable and when a combination of the VERTIMILL® Grinding Mill and SMD provides the best economic solution.INTRODUCTIONUltra-fine grinding of minerals has been in wide spread use in the industrial mineral field for over 30 years. Within the last 10 years the metalliferous industry has shown interest in the ability to produce ultrafine particles, as chemical, physio-chemical and physical separation processes have advanced to be able to treat ultrafine metalliferous particles. Also as the primary mineral deposits, around the world are depleted, new more difficult deposits must be mined. Existing operations are also looking to maximize economic return from existing deposits, requiring new thinking and technologies.The traditional approach for gold containing refractory material has been to liberate the locked gold by chemically destroying the pyrite through oxidation. Roasting, pressure oxidation, and bacterial oxidation all employ various degrees of temperature, pressure and catalysis to react the pyrite with oxygen to produce iron oxide and sulfur by-products. However all of these methods are economically impacted due to specific operational added requirements and emissions controls. Pressure and bacterial oxidation have very high capital and operating costs."

Jan 1, 2006

By A. R. Barnes, N. O. Lotter

Recoverable economic copper sulphide minerals such as chalcopyrite, bornite, chalcocite and covellite often occur together in varying proportions in the major copper-bearing ores, and have individual flotation requirements and characteristics. Pyrite also occurs in these ores to varying extents as the sulphide gangue, and is problematic because of its natural tendency to float quickly and easily. In a bulk sulphide float, selectivity against pyrite is desirable, particularly if it does not host other paymetals such as gold or silver. At the same time it is a requirement to float all of the copper sulphides despite their electrochemical differences. The electrochemistry and semiconductor properties of these minerals are reviewed, together with implications for flotation with and without collector addition. Mixed collector systems for the improved flotation of these sulphides are proposed as a solution. The use of xanthate and dithiophosphate in the collector suite allows the co-existence of dixanthogen and free dithiophosphate radical because the latter has a higher redox potential requirement than xanthate to oxidise to the dithiolate. Because some of these minerals require dixanthogen, and others, free thiolate, to generate surface hydrophobicity, a bulk flotation of all the species becomes possible in the overlapping area of Eh and pH between the two dithiolate equilibrium lines on the Pourbaix diagram. The arsenic-signature copper minerals are added to the study, since many copper operations encounter arsenic as a penalty element in the saleable concentrate. It is shown that the addition of arsenic to the copper and iron sulphides alters the semiconductor and electrochemistry properties, and in turn, its flotation characteristics. The degree of mineral association and liberation between these minerals can be a complicating factor due to textural associations, and should also be considered in the process as a next step.

Jan 1, 2016

By A. S. Moghaddam

The transportation of cemented and non-cemented mine tailings in the form of paste through pipelines is one of the main stages of paste backfill operations. For the purpose of pipeline design, the rheological properties of the materials, such as yield stress and viscosity must be determined. In this study, the yield stress of two Canadian mine tailings, for gold and copper mineralization, were studied using the vane method and slump tests. The comparison between the vane method and the slump tests indicates that the slump tests generally overestimate the yield stress values for both cemented and non-cemented paste backfills. In addition, the effects of 5% Portland cement (type 10) and mixing time on the yield stress of paste backfills were investigated. The percentage of cement as a binder agent has a direct effect on the increase of the yield stress of paste backfills. Yield stress measurements show that mixing times of 4 minutes and 12 minutes have the same effect on the yield stress values.

May 1, 2007

By Robert K. Jonas

"Minerals processors can improve production by using the best available control technology to control their operations. Many mines use expert systems that can provide improved results over manual or basic control, but better results can be achieved using multivariable predictive control. Over the past few years, the application of multivariable predictive control has gained acceptance in many mining processes and has recently proven to be suitable for some of the most challenging processes. This advanced control technology has been successfully applied to a wide variety of processes; alumina digestion, ball mills, CCD/thickeners, kilns/calciners/roasters, heat exchangers/evaporators, and more demanding processes like SAG mills and flash smelters.This paper discusses the needs of advance control technologies in the mining industry, including the impact of these technologies on best practices for implementation and long term sustainability. Results of the multivariable predictive control applications in mineral processing are discussed, and in particular the application to the SAG mill. In addition, an example of the benefits improvement that can be achieved with this technology is presented.INTRODUCTIONThere has been a long term perception in the mainstream mineral processing industry that best advanced control solution is an expert system. There a numerous instances of expert systems used for control of SAG mills, as well as kilns or roasters, thickeners and more recently flotation circuits. Many of theses expert systems have been installed by small, independent companies or by OEMs of processing equipment. Undoubtedly these expert systems have provided millions in benefits to the owners of mineral processing plants.It is this author’s proposition that it is a misconception to believe that expert systems are the best solution for mineral processors, and that in many cases the best solution is Multivariable Predictive Control (MPC). Better control and optimal operations can be achieved through the use of MPC. Another important consideration when considering advanced control technologies is the implementation and support effort. These types of applications have been known to deteriorate, even to disuse, when they are not kept up to date with changes to the process or equipment. The audience is invited to listen to discussion and draw their own opinion. The author has been involved in installing control systems for over 20 years, advanced solutions for over 15 years, and has had privilege to consult with many miners concerning the selection and application of advanced controls over the past 6 years."

Jan 1, 2008

By Todd Smith, Brigitte Lacouture, Greg Anderson, David Lin

"The lead and zinc flotation circuits at Red Dog Mine are preceded by a preflotation circuit which recovers naturally-floating organic carbon contained in the ore. Organic carbon is a potential contaminant in the lead concentrate and is detrimental to lead-zinc selectivity. Prior to 2007, the Red Dog preflotation circuit consisted of a single stage bank of tank cells which floated the organic carbon. The preflotation concentrate was discarded directly to tailings, however, this stream contained significant amounts of lead and zinc. Zinc loss to preflotation ranged from 2% to 6%, relative to the zinc in the mill feed and was proportional to the amount of organic carbon in the ore. The main mechanism of the zinc loss was entrainment.Pilot plant and modeling testwork were conducted to examine the use of a Jameson Cell to clean the preflotation concentrate. Results indicated that up to 90% of the zinc deporting to preflotation concentrate could be returned to the flotation circuit for recovery. The installation of a 5.4 m Ø Jameson Cell with 18 downcomers was initiated in June 2006. The new preflotation cleaning circuit was commissioned in March 2007. Conservatively, preflotation cleaning has resulted in zinc and lead absolute recovery gains of 1.0% and 1.5%, respectively. The $9.1M project has a payback period of approximately 1 year at current metal prices.INTRODUCTIONRed Dog Preflotation CircuitRed Dog Mine is located above the Arctic Circle in northwest Alaska. It is the world’s largest zinc concentrate producer with a production rate of more than 1.0M t/yr. Red Dog is operated by Teck Cominco Alaska Incorporated under an operating agreement with the Northwest Alaska Native Association (NANA). Due to the remote location of the mine, it is accessible only by air, or seasonally, by ocean-going barges.The Red Dog deposit is a rich sedimentary exhalative (sedex) zinc-lead-silver deposit. The major sulphides, in decreasing order of abundance, are sphalerite, pyrite, galena and marcasite. Due to the complex nature of the ore body, run-of-mine ore is blended in stockpiles before being crushed and processed through the concentrator. The average mill feed grade for 2006 was 6.1% lead, 20.6% zinc, 8.0% iron and 0.67 % organic carbon."

Jan 1, 2008

By P. Massi

"Wholly owned by the Coniagas Mining Company, the oldest continuously listed mining company on the Toronto Stock Exchange, St. Andrew Goldfields is located on Hwy. 101 approximately 30 miles east of downtown Timmins, Ontario. Geographically situated on the Porcupine-Destor Fault, the mine and mill in Stock township is positioned in the heart of Northeastern Ontario's goldmining communities.In July 1988, a 600 ft. shaft, hoist, and compressors were already in place when construction started on a 500 T.P.D. capacity C.I.P. mill and crushing plant.By June 15, 1989 the mill was commissioned and attained the design capacity by August of that same year. Since then, changes to the circuit have increased throughput to 900 T.P.D. from two significantly different ore sources.Meeting the Ministry of the Environment's guidelines is an ongoing commitment utilizing the Inca S02 process in line between the tailings pond and secondary polishing pond.INTRODUCTIONExploration on what is now known as St Andrew Goldfields' Stock Township Mine was carried out ln the early l960 1 s by Hollinger Mines Ltd. The property was acquired by Quebec Sturgeon River Mines 1n 1973 and the main shaft was started ill 1979.When St Andrew Goldfields was incorporated 1n 1983, exploration and development commenced to identify the ore body. The company decided 1n 1987 to bring the Stock township property into production after an extensive feasibility study and testwork at Lakefield Research in Toronto. Leslie Engineering was contracted to design, engineer and procure al 1. equipment from the coarse ore bin to the tailings distribution system and backfill plant"

Jan 1, 1992

By L. Bloomquist

This paper describes how Automated Mining Systems (AMS) is evolving the state-of-the-art in guidance systems for autonomous underground vehicles. The techniques, trade-offs, and lessons learned from these systems are described, including the safety regime that has been implemented. First generation autonomous guidance systems for underground vehicles relied on infrastructure for the vehicle to follow. However, there are additional costs associated with that approach. The current generation uses a pair of laser range finders as its only guidance sensors. This system uses a minimum of infrastructure, in the form of a redundant system of location referencing. Advanced steering and drive control algorithms are incorporated into this generation of system. The next generation of infrastructureless guidance systems will be based on a 3D vision sensor, which was originally developed for autonomous Mars rovers and is being adapted for underground mining use. Results of early underground field trials are presented, along with a description of this emerging technology.

Jan 1, 2004

By L. Bloomquist, C. Arnoldi

"This paper describes how Automated Mining Systems (AMS) is evolving the state-of the- art in guidance systems for autonomous underground vehicles. The techniques, tradeoffs, and lessons learned from these systems are described, including the safety regime that has been implemented.First generation autonomous guidance systems for underground vehicles relied on infrastructure for the vehicle to follow. However, there are additional costs associated with that approach.The current generation uses a pair of laser range finders as its only guidance sensors. This system uses a minimum of infrastructure, in the form of a redundant system of location referencing. Advanced steering and drive control algorithms are incorporated into this generation of system.The next generation of infrastructureless guidance systems will be based on a 3D vision sensor, which was originally developed for autonomous Mars rovers and is being adapted for underground mining use. Results of early underground field trials are presented, along with a description of this emerging technology."

Jan 1, 2004

By Rimas Pakalnis

This paper describes a focus of work presently being conducted at the Rock Mechanics Research Group at the University of British Columbia. The underhand method under consolidated fill ensures a high recovery under an engineered back that is comprised of cemented rock fill and/or cemented paste fill. This method of mining is generally necessary either due to a weak rock mass comprising the immediate back and/or high induced back stresses. A major concern in the design of sill mats is the loading and strengths associated with the overlying sill mat. This paper reviews past practice coupled with present observations and measurements from over ten(10) mines throughout North America. It outlines areas of concern in terms of design requirements.

Apr 1, 2005