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By N. von Stade, G. du Plessis, W. van Niekerk, H. Bosman

Exploration, and other, boreholes are drilled to obtain information about the geological environment. Knowledge of the exact position (dip and direction) of the holes is important to ensure compatibility between the hole and the geological information. Kumba Resources traditionally used mechanical methods to determine the hole characteristics. These are cumbersome and expensive, and as a consequence a new method, the IVEC (Iscor Video Exploration Camera), was developed which utilizes a charged coupled device (CCD) image sensor focused on a three-dimensional compass. This system is rugged, relatively inexpensive and gives real-time results during borehole logging. Keyword: Borehole inclination, deviation, dip and direction, geophysics, exploration.

Sep 1, 2001

By O. S. Lubbe, G. Annandale, J. W. van Wyk

This paper deals with the development and evolution of room and pillar mining in the South African chromitite and platinum mining industry over the past sixteen years. The paper describes the need for cheaper, more effective and safer mining methods in hard rock mining. It also describes how a mining method traditionally only applied in coal mining in South Africa evolved into a method ideally suited to conditions in chromitite and platinum mines. The paper also touches on joint efforts from mining houses, mine management and equipment manufacturers to design and build mechanized equipment custom designed and unique to South Africa in order to overcome challenges presented by the harsh operating conditions encountered in the mines in the Bushveld Complex.

Sep 1, 2001

By D. Gerhart, J. Hung, J. Hackwood, A. Pix

A computer-based, real-time mine management system has been installed in a number of underground operations. The system’s innovative software application is coupled with wireless data acquisition and database management to provide complete mine monitoring and control execution in closed-loop control fashion. The system is well suited to automatically assign equipment, acquire status, and reassign resources based on status; and to automate information handling. The system has provided mines with improved utilization of the equipment fleet and mining crews, and reduced workplace cycle time. This paper describes the deployment of systems at a number of underground mining operations and discusses future development of the system. Keywords: Computer-based: Real time: Utilization: Mining cycle control: Monitoring: Productivity

Sep 1, 2001

By Nareetsile S., J. Kabwe

In the past few years Orapa and Letlhakane Mines have investigated various new technologies to enhance and improve production. The goal has been to improve productivity, reduce operating costs and make the mines more profitable The advent of Global Positioning Systems (GPS) in the early ’80s brought about the realization of this concept. Orapa and Letlhakane Mines started using GPS in 1999 and it is now used atLetlhakane mine for surveying, vehicle tracking and dispatching and for floor control system. Orapa Mine uses GPS in surveying, floor control and drill navigation. It will also be used for vehicle tracking and dispatching in mid-2001 following the installation of a fleet management and control system. The introduction of GPS at both Orapa and Letlhakane mines have improved productivity and reduced operating costs in the areas of drilling, topographic survey and floor control. In vehicle tracking and dispatching GPS has allowed for real-time information management for timeous decision-making which optimized fleet run time hours.

Sep 1, 2001

By C. Clark, P. Patton, B. M. Stewart

Handling materials in underground mines continues to be a major safety problem. To help reduce materials-handling injuries, the National Institute for Occupational Safety and Health (NIOSH) at the Spokane Research Laboratory is developing, modifying, and testing equipment to replace the necessity of doing lifting tasks manually. To reduce single-event lift injuries, equipment having mechanical automatic weight sensing and balancing control was investigated. The Coleman manipulator was selected for testing. Modifications to the Coleman manipulator to make it more suitable for underground mine use included mobilization, self-containment, all-purpose gripper attachment, and support jacks. To reduce or eliminate the need to clean off manually the materials that commonly plug grizzly openings (timbers, wire mesh, roof bolts, and other debris), a track-guided pincher arm device was developed. The TGPA attaches to an impact hammer head, and the pincher arms are controlled by the operator of the hammer. Oversized rock can be broken with the pincher arms in the up position; the arms can then be lowered to grab and remove debris. Sweeping action to remove cohesive fines bridging grizzly openings is also greatly improved. This device is especially useful in recessed grizzlies. An industrial gun was tested to evaluate its effectiveness in breaking oversized rock. Boulders up to 76 cm in diameter were successfully broken to minus 33 cm. Although methods to control flyrock need to be developed, an industrial gun may be a safe and inexpensive alternative to breaking oversized rock in certain underground mining situations. Keywords: Mining, materials handling, over-exertion, injuries

Sep 1, 2001

By Hannweg L. A.

In a first for the diamond industry, Koffiefontein Mine in the Free State, South Africa, opted for the front cave mining method to extract a 90 metre high block of kimberlite ore. Block caving, because of its high initial capital requirements, resulting in a negative internal rate of return (IRR),was ruled out as a feasible mining method for Koffiefontein Mine. Front caving is essentially a combination of the traditional block cave and sub-level cave mining methods, but uses two or more levels of retreating drawpoints. Two extraction levels, in the case of Koffiefontein Mine, are spaced 12 m apart vertically, with the upper 478 m level (48Level) acting as the undercut/extraction level, and the lower 490 m level (49 Level) as the extraction level. Caving is achieved by undercutting a small column of ore, which is then drawn, on both the 48 and 49 Levels, until the planned extraction percentage is achieved. The next column of ore is then mined by advancing the undercut (48 Level), and the process is repeated until the entire ore block is depleted to the contact. Caving-by-gravity techniques of mining rely on closely controlled draw of the caved ore to ensure proper caving action and to minimize the dilution of ore with waste material from the open pit. This paper discusses the need for, and implementation of, a draw control system at Koffiefontein Mine — a computerized production management system, and a draw control system based on linear programming, to allow control over the draw rate and mining sequence — a major factor in all production planning to optimize production efficiency, ore recovery and cave management. Keywords: Draw control, Koffiefontein Mine, Front cave, Caving

Sep 1, 2001

By T. Gibson

It is generally accepted that South African coal mines have gone through the mechanization of most of its underground mines, and while there certainly were a lot of productivity improvements, the lack of visibility on these machines operating underground still leave vast areas for improvement. The average actual cutting time still remains very low, in the 30 per cent area, which leaves significant improvement possible. Currently all analysis is carried out using hand-written reports. Unfortunately this is subjective and often inaccurate because of human interpretation. In addition in order to avoid costly component failure, a monitoring system is required to warn of eminent failures and condition monitoring. The challenge faced was to supply and install a system that was ‘Open’ and could be retrofitted to existing machines in operation because of the current standard of communication links to the underground sections. In addition it was intended to use, existing ‘off the shelf’ software and hardware and adapting this for the harsh underground mining conditions wherever possible in order to reduce costs. As development occurred, as with all technology, doors opened to other opportunities such as, remote access data logging and Internet based reporting. We focused on the Voest Alpine Bergtechnik (VA) range of continuous miners, as need arose to achieve the desired cost improvements because of the strategy of service contracts the subsidiary company, Voest Alpine Mining & Tunnelling (VAMT) offer the mining industry in South Africa. This paper describes a data logging system that has been installed on various continuous miners that provides data in real time, on line, and that could be expanded to any electrically supplied underground mobile or stationary mining machine.

Sep 1, 2001

By B. Zongwane, A. T. Visser

In surface mining operations, ultra-heavy trucks operate on haul road networks which are typically from 10–40 km in length. Road networks for these vehicles have historically been designed and maintained empirically, relying heavily on local experience. Whilst it is possible to construct amine haul road that requires no maintenance over its service life, this would be prohibitively expensive, as would the converse but rather in terms of vehicle operating and maintenance costs. An optimal functional design will include a certain amount and frequency of road maintenance which can be planned, scheduled and optimized within the limits of required road performance and minimum vehicle operating and road maintenance costs. For existing mine haul road networks, which may not be optimally designed and maintained, the problem of identifying existing deficiencies, quantifying their impact and assigning priorities within the constraints imposed by limited capital equipment and manpower is problematic. This is reflected in the fact that most surface mine operators agree good roads are desirable, but find it difficult to translate this into an effective road maintenance system. The aim of this paper is to present a road maintenance management system which utilizes on-board truck diagnostic data in conjunction with computer-based truck dispatch systems. Through a comparative analysis of the various haul road maintenance systems available to a mine, a condition-triggered road maintenance system is introduced. System architecture, evaluation of real-time data, event trigger level determination, specific condition signatures and real-time rolling resistance calculation are discussed. Finally the event, activity, transaction and notification system is portrayed in conjunction with the determination of key productivity indicators and benchmarked road and truck performance. Keywords: Haul road, maintenance, surface mining, rolling resistance, truck haulage.

Sep 1, 2001

By B. S. Spottiswoode

Lack of visibility makes it difficult for continuous miner (CM) operators to judge the desired sump depth. The resulting inaccuracies have proven to lead to significant production losses. This problem of measuring the depth of sump has been addressed in the past and a few measurement techniques have evolved. Despite various attempts, a suitable commercial depth of sump sensor does not yet exist. A system using the Doppler effect has been patented, developed and successfully tested. The method is non-intrusive and involves a beam of microwaves being projected obliquely at the roof. The received signal is analysed with respect to the transmitted signal, yielding the desired measure of displacement. Surface tests have revealed an accuracy of a few centimetres. Underground simulation tests on a load haulage dump (LHD) machine have verified the repeatability under the harsh conditions of interest. The system is presently being installed on a CM where it is to undergo a long-term performance evaluation. This paper presents the theory behind such a system, the hardware developed, the signal processing requirements and an analysis of the test results.

Sep 1, 2001

By G. R. Baiden

Introduction The introduction of teleremote systems to underground mining can provide a significant improvement in the performance of a mine when compared with conventional mining techniques. This paper presents the concepts of teleremote mining in a case study showing how the systems work and the competitive advantage autonomation of mining techniques will provide for underground metal mining operations into the future. This paper is divided into two sections: the Mining Automation Program and What is next? On January 1st 1996 Inco Limited, Tamrock Oy, DYNO Explosives Group and CANMET formed a consortium for the development of teleremote mining equipment called the ‘Mining Automation Program’ or MAP. This program included a five-year research and development agreement that combines the talents of the above organizations to create mining equipment and systems for autonomating mining. The projects are based on the communication system currently sold and marketed by Automated Mining Systems Limited. The main components of the program investigated the development of a positioning and navigation module, autonomated systems using teleremote techniques for development and stoping, and software systems to support the use of this equipment. The program included the establishment of a test mine, at Inco’s 175 Orebody near Copper Cliff North Mine. This facility was unique allowing collaboration of companies and research organizations inthe design and testing of techniques and equipment used to apply autonomation to mining. Since the inception of the project other research alliances have been added to enhance the program. These include the application of ground support (Meyco/ Master Builders), muck pile recognition, the broadening of telecommunications links (PRECARN Associates Inc.-MALTA project) and the collection and processing of drilling core through the automated diamond drilling project (J.K.S. Boyles). MAP began as an idea a number of years ago with the fundamental question ‘Can an ore-body be profitably mined through autonomation?’ The concept was to design mining equipment and systems that would allow the teleremote operation of a mine. Automation was only one componentof this much larger teleremote mining issue. To start with, it was essential to prove or disprove the feasibility of this concept. The fundamental requirements are: • Telecommunications • Positioning • Navigation • Equipment • Software • Electronics • Mining Engineering • Organization. Each of these had to be considered. Technically, the feasibility of the project hinged on the successful development of a high capacity communication network, an accurate underground positioning system, a navigation system and finally the electronics and software that could integrate these. Mining equipment that could perform all the mining functions was the next requirement, along with explosive supplies that could be delivered to the holes teleremotely. Whatever the systems developed, they must be able to work in both bulk and selective mining situations and in varying conditions within a mine. Finally, the organizational issues of a change from our current method of operation to teleremote mining had to be understood. After five years of research and development the answer to the question ‘Can an orebody be profitably mined using autonomation techniques?’ is YES! There are still hurdles to overcome, however, the basic premise has been proven. The development and production of underground tunnels and stopes has been done. There have been interesting outcomes in terms of reduced effort to accomplish mining and the total time to mine. Definitions •Automationis the process by which a machine or system is run continuously including the ability for the system to self-correct. •Autonomationis the same as automation except that the process does not self-correct. •Teleremote operation is the operation of mining equipment over a network from any location out of line-of-sight of the machine. •Equipment Automationis the addition of technology to a machine that allows for unmanned operation of a machine and thus enhances the productivity of the operator. For example, a guidance system that allows a load-haul-dump to drive by itself, thus freeing the operator for other tasks. •Teleremote mining describes a mine process that combines the use of teleremote operation (potentially with some automation), positioning and process engineering, monitoring and control. •Tamrock DataSoloTMis a computerized drilling rig as shown in Figure 1. •Tamrock DataMini™ is a computerized development drill rig used for drifting and construction tunneling as shown in Figure 2.•Tamrock Toro 450™ is a LHD (Figure 3).

Sep 1, 2001

By I. Wigden

This paper discusses system integration and installation of High-Tec systems in underground mines. ABB has the capability to be a System Integrator and co-operates with partners in different areas of technology. Today it is difficult to find one Company that is responsible for the complete Automation System. The design of the system is also dependent on the caving procedure that is currently being used in mines. Most of the engineering must be done during the feasibility study and the design phase. Any mistakes made during these phases will be costly to rectify in the commissioning phase. The paper will also include a presentation of the benefit of using Automation in an Underground Mine, and the importance of integration with the people component. Most of the experience and discussions in this paper are from different technologies that have been developed in Scandinavia and adopted from LKAB in Kiruna. The author of this paper was responsible for the Automation projects in Kiruna Mine during1994 - 1999. These projects include: • Broadband communication of data, audio and compressed video in one data stream. • Control System for Haulage -1045m • Automation of Load Haulage and Dumping machines (LHD) • Control of Production Drilling Rigs from a Central Control Room.

Sep 1, 2001

By P. Valicek, M. Farren, G. Harrison, G. van den Berg, P. van Dorssen, P. Kramers

Full mechanization of the stoping operation using rockbreaking methods other than blasting has been a target of research for decades because of the considerable payoffs in terms of increased face advance rates, productivity and safety. However, the unavailability of economically viable rock breaking tools has prevented progress so far. This has changed with the invention of activated cutting tools, which achieve significantly reduced operating forces, power consumption and wear compared to non-activated tools and thereby permitted the development and evaluation of the first mining system using this technology. Targets for the mining system were a face advance of 100 metres per month on a double shift basis for a 30 metre long panel and eventually fully automated man-free stoping. The purpose of this paper is to describe the design, development and evaluation of the mining system. This was a major collaborative effort between Anglo Platinum’s Rustenburg Platinum Mines Rustenburg Section — Townlands Business Area, Anglo Platinum’s Research and Development Department within the Mining Technology Division, the inventor of the technology Bechem GmbH, the equipment manufacturers Long-Airdox Ltd and Zollern GmbH, and CSIR Miningtek who managed the project. A structured process was followed during the development to minimize the risks involved in using such leading edge technology. The system was rigorously evaluated to ascertain the economic viability of the method and to collect data for the design of a production system.

Sep 1, 2001

By C. Mueller

In many automated mines, multi media video and audio funtionality has to be combined with sensor information or steering commands, which is the idea of a new, PC based integrated and multi media capable control system. The new control system (Multimedia Control - MMC) bases entirely on TCP/IP networking and internet technology. For the first time, this enables the ‘intelligent’ use of video and audio information: pictures and voice sequences may be forwarded on request only, they may be stored if particular events occur (e.g. video black boxes) and sensor signals as well as actions from the automation system can directly be assigned with multi media sequences. MultiMedia Control entirely bases on object oriented software. It uses most modern software technology. As user interface, only a standard web browser is required. This makes the handling of different machines easy. By using mobile web pads, dedicated local operator interfaces are not required any longer. The service staff just connects to the automated equipment by – wireless –LAN to make required adjustments. Customization is easy using an open Application Programming Interface. Software modules may be added to the system without touching or recompiling existing components. The system was prototyped in 2000 using a demo-application. The performance tests showed very positive results both regarding the control system behaviour and the speed/latency timing behaviour of the multi-media information processed. The system now is slightly reshaped to completely meet the final product requirements. It is expected to be available by the end of 2001. Key words: Machine Automation; Control System; Multi Media; Remote Control; Teleoperation; Ethernet; TCP/IP; Internet Technology; Streaming Video; Quality Assurance; Service; Control Centre.

Sep 1, 2001

By R. Hummel

In the quest to reduce overall costs and improve operating efficiency, the application of GPS based technology in open pit mining has evolved significantly in recent times. Venetia Mine has been leading the way in the De Beers group in the implementation of these systems and the realization of significant benefits from them. Following on from the successful results and the notable benefits obtained from the Wenco Truck Dispatching system and the Caterpillar CAES system on the loading and dozing equipment, Venetia has implemented the first fully functional and integrated GPS based drill monitoring system in southern Africa to its drilling operations. This paper elaborates on the concept of drill monitoring and how the vision for the application of the system at Venetia has developed and been implemented. The paper further describes the workflow involved, beginning with the initial test work done with SSI Kaltex and the Australian Drill Advisor system through to the final details of the integration of the Aquila system with the CATERPILLAR Computer Aided Earthmoving System (CAES) and the alliance with SandvikRock Tools. Most importantly, the paper details the benefits that are derived from drill monitoring and the use of the information generated by such a system. Venetia has pioneered the move towards smart partnerships and alliances with strategic suppliers within the De Beers group. The area of drilling, as the important start of the entire mining process, has been no exception and the final part of the paper covers how drill monitoring provides vitally important information that enables a supply partnership, to function cost-effectively and profitably for both parties involved. By having the type of accuracy, detail, validity and timeousness in the information being received as a result of the implementation of such a system, better management decisions can betaken, creating a more focused and efficient mining environment. In these times of increasing costs and reduced commodity prices, the mining industry will be required to continue pushing the boundaries on these technology applications in order to remain competitive.

Sep 1, 2001

By J. A. Voster

Premier Mine (a part of De Beers Consolidated Mines Ltd) which is situated 38 km to the east of Pretoria, has the largest known diamond pipe in South Africa. The mine started operations in1903. The Premier Mine kimberlite pipe is unique in that it is intersected by a 75 m thick gabbro sill at a depth of 400 m below surface. The current mining method used is mechanized panel retreat caving, which has been successfully used to extract ore from the different mining blocks. All caving at Premier Mine is below the sill and failure to exercise good draw control could cause the early ingress of gabbro waste. Draw control at Premier Mine is crucial as it aids in preventing conditions of isolated draw, which results in the early ingress of waste, compaction of the kimberlite and the loss of ore reserves. To assist, an underground vehicle monitoring and control (VMAC) system was installed to enable the effective management of the draw control function. The system has evolved graduallyin collaboration with a local developer. The data accumulated is used to decide the most effectivedraw point loading pattern in order to achieve sound draw control principles. This is achieved as each load can be related back to the draw point of origin. The VMAC data recorded also relates back to specific load-haul-dumps (LHDs), tunnels, ore passes, as well as indications of dates, times and payloads recorded. An interface exists between the VMAC and a draw control linear program. Premier Mine’s VMAC system is not a ‘dispatch’ system but rather a draw control system that caters for Premier Mine’s specific block cave requirements. Premier Mine has realized that successful automation is not dependent on technology alone but rather on the successful implementation thereof.

Sep 1, 2001

By P. A. Corbeil, C. Swart, F. Miller, V. Falmagne

Automation technologies are increasingly adopted in different mines worldwide. This paper presents the technical aspects of vehicle automation applications at two Noranda operating mines. Teleoperation of 5 LHD’s at Noranda’s Bell Allard mine is used in order to meet aggressive mining requirements under difficult conditions. The equipment is performing under high demand for reliability and performance. In order to further increase performance, automated loading has been commissioned on one of the LHD’s and is being tested. Results to date indicate improved performance with respect to an operator through better filling of the bucket, fewer passes at the muck pile and shorter cycles. Noranda’s Brunswick mine is currently commissioning an automated haulage zone where two optically guided trucks transport ore from a remotely operated chute to two ore passes. Expected operational advantages include increased system capacity and enhanced safety and comfort for the operator. Monitoring to date indicates that the trucks can operate reliably under the conditions imposed by mine production.

Sep 1, 2001

By A. Miller, M. Bétournay

The main objectives of the Mine Mechanisation and Automation program (MMAP) are to enhance health and safety in underground mining operations, facilitate mechanization and automation in narrow- vein and deep mines, provide sound science to regulatory agencies and improve mine profitability. The program, which has a unique underground and surface industrial scale facility, is involved in many multi-partner projects, like hydrogen fuel cell applications, electrification and hydraulification of underground mines, reduction of noise and vibration, miner location device, explosive-free blasting and hoisting. The paper presents an overview of the Mine Mechanisation and Automation Program of Natural Resources Canada and some of the main projects.

Sep 1, 2001

By S. Z. Shkundin

An evaluation of the accuracy of tachometric and hot-wire anemometers in mine workings and gas-media ducts is given. The acoustic means of gas flow rates measurement is considered with particular reference to the equations of acoustic waves propagation in aerodynamic fields. The paper defines how it is possible to minimize the error of integrating acoustic anemometers.

Sep 1, 2001

By L. Ozdemir, B. Asbury, T. G. Rozgonyi

A new type of bit, that has been developed and is being evaluated, shows great potential in expanding the range of rock strength that can be cut by continuous miners and roadheaders. This new style of bit is called the frustum. The tools tested in this program were developed, manufactured and patented by Briese Industrial Technologies, Inc. The frustum derives its name from the unique geometric shape of the cutter, or cutting insert. The frustum shape cutting tool has previously been proven as an effective cutting tool for machining metals, metal matrix composites and polymers. The frustum rock bit has a very dense carbide frustum shape tip mounted on the end of a steel body similar to the conical bits typically used on continuous miners and roadheaders. In between the carbide frustum cutting tip and the steel body there can be a bearing that allows the frustum to rotate around the bit axis. When the bit is forced into the rock at a skewed angle, the frustum tip rotates as it travels. This rotation greatly reduces the cutting forces acting on the bit when compared to the current state of the art conical drag bits. This cutting force reduction, derived from the frustum’s cutting action, allows for much harder and more abrasive rock to be cut without quickly wearing out the bit. Full scale laboratory cutting tests have been performed with the frustum bit in direct comparison to the current state of the art conical bits. Field trials of the frustum bit are currently being planned. Test procedures, results and findings are presented.

Sep 1, 2001

By P. Valicek, M. Farren, R. G. B. Pickering, G. Harrison, P. van Dorssen, W. Joubert, H. J. van Rensburg

Introduction In South African metalliferous mines, stoping operations are largely confined to narrow, tabular orebodies making mechanization extremely difficult. Limited flexibility in terms of stope width has necessitated drilling by means of hand held, pneumatic rock drills at most of our operations. As the largest producer of platinum in the world, we drill in excess of forty million stope blast holes per annum. Cleaning of the broken ore is also done by conventional means—utilizing scrapers and scraper winches. Conventional methods such as these carry high costs in terms of risk exposure as well as labour intensity. The purpose of this paper is to describe the development of a long hole stoping system suitable for the narrow platinum reefs. The new system had to be substantially safer and more cost effective than conventional mining. We selected a site that was conducive to mechanized mining and set out the parameters that we considered would meet our requirements. We then conducted a feasibility study to evaluate the conceptualized long hole stoping system in terms of specific goals. An analysis of the proposed system identified the Key Performance Indicators (KPIs). One of the most critical goals was to be able to create a man-freestope. This would mitigate the safety risk associated with normal stoping operations, as well as the inefficiency cost previously referred to. Other challenges included setting targets for long hole accuracy, stoping width reduction and specific blasting system performance for long hole stoping. We also modelled a critical span that we considered to be inherently safe and to ensure hangingwall stability, throw-blastcleaning and overall system productivity. Anglo Platinum Research and Development and Sandvik Tamrock entered into an agreement for the supply of a specialized long hole-drilling machine. The system was implemented and tested by the mine with the support of the other participants. The results achieved met our expectations. It was demonstrated that with this method of mining it is possible to have a man-free/support-free stope face and to achieve a reduction in shaft head cost per ton whilst reducing dilution. Key performance indicators assessed during the trial •Safety targets •Mining layout •Drill rig •Production targets •Support requirement •Explosives requirement •Services requirement •Ore removal and cleaning requirement •Training requirement Safety targets All persons involved with the project had to adhere to the mine’s safety programme including the zero-tolerance campaign, and were required to report all hazards observed immediately. Mine personnel and Tamrock carried out a full risk assessment on the drill rig before transporting underground. A further risk assessment was carried out when the machine was in position underground. Mining layout See Figure 1 and Figure 2 for a detailed description. Drill rig The drill rig was a combination of a Secoma P-Low LC 10long hole feed and an Axera low profile carrier. The choice of this equipment was made through consultation with Tamrock Sandvik. All relevant design perimeters of the area to be mined were taken into consideration. Production targets

Sep 1, 2001