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By W. D. Monaghan, A. J. Kwitowski, A. L. Brautigam

Teleoperation is a technology that can provide significant health and safety improvements in mining operations by locating machine operators hundreds of meters away from the face area. The US Bureau of Mines recently developed a teleoperation system for continuous mining and haulage equipment. This system features near real-time closed-loop control. A prototype system was developed and demonstrated. This system could be used in thin-seam applications down to 36 in (914 mm). Provided are details of the teleoperation system, the results of testing and the expected applications of this technology.

Jan 1, 1996

By A. J. Kwitowski

Teleoperation is a technology that can provide significant health and safety improvements in mining, by relocating machine operators hundreds of meters away from the face area. The U. S. Bureau of Mines (USBM) has recently developed a teleoperation system for continuous mining and haulage equipment. This system features near-real-time closed-loop control. A prototype system was developed and demonstrated on the surface. This system could be used in thin-seam applications down to 914 mm. Details are provided on the developed teleoperation system, results of testing, and expected, future applications of this technology for improved safety.

Jan 1, 1994

By A. J. Kwitowski

Remote control is usually associated with deep mine, continuous mining machines. This is because thin-seam operation precludes an onboard operator's compartment or the mine has approval to conduct extended cut mining. Using a tethered or radio-linked control box, the remote operator is typically situated 3 to 15 m (10 to 50 ft) from the working face. The operator receives direct operational cues through senses like vision, hearing and feel. Remote control is sometimes touted as a safety feature. However, this is not always true, as operators are not provided protection from roof and rib falls or being crushed between the machine and a rib. Remote control operators are also left exposed to dust and noise. Teleoperation described here is the computer-based, distant control of mining machinery from a protected operator compartment located out of the line-of-sight from the operational site. Video, sound and other sensory information are gathered through sensors and electronically transmitted to and displayed at the operator's location. The teleoperator responds to the information and makes decisions that are initiated by control devices (usually switches). These control commands are then electronically transmitted to the re¬mote machinery and the appropriate machine function(s) are carried out. Teleoperation increases the safety of mining machine operators as it removes them from the immediate vicinity of hazards. The US Bureau of Mines' involvement with teleoperation dates back to 1979. Following feasibility studies, a highwall milling system (HMS) was developed and tested. A deep, thin-seam, room-and-pillar system (TSRPS) has been designed and is currently being surface tested.

Jan 1, 1992

By A. J. Kwitowski

Remote control for mining machines ordinarily means the operator is not seated on the machine, but is located within direct view of the machine and work area Thus, remote control operators are exposed to the hazards of roof/rib falls and dust/methane explosions. The U.S. Bureau of Mines has developed a method to disassociate remote operators from these hazards. Off-board, computer-based "tele-operational" systems are utilized that station the operators one-hundred meters or more distant from the working faces. Details are provided for tele-operated systems for thin-seam extraction and haulage equipment in highwall and deep, room-and-pillar coal mines.

Jan 1, 1992

By J Cronin

For the last decade, we have read about the great technical innovation that is coming to the mining industry that will increase safety and productivity. There is consensus that it will be a technical innovation that will produce a step change in mining costs and outputs (as opposed to bigger machines or less people); however, this innovation (while freely available) has not taken hold in the industry. While there are a few mines that have embraced technology, the majority of underground mines simply do not have the expertise or technical capability to implement innovation and automation.With unexploited mineral deposits becoming deeper and more remote, and thus more hazardous to mine, telepresence offers the ability to remotely execute production tasks while separating personnel from hazards. As the technologies required to deliver telepresence mature, the potential for there to be no personnel underground during production activities is becoming a reality (the ‘dark factory’). So significant is the capacity of telepresence to mitigate risk, it is proposed that it be included as a separate entry in the hierarchy of hazard mitigation controls.Technical innovation such as the optimised short-term interval control of the production process and the automation of underground mobile fleets offer significant increases in production along with lower operating costs. This paper explores the most critical components for the successful implementation of technology in underground mining; redundant, robust and high-bandwidth communications networks to carry data from distributed networks of smart sensors and to convey teleoperation commands; and high-definition video to provide operators with detailed, real-time data. The days of analogue ‘leaky feeder’ as a base case for communications are over. The human resources required to support the expected wave of innovation are significant and will be difficult to maintain in remote areas as the same skills and expertise are in demand in other industries.The paper highlights barriers to innovation in the mining industry, and a lack of technical and scientific expertise within the industry to be able to identify, implement and manage technologies that can increase safety and productivity. As well, an over-reliance on basic net present value (NPV) financial analysis that is used in the industry punishes investment in technology (capital expenditure; CAPEX) and accepts higher operating expenditure (OPEX) due to the discounting of future savings in operating costs.CITATION:Cronin, J, 2017. Telepresence – the application of remote control and automation technologies for increased safety and productivity, in Proceedings 13th AusIMM Underground Operators’ Conference 2017, pp 213–224 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Oct 16, 2017

By Alfred Weiss

The business world of tomorrow will experience a major change in its data communication systems, with the mineral industry being among those to feel the greatest impact of this change. This development can be expected to occur over the next two decades at a steadily increasing tempo. One major factor prompting this transformation is the fact that technological knowledge is doubling approximately every five years. Moreover, industry is becoming more and more dependent upon the flow and processing of information in its long-range planning, while government requirements and regulations demand increasingly detailed and precise information on plant operations.

Jan 1, 1971

By V. Aitken

Line-of-sight radio control has received widespread acceptance for use in many mining methods because today’s technology offers improved economics and personnel safety. Significant advances in higher autonomy for mining machines are not currently seeing widespread use even though they offer great future potential. With autonomous capabilities being a longer-term goal, a logical sequence of advances based on TeleRemote control is proposed. Under Tele - Remote control, the operator is in direct control of the machine at all times. Three levels of Tele - Remote control systems are presented including line-of-sight, extended line-of-sight, and full load-haul-dump applications. Distributed control and sensing subsystems arranged in a vehicle control area network support incremental system expansion through the three levels of TeleRemote control and prepare the machine for integration of higher levels of automation as mature technology becomes available. This approach allows full exploitation of today’s mining automation technology with a flexible future growth path.

Jan 1, 1998

By Greg Baiden

Telerobotics focused on mining is currently being introduced into production systems around the world. Mining companies in Canada, Sweden, South Africa and Australia have tended to lead the international charge to this form of technology for mining. While this introduction is taking place a few basic questions have yet to be answered. How many machines can a single operator run? How many types of machines can a single operator run? A new Canadian Research Chair in Robotics and Mine Automation has been established at Laurentian University. This chair will investigate these questions and many more through a series of experiments in a newly established telerobotics laboratory that connects Laurentian teleoperation workstations to model mining machines at Cambrian college?s eDome. The laboratory will support many experiments allowing researchers to physically run multiple robot scenarios differing the numbers and types of machines at one/quarter scale. Further experiments are being designed to investigate the potential for managing time delays in telerobotics. This paper describes the laboratory, experiments and some preliminary results.

May 1, 2003

"The application of telerobotics to mining is currently being introduced into production systems around the world. Mining companies in Canada, Sweden, South Africa, and Australia have tended to lead the international charge to this form of technology for mining. While this introduction is taking place, a few basic questions have yet to be answered. How many machines can a single operator run? How many types of machines can a single operator run?A Canadian Research Chair in Robotics and Mine Automation has been established at Laurentian University to investigate these questions and many more through a series of experiments in a telerobotics laboratory that connects Laurentian teleoperation workstations to model mining machines at Cambrian College’s eDome. The laboratory supports many experiments allowing researchers to physically run multiple robot scenarios differing the numbers and types of machines at one quarter scale. Further experiments are being designed to investigate the potential for managing time delays in telerobotics. This paper describes the laboratory, experiments, and some preliminary results."

Jan 1, 2005

To provide a simple means for rapidly checking methane concentrations at working faces in coal mines while remaining under permanently supported roof. The Approach: A light telescopic probe, through which a gas sample can be pumped Into a methanometer, has been developed. See Figure 1 [ ] How It Works: The telescopic probe consists of sections of small stainless steel tubing encased in sections of lightweight fiberglass tubing. When fully extended the probe is almost 19 ft. long; fully closed it is approximately 5-1/2 feet long. It can be used In either of these positions as well as at intermediate extensions. An approved methanometer is clamped to the probe by a support bracket.

Jan 1, 1975

By R. Tervo, G. Ellie

"Automated information systems are being developed very rapidly in Europe. In France, Belgium and West Germany, more than 70% of the coal production is controlled by these installations. Information on both product ion and the mine environment is produced. For example, at one mine in France the system records the operating times of the compressors and of the refrigeration pumps, counts the number of coal cars passing the unloading point, and controls the principal conveyors and the loading /unloading of the storage bins. In addition, the ventilation air velocity, the methane content and the carbon monoxide content in the return air entry are recorded; an alarm is triggered and the current to the conveyors cut when the gas content exceeds a critical level. The recorded information is used at four levels: (1) for immediate action, (2) for daily reports, (3) for monthly reports and (4) for long-term studies. For example, when any conveyor is stopped for more than 10 minutes, the system controller immediately telephones to learn of the reason. At the end of a shift, the load factor of the conveyors is computed; then monthly an analysis of the causes of low load factors is made. The presentation describes in detail the system that has been installed in more than 20 mines in France."

Jan 1, 1973

By Courtney Chamberlain

The Telfer Project, Australia's newest, largest and most remote gold mine, treats 480,000 metric tonnes of ore grading 9.33 grams per tonne derived from open pit mining operations. Coarse gold is recovered by gravity concentration with jigs and further upgraded using a continuous strake, table and by amalgamation. Remaining gold is recovered in a cyanide circuit and incorporates flat bottom air agitators, CCD and stellar filters for clarification and precipitate removal. Overall recovery into bullion averages 98 percent. The mill incorporates a number of design features which allow for maximum efficiency and security using a minimum number of operating personnel.

Jan 1, 1980

By C. Chamberlain

The Telfer Project, Australia's newest, largest, and most remote gold mine treats 480 kt of ore grading 9.33 g/t derived from open pit mining operations. Coarse gold is recovered by gravity concentration with jigs and further upgraded wing a continuous strake launder table, and by amalgamation. Remaining gold is recovered in a cyanide circuit and incorporates flat bottom air agitators, counter current decantation (CCD) and stellar filters for clarification and precipitate removal. Overall recovery into a bullion averages 98%. The mill incorporates a number of design features that allow for maximum efficiency and security wing a minimum number of operation personnel.

Jan 1, 1983

Newmont Australia Limited has for some 15 years mined a number of large open cuts associated with the Telfer Gold Dome deposits. The principal ore body exploited has been the East Flank of the Main Dome where a very high grade gold reef deposit of mixed metal sulphides, grades in excess of 20gA Au, has been mined in conjunction with dissemi- nated mineralisation contained in the overburden material. The main ore body has been under review for some years as an under- ground mine, however due to the ore body widths of less than 1 metre and a dip generally less than 35 degrees and a very weak host rocks earlier studies all resulted in a continuation of open pit mining activities. In early 1988 it was recognised that open cast mining would not be able to mine all of this valuable resource and a feasibility study was commenced to come up with a practical and economic approach to underground mining.

Jan 1, 1991

By D R. Seaman, B Adamson, F Burns, B A. Seaman, P Manton

The Telfer concentrator, located in the Great Sandy Desert of Western Australia, consists of a dual train gold/copper operation processing ore from one underground and, currently, two open pit mines with differing mineralogy. The flotation circuit of each train was designed to operate in several modes depending on the feed mineralogy. The majority of ore mined at Telfer is processed in a sequential mode where copper minerals are first floated into a saleable copper concentrate followed by the flotation of an auriferous pyrite concentrate which is treated in an on-site hydrometallurgical plant (carbon-in-leach (CIL)). Gold is recovered as a gravity product within the primary grinding circuit, to the copper concentrate, and to a lesser extent, the CIL circuit.Since Telfer was re-opened, with a new concentrator, in 2004, the processing plant has struggled with poor copper concentrate grades, partially due to the excessive entrainment of non-sulfide gangue minerals in the copper flotation circuit and, more recently, due to composite copper particles produced when processing ore from a supplementary satellite pit that has not previously been processed through the new Telfer concentrator. Gold recoveries in the CIL circuit have also been below industry standard. This paper presents the implementation of recent changes made to the circuit to address these performance issues. The reconfiguration of the circuit has involved the installation of the following major equipment items: two ISAMillsÖ in ultra-fine grinding applications (one in the copper circuit and one in the pyrite circuit), two Jameson Cells to improve fine gangue rejection and a bank of 5 + Outotec TC30s to recovery copper and gold from the reground pyrite stream. The equipment was purchased direct from vendors and an engineering firm contracted to design and install the multi-vendor reconfiguration upgrade.CITATION:Seaman, D R, Burns, F, Adamson, B, Seaman, B A and Manton, P, 2012. Telfer processing plant upgrade - The implementation of additional cleaning capacity and the regrinding of copper and pyrite concentrates, in Proceedings 11th AusIMM Mill OperatorsÆ Conference, pp 373-382 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Oct 29, 2012

By R Dunne, G Lane, S Ha, D Dreisinger

The paper outlines the 17 Mt/a Telfer Project plant process design from sample selection to feasibility study design. The 366 Mt Telfer mine reserve consists of a diverse range of copper and gold mineralisation, from massive sulfide reef ores to stockwork ore, oxide copper minerals to chalcopyrite, siltstone to competent quartzite, all with relatively high levels of gravity recoverable gold. The complexity of the orebody demanded a flexible plant that could recover copper and gold values by a combination of gravity recovery, flotation and concentrate leaching. The demands of treating ore from a high grade underground mine and a variable grade open pit (that includes underground old mine workings) necessitated a dual train approach from primary crushing to concentrate production in order to minimise the requirement for campaigning of different ore types. An extensive sampling, testwork and technical evaluation program was undertaken to identify processing characteristics and the optimum process route for each ore type. The design experience included: the development of robust primary stockpiling and pebble crushing concepts; detailed review of scale-up of SAG and ball mill pilot plant data to plant scale; the selection of two 15 MW SAG mills and two 13 MW ball mills for the grinding circuit; and detailed modelling of the pyrite concentrate carbon-in-leach (CIL)/sulfidisation acidification recovery thickening (SART)/acidification volatilisation recovery (AVR) process to optimise design for copper and cyanide recovery from leach liquors. The Telfer plant design also measures the development of process design based on experiences at the Cadia Hill Cu/Au concentrator, commissioned in 1998. The differences between the two plants are compared and contrasted.

Jan 1, 2003

The Telfer Gold Mine, owned and operated by Newcrest Mining and located in Western Australia, is currently being expanded. A new underground sublevel cave development is proposed along with an appreciable expansion of the open pit. The Telfer area is generally subject to low rainfall, however, during the wet season cyclonic events can result in sizable rain events, which have the potential to cause substantial inflow. In addition to this, during the first five years (nominal) of the mineÆs life, there is the potential for drainage paths between the pit and the underground mine via decommissioned underground workings which lie directly under the pit. After this initial five year period the pit floor will be mined out below the old workings and will therefore no longer connect to the underground, however cave breakthrough to the surface may start to occur thus providing another water path into the underground mine. To arrive at an optimum, safe solution for dewatering the mine that successfully addressed the above items, a rigorous risk analysis was included as an integral part of the design process. This involved the determination of the probability of events occurring and the consequences of these occurrences. This was compared against the cost of mitigation for the various events. This paper outlines the process by which a safe concept addressing all the issues relating to dewatering the proposed mine has been arrived at. This process included: Establishing the pit catchment areas. These were based on historical run-off data and took into account practical mitigation works. Establishing an Average Recurrence Interval (ARI) based on reference material and historical rainfall data. Utilising a standard approach based on Australian Rainfall and Run-off (ARR) to calculate pumping and storage requirements for the various catchments. Analysing the 20 years of recorded rainfall in the Telfer area to establish the duration, magnitude and sequence of events. This analysis assisted in determining the surface run-off coefficient. Establishing potential water storage areas and determining the risks associated with using particular storage options. Establishing the percolation rate through the cave zone. A degree of uncertainty regarding the percolation rate in the cave zone required that the consequences of using various percolation rates were considered to aid in establishing the rate which was adopted. Establishing preliminary concepts and determining the most economically viable concept. Conducting a risk assessment based on the principles outlined by Australian Rainfall and Run-off (ARR) to confirm that the appropriate Average Recurrence Interval (ARI) had been selected. A risk assessment was also conducted in accordance with client requirements. Establishing the optimum pump station sizes and storage capacities. Establishing the appropriate numbers of duty and standby equipment. By using the foregoing process, which included a number of stages of risk analyses, an optimum dewatering system concept was produced.

Jan 1, 2003

By A Crawford, P Manton

Telfer is a gold/copper operation, currently operating one open pit mine and one underground mine. The ore processing plant consists of two parallel trains involving semi-autogenous mill, ball mill and crusher (SABC) grinding, flotation and leaching. Due to receiving relatively high grade underground ore for over half of its total feed, Train 1 frequently experienced cleaning circuit overloading during high production periods. This resulted in losses in recovery and ineffective concentrate upgrade. As a quick and simple solution, the Train 1 copper flotation circuit was reconfigured to send concentrate from the first two rougher cells directly to the final concentrate and return the cleaner scavenger tailings to the third rougher cell. These modifications have resulted in a 1.4 per cent increase in plant copper recovery with no change in final concentrate grade. Preliminary results also indicate gold recovery has increased by more than 1 per cent since the circuit reconfiguration. Other benefits include less spillage, more friendly circuit to operate and a more consistent metallurgical performance. Focus for the next phase of optimisation is on concentrate upgrade. A number of opportunities have been identified and are currently being investigated, including staged reagent addition, single stage cleaning of the first two copper rougher concentrates, regrinding of the remaining copper rougher concentrate prior to cleaning and process control based on a machine vision system.

Jan 1, 2009

Teller Underground Mine was established to extract ore from the Middle Vale Reef located on the eastern flank of Telfer Main Dome.The mine is located below a 150 m deep open pit operation. The ore body is shallow dipping highly structured, and is a main aquifer in quite difficult ground conditions.In respect of these conditions it was determined to access the orebody using an adaptation of coal mining and hard rock mining methods, with support being achieved using a combination of island pillars, rock bolts and timber stalls.The paper will describe these methods in more detail, then discuss the successes and failures of these methods when put into practice. As well, it will detail several factors whose influences were found to be greater than previously expected and stress the importance of good geotechnical advice.

Jan 1, 1993

By A. Flemming

"As the next century draws near, new mine properties must be brought into production to replace existing operations that are approaching their economic life. This paper presents some of the critical technical issues being addressed by Manalta Coal Ltd. as they strive to bring the Telkwa Coal Project near Smithers, BC into production during the year 2000. The mine is planned to produce between 1.0 to 1.5 million tonnes per year of medium volatile coal for export to overseas thermal and PCI markets. IntroductionManalta Coal Ltd. (Manalta) is proposing the development and operation of a surface coal mine and associated infrastructure approximately six kilometres southwest of the village of Telkwa, British Columbia (Fig. 1). The infrastructure consists of a coal washing facility, tailings disposal area, clean coal haul road, access road and rail loadout facility. Over a 25-year period, the mine is expected to produce between 25 and 37 million clean tonnes of coal primarily for the export market.To achieve public and governmental approval for the development, the project will be reviewed under British Columbia’s Environmental Assessment Act. Manalta entered the formal Assessment process in February 1, 1997 with the submission of an Application for a Project Approval Certificate for the Telkwa Coal Project."

Jan 1, 1997