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By Jouko Suominen

The basic development of various mining equipment has been strongly influenced by two objectives; improving economic results and safety aspects. Both of these factors contribute to increased requirements of mechanization and automation in different parts of mining processes. When we are limiting the discussion the crushing circuits, automation has two dimensions, one being the component automation, or intelligence, the other being automation of complete processes. Both of these subjects are closely tied up, the former being a condition for the latter. The key technologies of crushing automation are transducers, programmable logics and computer software. Also equipment technology continually faces new challenges, which result even in totally new product families. One example of this kind of development area the track-mounted, integrated crushing systems, where design criteria have been simple control, unmanned operation, and flexibility in changing requirements. This crushing system, or philosophy, offers excellent possibilities for new concepts in various underground and open pit applications, connected with automatic process control. Following presentation is a summary of aspects, of haw a crusher manufac¬turer sees the development of automa¬tion as an integral part of equipment technology and development.

Jan 1, 1989

By A. B. Cecala

Two recent Bureau studies evaluated workers' dust exposures in automated pallet loading processes. The first study involved a Bureau designed dust control system using a push-pull ventilation technique. The unit was shown to reduce workers' dust exposures by 76% during pallet loading at a ground silica operation. A hydraulic lift table was used to automate the bag stacking process; this kept the loading height constant throughout the entire pallet loading cycle. The second study evaluated different commercial automated pallet loading systems. These systems automatically stack the bags onto pallets, shrink wrap the pallets, and deliver the pallets to a fork lift pickup location. Results from a ground silica evaluation site indicated respirable dust samples taken were below the Threshold Limit Value (TLV) as established by the Mine Safety and Health Administration (MSHA).

Jan 1, 1990

By A. Covelli, A. B. Cecala

Two recent US Bureau of Mines studies evaluated workers' dust exposures in automated pallet loading processes. The first study involved a Bureau designed dust control system using a push-pull ventilation technique. The unit was shown to reduce workers' dust exposures by 76% during pallet loading at a ground silica operation. A hydraulic lift table was used to automate the bag stacking process. This kept the loading height constant throughout the entire pallet loading cycle. The second study evaluated different commercial, automated-pallet loading systems. These systems automatically stack the bags onto pallets, shrink wrap the pallets, and deliver the pallets to a fork lift pickup location. Results from a ground silica evaluation site indicated respirable dust samples taken were below the Threshold Limit Value (TLV) as established by the Mine Safety and Health Administration (MSHA).

Jan 1, 1992

By L. A. Puchkov

The paper presents the outline of the results in the algorithms and software of the microprocessor-based system for the powerful drugline bucket automatic motion, as well as the technological process control and functional diagnostics of the electrical equipment. The system is, aimed at the increasing both the draglines' working efficiency and the professional, competence of the operators. The excavator-dragline, equipped by the automatized operation, diagnostic and information processing system, possesses considerable technological: flexibility, which can widen therefore its field of application. The tasks of the dragline bucket motion optimal operation, programming of the excavation and overburden dumping processes, as well as the tasks of the control and the analysis of the technological parameters and the diagnostics of electrical equipment conditions, are defined in the paper. In our paper we present the results of these tasks being solved, providing the algorithms of the main mechanisms for the automatic operation for the swinging bucket controlled motion, the algorithms of the statistical analysis of the working efficiency parameters the algorithms of the diagnostics for electrical driving systems. The algorithms of the motion operation are constructed using the predicting dynamic models. The diagnostic algorithms at the normal working conditions form a number of algebraic invariants always equal to Ø with the accuracy up to when the electrical equipment is parametrically adequate. The algorithms of evaluating and analysis of the excavation efficiency make use of the direct measurement and analytical identification. The working condition and quality of the operation and control algorithms are investigated by simulation and natural testing. The results of the mathematical simulation of the bucket motion (with the 20 m3 capacity) of the excavator-dragline with the boom of 90 m in length are given in the paper.

Jan 1, 1992

By Qiang Ji, Richard L. Sanford

A laboratory-scale microcomputer-based autonomous excavation system has been developed that moves a pile of fragmented rock to a designated location using a shovel attachment on a robot arm. Navigation and excavation sub- systems interactively direct a robot excavator to move the shovel to the rock pile, intelligently load its bucket using a video camera, and dump the rocks to a designated area. Although research was conducted on a laboratory scale model, the system can serve as the basis for further work on a full-scale, robust excavation system.

Jan 1, 1993

By William Gleason

"Komatsu has been on the cutting edge of autonomous mining for the past 30 years and the company remains at the forefront of the technology that is changing from concept to a full-fledged reality.In 1996, Komatsu America Corp. (KAC) purchased a controlling interest in Modular Mining Systems; a move that enabled both companies to expand their product lines. It was through this effort that Modular helped to deploy the first autonomous haulage system (AHS) — the Komatsu FrontRunner system. In January 2008, the first commercial implementation of the FrontRunner system occurred at Codelco’s copper mine in Chile. Since then, Komatsu has put more than 130 haul trucks into seven sites on three continents to haul copper, iron ore and oil sands and its equipment has moved 1.8 Gt (2 billion st) of material with zero lost time incidents attributed to Komatsu’s autonomous trucks. The 1.8 Gt (2 billion st) is the most of any commercial mining autonomous haulage system and there is more to come. In November, Komatsu announced that an additional 150 autonomous haul trucks will be deployed to the Canadian oil sands over the next seven years.Komatsu has continued to pioneer autonomous haulage development, creating a range of autonomous options that includes semiautonomous and teleremote options all the way up to a haulage vehicle that stole the show at the world’s largest mining equipment trade show.In 2016, Komatsu advanced the concept of driverless haul truck to a new level when it displayed its Innovative Autonomous Haulage Vehicle (IAHV) at MINExpo in Las Vegas, NV. The concept vehicle is the first mega class haul truck designed to be fully autonomous, without an operators’ cab included on the vehicle.Unlike other haul trucks, the vehicle was developed exclusively as an unmanned vehicle designed to maximize the advantages of unmanned operation. Among other advancements, it was designed to distribute equal load to the four wheels, both when the vehicle is loaded and unloaded, and adopt four-wheel drive, retarder and steering. Komatsu said it is aiming for high-performance shuttling of this vehicle in both forward and reverse travel directions, thereby eliminating the need for K-turns at loading and unloading sites."

Dec 1, 2018

By Peter Kowalczyk

Magnetic surveying and map production is well established in land based mineral exploration. Magnetic data are routinely used to map geology in covered terrains, to estimate the depth to basement in overburden covered areas, and to identify altered zones, mineralization, bedding attitudes, and fault networks both regionally in map view, and through interpretation to depth in 3D. Best practices for magnetic survey methods and magnetic interpretation exist in all areas of land based geophysical survey methodology - mineral exploration, hydrocarbon exploration, geological mapping, archeological mapping, and in military applications. At sea, and particularly under the sea, sophisticated magnetic surveys are being done, but it can be argued that these are primarily in niche applications, for example in naval mine-hunting and UXO applications. Magnetic data is not normally collected on AUVs and ROVs conducting mapping and hydrographic survey operations. OFG has developed physical and mathematical calibration routines so that magnetometers can be mounted directly onto AUV and ROV bodies where significant heading errors and magnetic gradients exist. This simplifies the routine deployment of magnetometers on AUVs and ROVs for mineral exploration and other magnetic survey applications without the need for towed bodies, ungainly mounting frames, or degaussing of the survey equipment. Our experience shows that magnetometers can be operated routinely on AUVs and ROVs and that with careful processing useful maps can be produced routinely at low cost.

Sep 1, 2014

By J. W. Jamieson, J. Escartin, A. Steinführer

Evidence of hydrothermal activity on two Mid-Atlantic Ridge oceanic core complexes (OCCs), at 13º30’N (the Semyenov 1 through 5 fields) and 13º20’N (the Irinovskoe field) (Fig. 1) were studied using CTD casts, dredges, TV-grabs and SP surveys during previous research cruises to these sites (Cherkashev et al., 2013, McLeod et al., 2009). In late 2013, the Semyenov and Irinovskoe fields were revisited, this time with an autonomous underwater vehicle (AUV) and a remotely-operated vehicle (ROV) during the ODEMAR (Oceanic Detachments at the Mid-Atlantic Ridge) cruise on the French research vessel "Pourqoui Pas ?". Here we present the first visual surveys and direct sampling of these vent sites. High-resolution (~2 m) bathymetry of the 13º30’N and 13º20’N OCCs and their associated vent fields was collected during 4 and 5 AUV dives, respectively, using the GEOMAR AUV "ABYSS" (Fig. 1). These surveys were flown between 70 m and 100 m above the seafloor, typically at a constant height to reduce vehicle movement. The AUV was equipped with Eh, turbidity, and temperature sensors in order to detect active hydrothermal venting. Over twenty ROV dives with the ROV "VICTOR 6000" allowed for the visual exploration of the OCCs and collection of 59 hydrothermal rock samples from the vent fields. As a result of these exploration activities, the first robust estimates of the size of the deposits, and the geologic controls on sulfide accumulation at these sites can be determined.

Sep 1, 2014

By C. C. Nolan

As the size of the mills get larger and the liners get heavier, abetter means had to be found to handle liner replacement. McLellan Industries is famous for their innovative ideas andwas called upon by an engineering company to develop a mill liner crane. The first crane was developed for Similkameen about 1969 to serve a 32' Ø X 14' Long SAG Mill. The next was Island Copper in Port Hardy, B.C., the same size as Similkameen in 1970. At that time, we took existing hydraulic cranes and modified them to meet the mill configuration. In 1973, we developed a completely new approach for the Southern Peru copper mine at Tacna, Peru for a Ball Mill, size 16'-6" Ø X 19' Long. Each installation required a design study to meet the change in mill size, trunnion size, elevation of floor to feed trunnion, area at the feed or discharge end of the mill. We have supplied self-propelled units as well as lift in. When there is no room at the feed end and if the mill has a trunnion overflow discharge, we have the mill supplier provide a structural frame to span the sump and move the mill liner handier into position with the use of the overhead crane or a mobile crane.

Jan 1, 1999

By C. C. Nolan

As the size of the mills get larger and the liners get heavier, a better means had to be found to handle liner replacement. McLellan Industries is famous for their innovative ideas and was called upon by an engineering company to develop a mill liner crane. The first crane was developed for Similkameen about 1969 to serve a 32' 0 x 14' Long SAG Mill. The next was Island Copper in Port Hardy, B.c., the same size as Similkameen in 1970. At that time, we took existing hydraulic cranes and modified them to meet the mill configuration. In 1973, we developed a completely new approach for the Southern Peru copper mine at Tacna, Peru for a Ball Mill, size 16'-6" 0 X 19' Long. Each installation required a design study to meet the change in mill size, trunnion size, elevation of floor to feed trunnion, area at the feed or discharge end of the mill. We have supplied self-propelled units as well as lift in. When there is no room at the feed end and if the mill has a trunnion overflow discharge, we have the mill supplier provide a structural frame to span the sump and move the mill liner handier into position with the use of the overhead crane or a mobile crane.

Jan 1, 1999

By George C. Trevorrow

It is a pleasure to appear on this program and discuss a subject which is of particular interest to me. In my regular duties as Safety Director of Bituminous Coal Operators' Association, I am called on by member companies to discuss matters affecting face ventilation. As a member of the Joint Industry Safety Committee, as I will later describe, I have a part in processing requests for the use of auxiliary fans for face ventilation. The use of auxiliary fans in bituminous coal mines for this purpose came into rather wide use in the late. '20's when conveyor mining was introduced. In this application, the equipment consisted of a chain conveyor with a face chain conveyor parallel to the face on which the coal was loaded by hand and, in turn, was discharged onto the room conveyor and thence to a loading point on the entry at the mouth of the room. Another method was to use a shaker conveyor with a duckbill which was maneuvered across the face of the room from which the coal was loaded and transported by the shaker to the loading point. In either case the equipment did not readily lend itself to driving crosscuts or breakthroughs with the result that rooms were driven to depths of 250 or 300 feet without adequate means of ventilating the face area with the main split of air. It was, therefore, necessary to use other means of ventilating this area as the rooms were being driven and during retreat work if pillars were extracted. Auxiliary fans of the blowing type were utilized for this purpose. They were of very small capacity using small diameter tubing. By the time the room was driven half way to its projected limit ventilation was very poor or practically nonexistent. To compound the problem the fan was usually set up at the mouth or neck of the room and in many cases the intake air to the fan was the return air from the room. It is small wonder, therefore, that there is on record 12 cases where auxiliary fans were given as the cause of explosions. In 9 of these occurrences, arcs or sparks from open-type motors or accessory equipment on these fans were given as the primary ignition source. They fell into such ill repute that in a number of cases they were blamed as the ignition source even though smoking was strongly suspected as the primary cause.

Jan 1, 1967

By Christopher J. Vise

Although production operations at mines, representing the extraction and removal of the mined material, often appear to receive the greatest amount of attention, the emphasis given to auxiliary operations is continually increasing. This is due to the changing economic, social, and environmental climate in which modern mines must operate. Auxiliary operations can best be described as those activities that are not directly related to the extraction and removal of the mined material, but must receive proper attention if recovery is to take place in a safe, efficient, and socially responsible manner. In fact, certain mining auxiliary operations, such as strata control and ventilation, are considered to be of such importance that they warrant separate sections in this Handbook. Judging from a mine-personnel standpoint, it is not uncommon for a mine to hire the same number or more individuals responsible for auxiliary operations as the number assigned to production.

Jan 1, 2008

By Masahiro Lnoue, Kenichi Uchino

Airflow velocity vectors by a forcing auxiliary fan at a heading face were measured in an actual size model gallery and an actual mine. The location of an outlet of ventilation duct gives significant effects on the airflow at the heading in the gallery. It was also found that there were several stagnated regions which may have danger of methane accumulation. The flow were also examined using the visualization technique by laser light in a reduced scale model. The flow in reduced scale model showed similar behavior to those observed in actual size galleries. The air velocity at the outlet has no significant effect on the airflow. It was found that a region to be ventilated by the direct flow of the exhaust fan is limited to a relatively short distance but a secondary flow region is generated near the heading face. CFD ( Computational Fluid Dynamics ) method was also developed to examine the airflow. The calculated results coincides with those measured by actual and reduced scale models. It is concluded that the CFD is useful tool for the analysis of ventilation at the headings.

Jan 1, 1997

By L. K. Marshall

Last month's engineering fundamentals article discussed some general considerations of underground mine ventilation. This month's article takes a look at auxiliary ventilation-brattice, fans, and ducting-in underground mines. The need for good, efficient auxiliary ventilation increases as mines get deeper and move farther from ventilation shafts. New mining methods and equipment resulted in faster work area advances, liberating more dust, gas, and heat. As a result, worker health and safety requirements in the face area have become more stringent. For all these reasons the safety and efficiency of any underground mine depends heavily on its auxiliary ventilation. The purpose of such ventilation is to supply sufficient quantities of clean air to the face of the drift and to maintain air quality within desired limits until expelled from the mine.

Jan 2, 1982

By John R. Duble

Through 1980, demand for cement in the Pacific Basin countries still seemed to exceed output. Availability of cement in the industrialized and developing countries of East Asia, Southeast Asia, and Australasia for the 1975 - 1980 period are discussed in this report. Quantitative data includes production, imports, exports, and apparent consumption. An account of new cement plants and plant extensions is provided. Countries and areas covered include: East Asia---Japan, South Korea, North Korea, Taiwan, China, Hong Kong, Philippines; South east Asia---Thailand, Vietnam, Singapore, Malaysia, Indonesia; Oceania (Australasia)---Australia, New Zealand, New Caledonia, Fiji.

Jan 1, 1982

By C. Treworgy

Geologic and technical factors such as coal seam thickness, stripping ratios, roof conditions, partings, faults, and size and geometry of the reserve block greatly impact the availability of Illinois coal for mining. Residential and commercial developments also restrict access to coal reserves in some areas. Despite the collective effects of these factors, large blocks of bituminous coal reserves suitable for efficient, low-cost underground mining remain available in Illinois.

Jan 1, 1997

By C. Treworgy, C. Chenoworth

Geologic and technical factors such as coal seam thickness, stripping ratios, roof conditions, partings, faults, and size and geometry of the reserve block greatly impact the availability of Illinois coal for mining. Residential and commercial developments also restrict access to coal reserves in some areas. Despite the collective effects of these factors, large blocks of bituminous coal reserves suitable for efficient, low-cost underground mining remain available in Illinois.

Feb 24, 1997

By Uday Kumar

This paper presents details of an availability study for a fleet of diesel engine operated load-haul-dump (LHD) machines used in a Swedish mine. For the purpose of this study, the LHD machines have been considered as a system comprised of many subsystems like engine, brake, transmission, etc., in series. As availability is dependent on both the reliability and maintainability characteristics of the system, together with reliability, the concepts of maintainability are also discussed. The need for exploring the data for the presence of any structure, which is very common in repairable system data sets, is emphasized with suitable examples. Simple graphical techniques are used for verifying the independent and identically distributed (IID) assumption for the data set. The error introduced due to the use of the exponential distribution in place of more appropriate distributions in estimation of availability and reliability characteristics is analysed.

Jan 1, 1989

The following list is a representative sample of the types of software available to the mining industry. For additional information concerning software packages for your minicomputer, contact equipment manufacturers or software suppliers.

Jan 11, 1981

By R. J. Miller

Rock strata, natural and mining-induced stresses, and structural features can combine to create dangerous instabilities in or around longwall panels. Rock noises and properties variations associated with local stress systems can be used to characterize developing instabilities. Through a learning process at a particular mine, guidelines can be developed to allow the determination of relative risk and timing of a potentially disastrous instability. Once a dangerous instability has been identified, operational modifications can be employed to get through the instability, or active measures such as destressing can be used to mitigate the instability. This paper will discuss how an integrated monitoring system and associated data processing can be used to develop a hazard prediction capability for a longwall mine.

Jan 1, 1996