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By G. Danko, R. Tiwari, J. Knowles

Many excavation and loading tasks require equipment operators to simultaneously coordinate the motion of multiple machine links, in order to achieve complex tool trajectories. Efficiency, ore selectivity, and machine wear, are all affected by the skill level and attentiveness of the operator. A software-based kinematics reconfiguration system designed to assist operators with various tasks has been implemented on a small experimental excavator using our new differential control architecture. Kinematics transformation and feedback control algorithms are being developed and tested using computer simulation, and the results implemented on the experimental excavator. Several task-specific kinematics transformations, including a virtual revolute-to-Cartesian machine reconfiguration and computer-assisted bucket steering and stabilization have been successfully tested. Progress, challenges, results, expected benefits, and planned work are described.

Jan 1, 2006

By Eleanor Kentish, Edward Batty, Alan Skarda

"The design of the tunnels at Bond Street Station includes a final sprayed concrete fireproofing layer. The performance of this layer was verified by a program of testing to Crossrail’s KT24 specification, which proved that a dosage of 1kg/m³ polypropylene fibers and a layer thickness of 50mm would be sufficient to limit spalling in the event of a fire. Application of this thin layer was achieved using a state of the art spraying robot, with the ability to scan the profile and automatically apply a uniform layer of concrete. To provide assurance and calibrate this spraying robot, BFK developed a bespoke survey system for checking SCL thicknesses in the field. This provided an instant independent check of the spraying robot and allowed areas of inadequate thickness to be rectified without risk of cold joints. This paper describes the practical application of the fireproofing layer and how design compliance was ensured. INTRODUCTION Fire is one of the most serious risks to a tunnel. The nature of tunnels — being long enclosed spaces — can increase the intensity of a fire, and make fire-fighting and rescue operations difficult. The damage that can be caused has been demonstrated by a number of historic tunnel fires, such as the Channel Tunnel fires of 1996 and 2008, and the Mont Blanc Tunnel fire in 1999. Without any intervention, the high temperatures in a fire create thermal stresses and a build-up of vapor pressure within the pores of concrete, which eventually exceed the tensile strength and trigger explosive spalling. Spalling exposes the core of the section to severe temperatures, leading to a loss of concrete and steel reinforcement strength or further spalling of successive layers. The concrete used in tunnel linings is particularly susceptible to explosive spalling, due to its low permeability achieved by the addition of microsilica (Bailey 2011). The sprayed concrete lined (SCL) tunnels on Crossrail have been designed to resist the worst anticipated fire in operation, in order to prevent collapse and minimize damage to the structure. The design called for a system of passive fire protection, the efficacy of which was validated by the contractor through a testing regime. It was critical that the application on site reflected the test conditions, which demanded special control of the profile and thickness of the lining. In order to meet these constraints on tolerances and quality, BAM Ferrovial Kier joint venture (BFK) developed a reliable method of working with the Meyco Logica spraying robot, and a bespoke survey system for accurately checking thicknesses in the field. These innovations are the focus of this paper."

Jan 1, 2016

By H. Salamanca

Recently, the mining industry has become one of the leading target markets for the technology industry as they need to innovate in their productive processes in order to boost productivity, reduce operation costs, increase operation safety, and improve the quality of life of their workers. This work presents the technological developments that HighService has done in different stages of the mining productive processes to include robotic manipulators in their automation solutions as well as the development of new equipment and sensors. The robotic technology integration is presented in different applications such as handling and selection of cathodes in E-W machines, automation of base plate maintenance, automation of cathode stripping machine, and multi-tools handler for liner bolt replacement in SAG mill liner maintenance activities. The proposed solutions show technical and economical viability with low initial investment and short implementation period of six (6) to ten (10) months. The results have been validated in plant, obtaining higher production rates and availability.

Jan 1, 2007

By Keith S. McIntosh

The fire assay process for the quantitative recovery of platinum group elements (PGE?s) prior to subsequent analysis traditionally is a time-consuming process. Samples derive from various ore types and contain PGE?s at the ppm or ppb levels, making concentration of the elements mandatory before assaying. Traditionally sample turn-around times are of the order of 24 hours. The whole sequence of sample preparation, fire assay and subsequent analysis of PGE?s have been automated by Anglo Platinum. Some of the major challenges on the road to automation will be discussed and the novel solutions that were implemented. The engineered solution included robotic automation of the whole sequence, from sample preparation, up to the final element by element assay. The final system allowed for rapid (less than one hour) and accurate analysis of PGE?s even in streams containing very low levels, such as flotation tailing streams and drill core samples.

Jan 1, 2006

By G Baiden

The removal of rock blockages in mining operations has long been a risky undertaking, especially in high overhead conditions. Moreover, the assessment of where to put charges and the placement of them has been difficult due to the lack of visibility and safe access to the area. Traditionally, wedging long poles with explosives on them to keep the operator at a relatively safe distance has been the tried and true method of attempting to remove the blockages. Unfortunately, this is not a perfect system as it usually takes several attempts to remove the blockage. Each successive attempt results in even more dangerous conditions for workers and/or damage to the mine due to the successively larger amounts of explosives used until the hang-up finally comes down.Over the years, different ideas have been proposed to improve this process and reduce the inherent safety risks. Some of the technologies that have been trialled include projectiles fired at the hang-up; large, cumbersome arms; and massive amounts of explosives, each of which come with their own inherent safety risks that result in dangerous situations for miners and the mine.After gaining a thorough understanding of the process, Penguin Automated Systems Inc has developed a robotic system that is capable of working in a rock blockage safely. The idea combines the latest in telerobotics technology with 3D scanning and underground geospatial positioning. The hang-up removal is performed by scanning the inside of the hang-up to rapidly develop a geospatially placed 3D model for the operator to use. The 3D model is detailed enough that the operator can attempt to pick the ‘keystone’. A blasting engineer or the operator can then determine the exact position where the explosive charge should be placed in the 3D model and thus at the actual hang-up. The operator, controlling the robotic arm, uses the 3D virtual reality model of the robot system and the actual drawpoint information model to display the location information, the arm can then reach into the hang-up to position the charge using the kinematic model of the robot system. The 3D model is used to provide views inside the hang-up so that the operator can move the arm safely and precisely. This process allows the operator to place the charge (using the 3D representation of the drawpoint) from a long distance away. As the process continues, the end of the arm drills the rock and precisely loads the explosives. The robot then returns the blasting cable to the command station, which is located in a truck at a safe distance from the blockage.This paper will review the development of the system and present the results to date.CITATION:Baiden, G, 2016. Robotic hang-up assessment and removal of rock blockages in mining operations using virtual reality for safety, in Proceedings Seventh International Conference and Exhibition on Mass Mining (MassMin 2016), pp 745–754 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2016

By Unal Artan

It is well known in the robotics community that the ability to determine the position of vehicles in real time is a key enabling technology required for automation, traffic management, and to ensure safety in the presence of multiple vehicles. Because of this, the introduction of global positioning systems (GPS) has had a remarkable impact on the surface mining industry, enabling real-time tracking of mobile assets, improved safety, and production optimization. Unfortunately, satellite-based GPS is not available underground. This paper reports on the preliminary results of a study to develop a robust method for globally consistent mapping of large-scale underground mine environments. We believe that this may additionally become the first step towards the development of a novel underground positioning technology. Presented are preliminary results from data collected at two underground mines using an Atlas Copco ST14 LHD machine.

Oct 1, 2009

By Mark C. Russell, Charles T. Russell, Brooke Colburn, Parker Bailey, Desiree Bernhard, Kaito Durkee, Tristen Cutshall, Rob P. H. Urselmann

Hypersonic tunnel boring (HTB) uses directed, high velocity projectile impacts to remove rock. HTB is highly independent of rock strength and targets hard, abrasive rock and variable rock environments. This paper discusses history, theory and presents test (2×2 m and .75×.5 m tunnels) field trial results and technical and economic evaluation. The HTB tests are compared against the historic ‘project REAM’ and the concept against tunnel boring machines and drill & blast in design studies for full-scale 12 m and 4.5×5.5 m tunnels. The positive results indicate that under these conditions HTB can replace Drill & Blast and Tunnel Boring Machines.

Jun 13, 2021

By S. Flewelling, M. Scobie, G. R. Baiden

"SynopsisA feasibility study to develop a research program, the Mine Automation Plan (MAP), was recently completed. This was undertaken by a team comprised of Inco Ltd., Falconbridge Limited, the Canadian Centre for Automation and Robotics in Mining (CCARM) and the Centre for Resource Studies (CRS). The study was sponsored by PRECARN Associates, which is a consortium of thirty-six Canadian companies focussed on research and development in artificial intelligence and robotics. PRECARN Associates was formed in 1987 when a number of research proposals were funded in the fields of process control systems, robotics systems and intelligent engineering systems. In July 1991, PRECARN accepted the next round of proposals for research. The MAP project was one of the successful proposals, being awarded $100,000 for the development of a feasibility study defining a long-term R&D plan for underground hardrock mining automation.The development of the feasibility study started by addressing the fundamental structure of the mining process, and its relationship to the metallurgical process, over-all infrastructure support and management systems (Fig. I).Mining may be considered as comprising five subprocesses: (I) delineation; (2) development; (3) production; (4) backfilling; and (5) infrastructure support services. Within these subprocesses many applications for artificial intelligence and robotics exist. The mining process is dependent upon the interaction between the physical mining process and information. For example, the delineation process is dependent on geomechanical, geochemical and geophysical techniques to develop a model of the orebody based upon access to such data. This same relationship between the physical and information models holds true through the development, production, backfill and infrastructure support systems.The foundation for the MAP study has been the recent development by Inco Ltd. of an underground communications system (Fig. 2). The system has the ability to supply high bandwidth communications, over voice, data and video to mobile and stationary locations within the mining operation. It is seen to be the future backbone of a comprehensive, automated information system which should permit the application of the concept of Computer Integrated Manufacturing (CIM) to underground mining. CIM, through the automated flow of information, has been successful in integrating the engineering, production and various support groups in manufacturing."

Jan 1, 1994

By K. Iturralde

The article discusses the possibility of automation in refurbishment processes of social dwelling built from 1950 to 1970. These massively produced buildings were mostly designed prior to the law enforcement regarding thermal insulation or accessibility. Nowadays, many of these buildings are being retrofitted. The article focuses on the works in the external envelope. The task of renewing the whole social building stock is big and it requires a systematic process that facilitates a rapid upgrading, without neglecting the specific situation of each case. How could an automatic refurbishment process of these buildings be defined? The process should start with the data collection of the building and the creation of a 3D model using software such as BIM. The project, drafted in 3D, should facilitate the manufacture of building elements by robotics. In turn, it should be noted that during the assembly at the site, the pieces must be fixed quickly and efficiently. Is it possible to implement an automated process for the refurbishment of apartments built in the second half of the twentieth century? To approach the answer, a virtual refurbishment project is performed. The article focuses on the rehabilitation of the building envelope. Furthermore, it gives special attention to the double skin facade. It is well known that a second skin in this type of building can be an element that integrates several functions. Finally, needless to say that refurbishment of residential buildings is a need in our society. By extending its life cycle, robotic refurbishment provides more favorable socioeconomic and environmental capabilities than the sole construction of new buildings.

Aug 1, 2013

By M. G. Lipsett

General Challenges for Mining & Mineral Processing Operations ? Capital-intensive industry ? Ongoing cost pressures ? Remote locations ? Workforce demographics ? Dynamic, unstructured, rugged environment

May 1, 2008

By J. P. H. Steele, T. Vincent, C. Debrunner, M. Whitehorn

For a variety of reasons, the need for automation of underground mining equipment is growing dramatically, e.g., improved safety and health, availability of labor, deeper mines, and desire for more focused excavation. While there has been tremendous progress made in this direction, much needs to be done to reach the holy grail of an autonomous mining machine. This paper reviews a number of technological developments and presents research and development needs for future development. A report on our current project for the Western Mining Resource Center at CSM is included.

Jan 1, 2000

By Koivunen P

Both development and production drilling are amenable to productivity improvement through partial or full automation of drill jumbos and rigs. Various developments in this regard are described.

Jan 1, 1986

By M. A. Trevits, G. W. Luxbacher, L. D. Patts

"It is almost a given that post-disaster mine conditions will have compromised the mine ventilation system, resulting in a hazardous atmosphere in portions of the mine, and often complicated travel through debris fields and roof falls. Robotic technologies provide the opportunity to gather valuable information to assist decision making or lessen exposure to dangerous conditions. MSHA's Mine Emergency Operations Division (MEO) has utilized a fully permissible mine robot, the V2, for a number of years, constantly updating the unit as new technologies became available. The National Institute for Occupational Safety and Health, as part of the MINER Act Extramural Contract Program, examined the need for additional robotic units and ultimately funded three different types of prototype technologies: two robots, the Snake Robot and the Gemini-Scout, and a mine rescue robotic assist vehicle known as the ""Mule"". The Snake Robot is designed to be lowered through a borehole and to conduct surveillance (gas monitoring, video and audio) in the immediate vicinity, while the Gemini-Scout, designed to be deployed in the mine opening, serves as a more mobile and agile exploratory tool as compared to the MSHA V2 robot. The Mule was developed in response to needs expressed by mine rescue teams for a versatile remotely operated support vehicle and it will move from prototype to MEO utilization in the near future. This paper describes the development of the robot prototypes and discusses their limitations in the prototype stage, possible enhancements and potential applications, as well as the utilization of the Mule. INTRODUCTION The conditions in a coal mine may be dramatically altered after a mine fire or explosion. For example, the ventilation system may not be functioning correctly as control devices may be compromised or damaged beyond repair. The visibility in the mine opening may be limited due to accumulated smoke and dust. Roof support systems may be damaged or no longer functional. Equipment and materials may be strewn about the mine opening. Debris fields, blocked openings, roof falls, flooded areas, gas accumulations and active burning make it very difficult or impossible for those managing the post-event emergency to permit mine rescue teams to enter the mine to conduct search and rescue operations. With the evolution of robots and robotic assist technology there has been a proliferation of purpose-built units for the military, police and law enforcement agencies, urban search and rescue and those contending with hazardous environmental conditions. In each case, the technology used is designed to limit human exposure to the unsafe conditions or to provide access to areas under difficult conditions. For example, a specially-designed marine robot has been deployed into the damaged core of the Japan’s Fukushima Daiichi Nuclear Power Plant to assess the conditions of the containment vessels, where melted fuel is believed to have accumulated. Human access to the area is prohibited due to dangerously elevated levels of radioactivity [1]. Multiple robots were deployed in Amatrice, Italy, to assist in the response after the 6.2-magnitude earthquake devastated the town. The robots were used to explore two medieval churches that were severely damaged and deemed too dangerous for human entry [2]. Tactical robots are regularly used by police and law enforcement agencies when the conditions of the emergency place intervening officers directly in harm's way [3]."

Jan 1, 2018

By Gastón Díiaz, Enzo Carranza Meza

El Teniente Mine of Codelco-Chile, located at Los Andes Range of Mountains, 90 kilometers South far from Santiago, the capital city, has been exploited for more than 90 years, with over 1000 million tonnes of copper ore extraction. No doubt, this particular record, has been possible to achieve due to an efficient combination of human and technological efforts in the exploitation of one of the biggest ore deposits of the world. Throughout times, the exploitation has evolved from a mainly manual one to a highly mechanized exploitation. Notwithstanding, different and several geomechanical problems that occurred in one of its areas, increased the risks to personnel that should normally operate large equipments in its working face. This last condition, forced El Teniente mine to design and develop systems and technologies that would allow the use of tele-operated LHD, picking hammers and drilling equipment (jumbos) from a safe zone. Currently, El Teniente Mine is using in its extractive works equipment such as LHD, picking hammers, and drilling Jumbos, that can be manually or teleoperated commanded from a Central Control Room located one kilometer away from the production area. In general, a new technological era has been opened in the mining exploitation at El Teniente: the exploitation era with telecommanded robots.

Jan 1, 1998

Two recently published studies have considered whether and how robots, which have been designed for manufacturing applications, could find use in mining. The conclusions of both studies, if not identical, are compatible. Automation of mining activities will continue. Robots, at least in the short term, will have little application in mining. However, robotic concepts, both hardware and software, are of considerable relevance to mining automation, and can be anticipated to diffuse gradually into mine environments. The present paper is intended to convey the current state of thought on this subject to IFAC Symposium participants who may be unfamiliar with the referenced studies, and is not intended to report previously unpublished research.

Jan 1, 1985

By E. Pardo-Igúzquiza, R. A. Olea

The bootstrap is a computer-intensive resampling method for estimating the uncertainty of complex statistical models. We expand on an application of the bootstrap for inferring semivariogram parameters and their uncertainty. The model fitted to the median of the bootstrap distribution of the experimental semivariogram is proposed as an estimator of the semivariogram. The proposed application is not restricted to normal data and the estimator is resistant to outliers. Improvements are more significant for data-sets with less than 100 observations, which are those for which semivariogram model inference is the most difficult. The application is illustrated by using it to characterize a synthetic random field for which the true semivariogram type and parameters are known.

Jan 1, 2015

By M Laxman, A Kundu

After multiple tailings dam failures in recent times, the owner organisations have made increased efforts to step up the governance systems to industry best practise in the design, construction and operational management areas. The measures include but are not limited to, site investigation, rigorous peer review (both internal and external), certification through appropriately qualified personnel and improvement in operational management practises. While a lot of focus is on design and operational practices, the construction stage requires adaptation (both in terms of materials and approved design) and immediate decision making on site. Work undertaken in these areas is mostly irreversible and sometimes poses serious threat to the future TSF raise/ expansion planning and may lead to reduced life of the TSF and additional risk to the Owner.This technical paper will discuss some challenges and highlight the importance of appropriate processes to achieve a successful construction regime. The process will include a robust quality control/ quality assurance process, a team of designer-constructor-owner with suitable skills and technical understandings and robust documentation of the entire construction process from day 1 to the completion of construction.CITATION:Kundu, A and Laxman, M, 2018. Robust construction and quality assurance culture for tailings storage facilities – equally important as robust design and review practice, in Proceedings Mine Waste and Tailings Stewardship Conference 2018, pp 111–116 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 23, 2018

By F Grobler

Many projects fail because project performance in unfavourable economic conditions was not anticipated at the investment decision stage. This type of failure may have been avoided through the selection of a strategy that enables the project to perform well under a range of possible future economic conditions (a ærobustÆ strategy); rather than an æoptimalÆ strategy for expected future conditions that will never eventuate. This paper describes a method of rapidly generating mine plans for a number of project strategies, and then evaluating it against a representative range of equally likely economic conditions. The key performance indicators derived for each strategy are the mean value and the distribution of values (variance). A prudent investor will identify prospective strategies not only on the merit of highest mean values (as a proxy for economic reward), but also on the probability of not meeting specified investment hurdles (a proxy for risk). A robust strategy will achieve its financial objective even under adverse economic variations. This paper focuses on the effect of commodity price uncertainty; particularly around the choice of mining and processing capacity levels. Results from enumerating 2000 prices scenarios against 63 strategy combinations show how processing and mining capacity can be manipulated to manage the risk-reward trade-off.

Sep 26, 2011

By D Brown, Z Tabor

Projects must be flexible to account for the rapid development of new technologies and changing stakeholder expectations. Coupled with calls for bleeding-edge solutions, customers, shareholders, and regulators demand robust, safe products and systems-of-systems. Developing and integrating these solutions is becoming increasingly complex and maintaining the flexibility required to ‘pivot’ to effective solutions can be a serious challenge. The necessary flexibility is fundamental to the Agile ethos, and this family of methodologies therefore offers a potential solution to this challenge (Beedle et al, 2001). These have traditionally been delivered with systems engineering applied through a Waterfall methodology. Agile Systems Engineering combines both approaches and presents a means to achieve these goals without compromising flexibility, quality or safety. A robust methodology for the application of Agile Systems Engineering is required to enhance practical outcomes and reduce risk for real-world mining projects.

Sep 1, 2024

By G. K. Mann

Fragmentation analysis of blast or crushed rock material is a time-consuming and costly process. During the last two decades, the mining industry has been investigating image-based analysis systems as an alternative to generate fragmentation results. Many image-based techniques and commercial products have emerged during the last few years, and the mining industry has recently begun using these tools for real-time estimation of size distributions. Some existing systems require manual image editing to add or delete edges (or net) before executing the fragmentation analysis routine. This manual procedure may take hours of time for each image analyzed. Reliable and robust image segmentation should be able to handle a wide range of rock textures and sizes under a variety of lighting conditions. This paper describes a novel software application, which has the capability to autonomously capture images and analyze them to generate the particle size distribution. The system can also process a batch of images captured during a fixed duration of time and produce the overall particle size distribution. The new method has different layers of segmentation modules, which allows the system to operate under a wide range of rock textures and lighting conditions. A new grey-level slicing technique is developed which can perform under a range of illuminating conditions. The Canny-based edge detection technique is used to segment rocks appearing in dark regions.

Jan 1, 2006