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A discussion on simulation tools to aid the development of robotics platforms is presented. The focus of the work is towards mining robotics platforms where operations are typically in unstructured, unpredictable environments and a high degree of dependability in their operations is required. It is argued that a test-based development approach leads to more robust solutions and faster development cycles than traditional single-track field-only development and that the key enabling technology for this development paradigm is the judicious use of simulation tools. The future direction of simulation for use in online applications such as active planning and as a means to assist tele-operation in high latency communication applications is also brief y considered together with the requirements for a useful simulation environment in terms of the simulator architecture. Finally, a case study is presented on the application of the discussed methodologies to an unmanned ground vehicle (UGV) for earth-moving tasks, which is being developed in an accelerated time frame with a transient development team.

Dec 6, 2010

The Wamum and Idzan Creeks Prospect, located 79km W of Lae, Morobe Province, Papua New Guinea (PNG) was discovered by the exploration arm of Conzinc Riotinto of Australia Pty Ltd (CRAE). The detailed surface exploration and 11 vertical holes drilled by CRAE, combined with the recent work by Highlands Gold Limited, indicate the occurrence of porphyry copper-gold mineral- isation and associated alteration. The prospect occurs within andesitic volcanics of the Middle Miocene Langimar Beds. It is bounded by NE trending faults to the NW and SE. The alteration and mineral- isation is hosted in the andesitic tuffs adjacent to high level quartz diorite and hornblende diorite stocks. A NW trend to alteration and mineralisation is obvious in Wamum and Idzan Creeks. The main alteration type is propylitic with minor zones of potassic alteration. A late sericite-quartz-kaolinite-pyrite alteration overprinted the earlier alteration and mineralisation. Copper and gold mineralisation is related to a quartz-carbonate-chalcopyr-ite-pyrite (¦ bornite) vein stockwork and biotite ¦ K-feldspar alteration. The mineralisation system at Wamum and Idzan creeks is low in total sulphides. It is considered as a high- level fracture-controlled system with limited low grade Cu-Au mineralisation.

Jan 1, 1991

By Gunderson C. T

The use of carbide tipped integral drill steels and detachable bits is discussed in relation to the means of drilling or cutting employed. It is stressed that only by correct use can the full value of these tools be realised.Factors affecting carbide quality, the design of shanking steels and the requirements and techniques of brazing in inserts are considered.It is essential that the brazed jointing between carbide and steel be strong but ductile. The methods used for the manufacture of carbide tipped tools are briefly outlined.INTRODUCTIONIn recent years the application of tungsten carbide to various mining tools in the mining industry, has developed to the stage where it is now regarded as an essential item in the production of coal and metal ores. In fact it is claimed that certain mining operations would not be possible if it were not for the benefits obtainable from the characteristic properties of tungsten carbide. The advantages of this hardmetal have, to some extent, influenced manufacturers to revise design specifiations of some machines, while againsome machines have actually been designed with tungsten carbide as their basic medium for operation.In general the applications fall into the following three categories:(a) Drilling hard rock by percussive means.(b) Drilling soft rock and coal by rotary means.(c) Coal cuttingThis paper is concerned with tungsten carbide tools associated with these three activities in Australia, the effectiveness of their application and significant points in their design and manufacture.

Jan 1, 1958

Stratiform lead-zinc mineralization at the Pegmont prospect occurs as a 4-6 m thick body interbedded within arkose, schist, amphibolite, and pegmatite of the Kuridala Formation in the Eastern Belt of the Lower Proterozoic of northwest Queensland.The overall structure of the body is that of a strongly crumpled east-dipping sheet. In detail it is subjected to complex and irregular deformation.Gossaneous outcrops of the mineralised body are anomalous in Pb-Zn-Ag content and have been traced, discontinuously, over about 36 km2 in a NNE-trending belt.Below the zone of oxidation, which reaches 25-40 m below the surface, the primary sulphides are galena, sphalerite, and pyrite.Drilling on a 2 km2 area near the discovery outcrops indicates fairly uniform grades of lead and zinc.Changes in thickness of the mineralised body are gradual.

Jan 1, 1977

The mechanization of the coal industry in New South Wales involved the introduction of large face and transport machines. The trend is towards still higher capacity units with .greater horsepower and it became apparent that a potential risk of damage to the hearing of workmen existed. In order to assess whether the sound levels were SUfficiently high to impair the hearing of workmen a sound level survey of all major operations in the industry was carried out by the Mining Engineering Division of the Joint Coal Board.The results indicated ·that the operations could be classified into three categories of risk, probably hazardous, of doubtful hazard due to the intermittency of the operations, and of low hazard.Legislation has subsequently been enacted requiring the wearing of hearing preservation aids in some of the probable risk operations.

Jan 1, 1974

Gold in the stibnite veins of Costerfield, Victoria, was described in 1922 1, prior to any mineragraphic examination, as (a) free yellow gold (b) free rusty gold and (c) combined gold. The free yellow gold occurs in quartz and will amalgamate with mercury. The free gold of dull, rusty or copper-red colour occurs in massive stibnite and has been stated to resist amalgamation with mercury. The dull colour is only skin deep and the colour is bright when the rusty gold is scratched. The appearance of the rusty gold is spongy or cellular and it generally occurs near small cavities in the stibnite. The suggestion that the cellular character indicated the removal of a certain amount of stibnite leaving a residue of se.condary gold cannot be sustained.It now appears probable that the rusty gold is formed by the primary dissociation of a gold antimonide and is distinct in origin from the normal yellow gold which is deposited with quartz or stibnite from auriferous mineral solutions.The combined gold referred to in the earlier paper was the gold contained in the stibnite as revealed by assay. Such gold was at first thought to be either dissolved in the stibnite or else present as free interstitial particles too minute for observation in transmitted light in thin sections.Subsequent examination of numerous polished,surfaces disclosed the small particles of gold occurring in the grain boundaries in aggregates of fine grained stibnite 2. The assumption that all the gold in the stibnite, as revealed by assay, occurred in this way is now known to be incorrect, because limited amounts of a gold antimonide have been found in the veins.

Jan 1, 1952

Mining education has received almost continuous discussion since its inception and most people engaged in the mining industry and in mining education feel at some time the urge and necessity to express their views. This paper is not a comprehensive survey of past and present practices and accepted principles, but a personal opinion of the form mining education should take at university level. It is expressed because of a dissatisfaction with the existing courses offered to students. It is hoped to provoke discussionand bring forth guidance to those engaged in mining education. After all, students spend four or five years at a university and it is desirable that the graduate should be something more than just those many years older at the end of his course.POST GRADUATE EMPLOYMENTThe first problem confronting the university should, be to discover what the mining industry wants and expects or graduates. This must influence the university course and yet universities have done little to seek this information, and if suggestions have been offered by industry; universities appear to have made little use of them. University mining curricula are basically what they were 50, 100 and even 200 years ago. (See Appendix.) Whether this reflects the unchanging problems of mining the wisdom of early professors, the conservatism of subsequent professors or inability to apprectate necessity for changes, is debatable.Unfortunately there is no uniformity in the type of employment offered to new graduates: Some mining...

Jan 1, 1959

Electroosmotic Dewatering and Consolidation of Mineral Waste Tailings

Sep 13, 2010

In late 1989, first-pass reconnaissance exploration delineated a 4km x 6km geochem- ically anomalous area centred 10km WNW of Kainantu in the Eastern Highlands Province at 6¦13'S and 145047'E. The area, named the Basangka prospect, lies between 2 200 and 2 400m asl. Interest in the area was prompted by a 14ppm Au assay of a silica-pyrite breccia float sample taken near Henkai village. The prospect was defined after several acid-leached silica- pyrite breccia and comb textured quartz float samples returned assays above lppm Au and relatively high Ag. Very encouraging and anomalous Au values were obtained from panned concentrates, despite the absence of visible Au colours. Several pan concentrates returned greater than 1mg Au and it is believed that the Au occurs as inclusions within iron oxides which were originally pyrite. In this early stage of prospect exploration, any Au value above 0.lppm in- 150# fraction stream sediments is treated as anomalous. Rock chips, panned concentrates and -150# fraction geochemistry all vividly define the areas of interest at Basangka.

Jan 1, 1991

By Miller F. S

The famous Golden Mile of Kalgoorlie in Western Australia was, between 1888 and 19ft, one of the richest and most important gold camps in the world. Annual production, which reached a peak of nearly 1,300,000 oz. in 1903, however dropped to below 400,000 oz. after 1920.Depression seized the camp, and many mines closed down. The output from this old field is now steadily mounting under the stimulus. of a higher price for gold. In 1935 300,000 oz. of precious metal were recovered and the future is bright. Total production from the field is 21,400,000 oz., whereas something like £23,600,000 have been paid in dividends.The Golden Mile has been studied by many geologists. Their somewhat diverse findings were published for the most part in the Australian technical press which, unfortunately, is not sufficiently represented in foreign libraries.The following article is based on an eighteen months' study in the district for Gold Mines of Kalgoorlie Ltd., preceded by four years' experience with almost identical rock types in the, Porcupine district of Ontario. The excellent record of observed fact left by previous invesigators, augmented by talks with observant mining men...

Jan 1, 1937

This paper describes new research and development currently being undertaken by the CSIRO Mining Technology Group to advance the automation capability of continuous mining equipment in underground coal mining operations. The effort aims at increasing the overall rate of roadway development as well as providing a safer working environment for underground mine personnel. The activity is funded by the Australian Coal Association Research Program (ACARP) and forms part of a larger underground development initiative, known as the CM2010 project. The CM2010 is managed via a consortium of leading mining industry representatives through the Roadway Development Task Group (RDTG). The Task Group has identified three research areas requiring new development in order to realise the CM2010 project objectives: self-guiding (autonomous) continuous miner capability, an enhanced drilling and bolting process and improved mesh deployment. CSIRO's primary role in the CM2010 project is in the development of the autonomous continuous miner guidance capability.This paper reports on outcomes achieved at the half-way mark of a three year research and development project. It details the technical developments undertaken towards demonstration of a 'self-steering' capability to enable a continuous miner to automatically maintain a given mining heading and mining horizon under production conditions. A primary technical requirement of this automated functionality is the means to accurately determine both the location and orientation of the continuous miner in real-time. Testing and validation of the guidance system solution has been implemented using a combination of an instrumentation-grade inertial navigation unit and radar technology. Comprehensive performance evaluations have been conducted using a scale skid-steer mobility platform known as the Phoenix. Results achieved to the present stage of the project are highly promising and suggest that an automated self-steering functionality is achievable under production conditions. This new outcome represents an important move towards implementing a step change improvement for future underground roadway development.

Dec 6, 2010

By C MacDonald

There are many technologies available today in terms of fire and life safety in road tunnels. So many in fact that it is becoming more and more difficult for clients and contractors alike to determine what they want and what they need. From a clientÆs perspective, fire and life safety is about protection to its infrastructure and to the public at large. Conversely, the contractor is looking to meet its æfit for purposeÆ or ædeem to complyÆ requirements in the most economic and practicable way. Practices regarding fire and life safety in road tunnels have undergone a degree of transformation during the last decade or more throughout the world. This transformation has largely been driven by a series of catastrophic accidents such as the major fires in Europe including the Mont Blanc Tunnel, Tauern Tunnel, Saint-Gothard Tunnel, and now most recently in the CityLink Tunnels in Melbourne. International guidelines produced by organisations such as the Permanent International Association of Road Congresses (PIARC), the European Union, the International Tunnelling Association (ITA) and the US National Fire Protection Authority (NFPA) now provide clients, owners and designers with the tools required to define and specify the required fire and life safety systems in road tunnels. The majority of these tools are based on risk assessment and risk management. Recent road tunnel projects within Australia, however, have not referred solely to such guidelines. Clients have opted to prescribe different or additional fire and life safety requirements within the projectÆs technical specification documentation (project requirements), leaving designers and contractors with little room to implement alternatives or substitutions. Further, these project requirements are largely dictated by practice established on previous road tunnel projects within Australia. This paper looks at the current international guidelines and practices and undertakes a comparison with the EastLink tunnels in Melbourne and other road tunnels within Australia and makes assessment on whether Australian methods are the most appropriate for clients and contractors alike. Focus is directed to the key elements of fire and life safety such as:traffic envelope, barrier arrangements and emergency walkway provisions;deluge systems;drainage systems;fire rating requirements;tunnel ventilation systems;cross passage provisions;fire safety assessment;critical intelligence systems including help phones, CCTV, incident detection, tunnel signage, etc; andexternal tunnel control systems.

Jan 1, 2008

By A H. Clemens, P Lindsay

Acid producing potential static tests have been undertaken on sample lithologies from New Zealand coal mines, to rank the lithogies into acid producing waste rock and stable non-acid producing waste rock. Results indicated that the main acid producing waste rock in the Waikato coal region are the marine Whaingaroa siltstone and the Glen Massey formations and the main alkaline producing lithologies were the Tauranga group volcanic-derived sediments (A & D) and the Mesozoic basement. Coal ash analysis of 28 samples from 28 mines have also been analysed for reactive S percentage and their base potential has been quantified by the chemical index of alteration (CIA). The results provide mine management in the Waikato Coal region with a classification of problematic and stable waste rock types. XRF and CIA values determined from wash drill cuttings would provide a method of determining waste rock volumes and magnitude of palaeo-weathering underground.

Jan 1, 1999

A good deal of experimental work has been done from time to time on the application of compressed air to the elevation of wet pulp. On account of the flat nature of most of our mill sites elevation of the pulp has to be provided for, and the various methods in vogue show considerable loss of time, in the replaceing of wearing parts. During the last two years the writer has carried out a great many experiments with a view of devising an elevator that will give continuous work with a minimum of wear.The results do not show a high efficiency for the power employed, but the lift is continuous in operation, very cheaply installed, and possesses no wearing parts. The lift was tried working in a bore hole of 8 in. diameter, but in many cases it is more convenient to sink a small well for the purpose. The result to date showed that the most efficiency was obtained when the depth of the wellwas not less than the height of the lift required. The pressure of air required in pounds per square inch was (approximately) half the number of feet to be lifted.In the majority of cases the lift required varied between 20 ft. and 50 ft. and the air pressure required between 10 lbs. and 25 lhs. per square inch. In most existing installations the air compressors in use were delivering air to the receivers at about four times that pressure, and when air so compressed was expanded to perform its work at a reduced pressure, it was apparent that the power exerted in origInally compressing the air above the working pressure required at the lift was absolutely lost.

Jan 1, 1901

Tougher physical mining and processing conditions as well as economic circumstances are causing many mining companies to re-evaluate the effectiveness of their mine planning. The recent wave of inexpensive computing power provides the engineer an opportunity to go beyond the simple one-off manual mine design and production schedule. The basis of a good mine plan is a good reserves model. Concepts of mine model development are explored. The only advanced computer methods that have found consistent success in optimising mine planning functions are economic pit limits determination and material scheduling. Three pit 'optimisation' methods are examined; the moving cone, the Lerchs-Grossman 3-D graph algorithm, and the new network flow algorithm. A comparison between the methods in terms of total profits generated and computer time involved are made. The results show that both algorithms produced a higher profitability than the simple moving cone, but at much higher execution times. However, the profit increase never exceeded much more than 1 % of the base moving cone case. Finally, a method for the development of long range material production schedules with forward waste planning is presented.

Jan 1, 1989

Working in thick coal seams presents many problems, included in these is obtaining the maximum recovery of coal under safe working conditions. In order to obtain maximum extraction it is important to understand the behaviour of pillars left for support purposes. However it is not always the practice to maintain pillar stability it is often required to design for pillar failure. The greatest hazard of pillar mining is uncontrolled pillar collapse. Many major and relatively minor collapses of pillar workings have been recorded in the history of mining. Notable among the collapses was that at Coalbrook Colliery in South Africa in 1960 (Bryan et al 1964). This led to recommendations on the design of bard and pillar workings in South Africa. (Salamon 1967) These design recommendations were based on the statistical analysis of stable and unstable pillar workings and introduced the concept of probability of pillar failure and safety factor. On the basis of this study a safety factor of 1.6 was prescribed for production panels in South Africa. A general review of pillar design procedures, reveals that a new phase of reinterpretation and modification is in progress. This takes into account for instance the effect method of working, whether by conventional drilling and blasting or continuous miner, has on coal pillar strength, and the necessity to review the methods for increasing depth of working. Also, as more is being understood about overall rock mass properties and advanced computer modelling techniques become more readily available, the mine planning engineer is faced with numerous approaches to pillar design.

Jan 1, 1989

Exerting the Advantages of National Key Discipline, Outstanding the Training of Engineering Capability, Cultivating Talent to be with Innovation Ability

Sep 13, 2010

By Richards S. M

The abundances and abundance relationships of lead, zinc, copper and silver in the major sulphide lenses at Broken Hill are examined, and their possible geochemical significance discussed.When expressed as atoms per cent, zinc is the most abundant base metal throughout the whole .group of orebodies, the highest average lead: zinc ratio (No. 2 lens) being about 0·45, the lowest (No. 1 lensZinc Lode group) being in the 0·12-0 ·14 range. Lead and silver are clearly higher in the lower two orebodies, but the abundance of zinc shows no apparent relationship with stratigraphical position. Among the base metals copper is conspicuously low and remarkably uniform, a feature noted in other conformable orebodies.Although, as has been recognised for many years, abundances of silver and lead, and lead and zinc, are sympathetically related, correlation within the pairs is variable and generally of low degree. Silver and lead show distinctly the better correlation, particularly in No. 3 lens. On the basis of lead: zinc ratios, No. 2' and No. 3· lenses, on the one hand, and the No. 1 lenses, Rhodonitic and Siliceous Zinc Lodes on the other, constitute two groups. However on the basis of silver : lead ratios, No. 3 lens stands alone, No. 2 lens showing clear affinities with the higher layers. Ternary relationships between copper-zinc-Iead and silver-zinc-Iead emphasize the very close constitutional relationship between the No. 1 lenses and the two "zinc lodes".The possible implications of these relationships are then discussed in the light of the' two principal theories-hydrothermal replacement or chemical sedimentation-held for the formation of the Broken Hill ores. It is pointed out that the ratios of the four metals in the ores are rather different from those found in most igneous and sedimentary rocks, and in seawater. For 'example, whereas copper and zinc are present in almost equal amounts in most terrestrial materials, copper in the ores is only about one-hundredth of the amount of zinc. Lead has increased somewhat, but the ratio of silver to lead has fallen; in spite of its recognition as a source of silver, the Broken Hill lode is impoverished in silver with respect to lead as compared with most common terrestrial materials.No solutions are offered to these prob'lems of abundance. Rather it has been the aim of the work to provide data, and to demonstrate the...

Jan 1, 1961

A process was developed, on a laboratory scale, for the removal of iron oxides from Weipa pisolitic bauxite. The technique involves the chemical reduction ofthe iron oxides by carbon, followed by selective removal of the iron species by acid leaching or chlorination.To remove more than 90 per cent of the iron it is necessary to reduce the iron oxides substantially to iron metal by heating the bauxite, pre-calcined at 650-800°C, with reactive carbon at 1040-1100°C. Reduction proceeds via the intermediate formation of hercynite (FeO.Al2O3) and difficulties have been encountered in reducing hercynite formed under less favourable reduction conditions.Following reduction, efficient selective removal of iron species is readily effected by acid leaching using dilute hydrochloric acid at 100°C, or chlorination at 500-750°C using Cl2, Cl2/N2, or Cl2/N2/CO mixtures.After removal of unreacted carbon, the final products contain 0·5-1.0 per cent Fe203 and 87-92 per cent Al203.

Jan 1, 1971

By S L. Garwin

"An EXTENDED ABSTRACT is available for download. A full-length paper was not prepared for this presentation. Since the Eocene, New Guinea tectonics have been driven largely by the south-westerly-directed collision of accreted arc terranes with the northern margin of the Australian Craton, and subsequent westerly-directed transport of these exotic terranes by left-lateral strike-slip fault systems. The subduction of the Solomon Sea plate beneath north-eastern New Guinea in the mid- to late-Miocene led to magmatism and related gold-copper porphyry and epithermal mineralisation in the Maramuni arc and the formation of the Frieda River, Nena, Wafi-Golpu and other deposits.The development of the world-class porphyry and epithermal deposits in the Medial New Guinea magmatic belt, including Grasberg, Ok Tedi and Porgera, is localised by dilational zones formed about the intersections of north-easterly-trending, reactivated basement faults and north-dipping reverse faults related to the southward progression of the Papuan fold belt during the Late Miocene to Pleistocene. These deposits probably formed during short mantle-derived magmatic episodes in zones of regional isostatic uplift, which are attributed to the delamination of the lithospheric mantle beneath New Guinea.CITATION:Garwin, S L, 2015. The tectonics, geology and gold-copper metallogeny of New Guinea, in Proceedings PACRIM 2015 Congress, pp 151–164 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Mar 18, 2015