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By A. S. Macfarlane

"SynopsisMetal accounting and reconciliation is an increasingly important governance issue in all mining operations, in that it is required, from a risk management perspective, that the company is in control of its product throughout the whole mining value chain. Reconciliation is a grossly misunderstood term. It means different things to different people, and therefore one of the purposes of this paper is to ensure a holistic and integrated understanding of ‘reconciliation’.Previously, where reconciliation was done, it was often for internal control purposes and loosely applied, sometimes with a low degree of confidence and understanding of the underlying parameters and their natural variability.In most mining operations, issues such as dilution, stope performance, and recovery are critical to profitability and long-term value, and thus understanding and control of these key value drivers is essential, not only from the governance perspective, but also from the perspective of maximizing shareholder returns. In order to implement a system for metal accounting and reconciliation, it is important that the cause and effect of these value drivers is understood, and that a systematic control system be established.While a number of off-the-shelf solutions exist for this work, it is the contention of this paper that a full understanding of the metal flow, its variability, its underlying loss potential, and its control points is necessary before a systematic approach to reconciliation can be undertaken.The paper also advocates that this approach should ensure that the reconciliation system clearly addresses the reconciliation needs, within a consistent framework. Such a framework has been developed by AMIRA, in terms of a metal accounting code. However, up until now, this code has been aimed at plant processes, whereas this paper shows how the concept can be extended to cover the full reconciliation requirements for a base metal mine.IntroductionReconciliation is defined as ‘the process of finding a way to make two different ideas, facts, etc., exist or be true at the same time’. In terms of a mining process, this refers to the comparison of measures and estimates along the value chain, and at different points in time, in order to track and optimize metal recovery. This leads to the notion of having a system in place for accounting for the metal. The University of Cape Town defines metal accounting as ‘… the estimation of (saleable) metal in a mine and subsequent process streams over a defined time period. Comparisons of estimates, from different sources over a specific time period, are called reconciliation.’Traditionally, metal accounting has consisted of geological reconciliations of mineral resource to mineral reserve conversion, mine planning reconciliation related to the reconciliation of long-term plans to short-term plans, grade control reconciliation of head grades to sampled or block grades, and mine survey reconciliation of tonnage discrepancies and mine call factors. In addition, metallurgical reconciliation has tended to be based on metal balancing, followed by some commercial metal accounting that links dispatched product to sales quality, quantities, and revenues. Miners disparagingly refer to this plant process as ‘millmatics’."

Jan 1, 2015

By Jean Michel Marino, Jean-Pierre Slama

"The computer methods used by the French Commissariat a l'Energie Atomique, which are applicable to any type of ore deposits, are:(i) Ore reserve estimation. The data are either the core analyses or gamma leggings. To determine the spatial distribution of the ore, three different methods of interpolation are used. Two of these are based on the least-squares theory and the third one is an application of the regionalized variable theory. The interpretations of the orebody by the geologists are introduced in the computer program as often as possible.(ii) Optimal open pit design. From the spatial distribution of ore, the three-dimensional outlines of the optimal pit are determined by a geometrical algorithm which allows different slopes varying with the azimuth.Finally, the optimization of annual successive plans arc discussed."

Jan 1, 2014

By E. G. Galvez, E. Mate, L. A. Cisternas, C. Cruz, L. Cortés, M. E. Osorio

Designing and optimising flotation circuits are critical for mineral beneficiation plants, and therefore several procedures have been published. The modelling of flotation circuits with the objective of design and optimisation is problematic in that different approaches are used for the modelling of flotation units and regrinding units. Usually, regrinding models are based on particles characterised by their size, while flotation models are based on species characterised by fast and slow classes. The relationship between particle size and liberation can be used, but it requires laboratory studies that are time-consuming and costs are high. It is therefore not surprising that few studies on flotation circuit design and optimisation include flotation units and regrinding units simultaneously. In this paper, it is proposed to model the regrinding stage using species characterised by fine-slow, medium-fast, and coarse-slow flotation species. In deep, the regrinding model is derived from a population balance approach based on flotation species. The fraction of these species at the feed and product of the grinding unit is determined by flotation tests. Then, based on these data, the model parameters can be determined by a regression estimation procedure. A local ore was used to validate the model. Keywords: Modelling, flotation circuit, grinding circuit, process design

Jan 1, 2020

By T. Nghipulile, M. Moys, M. Bwalya, H. Simonsen

The quest for efficiency in comminution is an ongoing concern as comminution usually constitutes a major cost component in the metal production industry. Such improvements can be made by circuit optimization or development of more efficient equipment. A novel crusher, known as the rotary offset crusher (ROC), promises to deliver in this space. The ROC was invented in 2002 by Michael Hunt, Henry Simonsen, and Ian Sinclair, but failed to garner enough support to progress to production. The original design concept was recently rekindled, and a laboratory version of the crusher has been built and commissioned at the University of the Witwatersrand. The crusher is simple in design, with two cylindrical discs that are parallel to each other, and, as the name implies, there is an offset between the vertical axes of the discs. The top disc has a conical section on its lower face, and this creates a crushing zone between the opposite faces of the two spinning discs. Centrifugal motion transports particles through the crushing zone. Batch experiments have been conducted with quartz at various crusher settings (discs offset, rotational speed, and vertical exit gap) for various feed size distributions. The indications so far suggest that the disc speed is a key factor affecting the performance. Size reduction ratios as high as 11 were recorded from experiments with quartz at a speed of 830 r/min.

Jan 1, 2021

By I. Ngo, L. Q. Ma, J. S. Guo

Deformation of gob-side entries has always been a critical concern for ensuring stability in longwall coal mines. This paper addresses the significant deformation and support challenges that arise in thick and hard roof longwall faces (THRLF) due to dynamic pressure. The study aims to elucidate the characteristics and mechanisms of deformation during the retreat of the longwall face. The research findings indicated that the primary cause of deformation was the combination of advanced abutment stress resulting from longwall face mining and the movement of the lateral roof over the chain pillar. To mitigate this issue, we propose a deformation control method known as cutting off the lateral roof (COLR) over the chain pillar. Simulation results demonstrate a significant reduction in roof stress and deformation of the gob-side entry after implementing the lateral roof-cutting technique. These findings provide valuable guidance for effectively managing deformation in gob-side entries, particularly when dealing with thick and hard roof strata.

Aug 3, 2023

By I. Ince, S. Kahraman, M. Rostami, B. Dibavar

The density, porosity, and strength of rocks are fundamental in the design of geo-engineering projects. Determining these properties requires the preparation of smooth core samples, which is usually impossible for soft rocks. Besides, only fragmented samples may be available in some projects. A method for predicting rock properties from rock particles such as drilling debris would therefore be useful. This study was undertaken to develop prediction equations for compressive strength (UCS), tensile strength (BTS), density, and porosity values from the crushability index (CI) obtained from rock fragments. The results showed that UCS, BTS, density, and porosity were strongly correlated with the CI. The physical characteristics and strength of rocks may be predicted with the help of the derived equations. The CI test is a valuable tool for estimating rock properties in drilling projects and in situations where core specimens are not available.

Mar 14, 2024

By F. H. Touwen, N. C. Joughin

"Simulation is a technique for studying the operation of systems by synthetic experimentation. With digital computers it is possible to simulate even the complex production processes in gold mining. This has great potential in that it enables the investigation, analysis and comparison of mining systems to be done accurately, rapidly and at low cost. Two programs have been developed to simulate the principal underground production processes in gold mining.These are the simulation of any stope contract and the simulation of underground transport operations. The programs synthesize these mining activities from a large number of small unit operations. The stope contract program simulates rockbreaking by drilling and blasting and the cleaning of the panels by face and gully scraping. The transport program simulates the functions and movements of all vehicles running on rails on one underground level. The simulation programs provide an effective means for experimenting with mining activities."

Jan 1, 2014

By X. Cao, R. Wang, H. Han, Y. Hu, Z. Wei, W. Sun, H. Tang, J. Wang

Flotation reagents play a vital role in mineral flotation. In the past century, most studies focused on the modification of anion or cation collectors and the synergistic effect of mixed collectors, which have contributed to research. In this study, we reviewed brand-new reagents, metal-organic/inorganic complexes, with the functional group of metal ion, which are totally different from the traditional anion or cation collector and show absolute specificity for some minerals. For example, Pb-BHA complex collector was developed to realise the atmospheric flotation of scheelite due to the absolute specificity for calcium minerals. Calcium oleate collector was found to be the effective species in the flotation of calcium minerals, and has been employed to selectively separate fluorite from calcite. Selective adsorption of Al-Na2SiO3 polymer on calcite surfaces proved the self-assembly of H2SiO3 polymer using Al3+ had stronger selectively adsorption ability than Na2SiO3. Also that Fe3+-starch complex was a better depressant for iron minerals than caustic starch and contributed to a more efficient reverse flotation. In conclusion, metal ions are good templates for molecular assembly and can be used to control the structure of metal complexes and exhibit special properties, which provide possibilities for the design of new flotation agents. Keywords: Metal-organic/inorganic; flotation; collector; depressant

Jan 1, 2020

By N Morales, G Nelis

Short-term plans must meet the long-term goals while accounting for shovel selectivity, operational space, and scheduling restrictions. There are several approaches that deal with these issues to deliver a feasible short-term schedule. This paper compares two approaches based on mathematical programming to address the short-term mining cut definition and scheduling in an integrated way. They work by scheduling extraction to comply with long-term production goals, but they differ in how mining cuts are modelled. The first approach schedules Selective Mining Units (SMUs) but aggregates them around predefined locations. The second approach does not work on SMUs; it decides directly what mining cuts are to be used from a pre-defined set of shapes. It assigns a destination and schedules the extraction for the selected mining cuts. We applied both approaches in a real case study to compare their results in terms of profit, mining cut design, expertise needed, profit, and optimisation performance.

Sep 1, 2021

The May General Meeting of the Institute was held in Kelvin House, Johannesburg, on 21st May, 1969, at 4.30 p.m. Mr J. K. E. Douglas (Vice-President) was in the Chair. There were also present twenty-two Members, including Messrs F. P. Bath, M. Bareza, A. R. C. Fowler, D. M. Jamieson, C. M. Mavrocordatos, D. G. Maxwell and J. A. Nixon (Council Members), Messrs T. Davidson, G. L. Diering, E. T. Dunstan, D. E. H. French, K. Hodgson, O. A. E. Jackson, A. F. Lee, A. Louw, D. L. Starkey, R. K. Wheeler and M. Youngworth. Four Associate Members including Messrs D. Blair Hook and G. R. Still. One Student Mr N. A. Barcza. Thirteen Visitors, including Messrs S. H. Ash, D. L. G. Bayne, E. Bayne, S. Bell, W. S. Garrett, L. S. Gibbs, R. C. Hamilton, M. Maguire, D. Rose and J. D. van Niekerk. Total Present: Fourty-one. OBITUARY The Vice-President: "It is my sad duty to announce the death of the following member of the Institute: Thomas Spence Haldane, Member, who joined the Institute in 1924 and passed away on 21st December, 1968. As a mark of respect to the memory of the deceased and in sympathy with the bereaved, those present stood and observed silence for a few moments. MINUTES The Vice-President requested that confirmation of the minutes of the previous meeting be held over as they would only be appearing in the Journal of the following month. He also requested that confirmation of the minutes of the 75th Anniversary Meeting be held over. MEMBERSHIP The Vice-President: "I have much pleasure in announcing that the names of the under-mentioned candidates have been published in accordance with By-Law 5.2.2, and Council has elected them to membership of the Institute in the following grades: Members: Gideon Jacob Haumann, Peter John Cumming, Ian Stanley Dudman, Roderick Goldston Murchison. Associate Members: Francois Alwyn Beyers Fouche, Alan Marsh, Johannes Petrus van der Westhuysen, Waldo Edmund Stumpf, Ian Nicholas Ridley. Affiliates: Lutgerus Kolver Jooste, Roger Ainsley Ralph Kebble, Edward John Wainwright, Lewis William Davies. Graduate: Clive Graham Knobbs. MEMBER TRANSFERED TO A HIGHER GRADE From Student to Associate Member: Diethard OUo Eduard Fahrbach. I welcome the newly elected members to the Institute and congratulate the member who has been transferred to a higher grade." (Applause).

The annual General Meeting of the Branch was held in the St. Helena Club on Wednesday, 4th August, 1971 at 8.00 p.m. Mr N. A. Honnet (Immediate Past Chairman) was in the chair. There were also present Mr V. C. Robinson, President of the South African Institute of Mining and Metallurgy. Nine Fellows: Messrs J. R. F. Handley, C. J. Isaac, J. Lorenzon, J. M. Meyer, C. Mostert, D. A. Smith, S. L. S. Swart, I Thomas and R. G. Williams. Five members: Messrs R. Campbell, A. H. Edwards, K. Pearce, G. P. Rundle and R. B. Sutherland. Five graduates: Messrs J. E. Andrews, E. J. Shillaber, M. H. Smith, T. R. Stromsoe and D. J. van Niekerk. Two associates: Messrs A. Paschalides and D. S. Robinson. Eight visitors. Total present: Thirty-one. MINUTES OF THE PREVIOUS GENERAL MEETING As the minutes of the General Meeting held on the 16th June, 1971, had not been published in the Journal, the Chairman moved that the adoption and discussion thereof be deferred to the next General Meeting. This motion was adopted unanimously. The minutes of the General Meeting held on the 10th February, 1971, were taken as read. The adoption, which was proposed by Mr D. A. Smith and seconded by Mr J. M. Meyer, was carried unanimously. At Mr Honnet's request, Mr V. C. Robinson took the chair during the presentation of the Chairman's Annual Report. CHAIRMAN'S ANNUAL REPORT 1970/71 1970/71 Committee-Office Bearers: Chairman - J. N. Saunders Vice Chairman - G. Y. Nisbet Immediate Past Chairman- N. A. Honnet. Due to the sudden retirement of Mr J. N. Saunders, the committee, at a meeting on the 3rd February, 1971 elected Mr G. Y. Nisbet as Chairman with Mr J. M. Meyer as Vice Chairman. After the transfer of Mr Nisbet to C.D.M., the committee, as a meeting on the 12th May, 1971, decided that Mr Meyer hold the Chair in an acting capacity for the remainder of the year. Committee members: Messrs C. J. Isaac, J. G. Kirchener, L. O. W. Leimer, R. S. Pearson, I. G. Thomas and A. von Holdt. Transfers of several office bearers and committee members resulted in Messrs J. M. Meyer, D. N. Smith and G. C. J. Young being co-opted onto the committee.

1. Mintek publications The folowing are available from Mintek (Private Bag X3015, Randburg, 2125 South Africa) at R35 (including GST) per copy to purchasers in South Africa and US$30 (including airmail postage) to purchasers elsewhere. Report M402 The preparation of synthetic fusion standards for use in the X-ray-fluorescence analysis of rocks and minerals, by RT. Eddy and J.J. Jacobs. Apr. 1990. 19 pp. Report M405 Slag-metal equilibria in the system Fe-Cr-Si-C-Ca-Mg-AI-O, by R.H. Eric and M. Akyizli. Aug. 1990. 29pp. Application Report no. 8 The development of a process for the recovery of gold from gold-bearing solutions by means of activated carbon or resin in a NIMCIX column. 1990. 19 pp. 2. New publications from Trans Tech The folowing are available from Trans Tech Publications Ltd, Old Post Road, Brookfield VT05036, USA. Efect of iron and silicon in aluminium and its aloys, edited by I. Kovacs. 1990. 450 pp. $124. Martensitic transformations, edited by B'.C. Muddle. 1990. 714 pp. $190. Ferites, edited by C.M. Srivastava. 1989. 2 vols. 1280 pp. $254. Properties and characterization of amorphous carbon films, edited by J.J. Pouch and S.A. Alterovitz. 1990. 714 pp. $152. Synthesis and properties of boron nitride, edited by J.J. Pouch and S.A. Alterovitz. 1990.426 pp. $192. Electronic structure and latice defects in aloys, edited by R. W. Siegel and F .E. Fujita. 1989. 320 pp. $78. 3. A new edition Tomorow's materials, by K.E. Easterling. London, The Institute of Metals (1 Carlton House Terace, London SWIY 5DB, England), 1990. 2nd ed. 170pp. US$29. 4. Books for exploration geologists The folowing books are obtainable from Elsevier Science Publishers, P .0. Box 211, 1000 AE Amsterdam, The Netherlands. Lateritic bauxites, by G. Bardossy and G.J.J. Aleva. 1990. 624 pp. DFL. 295. Platinum-group element exploration, by D.L. Buchanan. 1988. 186pp. DFL 150. Lead isotopes in mineral exploration, by B.L. Gulson. 1986. 246 pp. Dfl. 160. Prospecting and exploration of mineral deposits, by M. Kuzvart and M. B6hmer. DFL. 285. 5. Journal for earth scientists . Ore Geology Reviews, published by Elsevier Science Publishers, P.O. Box 211, 1000 AE Amsterdam, Netherlands. 6 issues per year. Annual subscription DFL 453 including postage.

Jan 1, 1990

The May General Meeting of the Institute was held in Kelvin House, Johannesburg, on 21st May, 1969, at 4.30 p.m. Mr J. K. E. Douglas (Vice-President) was in the Chair. There were also present twenty-two Members, including Messrs F. P. Bath, M. Bareza, A. R. C. Fowler, D. M. Jamieson, C. M. Mavrocordatos, D. G. Maxwell and J. A. Nixon (Council Members), Messrs T. Davidson, G. L. Diering, E. T. Dunstan, D. E. H. French, K. Hodgson, O. A. E. Jackson, A. F. Lee, A. Louw, D. L. Starkey, R. K. Wheeler and M. Youngworth. Four Associate Members including Messrs D. Blair Hook and G. R. Still. One Student Mr N. A. Barcza. Thirteen Visitors, including Messrs S. H. Ash, D. L. G. Bayne, E. Bayne, S. Bell, W. S. Garrett, L. S. Gibbs, R. C. Hamilton, M. Maguire, D. Rose and J. D. van Niekerk. Total Present: Fourty-one. OBITUARY The Vice-President: "It is my sad duty to announce the death of the following member of the Institute: Thomas Spence Haldane, Member, who joined the Institute in 1924 and passed away on 21st December, 1968. As a mark of respect to the memory of the deceased and in sympathy with the bereaved, those present stood and observed silence for a few moments. MINUTES The Vice-President requested that confirmation of the minutes of the previous meeting be held over as they would only be appearing in the Journal of the following month. He also requested that confirmation of the minutes of the 75th Anniversary Meeting be held over. MEMBERSHIP The Vice-President: "I have much pleasure in announcing that the names of the under-mentioned candidates have been published in accordance with By-Law 5.2.2, and Council has elected them to membership of the Institute in the following grades: Members: Gideon Jacob Haumann, Peter John Cumming, Ian Stanley Dudman, Roderick Goldston Murchison. Associate Members: Francois Alwyn Beyers Fouche, Alan Marsh, Johannes Petrus van der Westhuysen, Waldo Edmund Stumpf, Ian Nicholas Ridley. Affiliates: Lutgerus Kolver Jooste, Roger Ainsley Ralph Kebble, Edward John Wainwright, Lewis William Davies. Graduate: Clive Graham Knobbs. MEMBER TRANSFERED TO A HIGHER GRADE From Student to Associate Member: Diethard Otto Eduard Fahrbach. I welcome the newly elected members to the Institute and congratulate the member who has been transferred to a higher grade." (Applause).

The 101 st Annual General Meeting of The South African Institute of Mining and Metallurgy was held in the Gold Room, Transvaal Automobile Club, 60 5th Street, Lower Houghton, Johannesburg on Wednesday, 12th August, 1998. Obituaries The President announced the death, during the year, of the following members: Honorary Life Fellows and Past Presidents H.E. Cross, D.G. Malan, P.W.J. van Rensburg Life Fellows J.B. Rolfes, W.C. Walmsley Fellows H.F. Boshoff, M.L.A. Fitzgerald, J. Humphriss Retired Fellows H.S. Botha, E.Collier, J.L. Curtis, A.H.H. Davison, D.I. Legge, B.D. McNeice, J.A. Northcott, D. de V. Oxford, S.S.K. Penney, P.C. Pirow, J. Pope, A.J. Rossouw, A.N. Shand, E.P. Smit, H.V. Solomon, S.G. Taussig

Jan 1, 1998

By J. Witley

"Narrow tabular platinum group element deposits in the Bushveld Complex of South Africa are typically evaluated by diamond core drilling from surface. Several short deflections are drilled from each mother hole in order to obtain multiple intersections at a close spacing (less than 1 m). Examination of the intersections from deflection drilling revealed the importance of these deflections in understanding the representivity of the borehole, obtaining an estimate of the nugget effect, and mitigating the undesirable effect of the high grade variability at the ultra-short range that is a characteristic of these deposits. The use of deflections in estimation was investigated by means of a number of techniques and scenarios in order to find the most appropriate way to use them in an estimate. A significantly improved level of confidence was gained from using multiple close-spaced intersections rather than a single borehole intersection. IntroductionThe Upper Group 2 chromitite layer (UG2 or UG2 Reef) is known for its remarkable geological continuity, being traced almost uninterrupted for tens of kilometres. However, what is often less well emphasized is the high variability in platinum group element (PGE) grade and thickness (and therefore PGE content) and internal reef stratigraphy over very short distances (several metres or even tens of centimetres).This paper examines the application of short drill-hole deflections in evaluating UG2 PGE mineral resources at Marikana in the western Bushveld Complex of South Africa."

Jan 1, 2017

By R. Perlman

This paper describes the various new computer-aided techniques being used by economists in the construction of economic models. It discusses the relevance of these techniques to mining industries. In particular, it describes their role in making it possible to obtain better estimates of future price and demand developments on the markets on which metals are sold, and how these estimates can be used to improve forward planning by mining companies.

Jan 1, 2014

By A. R. Javadi

Pyrite (FeS2), chalcopyrite (CuFeS2), sphalerite (ZnS) and galena (PbS) generate hydrogen peroxide (H2O2) when placed in water, with pyrite generating the most amount of H2O2. The order of these minerals for generating H2O2 in water is: pyrite > chalcopyrite > sphalerite > galena. In previous research, the methods of generation of H2O2 in the grinding mill were studied. In this study, data from experiments were included by using MODDE 9 software for six parameters composed of water, grinding media, particle size; adding collector to the grinding, and adding depressant and pH. Finally the optimal condition was achieved. According to the results, most of the recovery is related to the particle 75 μ size and when using processed water, adding 100% collector and without depressant and pH 10. The most recovery of lead in the case of the use of fresh water is in the case of 100% collector, without depressant, pH 10 and 150 μ particle size. Maximum recovery in fraction size 45 μ in the case of water process is 100% collector, without depressant and pH 10. Maximum depressant of pyrite will be the fraction size 75 μ, distilled water, without collector, 100 depressant. Keywords: Sulfide mineral, hydrogen peroxide, flotation, oxidation

Jan 1, 2020

By R. V. Ramani, R. Stefanko

"The favorable mining conditions in the United States of America that resulted in the development of the highly productive room and pillar systems are largely disappearing. Increasing mechanization, poorer natural conditions, and greater concern for health, safety and environment gave impetus to the enactment of the Federal Coal Mine Health and Safety Act of 1969. These regulations prescribe more stringent requirements in face ventilation and mine air distribution, necessitating significant changes in existing ventilation systems. Stringent mandatory standards were applied to respirable dust control for the first time, and simultaneous control of both gas and dust has affected the face as well as primary distribution, most notably on haulage entries.The size and complexity of the present-day mining operations, and the need to evaluate various system changes in a limited time, call for scientific methods in mine planning. In this paper, the authors trace the previous applications of computers to mine ventilation planning and discuss the results of their work in applying a ventilation simulator developed at Penn State. The paper includes an analysis of current trends and suggestions for future research and development."

Jan 1, 2014

By D. F. Malan, J. A. L. Napier

A number of shallow coal or hard rock mines employ pillar mining systems as a strategy for roof failure control. In certain platinum mine layouts, pillars are designed to ‘crush’ in a stable manner as they become loaded in the panel back area. The correct sizing of pillars demands some knowledge of the pillar strength and the overall layout stress distribution. It is particularly important to understand the impact of the layout geometry on the effective regional ‘stiffness’ of the rock mass around each pillar. An important design strategy is to model relatively detailed layout configurations which include a precise representation of the local pillar layout geometry and to analyse multiple mining scenarios and extraction sequences to select optimal pillar sizes and barrier pillar spacing. Although computational solution techniques are now impressive in terms of run time efficiency, a major difficulty is often encountered in assigning suitable material properties to the pillars and in devising an effective material description of the layered rock strata overlying the mine excavations. This paper outlines an efficient numerical strategy that can be used to assess large-scale pillar layout performance while retaining the ability to modify individual pillar constitutive behaviour. The proposed method is applied to selected layouts to compare estimated average pillar stress values against values determined by detailed modelling and against observed behaviour.

May 3, 2023

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

This paper presents current work on the development and use of stereovision for underground mining. Information on the calibration of the cameras and the feature-matching algorithm are presented. This system uses an intensity-based approach that evaluated correspondences along the epipolar line. Once features have been identified and their distance from the cameras computed, a three-dimensional map of the muck pile is developed. The approach used here uses a ray-tracing algorithm. This approach provides an uncertainty measure along with the elevation. A discussion of the use of this modelling information in the control of the LHD is included. Keywords: Robotics, automation, LHD, underground mining, vision sensing, task automation, tele-operation

Sep 1, 2001