Search Documents

Authors have been conducting research on autonomous loading operation by wheel loader. Autonomous loading cycles has been demonstrated with real size experimental model. In V shape loading operation, travelling between scooping point and dumping point is dominant factor for cycle time of the operation. The positions of scooping point and dumping point changes with advancing the operation. In the developed system, path planning is performed at the beginning of every cycle. The path is formed by combination of curve and straight path elements. During travelling on the planned path, path following control is applied on the loader to keep position error in narrow range. Positioning of the loader is based on dead reckoning with correction by global positioning system (GPS) data. In a process of path following control, control value for steering angle is determined based on position error in lateral direction. Proposed method of path planning and position control is installed and tested in the real size experimental model. The detail and results will be described in the paper.

Dec 6, 2010

In mining industries, materials loading and handling costs represent a significant component of the total (capital and operation) costs. A variety of methods have been applied in surface mine equipment selection in order to select the suitable loading and haulage system with the lowest total cost. The optimal size and number of equipment calculation are very important task for mining engineering because loading and haulage equipment are major proportion of open pit mining cost. Capital and operating cost are considered in objective function with respect to interest rate, insurance and tax in non-linear form. Shovel and truck annual productivity constraint, fleet matching constraint and number of truck per shovel constraint are incorporated in this optimisation problem with continuous variables. This formulation will yield total cost minimisation per hour and good accuracy compared to previous methods.

Dec 6, 2010

The selection of the mining fleet can have as much of an effect on the efficiency and effectiveness of an operation as the mining method. This is not to say that inefficiencies are only attributable to inappropriate equipment selections, these aspects have many factors but are not the subject of this paper.This paper will give an overview of equipment selection processes that have been utilised to date. It will also look at the increase in application of study programs/simulations from an aspect of accuracy, as well as the importance of enabling the analysis of multiple sensitivity scenario planning. An aspect that is increasingly important in project planning with commodity market movements.Another aspect that is increasing in popularity is that of automation, what effect does this have on equipment selection? What additional aspects need to be taken into consideration when assessing Automation of equipment from the beginning of a project as well as introduction into an operating mine?Once the selection process has been finalised and equipment implemented, how do we, as an industry, 'close the loop' through analysis of estimated versus actual equipment application?

Dec 6, 2010

Failure of rock materials is a process of crack propagation. Crack initiation takes place when the crack tip stress intensity K reaches a critical value called fracture toughness, K1C. The rock fracture toughness is known to be affected by the surrounding environment such as temperature, confining pressure and humidity. In order to examine the effect of humidity, a series of semi-circular bend tests were performed under various water vapour pressures in a rock material that is known to be anisotropic. Water vapour promotes stress corrosion of rock and therefore the fracture toughness was found to have a decreasing trend with increasing water vapour pressure. The rate of decreasing the fracture toughness depends on the microcrack density that promotes the migration of water vapour into the rock. Also in an anisotropic rock, the fracture toughness depends on the direction of crack in relation to the anisotropy of the rock material.

Dec 6, 2010

This paper presents a study about reopening of a quarry near to the geothermal region of Kntahya, Turkey. The production method was gallery blasting which resulted in very high ground vibrations. Therefore the quarry had been closed down by the local authorities about 12 years ago due to possible damages to the geothermal resources. In order to reopen the quarry, reserve estimation and production planning studies needs to be carried out as well as applying environmentally sensitive production method. The result of reserve estimation studies showed approximately 12.5 Mt reserve in the area. The market studies indicated that annual production of 600 000 tonnes could be sold. These results justify to reopen the quarry. In order to overcome environmental problems, bench blasting production method instead of gallery blasting has been planned. This method enables to design a drilling blasting pattern that will almost result in no ground vibrations.

Dec 6, 2010

Open pit mine plans define the complex strategy of displacement of ore and waste over the mine life. Various mixed integer linear programming (MILP) formulations have been used for production scheduling of open pit mines. The main problem with these models is the inability to solve real size mining problems. We present a mixed integer linear programming formulation for the open pit long-term production scheduling problem. To reduce the number of binary integer variables in the formulation, we aggregate blocks into larger units referred to as mining-cuts. We present a semi-supervised clustering algorithm which aggregates smaller blocks based on rock types and grade ranges into mining-cuts without introducing an error in the grade estimated values. The cluster-based aggregation algorithm is fully integrated into an MILP mine production scheduling prototype software. We have implemented, verified, and validated our models. The efficiency of the new platform is evaluated through iron ore mine case study.

Dec 6, 2010

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

The Estonia Mine, operated by Eesti Energia Kaevandused AS (EEK), the mining division of the Estonian Government's energy company, Eesti Energia AS, is a large room and pillar mine located in Eastern Estonia. It supplied approximately 4.9 Mt/a of oil shale in financial year ending 2010, which is used for electricity and shale oil generation. Due to the Estonian climate and the power station's need for a dry product, Estonia Mine has developed a planning system where short-term demands of the power stations dictate the schedule. Such an arrangement requires maximising flexibility and consequently the mine only operated for 199 days in 2010.The footprint plays a key role in achieving mass mining rates as the 12 km + 12 km lease area allows the mine to split into mining districts that act independently of each other and maximise the number of work areas available. Coupled with this, the geology of the mine is relatively homogenous over the mining lease, simplifying the mine design and production methods.During the last five years, EEK has commissioned a comprehensive conveyor network. Consequently, material handling only requires loaders to dump oil shale direct from the production face onto a chain conveyor that feeds the conveyor network that ultimately supplies the enrichment plant. Dewatering is also of critical importance, with 90 Mm3 of water discharged annually. EEK uses large trenches up to 3.5 m deep and 1.2 m wide to channel groundwater. Track mounted mechanical saws are used to cut slots in the floor, to control overbreak in blasting these trenches.EEK has introduced Salzgitter Machinenbau GB 280S auger drills that drill three 280 mm diameter holes simultaneously. This has improved void hole drilling times and reduced the drilling required for each face, reducing the overall production cycle time. Blasting activities have also been decoupled from other mining activities negating the need for firing times through the use of small independent firings, required to control vibrations.

Dec 6, 2010

About 15 per cent of total electricity (400 MkW) was generated by nuclear power plants in the world (2009) and about 36 000 tons of uranium has been mined in uranium mines annually. Radioactive waste material is produced from uranium mines and nuclear power plants. The wastes must be disposed or stored safely for long-term. If they leak and/or move from disposal or storage sites due to air/groundwater flow, then a serious environmental pollution can occur. Hence, multi-layer system has been proposed and employed in order to seal off these radioactive waste materials from biosphere. Basically, bentonite is now used for establishing absorbing and sealing layers in this system. However, the amount of high quality betonite is very limited and in some cases it is hard to be obtained.On the other hand, a great deal of refuse from coal burning plants is produced every year and the amount of it is expected to be higher each year, especially in developing countries. More than half of flyash is utilised and the remaining is disposed at the disposal sites. However, the life of the disposal site is limited and it is diff cult to find a new disposal site. It is requested that the percentage of the utilisation of the flyash be increased in every field.From the above two points of view, a flyash-based barrier layer/cover system is considered in this research and this paper discusses the applicability of flyash as a content of barrier layer/cover material based on the results of a series of laboratory tests.

Dec 6, 2010

The last one decade in India had witnessed phenomenal growth in the coal, lignite, iron ore, limestone and many other minerals. To meet the production of minerals, the energy requirement is also very high both in terms of petroleum products and electrical energy. Because of spiralling prices of crude oil and also of the electrical energy, attempts have been made by various mining companies to select energy efficient mining machineries (in underground and surface) mines, together with energy efficient mining and mineral processing operations. Mineral sector of India is working seriously in tune with the Planning Commission stipulations to conserve energy.Apart from energy use (both electrical and fossil fuels) in mining, it is also significantly contributing to the cost of mineral processing depending on the quality of ore/rock being processed. Over the years a number of studies have been initiated and implemented to reduce cost of energy bill. An attempt has been made to present the various aspects of energy conservation, Impact of Energy Conservation Act 2001, Relevance of energy audit, areas of energy consumption and conservation efforts, etc in this paper. The paper also deals with some of the case studies to show how energy conservation programs has been implemented in the Indian mineral sector.

Dec 6, 2010

Thermal method of diagnostic as a nondestructive monitoring is based on data logging of infrared radiation from heated surface or from the associated thermal field. Monitoring of gearcases and motors hidden faults, such as, bearing degradation (deep-seated wears and tears, fretting wear, spalling and jamming solids of revolution) is closely related to high variations in temperature. The use of portable thermal imaging devices provides considerable advantages due to: easy remote access to the unit under test even when it is operating; minimum time required to obtain information and an opportunity for a real-time diagnosis of the tested subject's condition.

Dec 6, 2010

It cannot be said that accurate and reliable ore reserve estimation is the fundamental of any mining operation success. Estimation techniques which are used to estimate the grade distribution of an orebody together with the assessment of uncertainty and risk have a vital influence on the success of any optimisation algorithm. Traditional estimation techniques such as kriging or inverse distance weighting are frequently used for assigning grade values to blocks. Various attempts have been made in order to compare geostatistical estimated methods for ore reserve estimation. This paper aims to evaluate the sensitivity of different estimation methods over changing the block dimension. For this reason, several block models with different dimensions were derived in Chador Malu iron ore mine which is located in 180 km northeast of Yazd in the centre of Iran. Each block model was estimated by different estimation methods such as nearest neighbours (NN), inverse distance (ID) and ordinary kriging (OK). The results of each estimation methods were compared against a control block file created by using the assay results of all blastholes drilled in the ore over four benches of the pit. The results signify that by estimating the large block size, no significant improvement occurred due to the employment of different estimation techniques. Furthermore, the grades estimated based on ID method is more reliable, but OK methods estimated more accurate tonnage.

Dec 6, 2010

Nowadays, technology has improved to extract dimensional stone blocks at quarry sites and also to process these at processing plants for making slabs and tiles. In the process of quarrying and processing, performance evaluation of machinery is very important to achieve optimum output at minimum cost with improved technology. Cost analysis of improved technology includes parameters such as manpower, energy consumption, tool consumption, depreciation, maintenance and also others. The chainsaw machine with long boom and rail in marble quarries and multi-diamond wire saw machine for slab making from granite blocks at processing plants have recently been introduced in India. Thus, a study was carried out under a research project on these machines to assess their suitability. In this paper, performance evaluation and cost analysis of chainsaw and multi-diamond wire saw have been carried out with existing machines on the basis of research findings.

Dec 6, 2010

In this paper, the scientific bases of creation of simulation modelling systems of excavator-truck-conveyor complex work are represented. During the simulation modelling process of big mining and transport systems work the strict and full account of an order and sequence of all operations of simulated process is carried out. Step-by-step fixing of mining and transport system elements condition - excavators in loading and unloading points, trucks, road section, unloading points in storage bin, crushers and conveyors is conducted. Work and idle time of system elements are considered. During modelling process the information characterising system work as a whole is collected. It allows us to establish qualitative and quantitative influence of each system element on the final results of its functioning and provides to estimate rationality of a particular organisation variant of mining and transport equipment interaction from technological positions. Simulation results are: economic and technological indicators of mining and transport complex functioning of the period for each subsystem, as well as on the road, the points of loading, unloading and reloading.

Dec 6, 2010

Development of aggregate resources for use in structural concrete has been encouraged in Japan to support infrastructure improvement and national land conservation. Natural aggregate is a valuable resource necessary for sound economic development, and its importance is growing. After completion of aggregate mining projects, planting and afforestation are implemented. But sandy soil in excavation sites is not optimum for the growth of vegetation, and many years are needed before forests are restored. Planting techniques should be improved to support efficient reforestation in a shorter period of time. For this purpose, problems hampering growth of vegetation must to be solved through application of physical and physicochemical techniques to ensure that the environment and the ecosystem will be conserved in project sites.

Dec 6, 2010

In responding to why some longwall roadway development rates are different among mines, the Roadway Development Task Group (RDTG) of Australian Coal Association Research Program (ACARP) has initiated a benchmarking study to survey each longwall mine to determine the correlation between roadway development practices and roadway development performances. This paper describes a web-based relational database system which has been developed purposely to monitor the performance of Australian longwall roadway developments aimed at assessing both the physical and operational factors which could influence roadway development practices and their performance indicators. Statistical analysis of an earlier survey suggested that continuous miner units that achieved more than 1750 m were units mining two-heading development.

Dec 6, 2010

Precision surface mining is increasingly occupying a significant role in open pit mining. Improvements in technology now allow continuous surface mining of material well above 140 MPa (20 300 psi) efficiently and cost effectively when compared to drilling and blasting/primary crushing methods. These include the elimination of the use explosives and primary crushing, the ability to precisely extract the ore from the waste, or separate ores of varying chemistry and mine thin seams and non-homogenous orebodies cost effectively. In addition, precision surface mining extends the useful life of a mine by extending the mine boundaries. It can expand production capacity in existing mines and is particularly cost effective in greenfield start-up mines. Precision mining techniques result in higher percentage recoveries. This paper reviews several of these techniques for the Terrain Leveler« surface excavation machine (SEM), and shows their impact. Vermeer's current approach to precision surface mining is utilisation of the T1255 Terrain Leveler SEM. Several units have been proven in round-the-clock, seven day operations throughout the world. Among other innovations are design simplicity, stability, maneuverability, rear-mounted tilting drum and top-down cutting. The impact of these items are discussed in more detail in the paper. After a detailed analysis of the importance of machine availability on overall mine performance, Vermeer has extended its equipment line to include a direct-drive option for its T1255 Terrain Leveler SEM. In addition, improvements in dust suppression are presented. While the T1255 Terrain Leveler SEM is of optimum size and cost in small and medium sized mines, Vermeer has recognised that larger mines require larger machines with increased capacities. Vermeer will prototype the T1655 Terrain Leveler SEM later this year. Specifications of this machine and up-to-date preliminary results are presented. A discussion of the role of each machine size and driving mechanisms are included. Finally, the next stage in Vermeer's providing solutions to the surface mining community will be described - a continuous loader. The impact on current mine planning is presented using a detailed computer program developed for studying the impact of loading techniques and higher production rates on mine plan optimisation.

Dec 6, 2010

It's long been suspected that there has been an increase in the incidence of premature failure of rock bolts in underground coal mines over the past ten years. As far back as 2002 a study found a possible contributor to such premature failure in some Australian coal mines might be linked to stress corrosion cracking (SCC) (Crosky et al, 2002). That study suggested the low impact toughness could be a major influence on the susceptibility to SCC of different steel compositions. A subsequent study involving laboratory corrosion tests however failed to confirm any link with metallurgical factors (Villalba and Atrens, 2007), a finding that is at odds with field experience. Some mine sites today are still reporting prematurely failed rock bolts to the rock bolt manufacturers; the failures are being identified at SCC induced. To this end a research project has recently been commissioned at University of New South Wales (UNSW), which aims to identify the environmental factors causing SCC, through field test sites and simulating the conditions within an accelerated corrosion laboratory. This paper outlines the methodology that will be used in this study.

Nov 25, 2010

The case study has identified and characterised additional subsidence arising from longwall mining above or under existing longwall goaf. It suggests that the magnitude, mechanisms and prediction methods for such additional subsidence are different between the two mining configurations. This paper presents a proposed method to predict maximum vertical subsidence due to longwall mining under existing longwall goaf. It suggests that, unless different results from further new cases become available, the findings presented in this article, including the aforementioned prediction method, be applicable to the majority of sites in New South Wales, where multi-seam longwall mining is to take place. This article also presents an important concept of 'overburden modification' due to multi-seam mining. A causal relationship between the above-mentioned additional subsidence and 'overburden modification' has been identified as a result of the case studies. Further investigations into the physical processes that cause such overburden modification will be fundamental to the understanding and management of multi-seam subsidence.

Nov 25, 2010

Support design in jointed or blocky rock masses is often approached by the use of either 'rules of thumb', rock mass classification systems such as the Q-system (Barton, Lien and Lunde, 1974) or RMR (Bieniawski, 1973) or conventional wedge analysis. Generally, this requires that a number of key simplifying assumptions are made and the support system is designed to cater for either a mean, most likely, or worst case scenario depending on the risk tolerance. The design block size is often a major uncertainty and often a worst case block size based on excavation span is used. Thompson and Windsor (2007) state that it is inappropriate to base support designs on the excavation size as these size blocks rarely occur if discontinuity trace lengths are considered. Probabilistic keyblock methods can be used to determine the most likely design block sizes. A methodology is presented whereby JBlock software (Estherhuizen, 1996) is used to estimate potential block sizes as part of the support design process. Using information such as the spacing, orientation and length of discontinuities, it is possible to simulate blocks in the walls of an excavation (Esterhuizen and Streuders, 1998). Keyblock analysis methods (Goodman and Shi, 1985) are used to evaluate whether blocks are removable and whether the chosen support will be sufficient to ensure stability. Data from two mines is used to demonstrate how probabilistic keyblock analyses can be used in support design. Discontinuity data was used to generate 10 000 removable blocks and the design block size statistics were determined. For one mine this information was used to scale blocks in a conventional. Unwedge analysis whilst for the other mine, the point estimate method (Harr, 1987) was applied. The choice of appropriate design acceptance criteria in terms of factor of safety and probability of failure is also considered.

Nov 25, 2010