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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

IT has often been stated in the past that the materials known as inert fillers were merely adulterants nsed in the manufacture of paint, and that their purpose was to cheapen paints made from more expensive pigments, such as zinc oxide or white lead. In recent years, however, practical tests in various parts of the world have proved that many of the inert fillers, when used with wisdom, possess very definite and advantageous properties.Another oft-repeated statement which had a far-reaching effect in the past, and which is not without influence to-day, is that the very best paint must always be made from a pure pigment, without admixture with either a fellow pigment or an inert filler. Both or either of these statements may be true in a few isolated instances, but for the vast majority of ordinary painting conditions there is an abundance of experimental evidence to prove that neither is true.With the desire to further investigate these points and po 'determine the best combination of pigments and fillers for use as an outside white paint on plant buildings, a number of panels were prepared in the laboratory of this company.

Jan 1, 1924

By A B. Christie

Known epithermal deposits in the Coromandel region belong to the low-sulphidation type, represented by three subtypes: (1) andesite-hosted epithermal Au-Ag, (2) rhyolite-hosted epithermal Au-Ag, and (3) andesite-hosted polymetallic veins. Paleo-depths for a range ofdeposits are estimated using various features including: paleo-surface indicators (e.g. sinters), hydrostatic pressures estimated from homogenisation temperature measurements on fluid inclusions, and alteration mineralogy. Paleo-depth estimates to the base of the ore zone for the rhyolite-hosted Coromandel deposits are in the range 200 to 500 m. Andesite-hosted Au-Ag deposits have more variable paleo-depths, and are deeper (up to 950 m) in those deposits with base metals at depth. The majority of Coromandel Au-Ag deposits have limited depth extents (<200 m) of economic grade mineralisation, although Waihi and Karangahake are notable exceptions with depth extents of 575 m and 700 m respectively. Limited depth extents of economic ore are a feature of epithermal systems worldwide and are commonly attributed to gold deposition from boiling fluids. Under hydrostatic conditions in epithermal/geothermal systems, boiling in an up-flowing hydrothermal fluid is controlled by the boiling point for depth (BPD) curve. From fluid inclusion studies of many low-sulphidation epithermal systems, deposition of electrum in economic concentrations appears to be confined to a temperature window of 260 to 180¦C. This means that for dilute, gas-poor fluids that follow the BPD curve, gold deposition is limited to a vertical depth zone of about 400 m, with its upper boundary at about 100 m below the ground surface. The greater depth extent at Waihi and Karangahake, can be explained by mixing of/a deep, hot (300¦C) fluid with cooler (c. 200¦C) heated ground waters. This has the effect of lowering the 260¦C isotherm by up to 300 m, thereby increasing the depth range of economic grade gold deposition within the 260 to 180¦Cwindow of electrum deposition.

Jan 1, 2000

Slime Flotation Using Ethoxylated Surfactants in Solutions of the Electrolytes

Sep 13, 2010

East Otago gold deposits are hosted in Otago Schist that is the metamorphosed equivalent of Permian-Triassic Torlesse terrane greywackes. Relatively undeformed Torlesse sequences in Canterbury have <l m - 50 m bedding, with c. 500 m - l km and c. three kilometre scale units, typically either: 1) thick-bedded, massive, sandstones; 2) thin-bedded sandstone-argillite flysch; or 3) siltstone- or argillite-dominated units. Such lithological layering in Otago was intensely folded, deformed, and overprinted by metamorphic fabrics during Jurassic-Cretaceous regional metamorphism. Although primary sedimentary structures can no longer be recognised, a æghostÆ lithological variation is still present in Otago represented by psammitic (sand-derived), interlayered (sandstone-siltstone derived) and pelitic (siltstone-mudstone derived) schist. Lithological æunitsÆ in the schist are typically either 20 100 m or c.1 - 2 km thick, and are oblique to faults and shears hosting gold mineralisation at Macraes, Barewood, Nenthom, and Oturehua. Lithological variations and folds in lithological units are important in the along-strike distribution of gold in these deposits, and in the development of relatively high-grade pods and shoots at l00 m - 1.5 km scales. Ramps, flats and step-overs (known to be locally important for controlling mineralisation) are commonly located at lithological boundaries, presumably by local refraction of faults or shear zones as they propagated through folded stratigraphy. The various lithologies have also responded differently to deformation, causing variations in permeability that affected the penetration of mineralising fluids. Mapping lithological variations in barren host-rocks, either directly+ by fieldwork or indirectly by aerial geophysics, is a key to understanding and predicting the distribution of gold at mine and deposit scales.

Jan 1, 2001

This paper is in two parts. The first covers the evolution of dredging leading to the development of the æNZ typeÆ large dredge and the second, current alluvial gold recovery practice in NZ. NZ was the first country in the world to adapt the bucket-ladder dredge to alluvial gold recovery. Between 1857 and 1907, gold worth (at today's NZ price of about NZ$600/ounce*) over $11 billion was exported û from a country with well under one million people at that time. Over 200 small dredges operated, mostly on the Clutha River, around the turn of the century, however by 1940, only 20 or so large machines remained, and the last of these, the 4000 ton 'Kanieri' ceased operations three years ago. Recently recognition of the superior digging power of the hydraulic backhoe and reintroduction of the simple 'trommel and riffleÆ plant with about 80 m3 /hour capacity has led to a proliferation of static and floating plants, there being at least 50 currently in operation on the West Coast and in Otago. There are signs however, that the process of evolution of such small unsophisticated plants into larger, more efficient units has begun again. * At the time of writing (October 1984) NZ$l. 00 = US 50ó. NZ dollarsare used throughout this paper.

Jan 1, 1985

Sulphuric acid leaching at atmospheric pressure of a number of Australian nickeliferous laterites was examined in detail. The results obtained indicate that nickel can be extracted from these ores, although the conditions required to achieve about 90 per cent extraction vary widely. These differences in reactivity can be related to the types of nickel-bearing minerals present.Nickel is more readily extracted from nickel-bearing clays such as chlorite, than it is from nickel-containing goethite.The results clearly show the problems associated with the processing of complex ores such as the nickeliferous laterites, and they indicate the need for complete characterization of each deposit.

Jan 1, 1978

The coalmining industry in most countries has, at various times, suddenly been confronted with a decrease in demand for coal. Readjustments made to reduce productive capacity to match the reduced demand for coal have often resulted in hardship to mineworkers, loss of capital investment to mineowners and loss of coal reserves. The consequences of the methods of readjustment adopted in the past have contributed to the low esteem in which coalmining has come to be regarded by a large section of the gel).eral public in many countries.Four sections of the coalmining industry, representing different periods of time, different countries, and different methods of industrial organisation have been examined:Great Britain and the U.S.A. during the inter war years, the post war European Coal and Steel Community, and post war Great Britain under the National Coal Board. An assessment has been made of the methods adopted in each case to reduce productive capacity to match a reduced demand for coal. Finally the fundamentals of the problem-as it affects the coalmining industry of any country-are considered, and possible solutions put forward.During the 1950's, surplus productive capacity was a problem in many coalmining countries, including Australia and New Zealand. As a rule no techniques are developed beforehand to solve problems introduced by a sudden decrease in demand for coal. The situation is usually tackled by a series of short term decisions based on expediency, which often in the long run only aggravate the problem.

Jan 1, 1961

Gold was determined directly in eight different mill cyanide solutions, by atomic absorption spectroscopy in an acetylene-air flame. Some of the mill solutions were diluted with water to bring them into the most sensitive absorption region (5-50 p.p.m. Au) whereas those solutions with very low gold content «2 p.p.m.) were concentrated by evaporation.Calcium was complexed with ethylene diamine tetra-acetic acid (EDTA) to avoid the undesirable effect of a precipitate on atomization.When added to standard gold solutions, EDTA had no effect on absorption, nor did any of the impurities common in mill cyanide solutions.Known amounts of gold, ranging from 2 to 30 p.p.m., were added to mill solution'aliquots and recovered to within 100 ± 2·5 per cent. For duplicate determinations under normal worKing conditions, standard deviation was 1·32 p.p.m.Excellent agreement was found between atomic absorption gold values and accurate fire assay values.INTRODUCTIONAtomic absorption spectroscopy has been shown to offer a rapid and accurate method for the determination of trace amounts of a number of metal ions. In the field of primary metallurgy atomic adsorption has been used for routine determinations of lead, copper, silver, zinc, cadmium and iron in a variety of raw materials and intermediate products.The scope of atomic absorption spectroscopy was reviewed recently by Willis (1963).The noble metals silver, gold, platinum, rhodium and palladium were determined by atomic absorption from chloride solutions by Lockyer ·and Hames (1959). In their determination of gold down to 1 p.p.m., they found no interference from the noble metals, nor from considerable excess...

Jan 1, 1964

By D Skinner, P Haeussler, D Bradley, A Christie

Mesothermal gold deposits of southernAlaska and Westland, New Zealand have both formed at the seaward edge of major collisional zones in the Pacific basin. In Alaska, production of large fluid volumes correlates in time with the addition of heat into the lower parts of the accreted terranes in the late stages of collisional orogeny. This heat was critical for driving both the metamorphic reactions that released the large volumes of fluid that carried the gold, and the contemporaneous widespread anatexis and magmatism. In Alaska's Chugach terrane, this heat as produced by subduction of a spreading ridge beneath the North America continental margin in the Eocene. The resulting products were the S-type granites and gold-bearing veins. The similar widespread S-type plutonism and gold veining in Westland's Buller terrane suggest that a similar tectonic event could have triggered ore formation along the southeastern edge of Gondwanaland. Based on the Alaskan model, a Devonian or Early Carboniferous age is favoured for high volume metamorphogenic fluid generation and gold vein formation in Westland.

Jan 1, 1995

Large GDP increases in the Pacific Rim countries have been accompanied by similarly large increases in demand for oil products. In the case of residual fuels, this demand has been tempered by the substitution of other energy products such as coal or gas. In the region's developing and newly industrialised nations, it has not been possible to make the very large investments in infrastructure which allow other energy sources to be used for transportation. As a result, GDP growth has been mirrored in the demand growth for automotive fuels. Other non-substitutable products such as lubricants have also benefitted by the region's GDP growth.   The combination of a number of years of sustained growth, coupled with increasing quality requirements is now stretching the upgrading capacity of the region's refineries. IT, as seems likely, the region continues to enjoy a high GDP growth rate, then this will be accompanied by increasing reliance on finished products coming out of the Middle East.   The owners of the most simple form of refinery in which crude is simply distilled and the naphtha reformed into petrol will face major capital investments. If they decide not to bear this cost, they will face increasing problems in selling their surplus residual fuel oil at an economic price. Quality will become an increasingly important issue. Not only in the well publicised areas such as unleaded petrol, but also for products such as lubricants which play a major role in the efficiency of modem equipment. Quality of service such as hours of opening, ease of access, and service station facilities will also become increasingly important as the oil companies use these to attract customers and gain brand differentiation.

Jan 1, 1990

By Innes J. A

The structural variations occurring in pellets of finely divided mixtures of iron ore and coke breeze, metallized by firing at elevated temperatures, have been examined microscopically. For any given pellet composition, time and temperature are the two most important factors in determining the development of the bonding processes.INTRODUCTIONThe success of sintering and pelletizing processes in the agglomeration of fine iron ores for blast furnace use has brought about rapid changes in thinking relative to methods of preparing furnace burdens. Increases in productivity with the use of sinter emphasize the advantages of a stable, uniformly sized furnace feed. Current practice is to produce a self-fluxing sinter containing most of the lime requirements of the furnace incorporated as a stable medium (Figgis and Charker, 1962). The elimination of fine material from the burden allows greater stack permeability and smoother operation.Sintering and pelletizing of iron ores with or without the incorporation of fluxing compounds has conditioned operators to the extent that it is now considered possible that all components of the burden may eventually be beneficiated in one form or another. Investigations are in hand to improve the quality and sizing of coke, which occupies the major part of the burden volume (Callcott, Innes and Brown, 1961; Innes, Gregory and Worner, 1963). Interest is also being revived in methods of pre-reducing iron ores prior to charging to the furnace (Hansen, Melcher and Fine, 1961). Recent experiments in a small experimental blast furnace (Melcher, 1963) show that charging of semi-metallized pellets can give rise to a production increase of 55 per cent...

Jan 1, 1963

Prominent among the ore minerals at Mt. Ellison, in the Brock's Creek district, Northern Territory, are a number of copper-bismuth sulphides wittichenite, aikinite, emplectite, in association with nativebismuth, chalcopyrite, bornite, chalcocite, sphalerite and linnaeite.Linnaeite and aikinite formed first and were followed by native bismuth. Wittichenite was later and substantially replaces earlier minerals. Replacement of aikinite by wittichenite has produced secondaryor reaction bismuth.INTRODUCTIONThe Brock's Creek district of the Northern Territory lies to the south east of Darwin and has been the locale of intermittent mining of small but rich deposits of diverse ore type. Gold, tin, and copper ores were recovered especially between 1890 and 1910 with minor exploitation up to the present time. Copper ores were of prior importance, the main production coming from supergene enriched deposits of chalcocite.The mines are situated in strongly folded Precambrian strata comprising slates, sandstones, volcanics and amphibolites with replaced haematitic rocks (Sullivan, 1953). The strata in the Brock's Creek area immediately north of the Darwin-Birdum railway line are domed around a roughly circular granitic mass some 5 miles in diameter. The Mount Ellison mine is located near the N.E. margin of the granite in metamorphosed basic country rock.Study of a series of polished sections from Mt. Ellison revealed the presence of linnaeite, chalcopyrite, bornite, aikinite, wittichenite, emplectite, bismuth, sphalerite, and chalcocite. With the exception of sphalerite and emplectite each of these minerals is prominently developed and intimately intergrown with the other constituents.

Jan 1, 1963

By Conochie D. S, Grave N. C

Disposable-tip emf cells at present used in liquid steel can be used to measure the state of oxidation of high-iron slags produced in non-ferrous smelting. This provides a new tool for the control and evaluation of pyrometallurgical operations.An investigation of oxygen potential variations throughout a typical nickel smelter using the flash smelting technique gave a valuable insight into the process. Correlations of oxygen potential with ferric to ferrous oxide ratio and nickel content in slag were in reasonable accord with equilibrium data in the literature indicating that the probes may be used both as a plant investigation tool and possibly as a means of obtaining thermodynamic data for slags.

Jan 1, 1979

By H W. Wu

The objective of this paper is to examine some modern forms of auxiliary ventilation fabric ducting with streamline design fittings and the efficiency of construction practices. The most dynamic form of auxiliary ventilation is a moveable fan and ducting, which is easy to install and uses light weight fabric. The porous nature of some ducting construction results in leakage and loss of efficiency. Flexible fabric ducting is primarily associated with metalliferous mining and industrial material quarrying. Some applications are found in coal in stone/rock development and with use of dust scrubbers.Forcing auxiliary ventilation systems employing circular fabric ducting have been examined. Leakage of air from ducting is affected by ducting material and construction methodology (such as welded or sewn), quality of installation, number of joints, total length, pressure differences between the inside and outside and diameter. The best ducting system with welded construction can have up to four times less leakage as compared with some systems with sewn construction. It is also evident that the sewn type ducting will deliver less air to working faces and require more fan power, hence higher operating costs to run when connected to the same fan.A case study has also been undertaken to compare predicted operating costs of auxiliary ventilation systems connecting various types of ventilation duct fittings. The study also assesses the technical importance of streamline design with low aerodynamic resistance to reduce the shock losses of the duct fittings. It was found that the system connected with streamline designed fittings is able to provide some power cost savings and deliver more air compared with the system fitted with conventional fitting pieces.Using a ventilation ducting system with a lower leakage and frictional characteristic represents a sound solution to new challenges faced by the industry for increasing demand for better quantities and quality of air delivered to working faces; this is due to higher production schedules and stricter mine health and safety regulations within the Australian mining industry.CITATION:Wu, H W and Gillies, A D S, 2017. A comparison of auxiliary ventilation systems and their predicted operational performances, in Proceedings Australian Mine Vent Conference 2017, pp 207–214 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 28, 2017

Optimisation of the Performance of Flotation Circuits Using a Genetic Algorithm Oriented by Process-Based Rules

Sep 13, 2010

By P J. White, J V. Lawless

Low-sulphidation epithermal gold deposits, which form in quasi-hydrostatic convective hydrothermal systems, frequently contain chalcedony within high-grade ore, which has been interpreted to be a crystallisation product of amorphous silica. To deposit amorphous silica rather than another silica polymorph at elevated temperatures requires very high silica concentrations, because of its relatively high solubility. Only extreme boiling caused by decompression followed by wall rock heating upon structural dilation, can achieve this. As gold deposits with amorphous silica it must be produced by the same mechanism, particularly since extreme boiling is also a very effective mechanism for gold deposition. Recent developments support this view; the first is the detailed isotopic analysis of chalcedony-bearing high-grade veins reported from Hishikari, Japan, in which oxygen isotope results are indicative of extreme boiling and hydrogen isotopes indicate initial deposition of amorphous silica. The second is the finding of chalcedony within geothermal pipe work in the Rotokawa geothermal field in New Zealand. Rotokawa is a comparatively hot field (335¦C at depth); hence separation of the steam-water mixture produced by the wells is undertaken at a comparatively high temperature (220¦C) to minimise down-stream silica scaling. Even so, silica scale, some of which is chalcedony, does occur, under similar conditions to that in low-sulphidation epithermal deposits. Evidence of chalcedony forming under these conditions, reinforces the interpretation that decompressive boiling is the main deposition mechanism for gold in low-sulphidation epithermal deposits. It is possible that there is sufficient drop in temperature due to decompression that, at least initially, the silica deposits directly as chalcedony. Low-sulphidation epithermal gold deposits that do not contain chalcedony, such as those in the Philippines, may form at temperatures too high for chalcedony to directly form. The recognition of decompressive boiling as the main deposition mechanism in low-sulphidation epithermal deposits means that exploration can focus on zones where this has taken place by combining paleohydrological reconstruction and structural geology.

Jan 1, 2002

Up to the end of World War n, flat-back cut and fill stoping with or without square sets was the universal method of ore extraction. Rapid changes in practice occurred during the post-war years; first, ore extraction was fully mechanized; secondly, the stope design for new levels, notably No. 17 Level Zinc Corporation Ltd. and No. 19 Level New Broken Hill Consolidated Ltd., was modified to suit this mechanization; and thirdly, sub-level and shrinkage stopes were developed in orebodies where cut and fill methods would be uneconomical. The following is a brief survey of the changes that have occurred-most of which were inaugurated during the last five years.ROCK DRILLINGDuring 1951 open stoping was investigated in detail. In order to reduce steel handling problems, forged steel onepass detachable bits were introduced, but were soon superseded by the "Swedish method". Investigation showed that when using a bar and arm mounted 3-in. drifter the overall drilling time was approximately 6 min. per ft. compared with 4 min. per ft. using the light jackhammer-airleg combination with 1-in. hex. by 4-in. collared shank tungsten carbide-tipped steel.Although competitive with tipped steels on a cost per foot drilled basis (excluding miner's time), detachable steel bits proved most unsatisfactory for hard drilling conditions.Rapid blunting necessitated frequent bit changes and thus caused lost drilling time. This, together with rapid gauge...

Jan 1, 1957

This article attempts to outline essential features of the Mount Isa ore deposit, to reveal the agencies thought to be responsible for its localization, and to describe methods used for obtaining and applying geological data on a commercial basis. Structural features are emphasized because they have proved the most useful agencies to date in searching for ore. Vertical depth, horizontal width and stratigraphic thickness are used throughout the article, and quantities are quoted in long tons.THE DEPOSITA width of more than two miles of evenly bedded shale of the Mount Isa series (upper pre-Cambrian) lies sandwiched conformably between quartzites. The series strikes N.S. and dips approximately 60° W. Shale is unaltered...Important geological work has been carried out by the Queensland Geological Survey, chiefly by Mr. S. R. L. Shepherd, in co-operation with the Geological Department of Mount Isa Mines Limited. Selected references are The Queensland Government Mining Journal for December, 1931, January, 1932 (Rio Grande Lode); December, 19B2 (Black Rock Lode); October, 1933 (General structure); October, 1936 (Mount Isa Lode).

Jan 1, 1939

The ore, as sent to the sulphide mill, is a mixture, in varying proportions, of oxidized ore from above the 450-ft. level and sulphide ore from above and below (to date mainly from above) that level. The oxidized ore consists essentially of quartz, with varying amounts of kaolin and clayey material which passes into the slime and, in excess, creates a serious problem in settling. Pyrite may be present in small amounts. The gold is free and extremely fine.The ore, classed as sulphide, consists of pyritic material in a quartz gangue. The sulphides have been exposed to weathering, leaching by descending solutions and attack by ascending gases and actual burning. The alteration products occur in widely varying proportions and this variation adds to the difficulties in settling and control of grinding and flotation.Copper Minerals.-Chalcopyrite is the principal copperbearing mineral with smaller and varying amounts of covellite, which is sometimes associated with chalcocite, both these minerals being apparently of secondary origin.Examination of tailing by Dr. Stillwell has revealed all stages between clean chalcopyrite, chalcopyrite tinged with covellite, covellite with residual cores of chalcopyrite and clean covellite.The chalcopyrite is free floating, very few particles of clean chalcopyrite being observed in the tailing from granular flotation. The chief tailing loss is probably as chalcopyrite occurring as small inclusions in pyrite...

Jan 1, 1939