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By A Li, H Jinto, M Laxman

The behaviour of tailings under cyclic loading has an impact on the stability and deformation of tailings dams and a good understanding of the cyclic behaviour of the tailings under earthquakes is important for tailings engineers and tailings operators for the design and safe operation of tailings dams. This paper presents an investigation into the cyclic behaviour of tailings using both laboratory cyclic direct simple shear (DSS) testing and numerical modelling. The laboratory testing involved cyclic DSS tests on gold tailings and zinc-copper tailings under different loadings and loading frequencies. The gold tailings specimen tested at a higher loading frequency and a higher cyclic stress ratio experienced spontaneous liquefaction during cyclic shearing and the zinc-copper tailings specimen tested at a lower loading frequency and a similar cyclic stress ratio exhibited ductile behaviour and liquefied due to cyclic mobility. The liquefaction behaviour of the tailings was modelled using an advanced constitutive model (UBCSAND), which was developed specifically to model soil liquefaction and strain softening under cyclic loading. The constitutive soil model presents the nonlinear soil behaviour under dynamic loading using a hyperbolic stress-strain relation. Dynamic analyses were carried out using a finite difference program FLAC. The cyclic stress-induced excess pore water pressures measured in the laboratory were modelled using numerical simulations of the laboratory tests under different loading conditions. The results of the non-linear dynamic analyses demonstrated the capability of numerical modelling of cyclic shearing induced excess pore water pressure and the onset of the spontaneous liquefaction. The laboratory investigation and numerical modelling technique provided the key properties and parameters for the dynamic analyses to assess the stability and deformation of tailings dams under design earthquake events. More importantly, the laboratory tests and numerical modelling provided some insights into liquefaction behaviour of the tailings during earthquakes. CITATION:Li, A, Laxman, M and Jinto, H, 2018. Liquefaction behaviour of tailings under cyclic simple shear testing, in Proceedings Mine Waste and Tailings Stewardship Conference 2018, pp 250–262 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 23, 2018

By A Havenga, F, J Hough, R Grobbelaar

After the closure of mines they naturally start to fill up with water. As a result, hydraulic gradients develop between adjacent mines and different hydraulic water pressures are exerted onto peripheral areas or compartments within mines. This results in water flow between mines, or onto the surface. This flow is referred to as intermine flow. The geometry of the collieries in the central Witbank Coalfield make intermine flow possible in several areas. Since the Department of Water Affairs and Forestry declared intermine flow as one of its greatest concerns for granting closure to South African mines, much research into this phenomenon has been undertaken. The importance of the quantification lies in the DepartmentÆs goal of sustainable water management, and the possible long-term financial implications these flows could have for individual mines. The challenges of determining intermine flow are numerous, and attention is focused on the identification of areas where these flows can take place. Detailed mining plans on a regional scale are required, and detailed coal-seam floor data are combined to provide targets for possible interaction between these mines. The quantification of these flows is problematic due to the uncertainties regarding geometrical configurations and the variation in site-specific hydraulic characteristics of the coal and overlying lithilogical layers. To this end, use has been made of several analytic solutions and numerical flow modelling. Stage curves (volume versus elevation curves) for the opencast and underground workings have been calculated and first-order estimates for intermine flow or decant from these areas have been determined. The numerical modelling methodology entailed a down-scaling approach, starting with a broad regional model covering the entire area, followed by modelling the interactions between interconnected mines and finally looking in detail at the major areas of interaction. By considering different scenarios within the context of these flows, possible management options for intermine flow can be evaluated in terms of volumes and qualities that might emanate in the post-closure phases. Challenges for the future include obtaining site-specific information on the groundwater hydraulics and acceptable ranges for model parameters, and verifying model results over time.

Jan 1, 2003

By R N. Lamb, A N. Buckley

Experiments have been carried out to establish whether time-of-flight secondary ion mass spectrometry (ToF-SIMS) is able to differentiate monolayer and multilayer coverage of thiol collectors on sulfide minerals. The systems investigated were those for which x-ray photoelectron spectroscopy is able to provide an independent determination of the extent of coverage, and included diethyldithiophosphate (DTP) and 2-mercaptobenzothiazole (MBT) on chalcocite, DTP on Ag2+MS prepared by sulfidising metallic silver, and isobutyl xanthate (BX) and MBT on galena. For monolayer adsorption of MBT on chalcocite, peaks from MBTû but not Cu(MBT)û ions were evident. For multilayer coverage, Cu(MBT)2û ions were clearly present, notwithstanding the fact that other data had identified the principal multilayer species as Cu(MBT). For adsorbed DTP on copper and silver sulfides, DTPû and metal(DTP)Hû peaks were observed for monolayer and multilayer coverage. Although the multilayer species was expected to be predominantly metal(DTP), metal(DTP)2û ions were evident for multilayer (but not monolayer) coverage. For the PbS/BX system, intact Pb(BX)2 or Pb(OH)BX ions were not detected for multilayer coverage, although Pb-containing ions heavier than PbBX were. Indeed, for all the systems studied, ToF-SIMS was able to differentiate monolayer from multilayer coverage. In general, however, the SIMS evidence alone might not be sufficiently definitive to effect the differentiation. In the case of collector adsorption on copper and silver sulfides, if the multilayer species detected had been the metal monothiolate only, and had not involved the formation of some metal dithiolate, then ToF-SIMS might not have been able to provide an unequivocal differentiation of the two coverage conditions.

Jan 1, 2005

By Lynch K. S, Street R. P

Hamersley Iron's pellet plant at Dampier involves ore drying, dry grind- ing in ball mills, disc balling and, indurating by use of the straight grate system. After five years of operation, the plant's output has been increased from the design capacity level of 2 M.T.P.Y. to 2.5 M.T.P.Y. Steps taken in equipment modifica- tion, improvements in process control, and changes in maintenance procedures are described.

Jan 1, 1973

By R Knight

The spatial variability of geometallurgical characteristics in a mineral deposit can have significant impact on financial and mine planning, mineral processing, concentrate quality and tailings composition throughout the life of a project. These characteristics that may determine the success of a project are not readily apparent to geologists unless they are integrated with deposit geology and assay data, modelled in 3D and incorporated into resource block models.One of the primary objectives of geometallurgy is to integrate and incorporate various geologic, geotechnical and geometallurgical parameters into resource block models, which typically are limited to in situ tonnes and grade of economic metals. Critical attributes, such as concentration of deleterious elements that affect the project viability need to be identified and integrated into the resource block model early in the exploration stage to predict project profitability and address potential environmental impacts.Using data from a volcanogenic massive sulfide deposit we present an example of the integration of ore geochemistry (cadmium, arsenic and antimony) with the results of preliminary, bench-scale metallurgical test work in a 3D geometallurgical model that predicts subdomains of poor-quality concentrate and tailings containing environmentally-sensitive elements. This critical information was incorporated into the existing resource block model in order to inform both financial modelling and mine planning.This example demonstrates that geometallurgical data can be effectively integrated with geological and assay data using Leapfrog MiningTM software (Leapfrog Mining) early in the exploration stage of a project. Three-dimensional representations of geometallurgical data can be created directly using primary additive data, as well as from proxies of non-additive parameters. Resource block models can be updated continually with new information as the project passes from exploration through production. In addition, the software allows for 3D visualisation of the characteristics of the materials that will eventually constitute the mill concentrate, tailings, and waste. This study emphasises the critical importance of establishing a systematic geometallurgical approach early in the exploration stage that can be continuously updated with new information throughout the life of the project. In the example that we present, sulfide ore that had otherwise been identified as high-value (in the absence of geochemical and metallurgical data) turns out to be low-value ore due to concentrate penalties and increased environmental impact.

Sep 5, 2011

By Williams D. J

The boundary element method is one of a number of tools that have found wide application in geomechanics for mine design and stress analysis. Two examples are presented in this paper, illustrating the use of the boundary element method to find potential problem regions in large-scale excavations. These examples are from a Papua New Guinea open cut mine and an Australian sub-level caving operation. Because of the scale of the mines and the complexity of the excavations, the boundary element method is the only practical numerical modelling technique to account for the major influences. Although the boundary element method uses only linear elastic models of the rock mass, the paper illustrates techniques for dealing with non-homogenous and anisotropic rock masses, as well as clasto-plastic effects associated with an excavation.

Jan 1, 1995

Mine closure is a legitimate element of the mining cycle and like mine development involves technical planning, permitting, and finally construction. Closure begins with the mine's operational footprint and transforms the site so that it meets the explicit requirements of the owners and regulators. Implicitly, the closure will increasingly need to meet the requirements of other interested parties such as the local community, workforce, and future land users. Golden Cross is the first modern mine closure in New Zealand. It operated for 6 + years as a mid-size gold and silver mine winning ore from both underground and open pit sources, and processing via a carbon in leach circuit including a cyanide recovery stage prior to tailings disposal. The mine is situated in a sensitive high rainfall environment, and is complicated by the existence of a large ancient landslide underlying most of the tailings dam and waste rock embankment. The regulatory process for mine closure in New Zealand is not clearly understood by operators or regulators alike. The Golden Cross mine was permitted under the Mining Act 1971 and closed primarily under the Resource Management Act. This switch of legislation, the parallel reorganisation of many government departments, and change in societal expectations with respect to long term environmental stewardship during the life of the mine resulted in the requirements of closure being significantly different to the expectations at permitting.

Jan 1, 1999

In May 2000, Kanowna Belle Gold Mines (KBGM) carried out a detailed Truck versus Shaft Haulage Study. The study showed that whilst the shaft option had many operating cost benefits the capital costs were too high, therefore the truck option was selected. In May 2001, the concept of achieving æshaft typeÆ benefits without the capital costs was floated. This is achieved by separating the hoisting of ore from other mining activities. The general concept is that material from underground is transported to a central location and then transported to the surface by a special truck fleet, thus removing the dependency between trucks and loaders, providing the mine with surge capacity and decreasing operating costs. At KBGM these advantages have been gained by installing an ore pass system with a plate feeder at its base that directly loads trucks. This provides the mine with a haulage system with enough surge capacity to remove the interdependency between trucks and loaders. The plate feeder is situated just off the decline which creates the opportunity to use larger more reliable, lower cost trucks. A number of truck types were considered for the truck loop including Elphinstone AD55Æs which are the truck type being used on site prior to the truck loop, CAT 775EÆs and power trailer road trains. This paper covers the philosophy behind the truck loop, the truck selection process, project installation and commissioning, people issues and the benefits expected by the operation. As of May 2002, the project is nearing completion, with decline haulage expected to commence in July 2002.

Jan 1, 2002

By R Araya, G Harbort, D R. Seaman, L Huynh, P D. Munro

In today’s operating environment many conventional cleaner circuits struggle to produce final grade concentrate with acceptable levels of non-sulfide gangue and/or penalty elements. This is primarily due to poor selectivity and the entrainment of gangue, and is further exacerbated by the processing of lower grade ores with more complex mineralogy that require finer grinding for liberation. In new concentrators, the standard approach to cleaner circuit design is to define the number of stages of mechanical cells required to achieve the desired concentrate grade. Residence time is the primary factor to size cells and to determine the number of cells required to attain target recovery. While it is required for recovery, a bank of mechanical cells is not the ideal solution to maximise concentrate grade. Relatively coarse bubble size means slow flotation of fines, requiring long residence times. The combination of long residence times and no froth washing means higher entrainment as the pulp becomes more barren and froth stability decreases down a bank.In recent years, the Jameson Cell technology has been retrofitted into a number of concentrators around the world to solve both cleaner circuit capacity and concentrate grade issues. Jameson Cells have been installed at the head of conventional cleaner circuits to produce final grade concentrate in a single step of flotation using a single cell (referred to here as ‘cleaner scalping’ duty). The experience gained from these installations has provided the platform for the design of improved and simpler cleaner circuits that will perform better and be more robust to operate. This paper analyses traditional cleaner circuit designs and explains the philosophy behind new hybrid cleaner circuits, which use Jameson Cells to produce final concentrate and mechanical cells for a ‘cleaner scavenger’ duty. The advantages of the new cleaner circuit design are demonstrated by a case study from an operating plant. Engineering studies show that the better metallurgical performance can be achieved with less equipment than conventional cleaning designs, reducing capital cost, operating cost, and with more than 30 per cent energy savings.Finally, the paper describes simple modifications to the standard laboratory flotation test procedures which accurately simulate this new cleaner circuit using routine equipment.CITATION:Huynh, L, Araya, R, Seaman, D R, Harbort, G and Munro, P D, 2014. Improved cleaner circuit design for better performance using the Jameson Cell, in Proceedings 12th AusIMM Mill Operators’ Conference 2014 , pp 141–152 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 1, 2014

The paper provides an overview of the development and content of APCOM symposia since their inception in 1961. This development is set within the context of the academic environment in which much of the research published at APCOM symposia is conducted. This environment includes rigorous external assessment of research quality at national levels and against international benchmarks, which carries significant consequences for funding and for the continued existence of the academic minerals industry disciplines. Adverse consequences that undermine the academic provision of mining and resource engineering will impact negatively on the minerals industry by reducing the level of research and education resources available to it.The traditional reductionist approach to research is contrasted with the inter-disciplinary approach that is required to address the complex systems problems that the minerals industry will have to address to ensure its technical, economical and environmental sustainability. Such an approach offers a means of raising research profiles, of establishing mutually beneficial academic-industry engagement and provides an opportunity for APCOM to take a lead role in identifying the research and development agenda for the future

Sep 26, 2011

The problems arising in the excavation of hard rocks with the use of mechanical tools consist chiefly in a slow advance rate accompanied by an intensive wear due to the toughness and abrasiveness of the rock. In order to allow the further extension of mechanical excavation beyond the limits of the presently available technology, the assistance of waterjet aiming at improving the performance of the equipment while reducing the wear rate of the tools, has been recognised as one of the most interesting technical solutions. The paper illustrates the improvement of the performance of both disk cutters and picks obtained with the waterjet assistance at the Waterjet Laboratory of the University of Cagliari on a medium-hard rock.

Dec 6, 2010

By K Esmaeili, S Aziznejad

Impact-induced rock fragmentation is a mechanism that is commonly used for rock breakage in drilling and crushing. Additionally, rock fragmentation by blasting is frequently used in rock excavation operations. Experience shows that the presence of discontinuities can significantly influence the impact-induced damage and fragmentation of rock. Quantification of the response of jointed rock masses to impact loads is complicated by the fact that the available laboratory tests are mainly designed for aggregates or intact rocks. It can be argued that neither of these tests adequately represent a jointed rock mass. This paper presents the results of a series of numerical simulations used to investigate the influence of pre-existing discontinuities on the impact-induced fragmentation of rock masses. The methodology includes determination of the static and dynamic mechanical properties of a rock unit by conducting a series of laboratory tests on intact rock samples collected from a quarry in Canada. A 2D distinct element code, Particle Flow Code, was used to generate a bonded particle model in order to simulate both static mechanical properties (uniaxial compressive strength, elastic modulus, Poisson’s ratio and indirect tensile strength) and dynamic mechanical property (drop weight tensile strength) of the intact rock. The calibrated numerical model was then used to construct large-scale synthetic rock mass samples by incorporating discontinuity networks of different intensity into the bonded particle model. Finally, the impact-induced fragmentation inflicted by a rigid projectile particle on the jointed rock mass samples, simulated by a synthetic rock mass model, was determined. More fragmentation was observed for the rock mass samples with higher joint intensity.CITATION:Aziznejad, S and Esmaeili, K, 2015. Effects of joint intensity on rock fragmentation by impact, in Proceedings 11th International Symposium on Rock Fragmentation by Blasting, pp 377–384 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 24, 2015

By Q Fan

The steelmaking desulfurisation plays an important role in coal-based steelmaking route of blast furnace and BOF converter within the flow sheet of BF-deS-BOF. With the advent of H2-based ironmaking and steelmaking process, the transition flow sheet of DRI-Smelter-BOF has been assessed and developed by the steelmaking industry. What is the role of deS in H2-based route of DRI-smelter-BOF? This paper will present the influence of sulfur-containing iron ore on steelmaking desulfurisation and the leading role of EAF-smelter played in H2-based steelmaking route. The sulfur contents of iron ore vary considerably around the world and lower-grade iron ores with high sulfur are likely to be used for H2-based route, a considerable amount of sulfur that comes from DRI will report to the melt of EAF-smelter and the operating conditions of EAF-smelter also impact the sulfur content of the hot melt for steelmaking deS. The EAF-smelter of H2-based route is the focus of the steelmaking industry at moment, unfortunately, an industrial-scale EAF-smelter has been the missing link of the flow sheet of DRI-Smelter-deS-BOF, despite similar EAF-smelters being used for various applications of Fe-Ti and Fe-Ni processes. The latest progress is that several pilot-scale and industrial-scale EAF-smelters with reducing capability are planned for construction within next several years and low-grade Australia iron ores are certainly to be employed as basic feedstocks for H2-based route of DRI-Smelter-deS-BOF.

Sep 18, 2023

A study was conducted to evaluate the effectiveness of the three types of sample grinders routinely used in the mining industry for the sample preparation of gold ores with particular emphasis placed on testing their capacity to produce a representative assay sample of coarse gold ores. The grinders used in this study are the Labtechnics LM5, the Mixermill 4010 ringmill and the Keegor vertical spindle pulveriser, commonly called a Keegormill. The study was based on the preparation of samples from two sources of known coarse gold ore, the Union Reefs Gold Mine and the Brocks Creek Gold Mine in the Pine Creek region of the Northern Territory of Australia, and a fine gold ore which was from the Macraes Gold Mine in New Zealand. The Union Reefs Mine contains visible coarse gold with 30 per cent to 40 per cent of the gold in the plus 75 μm fraction of milled ore. Discreet particles up to 5 mm have been recorded, Hellsten (1994). Union Reefs Gold Mine recovers 40 per cent of its bullion production through a gravity circuit, Riches (1997). Brocks Creek ore contains visible coarse gold with gravity bullion production fluctuating between 50 per cent and 65 per cent, depending on the mill feed. Average gravity bullion production from the Brocks Creek Mine is 55 per cent, Wilke (1997). The average gold grain size of Macraes Mine ore is 20 μm with 40 per cent of the gold in sub 10 μm particles. No gravity bullion is produced from the Macraes Mine, O'Keefe (1997). The testwork demonstrated conclusively that it is possible to prepare a representative sample for assay, of a coarse gold ore, when a Keegormill is used to pulverise the sample to a nominal 100 μm particle size (90 per cent passing a 100 μm screen by wet sieving). Both the Mixermill and the Labtechnics LM5 failed to prepare a representative sample, even when ground to a nominal 75 μm particle size.

Jan 1, 1998

The Fraser Range is composed dominantly of basic pyroxene granulites derived from basalts, many of which appear to have been vesicular and*pillowed. Acidic and basic garnet-bearing granulites are important in the west, and acidic granulites and narrow anortho- site layers are dominant in some regions east of the Fraser Range. An extensive flat-lying olivine gabbro sheet cuts the granulites, and in places has been converted to spinel-bearing meta-gabbros and pyroxene granulites. The granulites of the Fraser Range (Proterozoic) are separated from the gneisses and schists of the Goldfields regions (Archaean) by the Fraser Fault, over which there is a large gravity anomaly (gradient 20 milligals per mile). Some of the problems associated with the concentration of Cu, Ni, etc. liberated from mineral lattices during metamorphism, and other principles of metal concentration in granulite terranes, are discussed. The recognition of vesicular and pillowed zones, even though highly metamorphosed, is of fundamental importance.

Jan 1, 1969

By Y Ren

The algorithms employed by the commercial tools are either heuristic algorithm or iterative optimisation of a subsystem. This often results in a suboptimal schedule. In this paper, the author presents a new scheduling algorithm that incorporates with a novel stockpile configuration system, an improved algorithm on multiple processes and a mixed-integer linear programming (MILP) global optimisation model. It can simultaneously optimise stockpiles, blending, multiple processes as well as multiple mines. In addition, it allows the user to interact with the solution to adjust the solution to be practical and desirable.CITATION:Ren, Y, 2013. A simultaneous optimisation tool for open pit mine scheduling, in Proceedings World Gold 2013 , pp 427-432 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 26, 2013

By J Player, R de Vries, E Villaescusa, R Hassell

Concerns regarding the uncertainty of stope dilution at MMG Dugald River Underground Mine led to a trial stoping program to acquire full-scale comprehensive geotechnical information and to test the validity of the geotechnical and mining parameters. Given that stope production drilling and blasting is a key parameter that influences dilution a detailed stope blast vibration project was implemented. The stoping trial consisted of 19 stopes, a combination of both sublevel open stoping and longitudinal and transverse stopes, of which five were monitored for blast vibrations.The blast vibration project utilised 20 triaxial geophones and five triaxial accelerometers installed in the hanging wall of five monitored stopes. For each stope fired, full blast waveforms were recorded along with detailed information of the blast design. Analysis of the blast vibrations used the Holmberg-Persson approach, with potential damage determined by the relative (Holmberg-Persson) K values.The project identified the benefit of parallel, breakthrough slot holes in reducing blast vibration damage. The results show that radial rings toeing or stabbing into the stope wall lead to higher vibrational energy yield which contributed to increased overbreak. Hanging wall overbreak, by comparison, with parallel, breakthrough blastholes with 1 m standoff, combined with lower density explosive charging (0.8 EP) and increased delays limited blast vibration damage. A number of ring burdens from 1.4 m to 2.5 m were monitored with no difference in terms of energy yield being identified. Changes to the stope drill and blast design are suggested to better control the large blast vibrations and recommendations from this project have been implemented into future mine design and planning.CITATION:Hassell, R, Villaescusa, E, de Vries, R and Player, J, 2015. Stope blast vibration analysis at Dugald River Underground Mine, in Proceedings 11th International Symposium on Rock Fragmentation by Blasting, pp 221–232 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 24, 2015

By J Lyons, S Baker, D MacHunter, D Pepper

Mineral processing plants require a storage buffer to bridge differences in production rates between mining and processing. Where coarse ores are processed, such as coal or hard rock, this buffer may be an ore stockpile or silo. For wet-mining processes, eg dredging or hydraulic mining, or where fine ores are slurried close to the mining face, a surge-bin is used to contain the plant feed and smooth out the variations in mining rates. These bins have gradually evolved from simple storage vessels to units that are now frequently part of the mineral separation process itself, such as providing a desliming function to remove deleterious ultrafine gangue. This feed conditioning is often essential to achieve the levels of plant performance required in times of declining ore grades and or where inherent ore characteristics make separations harder to achieve. To achieve these dual roles requires careful consideration of bin design factors such as geometry and lining selection and increased use of instrumentation and advanced, or remotely supervised, control systems. All this ensures they provide capacity to smooth out variations in mining rates and guarantees that when conditioning ores or adjusting slurry densities ahead of the plant it is achieved without loss of valuable minerals. This paper examines the evolution of the modern surge-bin from a simple, so called, constant density tank with its inherent mass-flow compromises, limited feed preparation and beneficiation abilities, and footprint penalty, to a current state-of-the-art surge-bin, the LFCU, with a control system which provides demonstrable steady outputs, while conditioning and in some cases beneficiating the ROM material and all from a highly compact unit. It further discusses their use in other applications around the world, for example providing the necessary security for long distant high-density pumping systems; constant high density, low water usage, tailings disposal pipelines and high capacity ultrafine iron ore beneficiation.

Aug 24, 2022

Underground mining of the ore below the West Lyell open cut commenced in 1972 with the 10 Series stopes above rail haulage level. The third lift of stoping (30 Series) com- menced this year, and access to the 40 Series stopes is being developed. The method uses transverse open stopes with subsequent mass blasting of the rib and crown pillars and consequently there is sub- sidence and caving of the old open cut area above.

Jan 1, 1982

By H Mischo, M Ferber, M Donner, B Jung, S Grehl, A Dietze

Mobile robots have been making impressive inroads in a variety of domains. Within the Mining-RoX project, Technical University Bergakademie Freiberg is exploring a further frontier for mobile and autonomous robots: underground mines. The potential benefits of mobile robots in underground mining are plentiful as underground mines are strenuous and potentially dangerous working environments for humans. A higher degree of automation, with robots either acting as helpers for human miners or even replacing all human personnel deployed underground, could help to significantly reduce mining costs. In disaster cases, rescue robots could help to find missing personnel. Unmanned mines operated by robots alone would not endanger human lives at all. Further use cases, and a particular focus of the Mining-RoX project, are mobile robots that gather sensory information of the underground mine (eg for the purpose of creating detailed 2D and 3D maps) as well as monitoring environmental conditions such as air and water quality. This paper presents the design of a prototypical mobile robot for mapping and monitoring underground mines. A generic robotic platform was extended with various 2D and 3D imaging devices as well as other sensors. First results from test runs in an underground mine are reported. Maps of two sections of the mine enhanced with localised sensor measurements were successfully created.CITATION:Grehl, S, Donner, M, Ferber, M, Dietze, A, Mischo, H and Jung, B, 2015. Mining-RoX – mobile robots in underground mining, in Proceedings Third International Future Mining Conference, pp 57–64 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Nov 4, 2015