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By Min Chen, Qinghua Liang, Weishan Yan, Yuan Feng, Shigang Wang

Various coal mine robots (CMRs) and unmanned aerial vehicles (UAVs) are implemented to explore unknown mines for improving the safety and efficiency of mining. It is challenging for CMRs and UAVs to achieve accurate positioning due to the absence of GPS, poor lighting conditions, and similar geometric features in complex mine scenes. LiDAR-based localization and mapping methods are admittedly more accurate than others, while long-time running in large-scale scenarios will also introduce non-negligible cumulative errors. This study presents a semantic-aided LiDAR simultaneous localization and mapping (SLAM) with loop closure, which leverages the uniqueness of mine intersection structure to establish stable semantic loop closure. Specifically, we propose a semantic intersection descriptor of translation and rotation invariance, which encodes 3D point clouds of the same intersection from different positions and viewpoints into a unified image. By using the semantic descriptor, we can construct a constant loop constraint when the same intersection is revisited from different directions to reduce cumulative drift. We provide experimental validation using large datasets collected in two large underground mines, namely, a simulated Edgar mine deployed in ROS Gazebo and a public underground mine dataset provided by ETH. Experimental results show that the proposed method has higher localization accuracy and outperforms the existing LiDAR-based SLAM strategies.

Aug 10, 2023

By Chaoxun Zhao, Daniel Tao, Craig Blue, Narendra B. Dahotre, Rick Honaker, Bhupendra K. Parekh, Hongyang Han

Equipment wear and corrosion have significant adverse impacts on the operating cost and efficiency of mineral processing plants. In this project advanced surface enhancement technologies are being investigated to decrease the wear and corrosion rate of metal surface. Enhanced metal surfaces are achieved through surface conversion, enrichment, and coating by use of advanced High-Density Infrared (HDI) and other technologies. Studies have been done to determine the effects of process parameters on surface properties and identify optimum conditions. The microstructure of the enhanced metal surfaces was characterized by SEM, EDS, and microindentation. Laboratory wear testing was carried out to investigate the wear performance and the viable coating candidate was determined.

Jan 1, 2005

By David Chastka, Isidro Rivera, Shawna Von Stockhausen, Idit Zarchi

The City of Santa Cruz Water Department is replacing the existing Newell Creek Dam inlet/outlet works at Loch Lomond Reservoir in the San Lorenzo Valley. The project will improve the City’s overall operational efficiency, improve system performance, and improve the safety and reliability of storage for the City’s drinking water supply. The project comprises new inlet works* (three new inlets that control and convey flows into and out of the reservoir, and an intake control building), an inlet/outlet tunnel with a 48-inch conduit to convey flows into and out of the reservoir, and a new outlet structure at the toe of the dam. The outlet structure includes a release point for energy dissipation of emergency drawdown flows, a connection to Newell Creek Pipeline, and beneficial releases into Newell Creek. The project also includes a new dam seepage collection and monitoring system and appurtenant structures such as a culvert bridge over the spillway plunge pool to improve access to the new outlet. Notable complex project components include in-water work to connect the new intake shaft pipes to the three new inlets. The project includes one major milestone with a work window regulated by environmental permits that could only be amended/ extended with approvals from those agencies. If not met, the milestone work would have caused significant delays (potentially up to one year) to the project.

Jun 13, 2021

By Ben Hayes, Michael Ryjevski

The Palm Jumeirah is the smallest of the three Palm Islands (Palm Jumeirah, Palm Jebel Ali and Palm Deira). It is located on the Jumeirah coastal area of the emirate of Dubai, in the United Arab Emirates (UAE). The unique man made island is built in the shape of a date palm tree and consists of a trunk, a crown, 17 fronds and a surrounding crescent island that will form a breakwater. The Jumeirah Palm Island is primarily are treat and residential area for living, relaxation, and leisure. It will contain themed boutique hotels, three types of villas, shoreline apartment buildings, beaches, marinas, restaurants, cafes and a variety of retail outlets.

Jan 1, 2007

By D. Kwietnewski

The 4th bore of the Caldecott Tunnel is a 50-ft horseshoe shaped highway tunnel located in the hills east of Oakland, California. Tunnel excavation was mostly completed using one of the world?s largest commercially available roadheaders, a Wirth T3.20. The geologic profile included seven different geologic units, which displayed a range of different behavior with regard to excavation and initial support. Following a brief introduction to the excavation and support methods, this paper will discuss roadheader performance in the various geologic units encountered during excavation. Comments will also be made concerning the relationship between the roadheader method of excavation and observed ground convergence during excavation.

Feb 27, 2013

By Nikolas K. Sokol

Underground construction often requires working within a very congested urban environment, including excavating shafts adjacent to highly sensitive and multistoried structures, sometimes even within such structures. Shafts adjacent to heavily loaded column footings are often required due to space constraints. Invariably, footing surcharges must be considered during the design of shaft rock reinforcement. Rockwedge stability evaluation reveals that column surcharges can greatly impact the ability to meet the desired factor of safety. Design methodologies and examples to deal with these special circumstances are presented.

Jan 1, 2008

By E. C. Westman, F. J. Shreve

This paper presents the design and construction of a multi-channel geophone array that improves tomographic imaging capabilities in both surface and underground mines. Especially important in the design of the array is sensor placement. Three issues related to sensor placement are addressed in this paper: 1) sensor placement in long, horizontal boreholes, 2) development of simple, robust, MSHA-acceptable clamping unit, and 3) orientation of the geophones within the borehole. Improved imaging capabilities will produce energy, environmental, and economic benefits by increasing exploration accuracy and reducing operating costs.

Jan 1, 2002

By J. C. Cawley, G. T. Homce

The U.S. National Institute for Occupational Safety and Health (NIOSH) Office of Mine Safety and Health Research (OMSHR) conducted a study of mining industry electrical injuries reported to the U.S. Mine Safety and Health Administration (MSHA) for the years 2000 to 2009. The findings of that study are detailed in this paper, and serve to characterize the circumstances surrounding electrical injuries and identify causal factors. The study included three tasks: 1) a direct review of mining industry occupational injury data compiled by MSHA, 2) interpretation of the narrative descriptions available for the injuries (from MSHA data) and 3) a separate examination of fatal electrical injuries. Eight-hundred sixty-five electrical injuries were reported during the 10-year period studied, with 39 of those being fatalities. This makes electrical injuries disproportionately fatal with respect to most other types of injuries in mining. Electrical injury rates were higher in coal mining than noncoal mining and, within the coal sector, rates were higher in underground operations than in surface operations. Of the 865 total cases, electrical and machine maintenance or repair activities were involved in 580 (69%), and electricians and mechanics were injured in 362 cases (42%). Of the 39 fatal electrical injuries, 27 (69%) involved electrical maintenance or repair work, and in 21 of these 27 cases, the failure to de-energize, lock-out and tag the circuit was the cause or a contributing factor. Also, contractor employees had a much greater chance of an electrical injury being fatal than did mine operator employees. The top three root causes for fatal electrical injuries were 1) no or inadequate lock-out and tagging, 2) failure of power system components and 3) contact of overhead electrical power lines by mobile equipment.

Jan 1, 2013

By Wu Xueling

9K medium was used to isolate iron-oxidizing bacteria from 27 sump water samples collected from Dexing Cop-per Mine, Chengmen Mountain Mine and Yin Mountain Mine, Jiangxi Province, China. Lead acetate and silver nitrate were used to enrich metal-resistant iron-oxidizing bacteria from the above water samples. Isolate 16 was isolated from the sample taken at Dexing Copper Mine. Growth experiments indicated that when incubated under lead acetate (3,500 mg/L), isolate 16 still carried out ferrous ion oxidation, while isolate H1, a less resistant strain taken at Yin Mountain Mine, had a tolerance level of only 400 mg/L. When assayed with other metals, i.e., Ag+ (240 mg/L), Hg2+ (0.9 mg/L), Cu2+ (32,000 mg/L) and Mg2+ (22,500 mg/L), isolate 16 still carried out ferrous ion oxidation while, on the other hand, isolate H1 exhibited much lower tolerance levels, i.e., Ag+ (60 mg/L), Hg2+ (0.1 mg/L), Cu2+ (19,000 mg/L) and Mg2+ (13,500 mg/L). Based on 16S rDNA sequence data, isolate 16 and H1 were both identified as Acidithiobacillus ferrooxidans.

Jan 1, 2007

By Marco D. Boscardin, Paul A. Roy, Kevin J. DiRocco, Andy J. Miller

The North Shore Connector Project for the Port Authority of Allegheny County involves TBM mining a pair of subway tunnels through soil and rock under the Allegheny River and a narrow city street. Along the tunnel alignment are a historic building on shallow foundations and modern buildings on deep foundations, one constructed directly over the alignment during the latter phases of design. This paper provides an overview of the general site conditions, and technical basis for excavation support and tunneling decisions. Deformation limits, ground improvement, monitoring and mitigation plans, geotechnical baseline report development, and risk management will also be discussed.

Jan 1, 2007

By Bruno Bussière, Guosheng Zhan, Michel Aubertin, Vincent Martin, Robert P. Chapuis

The study evaluates the hydrological behaviour of exposed and covered waste rock dumps. The objectives were to determine the major factors influencing unsaturated flow in waste rock dumps and covers, and to improve the in-situ, laboratory and numerical modeling characterization methods. Using material properties obtained from in-situ and laboratory tests, waste rock dumps of different configurations, with and without covers, were modeled. It was found that a properly designed “Store, divert and release” (SDR) cover allows most of the water to be diverted downslope and discharged outside of the waste rock dumps. The SDR cover seems to work efficiently even in extreme storm events. The numerical modeling results show that the unsaturated hydraulic properties (e.g. air entry value and water entry value) of the materials largely control the infiltration of water into waste rock dumps.

Jan 1, 2005

By G. H. Glos

There was a time when an occasional failure of a tailings embankment was considered an acceptable risk associated with mining activities. This is not the case anymore. A major tailings failure today could result in the indictment of mine officials, huge fines and a possible site closure due to the loss of operating permits. As a result of this changed operational environment, tailings disposal facilities must be operated with these potential consequences in mind. Physical controls for tailings embankments are prohibitively expensive. However, the nuclear industry has developed a system of administrative controls as an alternative to physical controls. Administrative controls may be defined as control of actions, through organizations and management, using written procedures, record keeping, review and audit to assure operation of a facility in a safe manner (10 CFR 50). Administrative controls can reduce the cost of operating tailings impoundments, as well as increase the level of confidence in these facilities.

Jan 1, 1999

By Steve Kral

The dramatic rescue of nine Pennsylvania coal miners trapped nearly 90 m (300 ft) underground for77 hours probably would not have happened without the high technology equipment and improved mine rescue training techniques available today. By now, most everyone has heard the story of the accident that occurred at the Quecreek Mine near Somerset, PA. At about 9 pm on Wednesday, July 24, the miners were drilling coal in the room-and-pillar mine. Their drilling accidentally punched through to the adjacent, abandoned Saxman Mine. Old mine maps of the Saxman Mine led Black Wolf Coal, Quecreek’s owners, to believe they were between 60 to 90 m (200 to 300 m) away from the abandoned mine. Those maps proved to be inaccurate.

Jan 1, 2002

By H. Arima, T. Fujita, W. Yen

The copper catalyzed gold oxidation and reduction mechanisms in ammonium thiosulfate solution were investigated by Eh-pH diagram based on the optimum reagent combination for 60 mass% -75 µm silicate ore at 16g/t Au with the maximum gold extraction of 92% and the minimum ammonium thiosulfate consumption of 23 kg/t-ore for 24 hour’s leaching at ambient temperature. The gold recovery by cementation was nearly 100% by Zn and Al powders at Metal/Au mass ratio of 30, and around 95% by Cu powder at Cu/Au+ mass ratio of 50. In order to oxidize the gold efficiently with the less thiosulfate consumption, the stable region of [Cu(NH3)4]2+ should be as wide as possible in the region, where [Cu(S2O3)2]3- was more stable than [Cu(NH3)2]+. In order to reduce gold from the pregnant solution with the less metal powder’s (Zn, Cu, Al) consumption, the stable region of [Cu(S2O3)2]3- should be wider than [Cu(NH3)2]+ on copper precipitation. Zinc powder may recover gold more efficiently than copper powder with the similar trend on the effect of ammonia, copper and thiosulfate. However, the large amount of copper will be co-precipitated along with gold since the stability of zinc ammine and thiosulfate complexes are higher than that of copper’s. Aluminium may reduce gold efficiently at higher thiosulfate concentration and pH. These results were confirmed and compared with the optimum reagent combination for finer grind sample at 100 mass% -75 µm, which is the optimum ore size for the standard cyanidation at 1.0 g/ l NaCN to obtain about 95% gold extraction. The optimum reagent combination was concluded as 0.5 mol/l NH4OH, 0.0001 mol/l CuSO4*5H2O and 0.05 mol/l (NH4)2S2O3 with the result of 94% gold extraction and 3kg/t-ore of ammonium thiosulfate consumption. Gold and copper stabilities were well agreed with the result of coarser grind ore thermodynamically. The lower reagent combination will reduce gold oxidation power, but significantly minimize the reagent consumption. From this pregnant solution, nearly 100% of gold was successfully recovered by zinc precipitation at Zn/Au+ mass ratio of 30. Aluminium and copper precipitations resulted in less than 40% of gold recovery at Metal/Gold mass ratio of 30. The reagent consumption cost on this lower reagent combination followed by zinc precipitation was $1.6/t-ore, while the cyanidation was $3.1/t-ore. Thiosulfate oxidation mechanism indicated the similarity to Belousov-Zhabotinsky reaction.

Jan 1, 2002

Development of a permanent human base on the Moon for exploration requires a self sustaining system. This entails production and processing of limited amounts of raw material on the Moon. Any mining and construction activities on the Moon can only be performed by a robust excavation machine that can excavate a variety of material from loose surface regolith to consolidated (frozen) regolith with embedded rocks in the mixture. Meanwhile, limited amount of information on lunar regolith is available to develop and optimize a machine for given lunar ground conditions. Therefore, any excavator designed for use on the lunar surface should have the ability to adapt to a wide range of operating conditions. A prototype cutterhead for the lunar excavator was built and tested at the Kennametal facility in Latrobe PA A. This paper discusses the results of initial material characterization as well as full scale tests of a prototype cutterhead inrelevent material. A brief review of anticipated production rates under various assumed ground conditions will also be presented.

Jan 1, 2009

By M. L. Mellish

The year 1988 unexpectedly turned out to be a good year for the US coal industry. In fact, it was a third consecutive year of record coal production. Accord¬ing to preliminary Energy Information Administration data for 1988, domestic coal consumption went up 5%, or 41 Mt (45 million st), from 1987. Coal exports were up by a surprising 13.6 Mt (15 million st). In 1988, 22.7 Mt (25 million st) of coal were drawn from stockpiles for consumption. Even so, US coal production increased to 862 Mt (950 million st). That was up 28 Mt (31 million st) from 1987. While coal consumption, exports, and production were up, delivered prices for steam coal continued to slide during the year. Metallurgical coal prices, however, firmed up and showed a moderate increase. This reflected tight metallurgical coal markets at home and abroad. Coal consumption US coal consumption reached 800 Mt (882 million st), compared with 759 Mt (837 million st) in 1987. Increased metallurgical coal consumption was one factor. Most of the rise in coal consumption, however, was due to unexpectedly high electricity demand. Unseasonably hot summer weather al lowed added coal-fired electric generation to supplement the drought-related reduction in hydro-electric power supply. Electric utilities consumed 687 Mt (757 million st) of coal in 1988, 35.4 Mt (39 million st) more than in 1987. Coal-fired power plants remained the primary source of US electricity generation, providing 57% of the total in 1988. Coal consumption at coke plants increased 13%, to 38 Mt (42 million st), from the level consumed in 1987. This increase reflects the recent recovery in the iron and steel industry. Metallurgical coal consumption in 1988 could have been greater. But US coke plants reportedly reached their maximum practical production capacity. As a result, net US coke imports amounted to 1.45 Mt (1.6 million st). Despite increased industrial activities, steam coal consumption by industrial plants was up only slightly from the 1987 level, amounting to 69 Mt (76 million st) in 1988. Residential and commercial coal consumption remained virtually unchanged at 6.4 Mt (7 million st). Coal exports and imports US coal exports rebounded in 1988, reaching 86 Mt (95 million st). It was the highest level of annual US coal exports since 1982, when they reached 96 Mt (106 million st). An unusual set of factors led to an opening for US coal exporters in 1988: • a high level of industrial production in Japan and the European Economic Community, • supply disruptions due to labor problems at coal mines in Poland and Australia, • a drought-related reduction in hydro-electric power generation in Canada, requiring increased coal-fired generation, • China's problems in meeting its export commitments, and • a fall in the value of the US dollar. US metallurgical coal exports in 1988 amounted to 56 Mt (62 million st), 9.1 Mt (10 million st) more than the 1987 level. Europe, Japan, and Canada were the principal importers of US metallurgical coal in 1988. European countries, in particu¬lar, increased their take by one-third of US metallurgical coal. The labor problems in Poland and Australia contributed to these higher levels of imports. So did increases in pig iron production of 8% in Japan and 9% in the European Economic Community. US steam coal exports - including bituminous, anthracite, and lignite-increase to 30 Mt (33 million st). This was up from 25.4 Mt (28 million st) in 1987 Contributing to this overall rise were 1.8-Mt (2-million st) increase in shipments to Canada and a 2.7-Mt (3-million st) increase to Europe. Unaffected by the somewhat tighter world coal market, US coal imports showed a slight increase to 1.8 Mt (million st) in 1988. Colombia continue to be the leading exporter to the United States, followed by Canada and Venezuela. Venezuela's entry into the US market is a relatively recent one, having made its first significant shipment in the fourth quarter of 1987.

Jan 1, 1989

By M. Schafer

The 20 foot diameter cast-in-place tunnel lining for Phase 3 of the Mill Creek Tunnel (MCT-3) has been completed. This paper will summarize aspects of liner design and address the construction approach in placing the liner in areas of tunnel that experienced crown overbreak. Tunnel lining production rates, installation procedures and form buoyancies experienced during concrete placement will also be presented.

Jan 1, 2008

By M. E. Buzon, M. E. Gunter

Talc has been the focus of recent civil litigation based on claims that asbestos minerals exist in talc deposits and therefore have caused asbestos-related diseases in those who have regularly used talc products. Such litigation, and ensuing confusion over the petrology and asbestos content of these deposits, challenges the talc mining industry in Montana and elsewhere in the world. The talc deposits in southwest Montana were formed by hydrothermal alteration of dolomitic marbles and are still actively mined. In general, talc formed by hydrothermal alteration of preexisting carbonate rocks is known to be nearly monomineralic and lacking in amphiboles. This paper includes data from analyses of representative ore samples from this mining region in southwest Montana. The results conclude that the presence of asbestos minerals — both amphiboles and chrysotile — is unlikely and that the ores are nearly monomineralic, as expected. Samples were characterized using a suite of analytical methods, namely, powder X-ray diffraction, X-ray fluorescence spectroscopy and electron microprobe analyses, which allowed us to determine the minerals present and the formation process. Our data and interpretations suggest that previous identification of asbestos minerals in these deposits is not accurate.

Jan 1, 2018

By M. E. Buzon, M. E. Gunter

Talc has been the focus of recent civil litigation based on claims that asbestos minerals exist in talc deposits and therefore have caused asbestos-related diseases in those who have regularly used talc products. Such litigation, and ensuing confusion over the petrology and asbestos content of these deposits, challenges the talc mining industry in Montana and elsewhere in the world. The talc deposits in southwest Montana were formed by hydrothermal alteration of dolomitic marbles and are still actively mined. In general, talc formed by hydrothermal alteration of preexisting carbonate rocks is known to be nearly monomineralic and lacking in amphiboles. This paper includes data from analyses of representative ore samples from this mining region in southwest Montana. The results conclude that the presence of asbestos minerals — both amphiboles and chrysotile — is unlikely and that the ores are nearly monomineralic, as expected. Samples were characterized using a suite of analytical methods, namely, powder X-ray diffraction, X-ray fluorescence spectroscopy and electron microprobe analyses, which allowed us to determine the minerals present and the formation process. Our data and interpretations suggest that previous identification of asbestos minerals in these deposits is not accurate.

Jan 1, 2017

By F. Warnaars

Historically, this area produced gold and silver from many well-known vein deposits, like Tayoltita, Topia, and San Jose de Gracia. Modern exploration identified three categories of deposits: 1) low grade porphyry golds in shallow level dacite porphyries; 2) batholith-related deposits; and 3) those formed in volcanic sequences of Late Cretaceous to Late Tertiary. At least four porphyry golds have been identified, of which Metates is best known. These are formed by and within daciteporphyries, associated hydrothermal breccias and sometimes within surrounding meta sediments. Their ages are from mid-Cretaceous to Early Tertiary. Precious metal deposits associated with batholiths occur as veins, contact haloes in meta sediments or volcanics, skarns, tectonic breccias, hydrothermal tourmaline breccias, dacite dikes or as disseminated or stockwork deposits such as La Fortuna.Several new gold discoveries were made in older EarlyTertiary Volcanic Sequences and in the younger Tertiary volcanics within prominent structures exceeding 3 to 5 km in lengths. Some of these are open-pittable but most have to be mined by underground methods.

Jan 1, 1999