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By J. F. Burr, D. P. Snyder, G. W. Luxbacher

"The Mine Improvement and New Emergency Response Act (MINER Act) of 2006 (PL 109-236, 2006) established the Office of Mine Safety and Health, functioning as the Office of Mine Safety and Health Research (OMSHR) within the National Institute for Occupational Safety and Health (NIOSH) and provided authority for awarding contracts related to the development and implementation of new mine technology and equipment. The OMSHR external contracts program was formed in accordance with the MINER Act and has since issued more than 150 contracts focused on worker health and safety. Initial funding for this program was provided by the United States Congress through two emergency supplemental appropriations and was focused on emergency oxygen supply, communications and tracking, and refuge chambers (also referred to as refuge alternatives). Since the MINER Act, Congress has continued to fund the program through the annual NIOSH mining appropriation. The program was supplemented starting in 2009 with an academic capacity building program directed toward developing university tenure-track faculty and facilities and supporting graduate students in the area of mine ventilation. Ground control was added as an additional focus area in 2011. A short synopsis of each contract is published on the NIOSH Mining website (www.cdc.gov/niosh/ mining/researchprogram/contracts/index.html) and final reports are available in digital form on request. A summary of the progress OMSHR has made over the 10-year period since the Act was published previously (Snyder et al., 2016).External contracts are broadly classified by the following areas:• Communications and tracking.• Emergency response.o Self-escape and breathing air supply.o Refuge alternatives.o Escape and rescue.• Equipment safety.• Fires and explosions.• Ground control.• Mine environmental systems (mine ventilation and atmospheric monitoring).• Worker/workplace health and safety.Contracts are issued under a request for proposal (RFP), through a broad agency announcement (BAA) or under an interagency agreement (IAA). An RFP solicitation includes a specific problem description and a well-defined scope of work to guide the offeror in preparing a bid to conduct the research. Under the BAA several problem areas are described and the offeror develops the scope of work and deliverables for the proposed research. An IAA is very similar to an RFP except it is a contract between two federal government agencies."

Jan 10, 2018

By Steve Kral

The mining industry has waited a long time for the resurgence in commodity prices and demand for its products that it is now experiencing. Base and precious metals prices have reached levels not seen before. Coal prices have also shot up. And there are encouraging signs in the uranium market. China’s nearly out-of-control economic growth is said to be the leading driver for much of this resurgence. But demand for energy, metals and building materials in the United States and elsewhere are also major factors. The result is that expansions and new mines for nearly every commodity are in the works.

Jan 1, 2005

By T. BoBo

"In the 1990’s metal prices were trending in a long term decline and the usual cost cutting exercises were adopted. Cuts to research and development made innovation difficult and the outlook was grim. But necessity is a strong motivator, and these conditions spurred the Mine-to-Mill movement which optimised across organisational “silos” and utilising new technology tools, innovative software and increased computing power. Many applications of Mine-to-Mill exploited the fact that comminution is usually the site processing bottleneck, and that blasting is more efficient at breaking rock than grinding. This approach sought to: • Understand and characterise rock breakage from mining to the mill • Develop models and simulators for blast design, fragmentation, crusher and mill circuits • Develop tools to measure in real time the particle size distribution of rocks on conveyors and Run of Mine (ROM) muckpiles • Ensure effective communication across the silos between geologists, blast design engineers, mining engineers and metallurgists These methods and the technology tools available in the 1990s were widely adopted at numerous sites around the world with significant benefits. SAG mill throughput increases of 10-20% were common. This was the advance the industry desperately needed. It was low capital cost; it was obvious. It was here to stay. Except, in too many cases, it didn’t. In the minerals price boom of the 2000’s Mine-to-Mill was no longer necessary to “survive”, even though it was still good business. Some operations, including some of the early success stories, slipped back to old habits of optimising within organisation silos instead of across them. Fortunately, other operators still embraced Mine-to-Mill and developed new techniques. Mine to Mill was still successful, but it not as widely adopted as we had expected it to be.Now the boom has ended and operations are again under cost pressure. Since these are the same circumstances that created Mine-to-Mill, it seems time to achieve the wider adoption. Since the 1990s many new or advanced technology tools are available for Mine-to-Mill projects: blast-hole sensors, new explosives formulations, new blasting techniques and modelling, ore tracking devices, improved image analysis to determine size, texture and colour of coarse ore, grade sensors, whole-stream simulation tools, even more powerful computing hardware and data analysis software. If we could achieve so much in the 1990’s, how much more can we achieve today when we have the same imperative, the same potential and a larger number of high technology tools?"

Jan 1, 2017

By Gökhan Çevikbilen, Ümit Karadoğan, Sevde Korkut, Berrak Teymur

This study proposes a methodology for dewatering of mine waste using a multistage process, combining geotextile tubes and anionic polyacrylamide (PAM), which accelerates the recycling process of water for aggregate mine waste facilities. For this purpose, waste from a rock quarry located in Istanbul was investigated. Flocculation tests revealed that the use of anionic PAM at an optimum dosage reduced sedimentation time and decreased turbidity. The compatibility of geotextiles and mine waste conditioned with different dosages of the effective PAM was evaluated by rapid dewatering tests, considering the water content of the filter cake, amount of infiltrated solid content, and rate of filtration. Geotextile dewatering tests were also performed on PAM-free and conditioned suspensions. The dewatering process was optimized by the use of a geotextile tube in two stages: (i) on the unconditioned suspension and (ii) on recovered PAM-conditioned leachate. Directing PAM-free non-hazardous soil-based material obtained in stage i to alternative beneficial uses is suggested, to minimize the volume of waste. Furthermore, recycling of the effluent obtained at the second stage of the proposed method will ensure more efficient water reuse

Sep 29, 2022

By J. Kretschmann, R. Amiri

"The Sangan iron-ore mines (SIOM) in Iran are located in a remote area, near the Afghanistan border. The deposit of SIOM is containing a geological resource of 1.2 billion tons of mostly magnetite with a Fe grade ranging from 27 to 61 %. The Iranian government plans a stepwise development of SIOM in cooperation with private companies to satisfy the growing demand of the Iranian steel industry. Sustainable development (SD) is an influential ethical concept in mining all around the world. However, a successful realization of a SD is not possible without a foundation on the core values and regarding the specific circumstances of the individual mining country. This paper introduces SIOM and describes SD activities undertaken during its development. From the early stages, these activities have been realized to secure the acceptance of the stakeholders in the region. To evaluate their effects, indicators could be filtered as the ones with the highest priority for the stakeholders. Moreover Islamic values and Iranian regulations and their influences on SIOM have been analyzed. Keywords: Iran, Sustainable Mining, SIOM, Evaluation, Islamic Values INTRODUCTION Mining Industry in Iran The Islamic Republic of Iran holds 68 types of minerals, including salt, sand and gravel, gypsum, chrome, lead, zinc, copper, coal, gold, iron etc., with 37 billion tons of proven reserves and more than 57 billion tons of potential reservoirs. Iran is ranked among the 15 major mineral rich countries (1). In accordance with the statistics published by Statistical Center of Iran (SCI), there were 5.316 active mines and 84.922 employees in the whole country in 2012-13 (2) and according to the statistics published by Central Bank of Iran (CBI) in 2011 the share of this sector in the Gross Domestic Product (GDP) of the country was 1.2 per cent (3). Sangan Iron Ore Mines (SIOM) The deposit of SIOM is one of the largest iron-ore deposits in Iran, also considered to be one of the Middle East’s richest deposits, which contains a total geological resource of 1.2 billion tons of mostly magnetite with a Fe grade ranging from 27 to 61%. It is located 300 km southeast from Mashhad, the capital of Khorasan-e-Razavi Province, and 18 km northeast of Sangan town, in Khaf County, at latitude N34°24’, longitude E60°16’ in the north-eastern Khorasan-e-Razavi Province, 30 km west of the Afghanistan border (4) (Figure 1). SIOM is owned by the Iranian Mines and Mining Industries Development & Renovation Organization (IMIDRO). IMIDRO intends to develop an open pit mine complex and supporting facilities in SIOM for the production of about 20 Mtpy of iron oxide concentrate and pellets in four developing phases (5)."

Jan 1, 2016

By Franziska Wolf, Rainer Ellmies, Helmut Mischo

"Mining is an important part of the economy of Namibia. In 2016, 11.1 percent of the GDP was the result of mining activities with 22 active mines (The Chamber of Mines of Namibia, 2016). Only one of them consists of an underground mining operation.The global annual production of fluorspar is approximately 5.4 to 6.3 Mt (6 to 7 million st) (U.S. Geological Survey National Minerals Information Center, 2017). Okorusu has produced on average about 45 kt/a (50,000 stpy) in recent years (U.S. Geological Survey National Minerals Information Center, 2015).The Okorusu Mine is Namibia’s only fluorspar mine. Fluorspar was mined in an openpit mine with four individual pits (A-D) since 1980. In 2014, the mine closed due to the increased stripping ratio and beneficiation problems. The mine assets were bought by Gecko Namibia. Currently, Gecko uses parts of the processing plant for beneficiation of graphite from a neighboring mine. Figure 1 shows a panoramic view with the four pits and the mine village.The intent is to develop a concept for the further underground development of the mine. There are still about 6.3 Mt (7 million st) of measured resources left in the deposit, with an average grade of 27.5 percent CaF2. This study focuses on the underground mine design. The above-ground plant and facilities are considered as remaining unchanged.For solving the task to design the mine, a site visit for data collecting was conducted. Resource estimations were calculated based on existing drill data, and consequently, block models were created. The development of the mine design included the selection of the most suitable mining method, mining technology and mine organization. Moreover, some economic considerations are pointed out, followed by a profitability assessment."

Jan 2, 2018

By Ji Fang, Chong Fan, Fengrui Wang, Dongxin Bai

Unmanned mining technology in underground mines offers high efficiency, safety, and low cost. However, ground operators face challenges in accurately perceiving the underground environment through videos. This paper presents an augmented reality (AR) platform developed to enhance the unmanned mining process. The platform uses cameras and 5G technology to transmit high-fidelity video streams to the ground, where key targets are identified and virtual models are registered in the video to enhance the real scene. Tests in the Xinli stope of the Sanshandao gold mine showed the platform’s effectiveness in improving ground operators’ perception and production efficiency.

Jan 30, 2022

By J. Kretschmann

"By the end of the 1950s, the German hard coal mining industry produced 150 million tons of hard coal per year in 170 collieries with 600,000 employees. At that time, 70% of the primary energy demand of the Federal Republic of Germany was covered by domestic coal. However, due to coal mining becoming an increasingly globalized business and the oil and gas industry producing with lower costs, the German domestic hard coal industry stood constantly under restructur-ing pressure. The industry declined until the end of its life cycle. In 2007, a political understanding was arranged to phase out German hard coal mining in a socially acceptable manner by the end of 2018. This decision required a new strategy for the coal mining industry. Being strictly finalized, the German hard coal mining industry has to be prepared for the post-mining era. To create a sustainable development strategy, the long-term impacts of coal mining activities in Germany concerning the environmental, economic and social dimensions will be analyzed systematically and forward-looking. The regional and social responsibility during the closing process and for the post-mining era will be emphasized. High technical standards in environmental protec-tion and post-mining technologies, as well as long term experiences in the development of former mine sites to create new jobs are significant from an international point of view. The traditionally constructive social partnership between employers, union, and employees has enabled long-term stable adaption processes and avoided social friction. The sustainability strategy of the German hard coal mining industry can be regarded as a role model for other mining countries and regions facing similar transition challenges. INTRODUCTION Principally, mining is a finite business that reaches its end if the deposits are depleted or the raw materials can no longer be mined in an economically profitable way. However, the impact of mining is po-tentially an infinite one – at least if you measure it at a human time scale. Mining always means interfering with geological and ecological structures that cannot be reversed to their original condition. In general, the mining cycle (Figure 1) can be divided into three phases: 1. The exploration phase, in which the deposit is investigated to determine its technical and economic profitability. The period of these undertakings is relatively short and can lead to the launch of mining operations. 2. What follows is the actual mining phase which usually lasts for a long time and ends latest when all deposits are fully depleted. This lifespan may be shortened if the economic conditions (production cost or market price) deteriorate. Nevertheless, mining may be resumed if those conditions become favorable once more (examples are silver mining in Germany or rare earths mining in the USA). 3. The longest phase, however, is the post-mining phase as the human interference into geology and nature is usually inten-sive and irreversible. Mining can lead to consequences which have a permanently adverse impact on people and the environment; therefore, they have to be managed as best we can (1)."

Jan 1, 2017

By Stephen Meyer, Véronique Falmagne, Antti Pyy

Kittilä Mine is a gold mine located in Northern Finland, owned and operated by Agnico Eagle Finland. The mining operation started in 2008 with open pits which were completed in 2012 and production moved to being entirely underground. The mine consists of four separate orebodies, currently producing 2.0 Mt per annum, and requiring over 19 km of development on a yearly basis. The principal mining method is long hole stoping with delayed backfill. Microseismic monitoring was initially tested in the Suuri orebody, in the mining block between the 625 and 500 Levels. A small monitoring system was installed in 2018, after observations of stress-induced damage to the rock mass and in anticipation of future mining at greater depth. The initial goals were to evaluate if useful data could be recorded and test the signal quality of different sensor types. Prior to 2018, ground control related challenges in the Suuri and Roura mining blocks had been mostly related to sill pillar mining and block movements between weak graphitic schist planes. Seismic monitoring in the Suuri deposit proved successful for following the rock mass response to mining and helped support the rationale for early monitoring in the new, deeper mining block in Rimpi at 900 m depth. Preliminary geotechnical characterization and testing of the rock mass showed areas of silicification in the footwall rocks with potentially continuous structural features. Seismic monitoring of the Rimpi area has confirmed the brittle behavior of the rock mass, with strong seismic responses induced by stress changes following blasting being recorded. In addition to this expected behavior, a large magnitude event associated with significant damage in the footwall drive development 90 m above the stoping was experienced. Initial investigation of the rockburst showed two separate damage locations with over 300 tons of displaced rock. The seismic monitoring system recorded this rockburst as a single seismic event with magnitude significantly larger than previously recorded. Additional analyses indicated a possible thrust fault event, triggering two separate strainbursts. Following this event, the ground support system was upgraded in parts of the footwall drives to improve dynamic capacity. Systematic calculation of the source mechanisms for the small footwall events down to Mw-2.5 has revealed potential planar structures in the footwall. Early implementation of microseismic

Apr 26, 2022

By Staff

Minerals contribute to U.S. gross domestic product (GDP) at several levels ? from mining and processing to the manufacturing of Anished products. In 2009, the estimated real GDP of the United States decreased by 2.4 percent compared with, and the estimated nominal GDP was about $14.2 trillion (Table 1). Trends in various sectors of the domestic economy are often reflected in mineral production and consumption rates. In 2009, the continued decline of the housing market was reflected in reductions in the production and consumption of cement, clays, construction sand and gravel, and crushed stone (those mineral commodities that are used almost exclusively in construction). Production of mineral commodities associated with the manufacture of goods for the housing market, such as ceramic tile, heating and air conditioning equipment, paint, plumbing and sanitaryware, roofing, wiring and wallboard also decreased. Declines in auto-mobile manufacturing resulted in reduced production

May 1, 2010

By M. A. Trevits

Mine seals are used in underground coal mines throughout the United States to isolate abandoned mining areas from the active mine workings. The objective of adding inert gas to a sealed mine area is to quickly reduce the oxygen concentration in the sealed area to a level that will not support combustion. In the US, this process is typically conducted from the ground surface and because surface-to-mine access is constrained by so many variables, it is very difficult to provide a source of inert gas to the place where it is needed underground. To alleviate this problem On Site Gas Systems, under a NIOSH contract, built a nitrogen (N2) generation plant that operates in the underground environment. The purpose of this work was to create a reliable in-mine mobile plant that would extract N2 gas from the mine atmosphere and use the gas to create and maintain a safe sealed mine area. The plant is based on a novel design using pressure swing adsorption technology and is sized to fit on a standard shield car or mine dolly for easy transport in and around an underground coal mine. The plant is capable of producing about 900 scf/min of N2 gas at ambient mine conditions. After an exhaustive series of laboratory tests, the plant was field tested at the NIOSH Safety Research Coal Mine (SRCM) where a portion of the mine was sealed and rendered inert. During the test, the movement of the injected gas was monitored at several underground points to observe the progress and extent of the inerting process. This paper describes the plant design and the results of the field test at the SRCM. Disclaimer: The findings and conclusions in this report are those of the authors and do not necessarily represent the views of NIOSH.

Jan 1, 2009

By MOHAMMED AMINE BELMI, ANAS DRIOUCH, ABDELAZIZ LAHMILI, LATIFA OUADIF

For many years, underground workings in the Bou Azzer mine have been challenged by geotechnical problems related to the serpentinite instability. The stage of evaluation of the compression potential is crucial to develop an appropriate drilling method and the choice of non-standard support. This research work presents a retro-analysis of serpentinite behavior in underground excavations at different depths, using a multi-approach method, based on several empirical and semi-empirical and theoretical-analytical methods, calibrated by the observational method. The analysis performed in this work reveals that underground excavations in Bouazzer East and Ait Hmane area would encounter compression problems that were recognized as the most serious from a depth of 300 m because of the effects of lithology and tectonics. Therefore, the Aghbar region has a slightly negligible compression potential. The compressive failure mechanism in this mine, depending on the mechanical strength, is started at induced stress of 9 MPa.

Nov 27, 2021

By H. D. Brenk

"The German Federation of International Mining and Mineral Resources (FAB) is a federation of German companies that are active in international mining and mining related business. The FAB presents a platform for the exchange of information about the worldwide mining commodities in the dialogue with German and foreign institutions. The expertise of the member companies in mining and related activities is based on a long term operation and consulting experience in Germany and abroad. This forms the basis for the special international competitiveness "Made in Germany". The FAB is particularly engaged in the following topics and tasks and acts as a focal point for: • international project developments with the German mining industry, • sustainable mining, consulting and equipment services, • geological and environmental technologies, • project financing and • intermediation of contracts, project enquiries, professional symposia and events. The FAB acts as a contact- and coordination site for international business partners, organizations and governmental authorities. Together with the federal government the FAB organizes bilateral working group meetings in the commodity and mining sector. Project enquiries are being distributed from the FAB among their member companies."

Jan 1, 2011

By Laura Suarez, Jörgen Kajberg, Pär Jonsén

In recent years, slag, a residue from pyrometallurgical processes, has become more attractive in circular economy frameworks to increase the efficient use of resources throughout the life cycle of steel products and help in the reduction of carbon emissions. Its applicability is strongly dependent on the particle size, and therefore, the optimization of breaking processes should be approached by increasing the knowledge of the dynamics of slag to promote fracture. Increasing the knowledge on themechanical response ofmanganese slag opens up the potential for the development of cost-effective numerical models, e.g., constitutive models based on inverse engineering calibration frameworks or digital twins. In this study, rate-dependent tests of manganese slag have been performed using a split Hopkinson pressure bar device for testing its dynamic mechanical response. In order to obtain information about the crack initiation and fracture process, 2D ultra-high speed imaging was implemented with a sampling frequency of 663,200 fps for diametrically loaded specimens. Full-field deformation measurements using digital image correlation (DIC) techniques showed a staggered fracture process where failure points on mechanical response curves vary due to the internal events happening in the material. Localized frictional occurrences and inertial effects acting inside the pre-cracked matrix have a strong effect on the global mechanical response, and therefore, a great variability of strengths was obtained.

Nov 3, 2023

By Max Friedemann, Alexandros Bousdekis, Anna Gustafson, Helmut Mischo, Håkan Schunnesson

Many devices used in mining are not monitored by sensors or do not have their own intelligence. By retrofitting sensors and real-time data processing, machines can be integrated into an existing digital infrastructure. Within the project Mine.io funded by the European Union a Sandvik DE110 exploration drill rig is being digitized using various AI algorithms at research and education Mine “Forschungs- und Lehrbergwerk Reiche Zeche (FLB)” of TU Freiberg. The aim is to increase the productivity of drilling with real-time evaluation of the current rock to be drilled and the current maintenance status of the drill rig. The drill rig is equipped with a speed sensor, pressure sensors in the hydraulics, 3-axis vibration sensor, borehole length measurement and temperature sensor. The sensors are additionally attached to the drilling rig and no structural changes on the drill rig are necessary. All data are processed real-time at a server structure outside of the mine using AI algorithms to analyze which rock (ore or host rock) is being drilled and to perform predictive maintenance. Processed Data are visualized for the operator to optimize the workflow and the productivity.

Feb 1, 2025

By B. A. Hillman

Silicon is the second most abundant element on earth, exceeded only by oxygen. Silicon dioxide forms a crystalline structure of repeating SiO2 molecules which form characteristically hard, durable crystals. As a result, crystalline silica is Ubiquitous in the crustal rocks, sediments and the mineral products derived from mining. An examination of the history of studies that identify silica as a human and animal carcinogen is presented in the context of the development of a public health policy in California. The implications for the cost of conducting aggregate and other mining operations in the state are discussed.

Jan 1, 1992

By D. Küster, G. Franken, P. Schütte, J. Vasters

The CTC (Certified Trading Chains) mineral certification system has been piloted in Rwanda since late 2008. CTC project implementation is jointly driven by the Federal Institute for Geosciences and Natural Resources (BGR) and the Rwanda Geology and Mines Authority (OGMR), in cooperation with other national stakeholders. Five Rwandan mineral producers participate in the CTC project with their flagship mining concessions. Based on independent third-party audits, CTC certifies supply chain due diligence measures of these companies engaged in the artisanal mining sector through on-the-ground assessments of mining conditions, transparency, as well as mineral origin and traceability. The CTC system thus allows responsible mineral producers and their clients to verifiably demonstrate supply chain due diligence and good governance in conflict-affected and high-risk areas.

Jan 1, 2011

By Gabriel K. Nzulu, Lars Hultman, Per Eklund, Martin Magnuson, Abu Yaya, Prosper M. Nude, Hans Högberg

Pyrite is the most common among the group of sulfide minerals in the Earth and abundant in most geological settings. This gangue mineral in association with garnet, hematite, magnetite, and other sulfide minerals acts as an indicator mineral in the Kubi concession of the Asante Gold corporation in Ghana. X-ray diffraction (XRD), air annealing in a furnace, energydispersive x-ray spectroscopy (EDX), and X-ray photoelectron spectroscopy (XPS) were applied to investigate the crystal structure, identify individual elements, permanence, transformation, and chemical/electronic properties of such pyrite. The study aims to identify individual elements and to gain an understanding of the surface reaction mechanisms, as well as the properties of precipitated pyrite particles observed during the hydrothermal formation of the ore deposit. XRD shows that pristine and annealed samples contain some hematite and quartz besides pyrite. Results from air annealing indicate that the relationship between pyrite and hematite-magnetite is controlled by temperature. EDX reveals that the sample has O and C as contaminants, while XPS in addition reveals Ba, Au, P, Al, and N. These elements are attributed to pyrite that bonds metallically or covalently to neighboring ligands/impurity minerals such as oxides, chalcogenide sulfides, as well as the gangue alteration minerals of magnetite and hematite in the pyrite sample. These findings suggest that during the hydrothermal flow regime, pyrite, pathfinder elements, and impurity minerals/metals were in contact with quartz minerals before undergoing hematite transformation, which thus becomes an indicator mineral in the Kubi gold concession.

Feb 27, 2024

By R. Adsero

"A high altitude review of the state of the mining industry provided by a study of multifactor productivity shows a continuation of lower output year on year for the capital and labor inputs applied. The story is sadly similar for both U.S. mining and the Australian mining sector. In fact, according to PwC analysts, the world’s mining equipment productivity has declined 20 percent during the past seven years (Lumley, 2014). Although the reasons for the continuing decline in mining productivity are varied, the need for improvement is clear.The world’s mining industry fleet of more than 400 large draglines moves billions of tons of overburden and ore (phosphate, limestone, etc.) annually. This discussion will review a few of the tools available for improved productivity in dragline operations.Benchmarking equipment performance exposes the possibilitiesIn the September 2013 Mining Engineering cover story Graham Lumley and R. Adsero suggested that analyzing best practice equipment performance from an industrywide database for specific equipment performance improvement goals would be beneficial (Adsero, 2013). Benchmarking equipment performance by normalizing differences and then comparing specific measures of performance will provide a road map to improvement for those following the leaders. For those already performing at best practice levels, a benchmark confirms and bolsters what has already been achieved. As described in the SME February 2014 paper by this author, best practice is the average of the top 10 percent in annual output. Filling performance gaps identified by a comparison to best practice by investigating the details of the why and taking action to change, makes all the difference. This is true for all major mining equipment. Given the large gap between average performance and best practice performance most mining operations can benefit. Best practice performance provides a view of what is possible to the 90 percent majority of mining operations that are performing below the top 10 percent.For dragline mining operations, identifying specific characteristics and practices of leading dragline performance will provide a reference for comparison."

Nov 1, 2016

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