Search Documents

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 Gordon C. ‘Bud’ Presley

The pumice and pumicite review arrived too late for the June issue. Estimated domestic production of pumice and pumicite in 1992 was up compared with 1991, according to US Bureau of Mines statistics. The Bureau estimate of domestic production of 400 kt (440,000 st) for 1991 turned out to be 401 kt (442,000 st) of actual production, the lowest since 1989. In 1992, the estimated the value of pumice and pumicite sold or used in the United States was $11.6 million, up only $200,000 from the 1991 value. There was an increase in the mine, or mill, average price from the five-year low of $11.44/t ($10.37/st) in 1986 to $26.42/t ($23.96/st) in 1992. Estimated tonnage produced in 1992 was 439 kt (484,000 st). Apparent domestic consumption was 642 kt (707,000 st), up 135 kt (149,000 st) from 1991. Imports for consumption were estimated to be 215 kt (237,000 st) last year. Domestic production supplied 68% of the demand in 1992, with net imports supplying the remaining 32%. This compares with domestic production sup¬plying 53% and net imports supplying 47% of the apparent consumption in 1988. Exports were about 900 t/a (1000 stpy) for the period 1984 to 1988. In 1989, exports rose sevenfold to 7 kt (7700 st) and to 20 kt (22,000 st) in 1990. The Bureau of Mines reported that the amount of pumice and pumicite exported in 1992 was 12 kt (13,200 st). It is assumed that these exports were from the Pacific Coast because imports, mainly from Greece, continued to be a market factor on the East Coast and the Gulf Coast States in the United States.

Jan 1, 1993

By C. R. McClung

"Molybdenum, in the form of molybdenite, is a common byproduct of many copper mining and concentrating operations. Contrary to most copper sulfide minerals where recovery is principally liberation controlled, the recovery of molybdenite is much more complex with fully liberated particles commonly lost to tailings. It is this complexity that facilitated the necessity for a geometallurgical investigation of molybdenite from the Bingham Canyon deposit. The aim of this investigation was to determine the effect mineralogy and/or mineralogical attributes (i.e. morphology, angularity, liberation, size) have on the recovery of molybdenite in the processing circuit. A set of samples was collected from the ores and products produced by Rio Tinto Kennecott’s Copperton Concentrator. All samples were analyzed using normal polarized reflective light, Mineral Liberation Analyzer (MLA) and X-ray diffractometery (XRD) techniques. The results of this investigation revealed the presence of two distinctly different types of molybdenite, which have been identified as the two polytypes of molybdenite, i.e. hexagonal (2H) and rhombohedral (3R). The 2H polytype occurs as textbook-shaped particles in quartz-molybdenite veins that are located in the core of the Bingham Canyon deposit. The 3R polytype occurs as disseminated, “ball”-shaped particles with a dull or frosted appearance along the margins of the mineralized intrusive body or central core. Concerning their metallurgical behavior each type exhibits unique metallurgical properties that are consistent with those reported in the published literature. For instance, the 2H polytype is easily ground and kinetically “faster” floating with surface attributes that are amenable to higher rates of recovery. This commonly results in the production of a high quality molybdenum concentrate under normal operating conditions common to most copper concentration operations. In contrast, the 3R polytype is difficult to grind and kinetically “slower” floating with surface attributes that less amenable to recovery under normal operating conditions. Therefore, in deposits with higher concentrations of the 3R polytype, modifications to the normal operating parameters may be necessary to improve the recovery of molybdenum. Finally, a preliminary investigation into the metal budget of porphyry Cu and Mo deposits indicates that a positive correlation may exist between the total economic metal budget and the polytype content. For example, higher concentrations of the 3R polytype appear to be more prevalent in Au-enriched porphyries versus Mo-enriched porphyries. This observation may also serve to help explain why it is easier to obtain high rates of recovery in Mo ± W-rich deposits, which contain little to none of the 3R-polytype. Consequently, the potential for the metal budget of a porphyry deposit to be used as an indication of the molybdenite polytype present, as well as its impact on the economics (exploration) and/or on the processing circuit (plant design) could exist. In conclusion, this investigation highlights the necessity of understanding the mineralogical properties or characteristics of molybdenite and/or other economic mineral(s), as these can and will have a direct impact upon the performance and plant optimization."

Jan 1, 2016

By Michael J. Mujadin

Since the late 60's, planners at American Natural have known that natural gas supplies from traditional sources will be insufficient to maintain a consistently high level of service in the near future. This dwindling of traditional gas reserves will force American Natural and other gas companies to seek new and more exotic sources of supply. In recent years a number of alternative supply sources were considered, including arctic gas, LNG, and SNG based on naptha, LPG and coal feedstocks. Several combinations, all of which included SNG from coal were selected as the most suitable alternative sources of gas supply for American Natural, and thus our company embarked on the formation of a coal gasification project in the early 70's. Work began with the evaluation of available coal supplies in the United States in late 1970. Western North Dakota was selected for several reasons: large contiguous reserves of lignite were available near the surface, similar to German brown coal for which the Lurgi gasification process was originally developed; the conditions for land reclamation in the area are favorable; and the people in the area have a positive attitude toward well ordered development.

Jan 1, 1977

By K. N. Han, M. C. Fuerstenau, T. B. Onlin

A mathematical model describing the concentration profile of fine particles in the axial direction in liquid fluidized beds has been developed for the removal of fine particles. A forward finite differentiation technique has been used to solve a continuity equation with a source term to predict the concentration profile and, hence the recovery as a function of time. With the aid of experimental results obtained using a fluidized bed of 3-cm diam, dimensionless parameters were identified. These parameters were used to predict the concentration profile of fine particles in fluidized beds of larger sizes. Four different sizes of fluidized beds, namely, 1.3, 3.0, 4.0, and 7.5 cm in diam, were used in this investigation. The amounts of bed particles used included 4, 8, 16, 24, 59, and 120 g, and the size of bed particles were 48x100, 100x150 and 150x200 mesh.

Jan 1, 1987

By L. G. Austin

The model originally proposed by Austin, et al., has been modified in the light of further investigation of the breakage laws in SAG milling. The model uses a fully-mixed reactor for short L/D mills and calculates the breakage of small particles by the nipping action of balls and pebbles. The autogenous self-breakage of larger lumps is treated as an effective means of fast breaking rock and much slower breaking rock. Experiments show that fast autogenous breakage can be treated as a first-order breakage with an overall specific breakage rate which incorporates fracture and chipping. Similarly, slow breakage incorporates fracture and abrasion. Autogenous breakage is cushioned by the accumulation of fine material. Simulation results are compared to results from tests in a 2 m diameter continuous pilot-scale SAG mill. Future work is discussed.

Jan 1, 1985

By N. Dashbold, E. Rudnik

"Waste electric and electronic equipment currently comprises the fastest-growing waste stream in the world, but at the same time it is seen as an important source of metals for the recycling industry. E-waste is usually treated pyrometallurgically, with hydrometallurgical methods used to a lesser extent. This paper reports the results of research on the selective recovery of copper from smelted low-value electronic waste. Pyrometallurgical pretreatment of the scrap allowed the removal of plastics and the increase of metal content in the material. The obtained alloy of copper, zinc, tin and silver was a multiphase solid consisting of two brass phases and inclusions rich in iron, lead and silver. Copper alloy was further anodically dissolved in ammoniacal chloride solution. It resulted in high degradation of the material and accumulation of the metals mainly in the slime. The slime was then leached in acid or ammoniacal chloride and sulfate solutions followed by selective copper electrowinning. Hydrochloric acid was the most efficient solvent for the slime, but ammoniacal solutions were more selective for copper. Copper could be leached with 96 to 100 percent and 87 percent efficiency from the slime by the chloride and sulfate solutions, respectively. Copper with 90 to 99 percent purity at current efficiency of 42 to 76 percent was obtained from the acid solutions, while copper with 98 to 99 percent purity at current efficiency of 60 to 86 percent was deposited from the ammoniacal baths. IntroductionObsolete electrical and electronic equipment makes up the fastest-growing waste stream in the world (Baldé et al., 2015), due not only to the introduction of wider ranges of new types and models of a variety of electronic products but also to the shortening of their life-spans, sometimes referred to as planned obsolescence by producers (Keeble, 2013). About 42 million tons of electronic waste, or e-waste, are estimated to have been generated globally in 2014 (Baldé et al., 2015), and it is expected that in the European Union alone the waste electrical and electronic equipment (WEEE) stream will reach more than 12 million tons by 2020 (European Commission, 2015). Accurate evaluation of e-waste generation (Wang et al., 2013) and its global transport (Breivik et al., 2014) is difficult, mainly due to a lack of high-quality data related to its market and socio-economic dynamics.Many countries introduced legislation to control e-waste flow, collection and recycling. For example, Directive 2012/19/EU on waste electrical and electronic equipment (European Parliament and the Council of the European Union, 2012) obliges all E.U. members from 2016 to maintain a minimum collection rate of 45 percent of the total weight of WEEE collected. From 2019, the minimum collection rate to be achieved annually shall be 65 percent of the average weight of electronics placed on the domestic market in the three preceding years, or alternatively 85 percent of WEEE generated in the territory of the particular member."

Jan 1, 2017

By Howard M. Wells

Portfolio theory and the Capital Asset Pricing Model (Modigliani and Pogue, 1974) provides an investment decision rationale which takes account of the benefits of diversification in reducing effective risk, but this theory does not consider the financial capability of the firm to survive large losses if they should occur. The LL-curve theory (Wells, 1976) takes the latter consideration into account, but it does not provide for the effects of diversification. This paper pro- poses a general theory to account for both diversification and the financial capacity of the firm to underwrite the investment risks.

Jan 1, 1983

By S. B. Kim, J. Hong, K. Park, W. Kim, H. Kim, Y. Han, J. Choi

"For the first time, the influence of stearyl trimethyl ammonium chloride (STAC) as a collector, on the flotation behavior of lepidolite (Uljin, South Korea) was systematically examined in Denver Sub-A cells. Flotation tests were carried out by varying amount of STAC (50–200 g/ton), feed size (-65, -100, -150, and -200 mesh), and solution pH. The impeller speed of 1000 rpm, flotation time of 10 min and AF-65 (a frother) of 250 mL/ton were invariably applied. In order to complement flotation experiments, zeta potential measurements and XRD analysis were conducted. XRD results showed that the ores were mainly composed of lepidolite, muscovite, quartz, calcite and albite. In addition, zeta potential results showed that isoelectric points were about 2.5, 2.3, and 9.7 for quartz, albite, and calcite, respectively, and lepidolite was determined to be less than 2. Overall, the results of 3-stage flotation showed that Li2O grade and recovery tended to increase with increasing STAC dosage and decreasing feed size. In addition, Li2O grade increased with decreasing pH. The results were explained by the extent of the interaction between STAC and each mineral.INTRODUCTION A great number of potential applications of lithium are being developed currently by the thermonuclear fusion power generation industry(1,2) as well as by the battery and fuel cell industry(3). Even though lithium is mainly consumed in the form of lithium metal and some lithium compounds, about 10% of total lithium production is consumed directly as mineral concentrates by the ceramic industry for the manufacture of special ceramics and mica based glass-ceramics(4). Granitic pegmatites normally contain feldspars, quartz, and mica in addition to lithium-bearing minerals such as spodumene (LiAl(SiO3)2), petalite (LiAlSi4O10), and lepidolite (KLi2Al(Al,Si)3O10(F,OH)2). The amount and grade of metallic minerals tend to gradually decrease and become lower, leading to the increase in the price of base metal or metallic compound(5). Accordingly, recent studies have been extensively devoted to developing the technique to improve the grade of metallic minerals from low grade metallic ores(6,7). Nevertheless, studies regarding the improvement of Li grade from lepidolite ores are very scarce. Lepidolite is a phyllosilicate mineral of the mica group and is often associated with other minerals such as calcite, muscovite, feldspar, and quartz, which need to be separated for lepidolite enrichment(8). Many studies have reported the flotation techniques for separating calcite, muscovite, feldspar, and/or quartz from various targeting minerals(9-11); however, there has been no attempt to investigate physico-chemical properties of lepidolite and its separation from such types of gangue minerals through flotation. Hence, in this study, for the first time, flotation has been carried out for the quaternary ammonium salts (stearyl trimethyl ammonium chloride (STAC, (CH3)3CH3(CH2)16NCl))-lepidolite system based on only the electrokinetic property of minerals that consist of lepidolite ores without adding any depressant to get an initial insight on its flotation behavior. The experimental variables that influence the lepidolite flotation such as amount of collectors, feed size and solution pH have been also examined."

Jan 1, 2015

By V. K. Gupta

The phenomenon of zero order production of fines associated with the batch comminution of monosize feeds in tumbling mills has been examined in the context of the size discretized population balance model. It has been shown that the model admits zero order production kinetics only in an approximate sense. The necessary and sufficient conditions for approximate zero order production of fines have been obtained. As these conditions cannot be expressed in terms of the model parameters Sj and Bi,j alone,. several examples have been used to illustrate some of the important characteristics of the zero order production systems. One of the important characteristics of these systems has been identified as a "weak necessary condition", and the other as a " favourable condition ".

Jan 1, 1985

By Simón Díaz-Quezada, HUMBERTO ESTAY

The heap leaching process has been widely used for recovering different metals since its first application at the end of the 1960s. In Chile, copper production via heap leaching has accounted for between 30 and 40% of annual copper production over the past 10 years. This level of production has been achieved through and supported by the use of a mathematical relation, known as the leaching ratio (LR) or irrigation ratio (IR), which relates operational parameters with metal extraction in a heap leaching operation. This ratio has been used to develop leaching column tests, to scale up results from the laboratory to industrial operations, to design new heap leaching plants, and in metallurgical control and production estimation. In spite of the widespread industrial use of this relation, few scientific studies mention it. This is due to its simplicity and basic theoretical foundations. This disparity between industrial practice and scientific research could lead to operational decisions which lack substantial theoretical support, and to scientific studies which have limited industrial impact. Against this background, several questions arise about the use of the LR: What are the constraints on the use of the LR? Are there practical advantages with respect to reported kinetic models? What is the main reason that industry prefers the use of the LR over kinetic models, which enjoy greater theoretical support? In order to guide its future use, this paper describes the leaching ratio and its current uses and limitations, through a literature review and case studies.

May 2, 2020

By Barton G. Stone

"Sampling is the process of taking a small portion of an article such that the consistency of the portion shall be representative of the whole," (Baxter and Parks, 1939)."An orebody is a mixture of minerals in proportions that vary in different parts of the mass. As a consequence, the proportion of contained metals also varies from place to place. Therefore, a single sample taken in any particular place would not contain the same proportion of metals as does the orebody as a whole except by a highly improbable coincidence."The probable error, which would be very large if only one sample were taken, decreases with the number of samples, but it never disappears completely unless the samples are so numerous and so large that their aggregate is equal to the orebody itself, in which case the orebody would be completely used up in the process of sampling."Since carrying sampling to such an extreme would defeat its own purpose, some probable error is always present in actual cases and the practical objective is to reduce this probable error to allowable limits. This means balancing the number of samples against the desired accuracy; if there are not enough samples the result is unreliable; if there are too many, the time and expense of taking them is excessive." (McKinstry, et al., 1948).In an actual orebody, the accuracy of sampling depends not only on the number of samples but also on their proper distribution throughout the orebody, for it would obviously be incorrect to take all of the samples either in a rich part or a lean part. Therefore, it is important to select the places in such a way that all parts of the orebody will be represented."

Jan 1, 2014

By Yanli Huang, Qiang Sun, Jixiong Zhang, Yuzhuo Jiang, Dan Ma

Mining accidents due to inrushing water are caused by sudden changes in seepage owing to structural damage to key strata of the aquiclude. The backfill mining method can be used to control the movement of the strata, weaken the evolution of fractures owing to damage by key aquiclude strata (KAS), and control the channel for inrushing water. This study develops a mechanical model of a composite beam on a non-uniform elastic foundation of the KAS by analyzing the coupling relationship between the filling body and the key water-resisting layer of the aquiclude. Equations of the deflection-induced deformation, bending moment, and maximum tensile stress of the KAS are analyzed, formulae to calculate the allowable tensile stress and backfill materials’ compaction ratio (BMCR) to ensure structural stability are derived, and are used to provide the critical BMCR for their structural instability. The results of field measurements show that the subsidence of the roof was 600–700 mm with an average BMCR of 80.63%. Damage to the overlying strata was controlled to ensure safe mining and the disposal of solid waste from the aquifer. The research here is useful for ensuring safety during mining while protecting water resources.

Jul 12, 2022

By Ken Goering, Steve Kral, William Gleason

"Once every four years, the global mining industry gathers in Las Vegas, NV for MINExpo International. According to the show’s organizer, The National Mining Association (NMA), about 44,000 people attended the three-day show from Sept. 26-29. It was a show that featured the latest and greatest in equipment and technology. It also served as the backdrop for a snapshot of the state of the industry and while the picture of a global industry is never completely clear at any one time, one thing that is evident is technology has become a major force in the way mining is done.Had it not been for the awe-inspiring “iron” that was on the show floor in the form of haul trucks and shovels weighing hundreds of tons, one could be forgiven for thinking that they were at the Consumer Electronics Show. From training simulators designed to give a realistic experience of operating mining equipment to virtual reality technology that can take the user into the depths of an underground mine or the middle of a mapped ore deposit, an overriding theme of MINExpo 2016 was that the mining industry is connected like never before.In the north hall of the Las Vegas Convention Center was the GE Mining booth that was designed to showcase its efforts to help create a mine that will be connected from the front office to the face of the underground wall or bottom of the openpit. GE Mining called its booth a digital mine, and it included a suite of technologies that can improve performance, reliability, safety and operations. GE Mining said it views each mine as a mini-city, requiring power, water and transportation. Intelligent, real-time monitoring across the mine allows operators to make data-driven decisions that improve equipment reliability and optimize mine operations for substantial savings. And GE Mining was just one of many exhibitors showing off software that allows various types of equipment to communicate. Its booth sat in the shadow of the Komatsu booth with its new 360-t (400-st) 980E-4 haul truck that included GE’s 360-t (400-st) electric wheel motor. This is just one example of how technology is connecting machines, operations and people around the world and how mining is moving forward."

Dec 1, 2016

By Christophe Bragard, Marte Gutierrez, Haotian Zheng, Michael Mooney

This paper proposes a framework for applying surrogate-based approaches to evaluate SEM construction, which can both benefit the uncertainty analysis in the design stage and real-time calibration during the construction process. The performances of four surrogate modeling approaches, namely back-propagation neural network (BPNN), support vector regression (SVR), random forest (RF), and polynomial chaos expansions combined with Kriging (PCK), were evaluated and compared. A variance-based global sensitivity analysis (GSA) was performed on the surrogate predictor to quantify the impacts of geotechnical parameters on the deformation responses induced by SEM tunneling. The Regional Connector Crossover Cavern project constructed in Downtown Los Angeles was set as the benchmark problem to demonstrate the efficiency and reliability of the proposed procedure.

Jun 13, 2021

By W. R. McDonald

The U.S. Department of the Interior, Bureau of Mines, conducted field tests on acidic copper tailing as part of its program to devise, improve, and demonstrate technology for stabilizing mining and mineral processing wastes. Results will be presented from successful 1/8-acre and 1-1/2-acre demonstration revegetation plots established in 1973 and 1974 on an abandoned copper tailing pond located on public land adjacent to Holden Village, Wash. The tailing was neutralized with treatments of either dolomitic lime or limerock and fertilized with processed sewage sludge and/or commercial fertilizer. Plant growth covering 60 percent of the surface was achieved on both test plots. Regar brome, Tegmar intermediate wheatgrass, and tall wheatgrass provided the best plant growth and surface coverage. In neutralizing the tailing, the target pH of 6.8 was not achieved; however, good plant growth occurred in areas where the pH ranged from 2.9 to 5.8.

Jan 1, 1979

By Ping Zhang, Xu Ma

Perturbations arising from mining operations significantly affect the stability of rock masses, and the influences aggerates with the rapid increase of mining-operation depths during recent years. The subsurface structures with major discontinuities subject to seismic hazards resulted from the shear-slip behaviors of rock masses. In order to identify the shear-slip regime of discontinuities and calculate seismic moment and seismic energy involved with shear-slip behaviors, we use discrete element modeling to study the shear slip failure along discontinuities in an underground mine. The recorded characteristic and properties of sub-contacts in DEM provide a basis for computing and visualizing the temporal and spatial distribution of seismic moment and seismic energy with mining operations. We computed the seismic energy and seismic moment using the numerical modeling method and the analytic method. We compared the result of summing seismic energy and seismic moment from the subcontacts of numerical models and the result of the analytic method. We confirmed that this tool can be used in comparative analyses. We also found that seismic moment and seismic energy, associated with shear stress drop and shear displacement increase, accumulate in the vicinity of major discontinuities. Mining operations at a greater depth cause greater changes of seismic moment and seismic energy, leading to a higher risk of inducing seismic hazards. Quantifying seismic potential using discrete element modeling can greatly facilitate the investigation of instability of geological discontinuities and thereby can help estimate the potential of seismic hazards.

Jan 21, 2023

Micro-computers have made it practical to install a high-speed acquisition system to collect data from a longwall face in near real-time. By simultaneous data analyses using neural networks and fuzzy sets, information regarding longwall mining performance and underground behavior can be provided and forecasting longwall instability and detecting geological anomalies is feasible. This paper presents details of the application of neural networks and fuzzy sets in developing on-line evaluation of longwall roof behavior. Techniques for interpreting longwall shield pressures and characterizing roof conditions are discussed.

Jan 1, 1996

By J. H. Kim

Since the Hardy Cross numerical algorithm was applied to the solution of mine ventilation networks, there have been numerous developments in ventilation network analysis procedures. The Newton-Raphson method, the linear theory method, and the second-order approximation method are three of the additional approaches that have been applied. The efficiency of a ventilation network analysis procedure depends not only on the method of solving the system of equations derived from ventilation networks, but also on the method of deriving the equations through selection of the meshes. This paper investigates the impacts of three mesh selection methods on the efficiencies of four ventilation network procedures. The minimum-resistance spanning tree method is the most popular procedure for selecting meshes. The shortest-path method was suggested by Epp and Fowler (1970) for improvement of the Newton-Raphson method. The minimum-resistance-path method is suggested here as the third method of selecting meshes. The effects of these three methods on the Hardy Cross method, the Newton-Raphson method, the linear theory method, and the second-order approximation method are analyzed in this paper. These network analysis methods have been summarized in the paper by Kim and Mutmansky (1991).

Jan 1, 1992

By R. J. Nankee

Coal is our most abundant, low cost energy resource. Expansion of its use is being challenged due to "SO2 emission" regulation with even more restrictive legislation pending. High quality coal reserves are becoming more limited due to greater use in recent years. Aids to allow more use of coal in today's environment include beneficiation of coal before combustion and scrubbing the emissions from coal during combustion. Dow's efforts to help meet these challenges by beneficiating coal include true heavy media gravity separations with chlorinated solvents and liquid/liquid partitioning processes and "Dow Solvent Recovery Technology" to recover the solvent from product (or floats) and rejects (sinks), The objectives of the efforts to clean coal are to reduce sulfur and ash. In this paper, the solvents will be described; a general flow diagram presented; some of the results on upgrading various coals will be described, and projected costs of full-scale plants using chlorinated solvents will be compared to conventional cleaning plants.

Jan 1, 1985