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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 C. Mark, D. M. Pappas

From 1999 through 2008, groundfall events resulted in 75 fatalities, 5,941 injuries and 13,774 noninjury roof falls in U.S. underground coal mines, according to the U.S. Mine Safety and Health Administration (MSHA). A comprehensive analysis of these events was conducted to better understand where and why these incidents occurred. The first segment of the study used the MSHA database to evaluate groundfall injury rate trends related to mining method, year, locality, seam thickness, mine size, coalbeds and seasonal effects. In the past decade, roof fall injury rates have dropped 50%, but rib fall injury rates have remained constant. Room-and-pillar mines had a roof fall injury rate that was nearly 2.5 times the longwall rate. High groundfall rates occurred in the Illinois Basin, a finding that correlates with other studies that have shown that roof rock in the Illinois Basin is weaker than that in the central Appalachian coalfields. Finally, noninjury roof fall rates in the eastern and central United States were found to be 50% higher from July through September, possibly because of the changes in humidity levels that may cause shale mine roofs to deteriorate. The second segment of the study evaluated the root causes of failure by reviewing all MSHA groundfall fatality reports for 1999-2008. Pillar recovery was the leading cause of groundfall fatalities (19%), followed by rib falls, roof skin falls and traveling under unsupported roof (16% each). Defining prominent ground control incident trends and hazards will identify areas where additional study is needed and where innovative solutions need to be developed to reduce these severe occupational hazards.

Jan 1, 2011

By Ava Segal, Doga Cagdas Demirkan, Abhidipta Mallik, Sebnem Duzgun, Andrew J. Petruska

Search and rescue operations in mining heavily rely on humans. In the context of emergency situations within underground tunnels, the potential to utilize sensory technology for navigation assistance holds the promise of saving human lives. Our research introduces a device configuration designed to enhance the performance of search and rescue teams. This setup integrates LIDAR and thermal cameras with the Microsoft Hololens, facilitated by the NUC computer and ROS Bridge. Performance assessment involves quantifying the extent to which a user is willing to venture into a light-deprived section of the mine prior to necessitating supplementary illumination. The preliminary outcomes highlight the significant potential of augmented reality assistance in offering indispensable aid to first responders, thereby greatly augmenting the efficiency of search and rescue missions conducted during critical circumstances.

Feb 1, 2024

Following a disaster in a mine, it is important to understand the state of the mine damage immediately with limited information. Computational fluid dynamics can be used to simulate and ascertain information about the state of ventilation controls inside a mine. This paper describes a simulation of tracer gas distribution in an experimental mine with the ventilation controls in various states. Tracer gas measurements were taken in the lab experimental apparatus, and used to validate the numerical model. The distribution of the tracer gas, together with the ventilation status, was analyzed to understand how the damage to the ventilation system related to the distribution of tracer gases. This study will be used in future research in real mine measurements to compare collected and simulated profiles and determine whether damage to the ventilation system has been incurred during an emergency situation, the nature of the damage and the general location of the damage.

Jan 1, 2011

By Dan Armour

Bolting solutions traditionally offered only wet drilling or dry drilling options; each with advantages and disadvantages. Joy Mining Machinery has developed a Mist Drilling System that incorporates the best of both types of drilling. Compared to wet drilling, mist drilling offers as much as a 90% reduction in water use. As a result, floor and roof conditions are tremendously improved. This offers a safer and more comfortable work environment for operators. Mist drilling can offer a significant reduction in noise levels compared to dry drilling and in recent trials, bit life has been greatly improved. Holes are cleaner and operators experience less exposure to respirable dust.

Jan 1, 2005

By T. McKeon

Gravity separators are commonly used in multistage cleaning and scavenging circuits to improve the quality and/or recovery of the final concentrate. Unfortunately, studies suggest that many industrial plants are poorly designed in terms of equipment layout. This shortcoming can often be attributed to a failure by engineers to make use of fundamental process engineering tools for circuit design. One of the most important of these is linear circuit analysis. This powerful tool makes it possible to mathematically compare the relative efficiencies of circuit configurations in advance of experimental testing. This article provides a basic review of the linear circuit analysis concept and discusses some of the key insights it provides for the layout of multistage circuits. An industrial case study is provided to show the tremendous impact that this process engineering tool can have on the design of multistage spiral circuits in a heavy mineral wet plant.

Jan 1, 2005

By D. J. Barratt

The application of autogenous and semi-autogenous grinding circuits in recent years has contributed toward substantial savings in capital and operating costs compared to conventional circuits, particularly for large scale copper and molybdenum operations. Such savings have been realized from the deletion of operating, maintenance, equipment purchase and substantial civil/structural costs associated with secondary-/tertiary crushing and screening, fine ore storage and conveying. In spite of the downturn in the copper- moly industry in North America, there is still an interest in autogenous and semi-autogenous grincting for copper-zinc, gold and silver ores and in the overseas market. Both single-stage and two-stage circuits are in operation. Primary circuits operate autogenously or semi-autogenously in either open or closed-circuit. Critical sizes are extracted and crushed for recycle in some cases (e.g. ABC circuit). Secondary grinding is conducted using ball mills or pebble mills.

Jan 1, 1985

By Jian Liu

The dissolubility of a natural sphalerite (ZnS) in the entire pH range was theoretically calculated, and its practical dissolution in an aqueous solution at different pH values in an inert environment, together with its surface properties after dissolution, was fully investigated. The results of the investigation indicate that the total concentration of Zn (CZnT) decreases significantly with the increase of pH value, while the pH value is set below 8; however, it reverses when the pH value reaches 8. Such a tendency is similar to that of the theoretical calculations, although the experimental CZnT were much higher than those of the theoretical calculations. The X-ray photoelectron spectroscopy (XPS) of the sphalerite surface after its dissolution under alkaline solution shows that a polysulfide (Sn 2-) surface layer with a binding energy (BE) value of 162.96-163.25 eV is present on the surface, and the percentage of Sn 2- increases significantly with an increase in pH value; the undissolved and dissolved sphalerites under the acidic solution have a negligible difference in S2p peaks. The surface S/Zn ratio of all dissolved sphalerites shows a marked Zn enrichment and S deficiency. An atomic force microscope (AFM) view of the sphalerite surface, after its dissolution under the alkaline solution at a pH of 12, shows that the surface is significantly different in morphology from that of the undissolved one.

May 1, 2012

By Kenneth N. Han, Peter Nam-soo Kim

A kinetic model for leaching of particulate metals in a batch system has been developed. The leaching mechanism has been analyzed by solving a series of ordinary differential equations relating heterogeneous reaction kinetics at the solid/liquid interface to mass transfer of reactant and products. Special emphasis has been given to the effect of changing of the surface area of the leaching substrate and initial particle distribution on the overall leaching rate. The dissolution of gold powders in acidic solution with bromine as an oxidant has been used as a model system. The effect of particle size, chemical reaction order, rate constant and mass transfer coefficient on the overall rate of dissolution of metal powder has been analyzed and discussed.

Jan 1, 2005

By B. Samoski

In late 1994, EPA and OSM acknowledged that efforts by any one agency or by the many different agencies to remedy the water quality impacts of decades of contamination from abandoned coal mine lands in Appalachia would not be successful if their disjointed efforts were not unified and if the local watershed organizations were not included. The result of the collaboration between EPA and OSM was the creation of a statement of mutual intent which was a pledge by government agencies, watershed organizations, and the industry to restore watersheds degraded by acid mine drainage from abandoned coal. The presenter will describe the evolution of this pledge from a paper promise to on-the-ground remediation projects.

Jan 1, 2002

"The Industrial Comminution Efficiency (ICE) working group, part of the Global Mining Standards and Guidelines Group (GMSG) has engaged a large number of industry professionals representing mining companies, equipment vendors, consultants and metallurgical laboratories with interests and capabilities in the comminution field. These participants have collaborated to develop three guidelines for the assessment of the efficiency of mineral comminution circuits. Two of these guidelines deal specifically with power based modelling techniques to quantify energy efficiency using widely practiced techniques, those developed by Bond (1961), Rowland and McIvor (2009), and Morrell (2009). The third guideline deals with the sampling and surveying of grinding circuits as is required to provide the necessary information, at appropriate quality, to furnish the efficiency analysis promoted by the first two guidelines. This preprint will focus on the Guideline on Methods to Survey and Sample Grinding Circuits, which is currently in the final stages of peer review and finalization by the GMSG. INTRODUCTION It is important to make a clear distinction on the scope of work of the GMSG guideline for sampling grinding circuits. Many mineral processing practitioners are familiar with the sampling and surveying of comminution circuits, in particular grinding circuits, for performance diagnosis and the identification of optimization potential. These surveys often provide information for population balance modelling of individual comminution and classification unit processes, and as a result require a large amount of information to calibrate and validate the unit models. As a result these surveys are labour intensive, somewhat expensive depending on internal capabilities of the mine site or company, and have a long time span from initial planning to final reporting. They also require a high level of expertise to process the survey data, simulate the circuit and make sensible recommendations on follow up actions. As a result of these factors full grinding circuit surveys are not a common occurrence at a large number of facilities, and several years may pass before follow up surveys are conducted. In the ensuing gap between surveys, the efficiency of the grinding circuit must often be taken on faith, and this is considered an unacceptable lapse in an environment of strained natural resources and low commodity prices. To support the rapid and productive energy efficiency analysis being promoted by the ICE working group, a much simplified survey and analysis process is required. The process reflected in the GMSG guideline is indeed more conducive to frequent analysis, at a skill level that is well within the capabilities of the average plant metallurgist. As a result it becomes feasible to conduct mini-surveys of plant performance, which can be used to quickly and precisely diagnose the high level impact of process changes. It can also be manipulated by experienced practitioner to provide sufficient information for modelling of the circuit to estimate the impact of process changes, supporting an initial rate and rank exercise to focus plant optimization efforts."

Jan 1, 2016

Introduction Aggregate mining impacts on water resources are a source of concern to local governments. To evaluate those impacts, the Minnesota Department of Natural Resources conducted a four-year study at three gravel pits (two alluvial and one beach-ridge) and five quarries (flat-lying Paleozoic limestone). This research provides the first comprehensive look at aggregate mining impacts on ground-water systems in Minnesota. The results will be used by government officials making permitting decisions about aggregate operations and by responsible owners of aggregate mines as they plan their operations to avoid conflicts with neighbors and with resources dependent on ground water and surface water. Natural aggregate (crushed stone, sand, and gravel) is a vital part of our economic infrastructure in Minnesota. Aggregate is used for road and bridge construction and in a variety of building materials. In 2003, the value of construction sand and gravel and crushed stone in Minnesota was approximately $245,000,000. As Minnesota’s economy continues to expand, the demand for aggregate will continue to grow. Sand and gravel pits are located in every county in Minnesota. In 1990, the Minnesota Department of Natural Resources, Division of Minerals (DNR Minerals), estimated the number of active and inactive operations at 1500 with the view that this number was likely too low. Quarries for mining limestone, dolomite, sandstone, and hard rock (granite and quartzite) are found in 34 counties. A 1990 DNR Minerals inventory found 165 active operations, 88 percent of which were limestone quarries (Nelson and others, 1990). That same inventory counted 1,367 inactive operations, 70 percent of which were limestone quarries. Aggregate mining is an extractive use of resources: mining alters the landscape and its natural hydrologic system. When a new pit or quarry is proposed or when an existing operation needs to expand, local governments and citizens typically have many questions about the impacts mining might have. Local governments, which are responsible for reviewing these operations, rarely have the budgets to hire experts to evaluate potential impacts of quarry and gravel pit proposals. The Minnesota Legislature’s Aggregate Resources Task Force identified that local government units (LGUs) often lack the expertise to assess ground-water models (Southwick and others, 2000).

Jan 1, 2007

By Jason Morrison

The Norwegian Lake Tap Method was successfully used to tap into the side of Lake Dorothy 36.5 m (120') below the lake surface. The lake tap allows water to flowinto an access tunnel from the lake lowering the water elevation below its natural out-fall. When the lake reaches a predetermined elevation below the outfall, a 1.5 m (60?) valve in the tunnel will be shut and discharge from Lake Dorothy will stop temporarily allowing construction of a dam located 2.9 km (1.8 miles) downstream at Bart Lake. The lake tap and tunnel were one phase of the $64 million Lake Dorothy Hydroelectric Project, owned and operated by Alaska Electric Light & Power Company (AEL&P), a private utility located in Juneau, AK. The Lake Dorothy portal site and tunnel are located approximately 25.7 km (16 miles) southeast of Juneau, AK, in the remote Tongass National Forest at an elevation of 701 m (2,300') above sea level in the mountains above the Taku Inlet. Thirty degree snow covered mountainsides and limited access by helicopter were just two of the many factors which challenged this unique project. The lake tap and tunnel development consisted of 250 m (820') of horizontal tun-nel, averaging 3.6 m x 3.6 m (12' × 12'), excavated using conventional drill and blast methods in highly competent Granodiorite and Tonalite rock, placement of one 3.9 m (13') long concrete plug, or bulkhead, located at the tunnel midpoint, and one 3 m (10') diameter lake tap into the side of Lake Dorothy. This paper will provide an analysis of the logistical and engineering challenges involved in the development of one of only a handful of lake taps in North America. AEL&P and contractor J. S. Redpath Corporation worked together to complete this critical project phase safely and on schedule, in a location accessible only by helicopter and plagued by constantly changing, harsh weather conditions. A strict schedule had to be maintained to ensure the timely operation of the downstream dam and power plant.

By L. Alan Weakly

Global warming is a political reality in the United States today. The actual impact of the continued utilization of fossil fuels is not known and is open to debate. However, the growing concern about the continued use of these fuels is problematic. There are technologies available to us today that would permit America to meet its future energy demand and not contribute to global warming. The inconvenient reality is that fossil fuels cannot completely be replaced with energy conservation and the use of wind, solar, hydroelectric, geothermal and nuclear energy. The connection between the greenhouse effect and global climate change was first identified by physicist John Tyndall in the 1860s. To prove the greenhouse hypothesis, Roger Revelle and his research team started measuring carbon dioxide concentrations in the earth?s atmosphere in the early 1960s (Becker, 2007). With the rising concern about global warming, scientists throughout the world have been obtaining surface and air temperature data. Scientists have also been comparing CO2 concentrations found in glaciers throughout the world with theorized annual temperatures. Data for both dates back 1,000 years. Armed with this data, many nations of the world and the United Nations Intergovernmental Panel on Climate Change (IPCC) have concluded that climate change is a reality. The IPCC also concluded that this climate change is the result of mankind?s consumption of fossil fuels and that catastrophic consequences will occur on a

Jan 1, 2008

?Classification System Efficiency (CSE)? is a simple, powerful concept which can be used to measure and improve ball mill circuit efficiency. This paper describes six plant case studies which demonstrate the use of CSE to diagnose and/or improve grinding circuit performance, with related improvements in circuit efficiency ranging from 3 to 30 percent. The increased effective mill grinding energy is recaptured from energy that was going into over grinding, which can greatly benefit downstream mineral separation. The achievable CSE for given circuit design/operating variables is described, providing every plant metallurgist with the means to determine the potential for increasing their particular grinding circuit?s efficiency through increased CSE.

Jan 1, 2012

By Harry Asche

The last 12 months has seen the construction of the first Earth Pressure Balance (EPB) TBM excavated tunnel in New Zealand on the Project Hobson sewer storage tunnel for Watercare Services Limited, with the concurrent excavation of the second EPB tunnel on the Rosedale Outfall project for North Shore City Council. Together these tunnels involve a total length of 6km and follow an 8 year pause in TBM activity in Auckland. TBM performance on these two projects is thus of significant interest as there are four major tunneling projects totaling over NZ$8B being planned for Auckland, in similar ground conditions. Auckland?s bedrock is a weak sandstone/siltstone (East Coast Bays Formation), subject to infilled paleovalleys. The geology in the region has been significantly influenced by volcanic activity; 49 volcanoes are present within 20km of the city centre. The paper describes the design and construction challenges for the projects, including TBM performance, ?sticky spoil? management, and risks associated with basalt lava flows and two paleovalleys. Watercare?s Project Hobson also saw the successful implementation of a Geotechnical Baseline Report?one of the first uses of this type of document in Australasia. Rosedale Outfall is designed for high internal water pressures with varying hydraulic flows, with the risk of exfiltration explicitly addressed.

By A. Cole, F. Porretta

Barrick Gold recently implemented an oxygen roasting process to treat carbonaceous ore from its Goldstrike property in Nevada. One of the key project challenges was the design of the roaster gas cleaning system, which was driven by the requirements of a strict air permit and the need to achieve very high reliability. The roaster gas systems include multiple stages of wet particulate collection, a dual alkali SO2 scrubber, mercury scrubbing, CO oxidation and NOx reduction. This paper describes the gas system, the influence of regulations on project implementation, and performance of the system.

Jan 1, 2002

By J. M. D. Wilson

The literature relating to binders in iron ore pelletizing is reviewed from the point of view of their established or proposed bonding mechanisms in green and dry pellets.

Jan 1, 1981

A virtual reality approach is presented that can aid entities such as mining companies and land use planners in communicating a visual understanding of a mining operation to interested stakeholders, citizens? groups, and public committees. These visualizations are particularly useful in permitting, production planning and mining closures, contributing to accurate communication and evaluation of mine plans, ultimate land use and evaluation of potential design options A case study is presented, that was created using commercially available virtual reality tools, to emphasize the benefits of visualization technologies in the sustainable development of mineral resources.

Jan 1, 2003

By M. Ahrens

Gearless mill drives (GMD) are a well established solution for grinding applications in the minerals and mining industries. The paper describes the functionality and technical features of such drive systems as well as the development and the progress of GMD systems over the years. With an increasing installed base and many drives operating for many years, there is an increasing need to modernize or revamp existing GMD installations. The first installations of GMD took place in the cement industry and have demonstrated that ringmotors can achieve a lifetime well above 40 years, if maintained properly. The life cycle time of many other components, especially electronic parts, is usually shorter. It is therefore necessary to replace aged or out-dated components early enough in a planned manner in order to reduce the risk of component failures and the related shutdown times. Modernization upgrades can range from minor software updates to a revamp of the cycloconverter. The paper describes typical examples of such upgrades and shows the most important aspects that need to be considered.

Jan 1, 2008