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By S. Frimpong, E. Gbadam, W. Nyaaba, G. Somua-Gyimah

Recent studies towards dragline excavation efficiency have focused on incrementally achieving automation of the entire excavation cycle. Initial efforts resulted in the development of an automated dragline swing system, which optimizes the swing phase time. However, the system still requires human operation for collision avoidance. For full dragline autonomy, a machine vision system is needed for collision prevention and big rock handling during the ‘swinging’ and ‘digging’ phases of the excavation operation. Previous attempts in this area focused on collision avoidance vision models which estimated the location of the bucket in space in real-time. However, these previous models use image segmentation methods that are neither scalable nor multi-purpose. In this study, a scalable and multi-purpose vision model has been developed for draglines using Convolutional Neural Networks. This vision system averages 82.6% classification accuracy and 91% detection in collision avoidance. It also achieves an 87.32% detection rate in bucket pose estimation tasks. In addition, it averages 80.9% precision and 91.3% recall performance across terrain recognition and oversized rock detection tasks. With minimal modification, the proposed vision system can be adjusted for other automated excavators. Keywords: Surface mining, dragline bucket, deep learning, machine learning, oversized rock, convolutional neural network, machine vision, object detection, earthmoving equipment. INTRODUCTION Complete excavator automation is widely regarded as the next phase in efforts toward improving earthmoving efficiency. Earthmoving often involves complex, forceful interactions between an excavator and the ground. The nature of these interactions depends largely on the type, properties and physical characteristics of the earth material. This process is further complicated by the random occurrence of tree roots, boulders and other such obstructions. Therefore, the ability of a controller to detect changes in the operating conditions, adjust the digging strategy and respond in real-time is of utmost importance. Early studies into autonomous excavation identified some key performance criteria which included the following [1]: • The autonomous excavator must be able to work in any type of earth material. • Its excavation accuracy must be within 50mm. • It should be able to handle different surface and underground obstacles autonomously. • It should be able to operate at the speed of the average operator in any condition. • Its operation should be capable of safe integration with other site systems.

Jan 1, 2019

By John J. Stetler

The Companhia Vale do Rio Doce in Brazil operates one of the most extensive systems in the world for the mining, transportation, processing, pelletizing and shipping of high grade hematite iron ore and pellets. Current shipping of unbeneficiated, sized, high grade ore from its ports at Tubarão and Vitória is now at the rate of 17,500,000 metric tons annually. An increase in this annual rate is now under study. Using the technology and facilities of Lurgi (1) and Arthur G. McKee company CVRD undertook a program to process and pelletize two types of fines - "Blue Dust" and ?Itabira Fines?. Blue Dust is a high grade fine ore which was bypassed while mining the direct shipping ores and which, also, exists as a very large ore body called the Conceição Mine. Itabira Fines is a lower grade of fine ore which is comprised of in-situ fines and, also fines which are generated in sizing the direct shipping ores for a rigid specification market.

Jan 1, 1970

By D. Williamson

In the post war years metals analysts and statisticians have generally tracked the demand for metals in line with changes in OECD industrial production (IP) growth rates because, undoubtedly, the correlation between IP growth and metal demand was reasonable. However the correlation was exaggerated. During times of expanding IP growth metal demand increased at a faster proportional rate than IP growth. This was probably due to industry restocking in anticipation of growing demand at the start of each economic cycle. Conversely, metal demand would slacken at a greater rate than would be suggested by negative IP growth as industry destocked in order to reduce costs. Nonetheless, overall, a reasonable correlation between IP growth, over the longer term, and metal demand could be painted. Yet, although this correlation has stood well since the last world war it has been based on the fact that the bulk of the world's IP growth stemmed from the industrialized countries of the western world, latterly including Japan. The so called "developing world" was of little consequence, whilst countries of the Soviet Union and Communist Bloc were deemed to be closed, self-contained entities which, for each metal, would either be net exporters or importers. These quantities would be used by analysts to calculate the overall supply/demand equation for the western world only and to deduce whether a commodity was in shortage or surplus. It is now believed that this method of projecting total world supply and demand for raw materials is outdated and takes little account of the worldwide political changes which have occurred since the collapse of communism and the revitalization of China, albeit under a notional communist government. It is no longer appropriate to assess global balances for raw materials on the basis of three economic blocs namely, western world, developing world and communist bloc. Rather, global balances need to be projected on a global basis. In this regard, since the collapse of communism and the removal of many other totalitarian regimes, capitalist forces are at work and are attempting to satisfy, with some considerable success, the expectations of the great mass of the world's poorer people. Such people, usually located in Asia, Africa and Latin America have aspired to the same standard of living as people living in western Europe, North America and Japan. Now, with free market forces at work their aspirations will start to be met. Consequently, the demand for metals and other raw materials will now rise at a much faster rate than at any other time in the world's history. Not only will the production of raw materials have to keep pace with rising IP in the developed world but will also have to keep pace with the demands associated with the rising expectations of rapidly increasing populations in the developing world, as well as from within the old communist bloc countries. This paper sets out to argue the case that metal demand could well increase at a rate faster than the world's mining companies, governments and financiers can deliver.

Jan 1, 1997

By Robert R. French

Commercial grade gypsum beds up to 16 feet thick is present in southwestern Indiana. The major deposits are found at a depth of 350 feet to more than 500 feet below the surface. The ore body averages about 75 to 95 percent gypsum. Two companies are currently exploiting a deposit which underlies an area of several square miles near Shoals, in Martin County. Another deposit has been located in southwestern Owen County but has not been developed. The Indiana Geological Survey is currently drilling in Greene County and is considering further exploratory work in Perry end Dubois Counties.

Jan 1, 1965

By L. Martin, M. Raffaldi, M. Stepan, D. Benton

The Office of Mine Safety and Health Research, Spokane Mining Research Division, is continuing its high-energy, high-displacement testing of field-scale shotcrete panels. A test program was developed to determine the relationship between applied force, displacement and energy for both unreinforced and reinforced shotcrete panels. Reinforcement options consisted of synthetic macro-fibers, sprayed polyurea liners, chain-link mesh, welded-wire mesh and combinations of them. During testing, photogrammetry was used to measure the geometric changes of the panels, including volume changes and panel cracking. These measurements were correlated with the load and displacement data, allowing visual observation to be related to the applied force and displacement. The test results provide a comparison of the mechanical performance of the various panel types and can assist in interpreting the condition of installed surface support. Visual assessment of the loading cycle and strength capacity of shotcrete in underground excavations will improve mine safety by providing a means to better quantify the stability of installed shotcrete support.

Jan 1, 2016

In some 35 years in the explosive and construction industries, we have probably seen the extremes in drilling and blasting practices. All of you know that it is difficult if not impossible, to separate those two operations, particularly when we are searching for an optimum. Early in my career while doing engineering survey work for a major cross country pipeline construction company, we witnessed some of the wildest blasts imaginable, and they were wild for two reasons. Both the drill hole diameter and the drill pattern were such that when loaded with explosives, the factor in terms of pounds/cu. yd. was extremely high. On the other hand, in 1982 we were in an underground coal mine where just one hole was used to prepare a 20-ft. (6m) wide face. In this coal mine, they brought down 7 yd3 (5.35m3) of coal with just 1 lb. (.454 kg) of explosive. On a pipeline job, the factor may only be .1 yd3 per lb. of explosives. Open pit operations in the same geographical area may have almost the same type of rock, but similarities could end there. The several operators over the years will have installed different size-crushing equipment or variances will exist in other facets such as drilling, excavating, and haulage units. That tells us that if we have 6 operations in that common area, we are faced with a fact that there is an optimum drilling and blasting pattern for each of those six. We start at that point. We will note from Figure No. 2 the simple equations for determining either cu. yds. or tons. For a rock heavier than limestone, it may require only 10 to 11 cu. ft. (.31m3) for 1 ton (.91 metric ton) of rock in place.

Jan 1, 1986

By J. M. Duke

Significant resources grading less than about 1 % nickel occur in magmatic sulfide deposits of two types. In the Mt. Keith type, extensive zones of disseminated nickel sulfides occur in the central portions of certain synvolcanic dunite-peridotite sills of komatiitic affinity in Archean greens tone terranes. In the Duluth type, disseminated copper-nickel sulfides occur near the basal margins of intrusions of flood basaltic affinity associated with intracontinental rifting. In both types, the parent magmas became saturated with sulfide following the onset of fractional crystallization and the separation of the immiscible sulfide melt was accompanied by the precipitation of a relatively large proportion of silicates. The abundant silicate crystals impeded the coalescense and accumulation of the sulfide droplets with the resulting formation of large but low grade deposits.

Jan 1, 1982

By J. Andrew McGlenn, Brian McInnes, Bruce Downing, Murray Gant

The Second Narrows Water Supply Tunnel crossing beneath Burrard Inlet is an important component of the Greater Vancouver Water District’s plans to increase seismic resilience and meet increasing water demands. The project included the 110-meterdeep (350 ft) South TBM Receival Shaft, one of the deepest shafts to date in the sedimentary rock unit underlying much of Metro Vancouver. The shaft encountered varied sedimentary rock types, including fractured rock, with accompanying high groundwater inflows. This paper discusses the design and construction challenges associated with this shaft and the necessary means to complete the shaft in time for TBM arrival.

Jun 13, 2023

By Tsunenori Shibata, Kazunori Jimbo, Kaoru Toya, Masafumi Matsumoto, Jinya Mitsui, Toshinori Tsuji

"The Toyama Line is under construction as a natural gas pipeline with a length of 102 km from Itoigawa City to Toyama City. A 2 km-long tunnel section of the pipeline that we are reporting here is being excavated in a mountain area away from an urban area. The geology under which the tunnel is constructed is collapsible fractured breccia slate and Holocene sandy soil. Other tunnels of the Hokuriku Expressway and Hokuriku Shinkansen are in service above the tunnel route. From the starting shaft on Toyama side, conventional tunneling was adopted to facilitate excavating the base rock layer and maintain enough distance from the Hokuriku Expressway tunnel. From the starting shaft on the Itoigawa side, TBM tunneling was adopted to cope with the unconsolidated soft ground for a 200 m-long section from the shaft. We will discuss the issues and countermeasures concerning the selection of a tunnel route and excavation methods, performance of both conventional and TBM tunneling, and underground connecting of these tunnels excavated by conventional (NATM) and TBM methods under a high groundwater pressure up to 1.2 MPa. INTRODUCTION AND BACKGROUND The International Petroleum Exploration Teiseki Co., Ltd. (INPEX) is constructing a high-pressure main pipeline network in the Toyama Prefecture area to promote the use and reliable supply of natural gas as shown in Figure 1. As part of the Toyama line project that has a total length of 102 km, A-1 construction, the nearest section to the tunneling starting point in Itoigawa City, where various tunnel excavation methods have been adopted to install the high-pressure pipeline 20 inches in diameter, a 2 km tunnel in the A-1 construction section discussed here is to be excavated by conventional and TBM methods in a mountain area. Based on environmental studies such as traffic jams due to frequent traffic of heavy vehicles disposing of soil, and the effects of dust, noise and vibration during construction, we selected the route to install the gas pipeline in a mountain area as shown in Figure 2, where the impact on the surrounding environment could be minimized."

Jan 1, 2016

By D. K. Dysinger

The U.S. Bureau of Mines investigated leaching of chalcopyrite with sulfuric acid-oxygen under conditions anticipated during in situ leaching. A central composite experimental design was chosen to study oxygen pressures of 150, 300, and 450 psi, leach temperatures of 35?, 65°, and 95° C, oxygen-to-chalcopyrite mass ratios of 0.5, 1.0, and 1.5, leach times of 8, 16, and 24 hours, initial acid strengths of 0.6, 1.2, and 1.8 g H2SO4/g chalcopyrite and pyrite to chalcopyrite mass ratios of 0, 1, and 2. The leaching kinetics were consistent with the shrinking core model. A quadratic response surface model was used to determine linear and interaction effects of the design factors on rate constants from Arrhenius correlations.

Jan 1, 1993

By David Lynn Passmore

The reliability of mine operators reports to the Health and Safety Analysis Center of the U.S. Deparetment of Labor of days lost from work by injured miners is .267.

Jan 1, 1985

By Y. Guan

The dissolution behavior of copper and gold from their pure state and from Au/Cu alloys in cyanide solutions has been investigated using a rotating disc. Oxygen was used as an oxidant. The effect of the composition of the alloys, stirring speed of the disc, concentration of lixiviants and temperature on the overall dissolution kinetics has been studied. Gold/copper alloys of three compositions were used in this study. The atomic percent of gold in these alloys was 75, 50 and 25, respectively. The dissolution behavior of these three alloys was compared with that of pure gold and of copper under the same chemical conditions. In general, the dissolution of copper and gold from alloys is partially controlled by surface chemical reaction and largely by mass transfer.

Jan 1, 1992

By Fulian He, Jianhang Chen, Dongdong Chen, Shoubao Zhang

"The Wangjialing Coal Mine is the main colliery of the China Coal Huajin Energy Limited Liability Company. The average thickness of the coal seam in District 201 is 6.21 m. Fully mechanized longwall mining was used in this district. The ventilation roadway of panel 20102 was influenced by the retreat mining of the adjacent panel 20104. Therefore, large deformation and severe roof falls occurred in this roadway, seriously influencing the safety production of this coal mine. To support the roadway, cable truss was proposed to strengthen the reinforcement of this ventilation roadway. First, numerical simulation was used to optimize the reinforcement parameters, including the cable installation angle, cable length, and eccentric distance. Based on numerical simulation results, in-situ tests were conducted in the ventilation roadway of panel 20102 with the cable truss technology. In-situ monitoring results showed that the roof-to-floor convergence and the convergence of roadway on two sides were within the safety range. Furthermore, no apparent separations occurred in the roof. These indicate that based on the designed parameters, the cable truss system can effectively maintain the roadway stability under the severe influence of the adjacent longwall mining.INTRODUCTIONCable bolts are flexible tendons composed of multi steel wires, which are wound into a strand (Chen, Hagan, and Saydam, 2018). They were initially introduced in the hard rock mining industry in the 1960s. Later, they found rapid application in coal mines to maintain the stability of excavations (Wang et al., 2015).The standard cable bolt is composed of seven steel wires with a diameter of 15.2 mm. Laboratory and in-situ tests showed that there is a low bonding capacity between the standard cable bolt and the grout (Craig and Holden, 2014; Chen, Hagan, and Saydam, 2018). Then, modified cable bolts are developed based on the standard cable bolts. They are improved by changing the surface geometry of standard cable bolts, such as birdcaged cable bolts (Hutchins et al., 1990) or nutcaged cable bolts (Hyett et al., 1993). Further tests proved that modified cable bolts have better mechanical interlock and friction between the cable bolt and grout, leading to larger load transfer capacity of cable bolts.Although cable bolts have been used for many years, failure of the cable bolting system still occurs. A common failure mode is the damage of surrounding confining medium while the cable bolt is still hanging in the roof, which is caused by the bond failure of the cable/grout interface (Hutchinson and Diederichs, 1996). To prevent the cable bolting system from failing, the cable truss system is more widely used in mining engineering."

Jan 1, 2019

By C. I. Richman

The E h potential during of a iron reducing bacteria such as Aquaspirillum Magnetotacticum (A.M.) can be predicted by a growth model. It also reflects the adsorption of Fe+2 Cu+2 and Mn +2 ions, that can be incorporated into magnetic material called magnetosomes. The Ferric ion concentration during controlled growth of Thiobacillus Ferrooxidans (T.F.) is a function of the bacteria population curve, while A. M. ferrous ion concentration is a function of the integral of the population curve. Charting of the redox potential of T.F. during batch oxidation of refractory ores such as pyrite and pyrrhotite can be helpful to establishing onset and rate the bulk bio-oxidation rate. The onset of biooxidation is marked by an increase in Fe +3 ions that can be correlated with increased growth due to adsorbed electrons.

Jan 1, 1998

By K. J. Bruxvoort

Background ground water quality is often used to drive remediation programs at sites with waters affected by mining activities. In the past these levels were sometimes chosen without rigorous statistical and geochemical analysis. A probability distribution approach was used at the Sweetwater Uranium Project to separate a large set of geochemical data into populations that represent contributions from different sources. Natural background populations were identified for major ions, metals, and radionuclides, and were submitted to the Nuclear Regulatory Commission to modify the extent of a Corrective Action Program and to establish control limits for future monitoring.

Jan 1, 1998

Using a Mark IV surface force apparatus, adsorption of dodecylamine hydrochloride on mica has been studied at pH 5.7 in the presence and absence of octanol. With amine alone, the repulsive forces between mica surfaces are reduced due to charge neutralization and attractive hydrophobic force; however, the latter is of relatively short-range with its decay length less than 2 nm. In the presence of amine and octanol, the hydrophobic force becomes more significant, its decay length being extended up to 6.5 nm. The increased hydrophobicity in the presence of octanol is attributed to the co-adsorption of the neutral surfactant with dodecylamine, which increases the packing density of hydrocarbons on the mica surface. The increased hydrophobicity due to co-adsorption is reflected in the improved floatability of silica when using octanol as an extender.

Jan 1, 1993

By Martin H. Stanczyk

In recent, years the demand and consumption of finely ground industrial minerals has substantially increased for such uses as fillers and chemically reactive components. The size, specifications for these types of industrial mineral materials vary to a great extent and depend on the particular end purpose' and on the physical properties of the mineral itself. Size reduction of industrial minerals usually is obtained by conventional crushing and grinding methods. However, some specialized milling techniques have been developed for producing these minerals in extremely fine particle size ranges. During recent years the Bureau of Mines has been investigating an attrition grinding method to produce ultrafine subsieve-size mineral particles. The Bureau developed process, which has been patented,2 comprises the intense agitation of a slurry composed of the material to be ground, a relatively fine granular grinding medium, and a suspending fluid. The process has been shown to be effective for the comminution of kaolin in the particle size range of 2 microns and finer on a batch3 and continuous basis.4,5 This report presents the results of batch tests made to determine the effectiveness of the attrition grinding process for comminuting commercial products of (1) mica, a tough lamellar material, (2) fluorite, a brittle intermediately hard material, and (3) barite, a relatively soft, massive material.

Jan 1, 1967

By M. Akser

Ilmenite, rutile, and zircon deposits of commercial importance have not been reported to-date from Turkey. However, information from recent reconnaissance activities indicates the possibility of an economically viable heavy-mineral deposit along the Black Sea coast of Turkey in the vicinity of Ormanli, northwest of Istanbul. Consequently beach and sand dune samples were collected from that area for additional analysis. Laboratory methodologies, designed to simulate standard industrial heavy-mineral plant practices, were used to analyze and evaluate the samples. Based on the analyses, and current market needs, none of the deposits in the Ormanli area qualify as a commercial heavy-mineral deposit.

Jan 1, 1995

By K. E. Burgher

Since World War II, the need for the use of explosives in construction, mining, and quarrying near congested urban areas has increased dramatically. Often times a coal mine, once isolated from a city, finds itself surrounded by residential and commercial structures. The United States Bureau of Mines and others have researched blast design to a point where ground vibration and airblast damage can be avoided. A problem still exists, however. It is the fact that people often react to only the loud noise associated with a blast although it may not cause damage. Most often it is the concussion of a blast, less than 20 hertz and inaudible, that produces damage. Public fear from the "startle" and "fright" of loud blast noise greater than 20 hertz leads to the complaints which are generally unfounded. See Thackray, Touchstone, and Baily (1975) for a further discussion of the startle effects of loud sudden noises. When blasts are designed in accordance with U.S.B.M. specifications, management generally has little to worry about with respect to damage claims. Complaints, however, still arise when the noise is accentuated from the blast. It is meteorological conditions which dictate how the sound levels will propagate. Some mines use small pilot test shots (generally one-two lbs) to determine when atmospheric conditions favor sound travel.

Jan 1, 1987

Coal waste materials inhibit direct vegetation establishment due to adverse physical and chemical properties, particularly low water retention and high potential acidity. The Moss # I coal refuse pile is located in Dickenson County, Virginia, and was idled in the late 1980&apos;s with little topsoil resource available for final closure. The refuse was acidic (Total-S = .. 38%; pH = 3.6), black, high (70%) in coarse fragments, and had a low water holding capacity (4.5% in < 2.0 mm fraction). A small plot experiment was established on the refuse pile to evaluate the influence of liming rates (50% and 100% of lime req.) and topsoil thickness (15, 30 and 60 cm) on vegetative growth and leachate quality. Liming and topsoil amendment increased the surface soil pH from < 4.0 to > 6.0 over a two-year period, which resulted in greater vegetative cover and biomass than the control plots. All topsoil treatments resulted in greater vegetative cover and biomass than plots treated with lime only due to improved surface soil physical and chemical properties. A topsoil treatment of 60 cm gave the thickest vegetative cover and biomass yield. Such a treatment, however, would be cost-prohibitive at this location. Application of 27 Mg ha-1 of lime to the refuse surface along with 15 cm of topsoil produced acceptable two-year vegetative cover and biomass, and appeared to be the optimal treatment for this particular situation. Both liming and topsoil had no affect on leachate pH and the electrical conductivity in leachates collected below the plots. This suggests that surface revegetation will have little effect on the quality of water draining through the pile, so long term water treatment requirements may not be reduced by successfully revegetating the pile surface.

Jan 1, 1999