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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 A. Hajati

The main purpose of this study was to find the optimum values for factors affecting the Zn recovery rate using oxine or dithizone as a chelating agent collector during flotation in a Hallimond tube. Eight control factors, including four levels of pH, oxine/dithizone, corn starch, sodium thiosulfate, sodium citrate, sodium silicate, conditioning and floating durations were considered in a Taguchi experimental design technique. An L32 orthogonal array was applied to determine the signal-to-noise (S/N) ratio. Analysis of variance (ANOVA) was used to determine the optimum conditions and the most significant parameters affecting the reaction rate. Analysis of the experiments using the Taguchi approach indicated that pH had the highest contribution to the recovery rate of zinc oxide particles. The results showed that the recovery rate of zinc increased by 43.4 ± 3.0% and 24.9 ± 3.2% using oxine and dithizone, respectively, under optimum conditions with a confidence level of 90%.

Jan 1, 2010

By W. A. Hoyer

Neutron activation analysis for mineral identification has attracted the attention of numerous investigators, judging from the publications on this subject in the past few years. 1-9 The appealing aspect of this method of mineral analysis is its proven sensitivity in the laboratory. In principle, activation analysis is one of the few petro-physical methods whereby a direct analysis for a mineral itself is possible in a borehole. The successful application of activation analysis requires the use of particular neutron reactions, measurement of selected gamma-ray energy intervals, and optimum bombardment and detection times. For copper analysis, Labanov et al., 10,11 using a low-energy PuBe source, reported an acceptable logging means. On the other hand, Pradzynski12, in analyzing ores and process tailings, used high-energy neutrons and photons for surface measurements of process samples. The work of Labanov et al. was based on measuring the rate of decay of the activated copper and hence was not as definitive as might be desired. Equipment is commercially available to carry out activation studies in the field 13,14 Gamma-ray spectra can be successfully transmitted over ordinary logging cables and, with borehole high-energy neutron accelerators and lower-energy chemical neutron sources, a variety of neutron activation methods can be studied. The purpose of the study discussed in this paper was to determine the feasibility and practicability of logging for copper using neutron activation techniques and commercially available equipment. The laboratory study showed that Cu could be detected in rock samples in the laboratory by high-energy neutron activation of 63 Cu. In the field, however, due in part to the large volume irradiated, the direct detection of copper using high-energy neutrons was not as promising. Detection of copper by measuring both the direct gamma-ray emission and the excessively strong low-energy gamma-ray absorption appears promising. Copper was not detected either in the laboratory or

Jan 1, 1972

Many investigators believe that column flotation cells offer significant advantages over standard mechanical machines for the flotation of fine particles. However, because of their unique design and operation, conventional techniques for flotation cell scale-up and design cannot be applied to columns. In an attempt to help alleviate this problems a population balance model based on first principles has been developed for fine particle flotation in a column. Two different terms have been considered in the model, i.e., transport and rate. Transport terms, incorporating fluid flow and bouyancy, are used to describe the movement of air bubbles, unattached particles and bubble-particle aggregates along the length of the column. Rate terms, which describe the bubble-particle attachment process, have been derived from first principle considerations. Because the model is based on first principles, it can be useful for the design, control, optimization and scale-up of column flotation cells.

Jan 1, 1987

By Robert D. Thomson

Land use is the single most important element affecting the quality of our physical environment. .The minerals industry is a user of land and by its very nature, directly affects the landscape. Mining is a very visible activity. Producers of sand and gravel, crushed stone, clay, cement and lime operate right at the interface of the public. These production sites must be located near population centers. People are more travel oriented than years ago and through use of the expanded interstate highway system visit remote and little-visited areas. They visit communities on their vacations, places they enjoy on weekends and places they drive past on business trips. Although not residents of these localities, they have a strong interest in changes that occur in the landscape. As a result, the public has a greater concern today about mining and its use of land. From 1930 through 1971, the minerals industry used 3.65 million acres, or 0.16 percent of the land mass in the United States (4)2/. Of the total 3.65 million acres utilized, about 59 percent was accounted for by the area of excavation, 20 percent by disposal of overburden and other mine wastes from surface mining, 13 percent by disposal of mill or processing wastes, and 5 percent by disposal of underground mine wastes; the remaining 3 percent was subsided or disturbed as a result of underground workings. Nonmetallic minerals and fossil fuels each accounted for 43 percent of surface land used during 1930-71; the metal mining industry utilized the remaining 14 percent.

Jan 1, 1976

By Wayne R. Hopkins

Southern Arizona has one of the world's principal concentrations of copper ore bodies. Twenty miles south of Tucson, close to the Mexican border at Sahuarita in Pima County, is the Twin Buttes mine. In mid-1973, the Anaconda Company and American Metals Climax Incorporated (AMAX) established a 50-50 partnership to operate and expand the Twin Buttes property. Anamax Mining Company was established as the operating company for this joint venture. The production from the Twin Buttes mine is shared between the two partners who market independently. A major expansion of the Twin Buttes operation has included an accelerated stripping programrne for the pit, an expansion of the sulphide concentrator, the construction of an oxide leach plant and a 57 MW diesel generating power station. Part of this major expansion, the large tonnage oxide processing plant was brought on stream in 1975 and is now close to design capacity. The "mine to market gap" has been closed by producing high-purity copper cathodes at the mine site from oxide ore reserves. By using a hydrometallurgical process route, copper production is possible with negligible effects on the environment.

Jan 1, 1976

By Jürgen F. Brune, SAMUEL A. LOLON, ADITYA JUGANDA, Gregory E. Bogin Jr

Historically, there have been many occurrences ofmine fires and explosions recorded in the United States and other countries that have demonstrated the existence of explosivemethane–airmixtures, herein referred to as explosive gas zones (EGZs). The risk of mine explosions can increase if the EGZs migrate out from the gob into the surrounding mine entries. Fluctuating barometric pressure is the common cause for EGZs outflowing or outgassing from the gob. Numerical analysis using a 3D computational fluid dynamics method was developed to fully understand the outgassing phenomenon. A number of simulations using various magnitudes and periods of barometric pressure changes indicated that the EGZ outgassing potentially occurs due to lags in pressure, which are strongly influenced by mine conditions and ventilation systems. An early warning system with a real-time pressure monitoring and the application of gob ventilation boreholes are recommended to detect and mitigate explosion hazards from gob outgassing.

Aug 24, 2020

By Karoly (Charles) Kocsis, Kyle A. Scalise

Understanding the climatic conditions in underground mines is necessary for efficient ventilation design, cost savings, and to ensure the health and safety of mine workers. Large volumes of ventilation and climatic data including air volume, barometric pressure, dry bulb temperature, and relative humidity were collected at active underground precious metal mines in Nevada, which allows for the determination of wet bulb temperature and other key parameters. Through the utilization of neural networks, the wet bulb temperature at the bottom of the intake shafts is predicted, while taking into account the “thermal flywheel effect” (TFE). Wet bulb temperature is one of the most important climatic parameters to model and understand because it significantly affects the work conditions and the cooling capacity of the ventilating air. The accurate prediction of the dry bulb and the wet bulb temperatures at the bottom of intake shafts is critical when assessing the climatic conditions in future underground mines and deciding onwhether a cooling system is needed to assure adequate working conditions throughout themine. By utilizing accurate predictions of wet bulb temperatures and other climatic parameters, mine personnel will be safer as reported by Bluhm et al. (2003), and a more accurate ventilation design can be achieved resulting in major cost savings for underground mines.

Mar 3, 2021

By Caroline Gerwig, Joseph R. Wickline, Zach Agioutantis

In longwall mining, the progressive caving of the roof allows stored energy to dissipate over an extended time. However, in some cases, the roof strata above the longwall panel are unusually strong and do not break with the movement of the working face. Instead, the roof material bridges over the expanse of the longwall, forming an unstable beam. Later, when this beam breaks, the stored energy can release suddenly, causing a seismic event to propagate to surrounding mine workings. The focus of this paper is to estimate the size of beams that form over longwall panels to the seismic energy recorded by the mine. Analytical calculations are used to verify two-dimensional models of longwall roof beams to determine the strain energy and gravitational energy developed, which is then released upon strata failure to surrounding mine workings. Models are developed using RS2 to model the stress, strain, and deflection along the bottom of the longwall roof beam to calculate gravitational and strain energies. Gravitational energy is shown to be the main driving factor in energy release, except for the beams with low heights. Analyses allow the determination of beam characteristics based on seismic data. The analysis is refined using swelling factor to compare various beam drop heights. The models show an increase in seismic magnitude for higher drop heights. However, the actual data provided by the Buchanan mine displays a decrease in seismic magnitude with increasing drop height, indicating that energy is dissipated into the broken gob material as drop height increases.

Jul 1, 2023

By M. SIDDARAJU, Rameshwar Sah, T. Umadevi, K. S. SRIDHARA, B. D. Ganesh Shetty, M. RAJU

The production of high strength iron ore sinter for blast furnace iron making unit was developed by optimizing the granulometry of less than − 0.150 mm fines in sinter base mix which consists of iron ore fines (− 10 mm size with 0.150 mm: 41%), beneficiation plant jig concentrate, i.e., washed ore (− 3 + 0.150 mm size with − 0.150 mm 3 to 9%), beneficiation plant concentrate (− 0.150 mm size 97%), limestone, dolomite, coke breeze, lime, sinter return fines, direct reduced iron (DRI plant) fines, and micropellets produced from steel plant waste. The sintering process consists of preparation of base mix, mixing, and production of nodules using mixing and nodulizing drum by maintaining the optimum moisture, transferring of nodules to the sintering machine, and firing of sinter by applying optimum suction pressure. To optimize the < 0.150 mm fines in sinter base mix, the − 10-mm size iron ore fines was replaced with washed ore. The size analysis, granulation index (G index), and optimization of moisture w.r.t. sinter bed permeability were carried out by varying the washed ore addition from 0 to 55% in sinter base mix to vary the − 0.150 mm fine size. With decrease in washed ore addition from 55 to 0% in sinter base mix the finer fraction, i.e., − 0.150 mm in sinter base mix increased from 9.4 to 26.7%. Granulation (G) index increased from 1.46 to 3.10, sinter bed permeability increased from 33 to 53 Japanese Permeability Unit (JPU), and balling index increased from 1.4 to 3.0. With increase in − 0.150 mm fines in the sinter base mix from 9.4 to 26.7%, the sinter tumbler index (T.I) increased and sinter reduction degradation index (RDI) decreased. Increase in sinter strength and decrease in sinter RDI was due to increase in formation of Silico ferrite of calcium and aluminium (SFCA) phase and decrease in pore phase. The SFCA is the main bonding phase in iron ore sinter, and it provides strength to sinter. Sinter base mix with − 0.150 mm fines 18.9% (washed ore addition 25%) achieved desired sinter properties with moisture 8.0%, G index 2.44, balling index 2.3, and sinter bed permeability > 45JPU. Decreased the sinter properties with washed ore addition in sinter base mix beyond 25% due to decrease in − 0.150 mm fines in sinter base mix. Further, to improve the sinter properties with washed ore 30 to 45%, 3 to 10% beneficiation plant concentrate, i.e., − 0.150 mm fines was added to maintain the 18.9% of − 0.150 mm fines in sinter base mix. From the laboratory sintering studies, it was found that minimum 18.9% (range from 18.9 to 26.7%) − 0.150 mm fines should be maintained in the sinter base mix to achieve desired sinter properties.

Oct 16, 2021

By Shankar S. Hegde

In many areas of the United States much of the most readily minable coal is nearing depletion, while at the same time, increased national attention is being given to coal as a major alternate energy source. If some of the thinner, more erratic, deeper and lower quality coals, which comprise the great bulk of U.S. resources, are to be mined efficiently and economically, greater attention must be devoted to careful planning of mines and to preparation facilities. One of the cornerstones to careful and successful mine planning is precise knowledge of coal thickness and areal distribution, roof and floor quality, and seam quality. Data on which this knowledge is based are obtained from various borehole techniques and, in some cases, seismic methods. Despite the many technical innovations that have been made in acquiring subsurface data, little attention has been given to the problem of systematic storage and retrieval procedures of the data and assembling them in a form that can be used for various computer mapping programs now available. (See Bilter and Martin, 1977; Bryant and Zobrist, 1977 and Farrell and Wherry, 1978). The purpose of this paper is to describe a series of user oriented programs developed over the past five years which are specifically designed for precise logging of rock core, accurate storage and retrieval of this data, correlation of seams between logs, tagging seams, computer assisted data posting of maps and preparing maps and profile sections for report illustrations. The entire system stresses increased precision and speed for a series of operations which are now largely manual, time consuming and prone to error.

Jan 1, 1980

By Kendrick C. Hardcastle

Although the basic techniques employed in hydraulic pumping in open pit mining have been practiced throughout the better part of this century, only relatively recently have studies of&apos; sufficient depth and scope been conducted to improve these techniques. This paper will point out the basic techniques involved and some of the more recently discovered data concerning hydraulic pumping, Inherent in all hydraulic transportation systems apart from the consideration of transportation cast, is the outstanding advantage of slurrying the matrix at the mining pit so as to provide a lengthy and thorough soaking and washing of the material while in the pipe line and thereby reduce the necessity for washing, scrubbing and other treatment in the beneficiation plant. This is quite important in view of the constant increase in demand for a cleaner product.

Jan 1, 1964

By Brain E. Gombos

The Allen Park Sanitary Sewer Overflow (SSO) Tunnel and relief sewer project, located in the city of Allen Park, MI, is a long-term corrective action designed to bring Sanitary District One?s sanitary system into compliance with its 2005 consent order and service contract with the Detroit Water and Sewerage Department (DWSD). The $20 million project is intended to reduce Allen Park?s wet weather discharges to DWSD, reduce bypass pumping to the Ecorse Creek and limit the future risk of basement flooding by providing storage during wet weather events and eliminating hydraulic bottlenecks in the sanitary sewer system.

Jan 1, 2013

The Canadian concept for nuclear fuel waste disposal is being assessed by AECL Research in a series of experiments at its Underground Research Laboratory (URL) near Lac du Bonnet. Manitoba, Canada. As pan of this research, the Mine-by Experiment has been designed to obtain information on rock mass behavior, the development of an excavation-induced damage zone and failure mechanisms around a circular bored tunnel. An iterative design approach was used to effectively reconcile the experiment objectives and construction logistics. This paper discusses the design considerations and construction methodology adopted on the project.

Jan 1, 1991

By Walter von der Linden

On April 14, 1975, Consolidation Coal Company began to operate a longwall face in their Shoemaker Mine using shield supports. This was the first time that shield supports were used in the United States (1) 1/. Shortly thereafter, Kaiser Steel Corporation started a shield longwall face at their York Canyon Mine (2). From October 1975 through May 1976, three more longwall faces were commissioned in mines located in south-western Pennsylvania and northern West Virginia. In June 1976, four installations had completed their first panel and two installations had completed the subsequent move to the second panel where coal production is now well under way. During this time (April 75 to June 76) the total number of shield support face operating months, including moving time, was 40 and the combined face advance was approx. 17, 000 feet (5200 m) with face lengths varying from 450 - 550 feet (137 - 168 m). While the shield support experience in the U.S. is still limited on the basis of time and mining parameters, the operating results of all faces have been very satisfactory. New record 24 hr production figures were set and - far more important - long term production figures could be sustained on an impressively high level even when taking face moving time into account. The purpose of this paper is to review the performance of shield type supports in the U.S. and to assess their value as longwall supports for U.S. underground mining conditions with regard to roof control, maintenance, operator convenience, safety and productivity.

Jan 1, 1976

By R. H. King

Suboleski and King (1990) analyzed the reasons for the dramatic increase in underground coal mine productivity during the last 10 years. This paper examines whether this increase can be extended. The paper forecasts whether the mix of technological, procedural and other factors that produced the increase will change in the future. The forecast is based on the base case and spreadsheet production model described in the previous paper.

Jan 1, 1991

By Richard J. Leary

At the 1976 Annual Meeting of AIDE, Alan Merson reminded his audience that economic&apos; success comes to those who understand things as they are, rather than as they have been or what ideology says they should be (1). He went on to say that, measured by this standard, the mining industry is in trouble. The mining firms had recognized long ago the importance of effective lobbying in Washington and the state capitals. But, he pointed out, those methods are nearly worthless anymore in coping with many land use problems because the critical decisions are likely to be made at the local level. There the tactics are far different as are the relations of the decisionmakers to the parties before then. Furthermore, in his estimation the trend is to leave land use regulation largely to the local level of government. All who are concerned for access to land for mineral development will be benefited by reading Professor Merson&apos;s paper lie is speaking effectively about the context of decisionmaking for specific cases, the shape of things in the here and now. There is, however, a longer-tern set of considerations that if pursued will be likely to foster the creation of public support for mining developments. At that sane meeting I spoke on two foundations of the long-term relationships: namely, the growth in requirements for minerals implied by projections of increasing consumption; and a rationale for fostering mineral exploration and development. I mentioned in passing the social decisionmaking process for public uses of land (2). This paper is intended as a complement. The growth of requirements for Minerals and the rationale for development based on the Entropy Law will be only mentioned. The main concern will be on the process of social decisionmaking in the context of access to land for mineral development.

Jan 1, 1976

By Ronald R. Bauer

Wollastonite is a little known industrial mineral of the silicate group. The largest and purest known deposit in the free world is being mined and beneficiated in Millsboro, New York by NYCO, A Division of Processed Minerals Incorporated. The associated garnet and diopside are separated from the wollastonite using dry high intensity magnetic separators. Beneficiated wollastonite is used extensively as an additive and filler in the ceramic, paint, refractory, and wallboard industries. Wollastonite acts as a functional filler due to its unique chemistry and physical acicularity.

Jan 1, 1982

By Wen Tao Liu, Tong Tian, Fu Sheng Niu, Xiu Man Liang

In order to address the difficulty of accurate segmentation of froth images of different sizes, a method of froth image segmentation based on highlight correction and parameter adaptation is proposed. First, a machine vision system on a single-cell flotation machine is built to collect froth images. Homomorphic filtering is used to improve the uneven brightness and shadow of the images. Fuzzy c-means (FCM) clustering is then utilized to classify similar highlights that belong to the same froth. After Otsu threshold segmentation, a parameter-adaptive morphological operation is used to extract the marker points and edge bands and correct the froth edges in the original image. Finally, the modified image is filtered by morphological reconstruction, and the highlight mark is used as the local minimum point for watershed segmentation. Three sizes of froth images are segmented in comparative experiments. The results show that the proposed method is suitable for the segmentation of froth images of different sizes. The position of the extracted segmentation line is close to reality, with average over-segmentation and under-segmentation rates for froth images of 2.6% and 6.8%, respectively. The froth image segmentation performance is stronger than that of the other methods examined.

By K. Boakye

This paper presents the results of a review of historic blast design practices at the Dragon Products Company, LLC (Dragon) Quarry Operation, along with the results of two different blast design vibration monitoring programs. A blast pattern design modification was initiated to determine if production volume per shot could be increased and highwall instability could be decreased. A vibration monitoring program was undertaken to investigate peak particle velocity (PPV) and relate the data to the blastability of the jointed onsite rock mass, utilizing the relationship between PPV and dynamic stress and strain. The Dragon Quarry Operation has historically used a 6-in. diameter, 14-ft by 14-ft production blast pattern, with blast holes loaded manually using cartridge style explosive products. In 2011, Quarry Operations introduced a 6-in diameter, 16-ft by 16-ft production blasting pattern, using pre-mixed, truck-loaded, bulk emulsion/ammonium nitrate/fuel oil (ANFO) blends. This paper summarizes the results of the blast design modifications, the results of the vibration monitoring data, and describes how production blasting and excavation at the Dragon Quarry has benefited from such modifications.

Feb 27, 2013