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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 the Global Positioning System (GPS), poor lighting conditions, and similar geometric features in complex mine scenes. LiDAR-based localization and mapping methods are more accurate than others, while long-time running in large-scale scenarios will introduce nonnegligible cumulative errors. This study presents a semantic-aided Li- DAR 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 data sets collected in two large underground mines, namely, a simulated Edgar mine deployed in ROS Gazebo and a public underground mine data set provided by ETH. Experimental results show that the proposed method has higher localization accuracy and outperforms the existing LiDAR-based SLAM strategies.

Feb 1, 2024

By William G. Holroyd

In January 1992, the Office of the US Trade Representative announced that the People's Republic of China had agreed to protect US intellectual property, including computer software, sound recordings, agrichemicals and pharmaceuticals. Under the agreement, China will make significant improvements in its patent, copyright and trade-secret laws. Ambassador Carla A. Hills, the US trade representative, said "this agreement should create significant opportunities for US firms interested in marketing high valued-added products to China." Principal beneficiaries will include the agrichemical and computer industries, as well as pharmaceutical, entertainment. The agreement will safeguard these industries' intellectual property, stimulating new exports to China and helping to generate additional growth in the US. Refractory grade bauxite was included in the mineral category of the $1.5 billion of Chinese products on which the US government threatened to impose an immediate 100% trade tariff. Refractory bauxite is available from Guyana and Brazil at higher cost and in different grades. However, refractory brick manufacturers would have had little choice but to pass on the costs to their consumers. Although the United States and China are separated by political ideology and internal governing structures, this agreement recognizes the importance of a $19 billion trading relationship. Consequently, the renewal of China's most favored-nation trading status in the US congress in -June 1992 was all but assured. Many US companies doing business in China and Hong Kong have been quietly increasing their investments since 1989. These companies can now concentrate on developing sales to the domestic Chinese market. This market is expected to surpass 1.2 billion people in 1995 and approach 1.3 billion by the end of the century.

Jan 1, 1993

By A. K. Martin

Adaptive management can be described as a structured, iterative process of robust decision making in the face of uncertainty, with a goal of reducing uncertainty over time through system monitoring. Adaptive management is a tool which can be applied to not only change a system, but learn about the system (Holling, 1978). Adaptive management has been used in ecosystem management for years and guidance is provided in a variety of handbooks and publications. Adaptive management can be applied to industrial facilities and mines through the use of an adaptive environmental management plan (AEMP) and associated practices. The goal of this paper is to provide an explanation of how the plans and practices support regulatory agency approvals and permitting, span the life-cycle of mines, manage uncertainty, and assist in addressing mining impact and legacy issues. AEMPs and associated practices are useful tools to address the uncertainties in identifying, evaluating, and managing impacts of proposed new and modified mining facilities undergoing environmental review. Once a proposed project is approved, the AEMP continues as a living document, being informed, revised, and adapted by the operations. The AEMP can serve as an ongoing management tool for describing and evaluating environmental impacts, continuing in operations into post reclamation. If initiated during planning and environmental review of a project (and in some locations such as the United States [U.S.], the preparation of an Environmental Impact Statement (EIS)), the AEMP becomes a basis to identify, monitor, and manage potential project environmental impacts. Development of an AEMP for an operating mine is also beneficial since there are generally developing and ongoing environmental issues at those facilities as well. Over time, the AEMP is adapted to changing requirements and conditions including those anticipated and unanticipated. Ever increasing scrutiny of mining projects and the complexities of the EIS process highlight the uncertainties inherent in impact predictions. In making the momentous decision of initial project approval, these uncertainties can discourage the regulatory agencies? actions and create stakeholder anxiety and controversy about a project. A well-designed AEMP can support the decision to approve an EIS and enable a project to move forward. Additionally, an AEMP can inform financial assurance estimates and revisions over the life of a mine providing all parties including the citizens of the surrounding communities with greater confidence that potential environmental impacts and risks will be well managed.

Feb 23, 2014

By Thomas R. Kuesel

In simpler times, construction was a cooperative undertaking. The frontier tradition of barn-raising is the construction equivalent of the academic ideal of a single student seated on a log with Horace Greeley. In a more complex world, ideals become more elusive. Still, it was only a generation ago that toll revenue bond financed projects generally involved a team composed of investment bankers, engineers, and construction contractors, who all shared a common objective -- to create something useful, at minimum cost and in minimum time, with fair compensation to all involved. In an increasingly contentious public climate, the team has too frequently been splintered into separate camps of owners, engineers, and contractors, who have lost the old objective of creation and have, under the guidance and control of the lawyers, substituted two new primary objectives: 1. To protect one's own skin. 2. To detect and punish culpable negligence of one of the other parties. This process has become so ludicrous that a number of thoughtful observers from all of the camps (including even some lawyers) have come to recognize that there must be a better way to undertake construction works than to use them as wrestling arenas. The road to improved contracting methods starts with mutual understanding of each other's problems and viewpoints. To this end, discussions such as this RETC session make a useful contribution. To

Jan 1, 1983

By S. Dempsey

Since its passage in 1872, the Mining Law has been modified on several occasions to meet the changing needs of America's society and economy. Despite its evolution, the Mining Law continues to be criticized as outdated. This paper briefly traces the major points in the history and evolution of western mining laws, and reflects on the current status of ongoing discussion to reform the 1872 Mining Law.

Jan 1, 1997

By R. D. Hagni

Pyrometallurgical products from lime roasting of refractory gold ores, pyrite, and arsenopyrite have been examined for their mineralogy, porosity, permeability, retention of contaminant sulfur and arsenic, and potential effectiveness of gold extraction. Cathodoluminescence microscopy, supplemented by X-ray diffraction and scanning electron microscopy-energy dispersive analysis study, has shown that the products phases have characteristic cathodoluminescence properties as follows: anhydrite (CaS04), deep blue; unreacted portlandite (Ca(OH)2), deep purple; oldhamite (CaS), light yellow to rarely pink or orange; a sulfur-rich, arsenic-poor phase, violet; an arsenic-rich, sulfur-poor phase, non-CL. Within the temperature range examined (400-850°C), hematite exhibits greater porosity and permeability at the intermediate roast temperatures of 600-650°C.

Jan 1, 1993

By P. Tsakiris

The increasing social interest for the environmental issues, forces the authorities to enact more rigorous regulations. The mining industry is one of the sectors that concentrate vigorous remonstrance. It is an absolutely justified reaction, as a result of the numerous contaminated and polluted sites that have been inherited by previous operations and they remain unremedied. The lack of a consolidated global legislation, transfers the burden of decisions to the national level. This paper consists of two parts. At the first part, it discusses the critical role of the state to form an effective environmental policy, feasible for the context of the national economy. Afterwards it analyses two of the main points, which must be considered by the regulator for the excavation activity, the abandoned sites and the duration of the mining investment. The aims are to defuse, in the short-term, the public pressure, protecting the economic growth and, at the same time, to form a basic structure for the development of the corporate social responsibility. The second part presents an alternative financial instrument for the Greek regulatory framework, conformed to the characteristics of the Greek Economy, and analyses the expected benefits both for the business and the social welfare.

Jan 1, 2002

By Daniel Lakovic

"Mining operations can create a negative environmental impact, especially when considering the tailings that are produced through the processing of ores. Tailings are finely grained residues that form sludges. The tailings are deposited into giant basins, or sludge ponds, where they create a burden on the environmentby limiting the use of processed water.Tailings are one of the most important environmental liabilities for mining operations because of their large proportion in relation to the ore mined — generally 90 to 98 percent. To get to the valuable minerals, mining companies must move large amounts of rock. The rock is ground and then treated, usually with the addition of chemical solutions and large amounts of water. The lower the concentration of the valuable resources, the greater the proportion of accumulated excavated material sludge.Sustainable tailings management requires responsible handling, making it one of the mining industry’s greatest challenges. The proper technology should include consistent control of the environmental risks and impacts, as well as a proper relationship with the communities that surround the mining operations.The tailings, which can remain partly contaminated with chemicals, are pumped into the large sludge basins, which are secured by earthworks. During the mining operations, the basins must be stable enough to withstand the pressure of the stored excavated material. The storage option is still used, but it has failed on occasion. And when it does, it increases the risks to the environment and binds the unused process water. The more complex the availability of fresh water required for industrial use and for human consumption and their economic activities — for example, farming and agriculture — the more complex the conflicts that have the potential to shut down mining operations. With modern separation technology solutions, it’s possible to process the sludge and recover the processed water. However, the responsible use of the water is critical. Therefore, mining companies must rely on technologies that allow for proper reclamation of the water, whether re-using in their own processes or treating it to return it to the environment."

Dec 1, 2018

By MEHMET ALI RECAI ONAL, MAHMUT CAMALAN

The key motivation of this study is to evaluate the potential of well-known hazardous gases—carbon dioxide (CO2), hydrogen (H2) and oxygen (O2)—as grinding aids for mineral liberation in ball milling. The results show that exposure of chromite ore particles to CO2 flow will promote chromite liberation at breakage and, therefore, using CO2 as a grinding aid may partially reduce the carbon footprint of the mining industry. For that purpose, the use of two-phase (gas–solid) or three-phase (gas–solid–water) moving-bed mixers are recommended for the pretreatment of mill feed before ball milling.

By S. S. Peng

A hybrid boundary element-finite element model was formulated to model roof bolt reinforcement of the roof strata with bedding planes. This model was used to analyze the stress distribution around a rectangular opening with variables such as opening width-height ratio, number of bolts installed, number/location of bedding planes, in-situ stresses, etc. The most critical areas are identified and the number and length of roof bolt required are then determined. Two case examples are illustrated.

Jan 1, 1989

By Annan Cook

Cyprus Metals' Sierrita mine is located in the Pima Mining District, Pima County, Arizona (Fig. 1), which is one of the largest known porphyry copper districts. The ore body is part of a large mineralized system that includes Cyprus' adjoining Esperanza mine. The copper and molybdenum grades being mined at Sierrita make it one of the two lowest grade porphyry copper mines in the world Mineral production from the district was first recorded in 1876. Copper from replacement deposits in carbonate rocks and copper¬-lead-zinc from veins in volcanic rocks were mined from several deposits. However, it was not until 1957 that the district commenced to become a major copper producer with the beginning of production from the Pima mine, which was the first open pit operation. Since that time, seven other open pit mines have come into production. Because of the variable copper prices and high operating costs, not all of the mines are operating today. A map of certain outcrops, plutons, and open pits, as well as older underground mining operations, in the Pima district is shown in Fig. 2.

Jan 1, 1991

By G. S. P. Pereira, E. M. R. Santos

Acid mine drainage (AMD) is a serious environmental problem in mining activities. Prediction is the first step for evaluate the potential of acid generation and there are some possible methods to estimate it. They are described as static tests, which examine the balance between acid producing and acid consuming materials, and kinetic tests, which attempt to predict drainage quality overtime. Static methods are very simple and give a qualitative classification of the ores based on their potential to generate acid drainage. The characterization of ores to determine their acid producing potential is vital for the prevention of long term environmental liabilities. Laboratory tests were conducted under different methodologies to predict the acid producing potential of sulphide overburden, ore materials and tailings from a deposit of copper ore.

Jan 1, 1999

By David Mast, Irwan Halim, Brian Hagan, Kaveh Talebi, Jason Edberg, Amanda Foote

On June 14, 2023 Jay Dee Contractors’ Tunnel Boring Machine (TBM) “Phoenix” holed through and completed mining the second drive of the I-75 Segment 3 Storage and Drainage Tunnel. Completion of the tunnel came only after overcoming several challenges, including a groundwater intrusion event which deposited thousands of cubic yards of wet ground material into the tunnel. This paper will discuss the events which delayed completion of the tunnel by over nine months, the risk management and construction approaches assumed by the Design-Build team during bid, several challenges faced by Design-Build teams when building stormwater resilience tunnels using traditional Department of Transportation standards, and recommendations for improving risk allocation and proposal documents for future similar Design-Build tunnel projects.

Jun 23, 2024

By Biswajit Samanta, Pranjal Pathak

A multimine mineral value chain (MVC) consists of multiple mines in the upstream supplying raw materials to multiple destinations in the downstream. The short-term mine production scheduling problem of a multimine MVC aims to determine the optimal extraction sequence and destination allocation of blocks from all the mines collaboratively to meet the quality and quantity requirements of all the processing plants in each period, subject to all relevant technical and operational constraints of the mining system. It is carried out at shorter scales of days/weeks/months under the purview of long-term production scheduling. An optimal short-term production schedule for MVC involving multiple mines that share the same infrastructure (processing units, stockpiles and waste dumps) requires coordination across the network of mines. Optimizing the short-term production schedules independently at each mine fails to capture the benefit of collaboratively generating schedules for all the mines, resulting in suboptimal schedules. Additionally, in short-term production scheduling, the operations are modeled in greater detail with additional decision variables and constraints to model the more complex multimine MVC situations. This makes the large-scale instances of the problem computationally intractable for standard mixed-integer programming (MIP) solvers. This work presents a customized genetic algorithm (GA)-based heuristic approach to obtain near-optimal solutions to the industrial-scale instances of the short-term production scheduling problem of multimine MVC within a reasonable computation time.

Oct 1, 2022

By Donald E. Scheck, Syed F. Abbas

Public domain ventilation simulation programs have been well accepted by the mining engineers, but preparing the input and interpreting the results are labor intensive tasks. High performance personal computers and versatile CAD packages provide the means to quickly create the network and display the results. The enhanced simulators work from computerized as-mined map, the projected mine layout and timing maps. Using on screen displays of these maps and the snap-on feature of AutoCAD, the planner designates nodes in the ventilation network, connects them into branches and selects the branch characteristics from a side bar menu. The color coded ventilation network appears with the parameters shown along each branch. The software then calculates the length of airways and computes the branch resistances where needed and converts the input into the required format and passes the data to the Pennsylvania State University or U.S. Bureau of Mines ventilation programs. Output is available in graphical as well as report format. The color coded graphs include pressures at the nodes and flow quantities on the branches. Since the networks come from the mine maps, the ventilation displays are to scale and can be plotted separately or superimposed on the mine maps.

Jan 1, 1991

By The SME Sustainable Development Committee

The evolution of sustainable development in mining is recognized as a key contributor to sustainable development (SD), which is defined as the ability of current generations to meet their needs without compromising the ability of future generations to meet their own needs (Brundtland, 1987). This includes, in equal parts, social, economic and environmental impacts ? triple bottom line (Munashinge and Shearer, 1995). Alternately, sustainability has been defined in relation to social, natural, human, physical and financial capital. Our way of life relies significantly on the materials provided by mining, while mining activity affects the triple bottom-line or the five capitals. The mining community and its professionals have come to realize the importance of engaging all stakeholders in the discussion on sustainability. SME, as the leading professional mining organization, has been involved in these discussions. The society has various initiatives in sustainable development for members and stakeholders. The objective of this article is to: provide historical context for current trends in mining and SD and share SME sustainability initiatives ? their goals and rationales ? with the broader mining community. This article is timely because the past year saw two landmark forums on sustainable development: Rio+20 ? the 20th meeting of the United Nations Conference on Sustainable Development, and MMSD +10, the Mining, Minerals and Sustainable Development project 10 years on. Furthermore, this year marks the 10th anniversary of the Milos Declaration on the minerals professional?s responsibilities in achieving sustainable development, forums in which SME was involved.

May 1, 2013

By Daniel G. Ganey

Kerr-McGee Coal Corporation has used diesel face haulage and support equipment at its dual-seam Galatia Mine in Southern Illinois since production activities commenced in 1983. The mine began production from its lower seam, the Harrisburg No. 5 coal seam, in October 1983 and from the upper Herrin No.6 coal seam in April 1985. Before production began, the company developed a program designed to make use of the flexibility offered by diesel equipment. While productivity was an important goal, the top priority of the program was to provide a safe and healthy work environment for the miners. Management believed that high productivity would naturally follow. History has proven this belief to be true.

Jan 1, 1990

By R. S. Scheetz

The search for a more effective means of coping with methane liberation has resulted in the expanded use of seam degasification. Its advantages are measured not only in reducing the hazards due to methane, but also in producing a marketable commodity: .the gas, itself. However, the success of a methane drainage system is the culmination of many complex factors, the most important being the coal seam permeability. The two most popular drainage techniques used mining today are the vertically simulated borehole method and the in-seam horizontal borehole method. The objective of this paper is to determine the permeability range in which the selection of the degasification technique is based primarily on equipment and economic analysis. A discussion of the equipment involved will be incorporated into examples evaluated by the Penn State coal methane simulation model.

Jan 1, 1989

By Aurel Goodwin

MSHA is the regulatory Agency which administers the Federal Mine Safety and Health Act. Although MSHA's principles largely derive from this Act, they do not exculsively derive from it. One might expect that our principles are contained in the regulations we have published to implement the Act. To a degree, this is true; but the regulations we have now were developed and published before the current Act became effective. For this reason, as well as others, there are some principles that we support which are not evident in our regulations, or in the Act. One of these is the ALARA principle. This principle requires that all unnecessary exposure be avoided; that is, all exposures should be kept "As Low As Reasonably Achievable." Almost all professionals in radiation control can agree with this broad principle; but it would be difficult to get agreement on a regulation which would translate the principle into industry practice. Rather, our regulations specify a limit to exposure for any individual. For radon daughters the current limit is four working level months per year. By having an explicit limit such as this, the ALARA principle often becomes lost and the limit becomes the goal. The principles contained in the Act are equally broad in scope. The principles apply not only for radiation protection, but also for toxic substances and harmful physical agents. The Act states that standards for such substances or agents shall most adequately assure on the basis of the best available evidence that no miner will suffer material impairment of health or functional capacity, even if such miner has regular exposure to the hazards dealt with for the period of his working life. The Act also provides that, although protection of health must be our foremost concern, other considerations shall be the latest scientific data in the field and the feasibility of the standards. Our regulations reflected similar principles when they were developed and promulgated. From experience with other health and safety laws, Congress realized that setting and meeting an exposure limit may not be sufficient to prevent disease. The Act, therefore, contains a detailed description of additional provisions to be included, where appropriate, in mandatory safety and health standards. One of these additional provisions requires that miners be informed about the nature of the hazards associated with their job and about the means for their own protection. Another provision requires the use of labels and other forms of warning to inform miners about the hazards, about proper precautions for safe use or exposure, about relevant symptoms of overexposure, and about emergency treatment. We have partially implemented these provisions through regulation. The Act requires also that standards shall prescribe protective equipment and control of technological procedures and that they shall provide for the monitoring of miners' exposures. We have implemented this provision to a degree also through regulation. Finally, the Act specifies that, where appropriate, a mandatory standard must prescribe the type and frequency of medical examinations in order to most effectively determine whether the health of miners is adversely affected by exposure. Additionally, when a determination is made that a miner may suffer material impairment of health or functional capacity by reason of exposure, that miner must be removed from such exposure and reassigned. In order to encourage miners to take the medical examination, the Act also provides that the miner shall not suffer loss of pay as a result of being reassigned. This additional provision on medical examinations has not been implemented by regulation for radiation hazards, nor for most other toxic substances or hazardous physical agents. We believe that this conference will provide us with valuable information on medical examinations for radiation exposure, as well as on other considerations to be used in future regulations. We still question whether our basic exposure standard of four working level months per year is adequate to protect a miner's health. This conference is indeed timely because both MSHA and NIOSH have been reviewing this issue for some time. I would like to reemphasize MSHA's commitment to education and training. MSHA strongly believes that miners should be informed fully about the real and potential hazards associated with their work. They should know the nature of the hazard and the means for protecting themselves from the hazard. The Act also emphasizes the need for training miners by requiring that new miners receive 40 hours of training before working underground and 24 hours of training before working on the surface. The Act also requires eight hours of refresher training annually. This training must include information on the relevant health hazards and the potential consequences of overexposure. Before I close, I would like to mention briefly another source of principles that MSHA often consults to obtain guidance for both the development and enforcement of regulations. These are the various court decisions that are handed down from time to time. Two in particular that I want to stress are the recent Supreme Court Decisions on benzene and cotton dust. Although neither of the decisions has a direct impact on mining or radiation, they do clarify some general principles and directions for regulatory agencies, such as the role of cost-benefit analysis and the need for risk assessment. In closing, I wish us all an open exchange of information for a productive and useful conference.

Jan 1, 1981

By Ernesto Maldonado, Jesus Romero Benitez, Zach Agioutantis

Numerous researchers worldwide have investigated the prediction of ground movements due to underground coal mining utilizing different analytical, empirical, and numerical models. These studies have primarily focused on the development of prediction methodologies for either flat or gently dipping seams under variable topography, and only a few studies are available that have investigated the prediction of ground movements over inclined seams. Although most inclined coal seams are in China, India, and other countries worldwide, a few inclined coal seams (with a dip of 10 degrees or greater) are also present in the US. Currently, the prediction of ground movements for inclined coal seams using empirical methods utilizes the same methodology for horizontal seams. It consists of dividing the inclined seam into horizontal segments, calculating deformations due to each segment, and superimposing the calculation results. This paper presents a new tool that provides a methodology for modeling subsidence under inclined seam conditions. Examples based on subsidence measurements available in the literature are presented. The goal is to implement this methodology into the Surface Deformation Prediction System (SDPS).

Jun 25, 2024