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By Robert Bissonette, Samir Sbai

A critical component of implementing autonomous systems is the ability to use information from a robust sensory and information system to make sound, predictable, and repeatable decisions to assure safety. This means that any such system would need to evaluate what objects (people, equipment, boulders, etc.) of interest exist in that environment (with relevant data about identity, trajectory, characteristics, etc.), project a future continuum of those objects (including considerations for variabilities), and make control intervention choices to minimize risk due to exposures in the present operational area. The components of an overall system would include: a) sensor and data fusion, b) probability projection of future states, c) generation and evaluation of alternate futures, and d) implementation of best course of action to reduce risk. The National Institute for Occupational Safety and Health (NIOSH) Spokane Mining Research Division (SMRD) is studying this framework for applications for autonomous mining equipment. This paper focuses on using information from the sensor fusion engine to generate a continuous projection of future and alternate states (b and c above) incorporating the factors of confidence, accuracy, tolerance, and other variabilities. We refer to this as Machine Situational Awareness (MSA).

Jun 25, 2023

By D. K. Steele

The U.S. Bureau of Mines has investigated the recovery of metals from copper industry wastes by sulfuric acid leaching in a semi-continuous, bench-scale system to solubilize arsenic, copper, and molybdenum. Leach residues contained approximately 40 wt pct PbSO4, suitable for processing at a lead smelter. Arsenic and molybdenum removal from leach solution was examined using solvent extraction with tri-n-butyl-phosphate (TBP), and copper was subsequently recovered by cementation. Bleed electrolyte from a copper refinery was determined to be a viable source of acid for the initial leach stage.

Jan 1, 1991

By O. A. Orumwense

The liberation of intimately disseminated impurities from the coal matrix often demands that the material be ground to a high degree of fineness. Similarly, some technologies for coal utilization require superfine particles (i.e., sizes less than ten microns). This implies additional costs for coal preparation plants due to the high energy and media costs associated with fine grinding operations. Besides, there are problems such as sever product contaminations due to media wear and impairment of the quality of coal. Hence, proper choice of grinding media type is important from the viewpoints of cost reduction and product quality.

Jan 1, 1993

By R. Quintero

The HYL Direct Reduction Process was the first in the world to operate successfully at industrial scale. The results were so innovative and attractive that other steelmaking companies acquired licenses for the HYL Process. Now in its 40th year of commercial operation, the HYL process has evolved into a modem, highly efficient and economical technology -HYL III. The technology offers high productivity, minimum energy and water consumption, electricity co-generation, raw material flexibility, premium quality DRI/HBI, and is highly versatile for meeting the specific needs of each user. A historical review as well as recent developments and future plans are presented in this paper.

Jan 1, 1998

The capability for on-line measurement of the quality characteristics of conveyed coal now enables mine operators to take advantage of the inherent heterogeneity of those streams and split them into wash and no-wash stocks. Relative to processing the entire stream, this reduces the amount of coal that must be washed at the mine and thereby reduces processing costs, recovery losses, and refuse generation levels. In this paper, new approaches for optimal control of the segregation process, using time series models and empirical distributions, are presented and demonstrated using field data.

Jan 1, 1998

By J. A. MacLellan

It is the hope of the author that this paper, largely a compilation of observations and opinions built up over 20 years of experience in cold and remote areas may be of some help to others in designing better plants for the future in the north. The north is not as difficult to operate in as the better story tellers make it appear to be. ()n the other hand for 6 months of the year the cold is always there, and it seems to be waiting for someone to make a mistake. The simplest things can shut a multi-million dollar plant down at -4n' F with a 4n M.P.H, wind. It only takes one man door improperly latched to freeze up all the pumps on the bottom floor. Someone can poke a one inch hole in an outside wall in July and six months later while you are having Christmas dinner, a watchman will call up to report that the whole plant is flooded because the main water line just froze up and burst. Basic things to remember in plant design for cold and remote areas are: everything in these areas is more expensive due to long and difficult supply lines. Fuel is expensive and would be a major cost item even if it were not expensive, due to the extended periods of low temperatures. Building volumes should therefore he kept to an acceptable minimum. Service areas on the other hand must he adequate, because maintenance generally has to be conducted inside in a heated area. Supply vehicles for instance have to get completely inside the building to unload. If you try to unload a supply vehicle with the door open at -50° F, you won't be able to find the vehicle for fog and if you take more than 5 minutes half the water lines in the plant will freeze up. People in a remote area are expensive. The capital investment per employee may be as high as $30,000; with fringe benefits per annum costs of an employee will he as high as 812,000 per year regardless of basic wage rate. It

Jan 1, 1971

By J. A. Bleeck

A discourse on the relationship between industrial minerals and paper production, concentrating on high grade, ultra fine ground calcium carbonate (mean particle size less than 2 microns) and precipitated calcium carbonate. The scope of the paper encompasses four basic areas relevant to the topic: 1. A tutorial overview of the papermaking process with an examination of various industrial mineral components in that process; 2. A discussion of basic technological topics pertinent to the utilization of carbonate in paper with emphasis on the relative aspect. Of natural ground calcium carbonate (GCC) and synthetic precipitated calcium carbonate (PCC); 3. An overview of paper and carbonate market, in both the United State, and Europe with emphasis on (a) current status and future growth trend. Of such market., and (b) discussion of the major influences on growth and development of such market.; and 4. Identification and discussion regarding the principal producers in calcium carbonate markets serving the paper indu.try in Europe and North America.

Jan 1, 1993

By Alvin Kaufman

Malthus, an eighteenth century economist, predicted a rather dismal future for the world. It was his contention food supplies would not be sufficient for the population of the world because the economy of a nation grew arithmetically while population increased geometrically. As a consequence, within a relatively few years mass famine would spread throughout the world. This prophecy, based on an agrarian economic situation, did not come true at least insofar as the Western World was concerned. In largo measure, the salvation of our part of the earth resulted from the growth engendered by the Industrial Revolution. Throughout much of today's world, however, the Malthusian theory seems to be coming true. The advantages and benefits of the Industrial Revolution have net reached all nations. Further, the situation has been compounded by the benefits of modern medicine. This has reduced child mortality and extended life expectancy, but placed no limitations on births in the developed countries, child mortality has declined to 2 percent and adult life expectancy has doubled, but education and general prosperity have resulted in voluntary limitations on pregnancies thus partly offsetting the increased chance of survivals Even so, the present rate of population increase in Europe is approximately 6 percent per decade, and somewhat higher in the U.S., Japan, and other developed countries. The world as a whole, however, is expected to double its population by the year 2000, This would imply a rate of increase in the less developed countries approximately four times that in Europe.

Jan 1, 1966

By F. Calizaya

A booster fan is an underground fan installed in series with a main surface fan and used to boost the air pressure of the ventilation air passing through it. To accomplish this objective, the fan is installed in a permanent stopping and equipped with airlock doors, a monitoring system, and interlocking devices between main and booster fan controls. The stopping and doors are used to prevent flow recirculation, and the monitors to ensure safe operation of the fan. A booster fan, properly sized and sited, can be used to create safe work conditions and allow the extraction of minerals from areas that would otherwise be uneconomic to mine. In deep and large mines with heavy emissions of air contaminants, the required quantities of air can only be supplied by using high pressure fans. These fans will inevitably induce significant losses of fresh airflow through the stoppings and doors. For well defined ventilation circuits, booster fans can be used to decrease the main fan pressures and reduce the leakage flows. However, this will require a good understanding of the correct ventilation practice, from planning to operation and maintenance of booster fans. The objective of this study is to investigate the conditions under which booster fans can be used safely and efficiently in underground coal mines. Specifically, the study is directed at (1) collecting reliable information on airway resistances and flow requirements from two large U.S coal mines, (2) collecting fan performance data from one or more existing coal mine where booster fans are used regularly, (3) monitoring the performance of booster fans in a laboratory model and an experimental mine, (4) developing a booster fan selection method to assist the ventilation engineer at the planning stage, and (5) training six M.S. or Ph.D. graduate students in advanced mine ventilation.

Jan 1, 2010

Good morning ladies and gentlemen of the AIME. I was doubly pleased when Toby Yu asked me to present to you my thoughts on the past, the present, and the future of bulk transportation by barge. My first pleasure comes from sharing with you the subject that has been my career for many years. I love this industry in the same way Mark Twain loved our rivers. Somehow, I can find in all of the activities that make up this crazy barge business the same sort of excitement that he found in "steam boating." The second reason for my enthusiasm is that Toby carefully pointed out that the presentation had to be kept to a maximum of 15 minutes. I can promise you that I will hold to his maximum time limit.

Jan 1, 1982

By Gino Vogt

In mechanized tunnelling operations, performance, consumption and safety are main factors for jobsites. One of the most important components effecting these factors, especially in slurry TBM operations, are Slurry Treatment Plants (STPs). Inadequately dimensioned and designed STPs create bottlenecks for tunnelling operation and jeopardize time schedules and performance. Inefficiently planned STPs could drastically increase consumption figures such as electrical power, bentonite, water polymers, etc. Inaccurately selected and treated suspension properties can cause a high-risk potential for the whole project. This paper debates the relevant key parameters for STPs from start to finish of a project and its results in influencing factors from the manufacturer’s point of view.

Dec 1, 2022

By J. Kemeny, J. Lyons-Baral

"Point cloud technology is now an indispensable tool in geological and geotechnical data collection, interpretation and analysis. Open pit and underground mines of all sizes are regularly collecting point cloud data as Laser Scanning (LiDAR) and Photogrammetry surveying devices have finally become affordable and the workflows fast and efficient. Past challenges of large data processing and manipulation are gone with recent technological advancements in computer hardware and software. These innovations reduce file sizes, ease rendering requirements and allow for the implementation of real-time 3D viewers and surface meshing tools. With its ability to remotely (safely), rapidly and accurately extract large quantities of georeferenced and 3D-oriented data, point cloud technology provides numerous applications to the geomechanical field. The list of uses is continuously growing, so this paper specifically focuses on digital outcrop modeling and digital terrain engineering. INTRODUCTION Point Clouds The high-resolution and increasing availability of point cloud technology is rapidly improving open pit and underground mines’ investigation, interpretation and characterization of site geology and rock mass properties (Kemeny et al., 2015; Lyons-Baral, 2012). LiDAR and photogrammetry are common remote sensing methods employed to measure the coordinates of surfaces in three dimensions (3D), providing the X, Y and Z locations, and typically the reflective intensity and/or the visible three-band color of each point (Figure 1). LiDAR uses either a time-of-flight or phase-shift measurement of a laser beam reflected off targeted surfaces and received back into the device. Photogrammetry generates point clouds by merging multiple overlapping photographs and uses stereographic plotting to define the locations of object points in 3-D space. These methods can be deployed from airplanes, unpiloted aerial systems (UAS or drones), tripods, land vehicles, and even in a mobile backpack shown in Figure 2. RADAR, Total Station-Prism and other remote sensing systems also offer very precise “point clouds”, but this paper does not address these due to their higher cost and lower versatility and mobility. Technology In the past few years point cloud acquisition device prices have dropped significantly, devices have become lighter, smaller and easier to operate, and processing and utilizing the data has also become faster and easier. Device size improvements include mobile backpacks (Figure 2) and handheld mobile LiDAR (CISRO, 2014), allowing mobile scanning in tight spaces both above and below ground or inside and outside of man-made structures. Airborne data acquisition options have expanded dramatically with the spread of UAS technology as seen in Figure 3 (Hexagon Geosystems, 2015). Once UAS usage regulations are sorted out, these versatile machines will be everywhere, offering high resolution coordinate scans, imagery and other remote sensing. While backpacks and handhelds allow access to tight quarters, UAS permit rapid data capture from narrow to broad areas with multiple perspectives reducing data “shadows.”"

Jan 1, 2016

By Andrew J. Petruska, Rik Banerjee

This study explores implementing a machine learningbased system to generate a 3D surface repre- sentation of the roof and support straps in the mine. Event cameras have been chosen for their performance in high-dynamic-range lighting conditions and for their low latency. To enable automated drilling and bolting, 3D vision using eventbased cameras has been developed. A ground-truth set is created using two, time-synced event cameras and a LiDAR camera. These sensors are used to construct a ground-truth dataset of corresponding event- camera images and surface maps from the LiDAR. The network is tested with stereopairs of event images and produces a depth image with ±5 mm RMS error on average across 1000 test images.

Feb 1, 2024

By T. Hollenberg, N. Nolten

The mining industry is one of the major energy consumers in Namibia. Energy costs increase the operating costs of Namibian mines, in particular, the processing plants, and result in an overall increase of production costs. A substantial part of the energy used is directly imported from South Africa. The cost of energy has been increasing rapidly in the past few years and will most likely continue to do so in the future. In 2015, the average wholesale price for energy from national power utility NamPower was US$87/MWh after rising more than 12 percent annually in the two previous years. At peak times, which are early in the morning and late in the evening, imported-energy prices are extremely high and have to be factored into the electricity tariffs. This problem is expected to intensify due to a projected 4 percent annual increase in energy demand. A major target of the Namibian mines, therefore, is to consider possible ways to address energy-saving challenges and to investigate possibilities for the mines to generate electricity internally during peak times. This is in alignment with the mines’ strategic plans and objectives to reduce total energy consumption and costs from both national and foreign electricity suppliers. In this paper, we explore addressing some of the key energy consumption and optimization challenges through process energy reuse and solar energy production to decrease demand for imported energy through a case study carried out in cooperation with Skorpion Zinc Mine and Refinery.

Jan 1, 2018

By George A. Mealey

Caving mining methods that are based on a planned caving of rock above and/or at times surrounding the material being mined can be classified in three broad categories: longwall mining, sublevel caving, and block caving. Each of the three methods involves a distinct technology as well as art of operation. Each requires a relatively large, regular, and predictable ore body. As a rule, the effect of mining results in some form of impact or change on the surface. Operationally, underground caving methods are characterized by high productivity as well as a high percentage of extraction of the mineral being mined. A key element for the productivity of this form of mining is the ability to standardize the various elements of work taking place underground. Therefore, work-men may perform a specialized role rather than function as all-around miners. Further, the nature of the mining methods lend them to a high level of mechanization. Operations and manpower can be centralized into a relatively small area where supervision can be concentrated and therefore be more effective. Productivity as well as safety benefits thereby. The caving method is unique in that the exploitation openings are deliberately destroyed by the process of mining. Rock mechanics principles focus on the ensurance and the propagation of the cave as well as the continuance of the mine openings designed to extract the broken ore. As a rule, production operations are designed to maintain a steady, continuous flow of ore from the extraction areas. This steady flow rather than an intermittent flow tends to promote good caving action as well as reduce hangups.

Jan 1, 2008

By J. R. Knudson

A major contribution to the art of blasting was made at the Cleveland- Cliffs Iron Company?s Hawkins Mine in Cashwauk, Minnesota during April of 1956. It was here that the first experiments with fertilizer grade ammonium nitrate were conducted-experiments which led to the development of the ammonium nitrate and fuel oil method of blasting which has been eagerly adopted by open pit and quarry operators throughout the United States. While this new blasting agent was a more or less natural outgrowth of the Akremite Process devised by Maumee Colleries of Terre Haute, Indiana; no one, to our knowledge, had used this particular combination of ingredients prior to this time. Certainly this was a "break-through" as far as the Lake Superior District was concerned. Akremite consists of a mechanical mixture of grained ammonium nitrate and a solid carbonaceous material packed in a plastic bag. At the time of its introduction to the Mesaba Range, Akremite sold for 10.5 cents a pound as compared to the 18 cent powder previously used in both wet and dry large hole blasting. The discovery of this agent was indeed a remarkable achievement, one that afforded a substantial reduction in blasting costs. However, Akremite proved to be only an intermediate step in the evolution of our present low cost explosives. Cleveland-Cliffs utilized prilled ammonium nitrate and fuel oil and then eliminated the mixing and packaging plant entirely by combining the two raw materials in the field at the drill hole collar or in the hole itself. Thus we have approached the ultimate in simplicity, for the blaster and his helper now manufacture their own explosives not only as they are needed but where they are needed, and at a cost of under 4 cents a pound. This two-man crew may charge and explode as much as 8 tons of ammonium nitrate in an eight-hour shift and in so doing break some 65,000 tons of ore.

Jan 1, 1959

By S. I. Freedman

Coal-oil mixture (COM) combustion technology is regarded by the Department of Energy as near term, and potentially applicable to existing utility and industrial steam generators and for injection into blast furnaces. From work done previously, it has been established that COM can be burned in existing boilers, into blast furnaces. Therefore, the issues being addressed by the current DOE program are: (1) determination of best available technology to achieve environmentally-acceptable long-term reliable operation and (2) determination of applications for which COM can be utilized economically. Some of the technological options have begun to be determined by projects already under way. However, many projects are still in the early stages of development.

Jan 1, 1978

By J. Kemeny, J. Lyons-Baral

"Point cloud technology is now an indispensable tool in geological and geotechnical data collection, interpretation and analysis. Open-pit and underground mines of all sizes are regularly collecting point cloud data as laser scanning (LiDAR) and photogrammetry surveying devices have become affordable and the workflows fast and efficient. Past challenges of large data processing and manipulation are gone with recent technological advancements in computer hardware and software. These innovations reduce file sizes, ease rendering requirements and allow for the implementation of real-time 3D viewers and surface meshing tools. With its ability to remotely and safely, rapidly and accurately extract large quantities of georeferenced and 3D-oriented data, point cloud technology provides numerous applications to the geomechanical field. The list of uses is continuously growing. This article specifically focuses on digital outcrop modeling and digital terrain engineering. Point clouds. The high-resolution and increasing availability of point cloud technology is rapidly improving open-pit and underground mines’ investigation, interpretation and characterization of site geology and rock mass properties (Kemeny et al., 2015; Lyons-Baral, 2012). LiDAR and photogrammetry are common remote sensing methods employed to measure the coordinates of surfaces in three dimensions (3D), providing the X, Y and Z locations and typically the reflective intensity and/or the visible three-band color of each point (Fig. 1).LiDAR uses either a time-of-flight or phase-shift measurement of a laser beam reflected off targeted surfaces and received back into the device.Photogrammetry generates point clouds by merging multiple overlapping photographs and uses stereographic plotting to define the locations of object points in 3D space. These methods can be deployed from airplanes, unpiloted aerial systems (UAS or drones), tripods, land vehicles and even in a mobile backpack shown in Fig. 2. RADAR, Total Station-Prism and other remote sensing systems also offer very precise “point clouds,” but this article does not address these due to their higher cost and lower versatility and mobility."

May 1, 2016

By M. Sadegh Safarzadeh, Erich U. Petersen, Jan D. Miller

"An acid bake-leach process has been identified and applied to an enargite concentrate containing ~67% enargite, ~27% pyrite (FeS2), ~3% chalcopyrite (CuFeS2), ~6% sphalerite (ZnS) and <1% galena (PbS). Sulfuric acid baking of this concentrate resulted in the transformation of the concentrate to S8, As2O3, HFe(SO4)2•4H2O, PbSO4 and Cu0.47Fe0.53SO4•H2O, all of which (except elemental sulfur and PbSO4) dissolved during the water leaching step. More than 87% Cu and 64% As were leached when the concentrate was baked at 200°C over 7 hours with a sulfuric acid-toconcentrate weight ratio of 1.6. Less than 1% As was lost to the gas phase. Upon water leaching, copper and arsenic were released to the solution at a concentration ratio of about 3:1. While enargite is very reactive during the sulfuric acid baking reaction, other minerals present in the concentrate such as pyrite, galena and sphalerite may compete to consume sulfuric acid and be converted into their corresponding sulfates at different concentrations. The purpose of this paper is to present our examination of the effects of sulfuric acid dosage on the extractions of Cu, Fe, and As from an enargite concentrate. In this regard, the concentrate, baked concentrate, and the leach residues are characterized and a conceptual process flowsheet is described for the acid bake-leach process for the treatment of enargite concentrates.IntroductionThe occurrence of enargite (Cu3AsS4) in copper ores and concentrates and the associated high arsenic values in such resources have resulted in a considerable decrease in the demand for such concentrates because they cannot be economically processed using conventional technologies such as smelting and atmospheric leaching (Mihajlovic et al., 2011). The exploitation of such problematic deposits through competitive treatment strategies will be required in the near future in order to satisfy increasing pressure from the copper market. It is expected that the average arsenic grade of copper concentrates will increase from 0.17% in 2008 to 0.22% by 2020 (Mayhew et al., 2011).The acid bake-leach process was identified and selected for further investigation at the University of Utah as a possible process alternative for the treatment of enargite concentrates. In this case, adequate amounts of concentrated sulfuric acid are mixed with the concentrate and heated to the temperature range 150-300°C. Subsequently, the baked material is leached with water/weak acid and the acid bake-leach process has some advantages over conventional sulfuric acid leaching (Prater et al., 1970). During water leaching, metal sulfates are released in solution, after which they can be extracted through well-known hydrometallurgical techniques. While the majority of the work has been done on oxide minerals, there is a limited record of sulfuric acid baking of sulfides."

Jan 1, 2015

By William E. Mead

A regional investigation to find large supplies of potable ground water was carried out at elevations exceeding 12,000 feet above sea level on the Bolivian Altiplano. The program marked the first application of modern ground water search and development technology in the region, and ended a history of unsuccessful exploration efforts to locate important supplies of fresh water from underground sources. Oruro, a population center of 90,000 inhabitants, and its primary supporting industry - mining, both derived major direct benefit from the results of this program.

Jan 1, 1970