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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 R. Vogt, H. C. Mult, F. L. Wilke

INTRODUCTION At present, the capability of production planning software based on Linear Programming (LP) is still limited to the optimization of the single LP-run. This is due to the LP-model itself which cannot consider the interdependencies between individual LP- runs. With regard to planning of selective mining this limited way of optimization frequently leads to situations, where the remaining and accessible ore blocks do no longer allow to produce ROM-ore in the qualitative composition required by the ore processing plant. However, many of the aspects taken into consideration when setting up production plans built from mutually dependent LP-runs cannot be modelled in a system of linear equations. They are thus unsuited for treatment with LP and have to be taken care of by the planning engineer without any assistance by the system. The KBS currently under development is intended to assist the planning engineer in designing a production plan under special consideration of the combination of consecutive LP-runs and blending beds. It is not necessarily intended to find the optimum solution within a given planning situation which is, anyway, hard to determine due to the multitude of influences. The objective is rather to work out a good and - from the practical point of view - feasible production plan. The new aspect with respect to mine planning is the integration of expert knowledge and experiences via the KBS into the planning process in order to support the planning engineer. The planning system is being developed in close cooperation with an iron-ore open pit mine. COMPONENTS OF THE PLANNING SYSTEM The software is being developed on a workstation under UNIX and comprises the components LP, CAD-module and the KBS. The applied multi-goal LP-algorithm is an in-house development of the Department of Mining Engineering at Technical University Berlin. It was already successfully implemented within other mine planning programmes and was only slightly adapted to the specific needs of the present system. Within individual LP- runs it finds the optimum qualitative composition of ore production in the sense of the selected optimizing criterion and under the given restrictions: i.e. it determines tonnages to be mined from blocks in order to optimally meet the requirements of the ore pro- cessing plant. A CAD-module based on the commercial SURPAC package in combination with a simulation device is used to graphically depict the block model and progress of mining. Both LP-algorithm and CAD-package are integrated in the KBS. It has been decided to use the shell NEXPERT OBJECT as it is a hybrid system which supports both rule-based and object-oriented knowledge representation. MINE-MODEL AND LP-MODEL KBS have to be tailor-made for specific planning problems. Therefore, it had to be decided which specifications of the iron-ore mine should be represented in the model. As the limited possibilities of a university institute do not allow to develop a KBS for mine planning which is ready to use in industry, it was decided to concentrate on those characteristics that can be regarded as typical for iron-ore surface mines and that seemed to be suited for treatment with knowledge-based techniques. The following chapter summarizes the most important features of the mine model. The description of the requirements to the mine's sales products is followed by an outline of the applied LP-model. Mine model • The model of the mine as it is used for planning consists of • the block model of the deposit, • the mobile equipment, • stockpiles and blending bed and • the requirements to the sales products. The deposit is described by a block model which contains data on the chemical composition, LOI, grain size and tonnages. Grain size was included as it is important for the two sales products of the mine. Furthermore, it is known whichs blocks require and which don't require blasting; this is relevant to the assignment of loading equipment to individual blocks. The blocks are devided in three categories: • ore, which will directly be taken to the blending bed; • waste, which will be put on the waste dump; and • blocks which will be either transported to the blending bed, to stockpiles or to the waste dump depending on the specific planning situation. This decision is made during planning. Neighboring blocks are combined in mining areas to which the loading equipment is individually assigned. Mobile equipment comprises shovels and wheel-loaders as well as trucks. The characteristics of the loading equipment are important for their ability to load different blocks and for the permissible degree of their re-positioning etc. The mine disposes of a blending bed for homogenization of the production, of a waste dump, and of several stockpiles with different ore qualities. The requirement to make only limited use of the stockpiles for economic reasons is included in the KBS. According to long term planning two commercial products have to be produced, which differ both in grain size and qualitative composition (TABLE 1). Their mass-proportions in the blending bed have to be within a fixed range. Not considered in long term planning is the occasional need for lump ore, which occurs at very short notice and has to be produced in a "campaign-like" manner. This requires the total re-arrangement of all plans for on- coming blending beds and would therefore be ideally suited for

Jan 1, 1996

By W. Linwood Haden

Fullers earth has been mined since about 1920 in southwest Georgia and the adjoining area of Florida. In 1935, the mineral was named "attapulgite" after the source of a sample near the town of Attapulgus, Decatur County, Georgia. Mining and processing of the clay was described in a 1930 publication1 at a time when petroleum refiners were the major users. In the years since then, the uses and users of attapulgite have multiplied, and both mining methods and processing methods have been changed to optimize the clay for the new uses. A comprehensive review of the properties and applications of attapulgite 2 has been published. Only a brief review will be given here to explain the properties being sought and to show how these properties are optimized by mining and processing practices.

Jan 1, 1972

By R. Torbin

The degree to Which automation/remote control/robotics has been utilized in the mining industry is far less compared to general industry because of several factors. These factors include the adverse working environment, the difficult work operations, and the generally lower incentive for capital investments in new mining equipment. Foster-Killer has been actively involved in the development of advanced mining and underground construction equipment. This equipment is designed to be remotely operated to improve both productivity and worker safety. Many of these machines employ advanced electronics and robotic features. Other types of Foster-Miller developed robots will also be described Which could be applied to special mining problems. The types of machines that will be discussed include the following: remote shaft lining/placement. remote excavation/mining operations, automated conveyor system, and robotic surveillance.

Jan 1, 1989

By T. M. Gurr

It is estimated that in excess of one-half million chemicals are used throughout the American workplace. Hundreds of new chemicals are also being introduced into the workplace annually. Exposure to some of these chemicals can be harmful to workers and to the environment. The Occupational Safety and Health Administration (OSHA) estimates that approximately 25% of the U. S. labor force or approximately 25 million workers are exposed to one or more chemical hazards each year. OSHA has determined that this poses a serious problem for workers exposed to such chemicals. Chemical exposure may cause safety and health problems. Health problems can include a cause or contribution to heart ailments, kidney and lung damage, sterility, cancer, burns, and rashes. Safety hazards can include the potential to cause fires and explosions and other serious accidents.

Jan 1, 1989

By J. Hanna

The University of Alabama Mineral Resources Institute (MRI) has developed a unique process for selective fatty acid flotation of carbon-ate gangue from sedimentary apatites "francolite" in the pH range of 4-6 without collector conditioning of the pulp. The process, which does not require an apatite depressant, was modified to beneficiate a high Mgo siliceous phosphate matrix from south Florida. The modified process includes two flotation stages, one for carbonate removal, as mentioned above, and the other for phosphate recovery from the siliceous gangue. The selective flotation separation of the carbonate and phosphate, from siliceous constituents of the matrix at various pH levels and collector dosages are discussed. In the carbonate flotation stage, about 70% of the Mgo was rejected in the froth and the phosphate flotation stage produced concentrates analyzing about 31% P2O5,0.7% HgO and 4% insol. The overall P2O5 recovery in the two stages is about 85%.

Jan 1, 1989

By Feng Dingwu, Chen Jin, Sun Zhongyuan, Peng Shiying

The recent development of rare-earth permanent magnets has impacted the field of magnetic separation. The permanent magnets technology led to the advent of various magnetic separators particularly designed for application in mineral processing. In this paper, a new type of rare-earth PHGMS possessing a higher magnetic field strength in the working zone was developed using finite element analysis techniques. The NdFeB permanent magnets used had properties of 38 MGOe stored energy, and magnetic material flux levels exceed 1.2 T, The combination of scientific and engineering design and suitable matrices can offer an effective separation of industrial minerals, such as kaolin, feldspar, etc. Compared with conventional high intensity electromagnetic separators, the equipment can reduce electrical energy over 80% with lower operation and maintenance costs, and less installation space.

Jan 1, 1995

By J. Hanna

Four Ca-bentonitic clays from Alabama were evaluated for use in Diammonium Phosphate (DAP) or Urea Ammonium Nitrate (UAN) fertilizer suspensions. The viscosity and gel strength of suspensions prepared with different proportions of a Western bentonite clay and sodium exchanged Alabama clays, were measured as a function of clay content and dispersant concentration. The results obtained suggested that three of the Alabama Ca-bentonites would replace about 40% of the more expensive Western bentonite in UAN and DAP fertilizer suspensions. The performance of the Na-modified clays, prepared according to the TVA soda ash method, was as good or even better than those observed for the Mg-, Na/Mg-or K-modified clays. The TVA clay modification procedure appears to be reliable and cost effective.

Jan 1, 1989

By Ebelia Manda, Peter RK Chileshe, Sydney Chinyanta, Abdul Samson, Victor Mwango Bowa

Buttressing is a widely employed control measure for mitigating slope failure in various settings such as openpit mines, road sections, dams, and hilly or rocky terrains. This paper presents a study on the effects of buttressing, specifically concerning slide-head toppling failure. Drawing insights from a case study of slide-head toppling in Zambia, our investigation employs both analytical (limit equilibrium) and numerical (3DEC software) modeling techniques. The analytical and numerical models exhibit notable similarities in their schematics and overall results, revealing a subtle effect of buttressing in controlling slide-head toppling failure. This study contributes valuable insights into the nuanced role of buttressing in slope stability, with implications for optimizing buttress design parameters. While the overall findings suggest a modest influence of buttressing on slide-head toppling failure, further discussions delve into the specific implications and potential refinements for practical applications.

Jan 1, 2025

By Fouad Faraj, Julian M. Ortiz

Within the natural resource industries, there is an increasing amount of data and number of variables being recorded when sampling a site. This has made multivariate geospatial datasets more difficult to analyze, in particular the definition of estimation or simulation domains used in geostatistical analysis. Establishing these domains is typically the first step for any subsequent geostatistical workflows or modeling. Domains are traditionally established using categorical data such as lithology, mineralization, or alteration from geological logging and are aimed at identifying distinct populations with particular geological, spatial, and statistical features. The manual logging process is time-consuming and costly but is required because defining geologically homogenous volumes is crucial for the planning, extraction, and processing of natural resources. Classical clustering methods have aided in analyzing the multivariate datasets, but the resulting clusters from these methods do not correlate well with geological logging and do not allow practitioners to input their knowledge of the domain in the clustering process. In this work, a simple unsupervised classification workflow is presented which allows the practitioner to input domain knowledge by selecting relevant variables to cluster reasonable geological domains. This can be used as a tool to aid the manual logging procedure or as a tool to establish domains for different uses such as defining zones with different rock hardness distributions which allows the corresponding volumes to be sent to appropriate mills for efficient mineral processing. The performance of the workflow is assessed on a mining dataset using the geochemical information and validated with the geological logging.

Apr 16, 2021

By S. J. Porter, M. T. McRae

The new tunnel at Genting Sempah is part of a privately funded infrastructure projectthat involves duplicating the existing highway extending from the Gombok Toll Plaza near Kuala Lumpur to Karak, in Malaysia. The 60 km long tollway includes an 800 m long, two-lane highway tunnel with excavated dimensions of 10.5 m wide by 8 m high. The majority of the tunnel extends through slightly to moderately weathered, moderately to highly jointed quartz porphyry. Excavation of the tunnel was performed using drill and blast methods and the primary tunnel support consists of rock dowels and shotcrete except for short sections adjacent to the portals where steel sets were utilized. A portion of the tunnel encountered sheared and altered material that was successfully supported using rock dowels and shotcrete. The final lining for the tunnel consists of mesh and fiber reinforced shotcrete. The flexible nature of the primary support and shotcrete final lining resulted in considerable cost savings and expedient construction methods.

Jan 1, 1997

By John Jonkman

During the decade of the eighties, the mining industry was able to take advantage of numerous advancements in computing technology. The development of the desktop workstation and the tremendous increase in power of minicomputers have cause many of the technical computing applications to be taken out of the "glass house", or central computing facility, and distributed to where the work is actually performed. This trend, combined with the significant price/performance improvement being experienced, has resulted in computers becoming more readily available at a reasonable cost for research and development activities, thus increasing the amount of new development taking place. The papers in this session discuss research and development work which has resulted in advancements in mining technology applications in the following areas: - Technical Parameterization - Linear Programming - Dynamic Programming - Computer Aided Design

Jan 1, 1989

By G. Bezuidenhout

The newly developed Bateman Flotation Machine has proven its versatility in roughing and cleaning flotation circuits. This mechanical flotation machine has the dual performance capability of suspending solids and dispersing air at relatively low power inputs without compromising these two important fundamentals. This new development has been successfully marketed to a wide cross section of concentrator mineral processes. The mechanical design of the flotation mechanism has been optimised to reduce operational costs and to lower manufacturing costs. Production process environments were utilised for verification of the scale-up of each cell volume size rated mechanism. These thorough investigations produced performance data which could be accurately quoted. This paper is a historical account of the Bateman Flotation Machine. Technical details of the development are covered with descriptions of the operational applications.

Jan 1, 1995

By R. D. Kelsey

The theory, definition and practical application of cutoff grades have evolved over a long period. This evolution is reflected in the continuing flow of papers on this and other related matters though the rate has varied as new ideas and theories have become understood and applied in practice. Papers by Lane(l) in 1964 and Taylor(-2)- in 1972 provided landmarks in the understanding and general communication of cutoff grade theory and its application. The reasons for the continuing interest in cutoff grades are obvious. Too high a cutoff can reduce the mineral recovered and possibly the life of a deposit. Too low a cutoff would reduce the average grade (and hence profit) below acceptable levels. This paper provides a brief overview of existing cutoff grade theory and some particular aspects of its application.

Jan 1, 1979

By J. J. Davis, C. A. J. Fletcher, M. Li, T. Jancar

This paper summarises the experimental approach to spiral modelling at the Julius Kruttschnitt Mineral Research Centre, University of Queensland, involving the use of plastic density tracers to determine partitioning performance on three models of coal spiral. This work has led to phenomenological models of the three spiral profiles most widely used in the Australian coal industry. The results from a parallel computational fluid dynamics approach to spiral modelling currently underway at the University of New South Wales are also presented. The computational simulation has been successfully applied to generic spiral geometries and is capable of predicting the fluid phase three dimensional flow fields and corresponding free surface profiles for moderate Reynolds' number and Froude numbers. Simulation predictions are compared with experimental results from a Mineral Deposits LD9 coal spiral.

Jan 1, 1995

By Donald D. Haas

This presentation will discuss a mine owner's evaluation to utilize a contract miner in the development and production of gold properties. I will address both the quantitative and subjective aspects of the evaluation process. The quantitative aspects include cost evaluation, capital preservation, acquisition and disposal of new and used equipment, administrative costs, recruiting and training, and organizing a staff and craft labor force. The subjective areas of this discussion include corporate philosophy, administrative concerns, contractor competence, loss of owner control, operating flexibility, financing assistance, recruiting and training program utilization and risk reduction. The evaluation of alternatives provides a system for comparing, on a cost basis, an owner/operator system vs. a system using a contract miner. The supplement provides a concept on how a contract miner may be the cost effective system to be utilized.

Jan 1, 1989

By K. V. S. Sastry, A. J. Hunt, K. D. Lofftus

Sol-gel processing is rapidly becoming an important process for producing such advanced materials as high activity catalysts, fiber optics and ceramic precursors. These materials can be tailor made with properties unique to sol particles as well as the gel aggregates by controlling production of the sol, the formation of the gel, and the removal of the interstitial fluids. This paper presents colloidal and kinetic principles of sol generation and gel formation. Hydrolysis of alkoxides provides the best means of controlling sol production and electrostatic stabilization enables the formation of the most homogeneous gels. Gelation occurs by hierarchial aggregation which produces inhomogeneities much larger than the sol particles. Colloidal and kinetic principles can be applied to reduce the size of the inhomogeneities and obtain high performance transparent insulation and new ceramic composites.

Jan 1, 1990

By James D. Reilly

The time-worn adage "an ounce of prevention is worth a pound of cure" was never more applicable than when used in reference to coal mine safety. Many individuals have dedicated many hours to developing effective accident prevention programs, and much has been accomplished. Each production escalation, however, creates new hazards and safety problems which need special study and research. It is a never ending cyle. To study the progress of coal-mine safety is to raise memories of many individuals who have been dedicated to removing the hazards that have developed with increased productivity and deeper penetration into the earth for coal. Some vivid examples of this dedication are the works of the men who pioneered the use of the safety lamp and the use of rock dust in mining.

Jan 1, 1968

Residential and commercial plumbers in the United States were introduced to Viega?s copper press technology in 1999. In short, the technology allows plumbers and installers to join copper pipe securely in four to seven seconds on pipe sizes of 1.2 to 10 cm (0.5 to 4 in.) by pressing the connections with specialized tools and fittings rather than through sodering or welding. The water- and air-tight technology, first introduced in Germany in 1989, includes three different sealing elements, a variety of materials and a selection of configurations. By eliminating the need to thread or solder pipe, connections and repairs can be made quickly and securely. Installations are also much quicker and as secure as traditional methods.

Jan 1, 2012

By David M. MacGillivray

1. INTRODUCTION The economic importance of bringing a new mine to production in the shortest possible time, is well known. In recent years the rate of escalation of mining costs has accelerated more rapidly than at any time in the past. This fact has enhanced the need to reduce time schedules and made it an overriding and predominant objective when planning new shafts. The squeezed profit margins and widely fluctuating metal prices have also increased the emphasis being placed on this aspect. Moreover the increase in the present value of future profits due to the reduction in the time element, can be so substantial that expenditure on equipment and additional labour can be justified conditional on sufficient gain in shaft sinking speed being achieved. The emphasis on time saving becomes more abundantly clear when considering the very large increase in the capital required to bring a modern underground mine to production. As an example, the initial capital expenditure requirements for a large new gold mine in the Western Transvaal, which has commenced production recently, is estimated at R200M, and a major extension to another deep level mine in the same area is estimated at R300M. With the uncertainty of future metal prices and the recent trends in increasing inflation, it is becoming more difficult than ever to estimate the profitability of proposed mining projects and any cost saving due to more rapid sinking of shafts can only assist in this respect. Since the shaft systems are frequently the most expensive set of underground excavations and no other underground work can commence until they are completed, the speed of shaft sinking is subject to closer scrutiny than in the past. In the following sections of this paper the factors contributing to the high average advance rates achieved by South African shaft sinkers are discussed. It is difficult, if not impossible, to estimate the effect of any single factor, in isolation, on the overall sinking achievements. However, the cumulative effect of improvements made in the inter-related activities is, probably, the most important contributor. Although there has not been any single major technical change or innovation to shaft sinking practices in the last decade, the average sinking speeds have increased, due to improved application and technical improvements in established procedures. 2. GENERAL When discussing South African shaft sinking techniques and average sinking rates compared to those achieved in other parts of the world, it should be remembered that the size and depth of South African shafts are often considerably greater than in most other countries. Typical examples of shafts either in the course of sinking or recently completed are -

Jan 1, 1979