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

Aug 10, 2023

By John Barakso

The Sam Goosly or Equity silver deposit is fundamental- ly a discovery based on the analysis and interpretation of reconnaissance geochemical samples. The discovery was made by Kennco in an area of heavy forestation and wide- spread cover by thin glacial debris. No major mines had been discovered in the vicinity of the discovery prior to the geochemical reconnaissance, and the interpretation of the geochemical results therefore was based on data available through geologic mapping and the sample collection process. In the period 1959-1961, PE. Hirst and his crew, in 1962- 1965 P.T. Blackand his crew, and in 1966-1967 C.S. Ney and P.T. Black and their crew collected geochemical samples from the area of what is now the ore body. Several of these samples were compiled and reanalyzed in the winter of 1966- 1967 for various trace elements, including fluorine. A strong, almost 16-sq-km (10-sq-mile) fluorine anomaly was projected along with a very weak heavy metal anomaly. On the basis of this anomaly, a chalcopyrite-bearing quartz monzonite was discovered in 1967. This was a misleading, noneconomic discovery not associated with the Sam Goosly discovery. The interpretation of the geochemical data by Barakso that summer indicated that another source was responsible for the fluorine anomaly. The conclusion was based on the assemblage of trace elements. Therefore C.S. Ney recommended further regional soil sampling to check the original data. The early results of this follow-up sampling found over 33 ppm silver. First float, then ore outcrop was found in the area of the silver anomaly. The attached reprints complete the development of the property after the discovery of the outcrop of ore.

Jan 1, 1990

By W. D. Hausel

The Wyoming craton in the western United States is a favorable terrane for diamond deposits. The craton hosts a variety of ultramafic, ultrabasic, and ultrapotassic rocks. Additionally, a few hundred 'kimberlitic' heavy mineral anomalies and some geophysical and remote sensing anomalies indicate the presence of undiscovered, mantle-derived, pipes in the craton. The Wyoming craton is separated into a Wyoming 'archon' known as the Wyoming Province, and the Colorado 'proton' known as the Colorado Province. The 'archon' underlies much of Montana and Wyoming and continues north into Alberta and Saskatchewan; the Colorado 'proton' underlies much of Colorado and a small portion of Wyoming. Although most exploration geologists would consider the 'archon' the most favorable terrane for commercial diamond deposits, the 'proton' has produced more than 120,000 diamonds, while the 'archon' has not been very productive.

Jan 1, 1996

By Bobby G. Cahoon

The ( ) Tayaaja ( ) . The deposit ( ) 130 kilometers due east of the continental divide and approximately 290 kilometers east-southeast of Lima (Figure 1). Relief in the immediate vicinity of the mine, which lies or the west side of the Mantaro river, is in excess of 2,000 meters, and the elevation varies from a low of 2,000 meters above sea level on the Mantaro River to a high of 4,386 meters at point T-27 (Figure 2). Although the Cobriza deposit was first reported by the Italian Geographer Antonio Raimondi in 1866, only three reports have been published on the deposit, which began production in 1966 (Duefias, 1908; Fernandez Concha and Garcia y Garcia, 1961; Petersen. 1965). Many private reports have, however, been written by geologists employed by the Cerro de Pasco Corporation. These reports and the author's observations, while employed as the Cobriza Division Mine Geologists form the basis of the present paper, which describes the relations between-the ore controls in the Cobriza mine and the regional and local structure.

Jan 1, 1971

By Fan Yang, Zhiping Wen, Tiancheng Nie, Jinhe Pan, Ruibo Jia, Changchun Zhou

Rare earth elements have important strategic significance and economic value, and the rare earth elements in coal resources have considerable development potential. This study took coal refuse in the Jungar area of Inner Mongolia, China, as the research object, and investigated the occurrence modes of rare earth elements. A special sequential chemical extraction experiment was designed, and the results showed that the rare earth elements in coal refuse mainly occur in silicate and aluminosilicate form, accounting for approximately 65% of the total rare earth elements. According to the results of SEM-EDS, micro morphology of the sample belonged to the lamellar structure of clay minerals, and Al, Si, Fe, S, Y, and La were all present in the sample. Through SPSS software analysis, rare earth elements have an obvious linear positive correlation with Al, Si, and Fe elements, and a negative correlation with S elements. The rare-earth element occurrence mode in coal refuse can provide a definite theoretical basis for the later extraction and enrichment work.

Feb 18, 2022

By Pierre J. Goossens

Since Guild 1 and Snelgrove 2 attracted our attention to the relationships between certain endogenic ore deposits and plate boundaries, an abundant flow of papers appeared in the metallogenic literature concerned with this problem and its application to mineral exploration. Some of the papers only speculate with the formation of specific type of ore deposit 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 Other papers are more concerned with genetic and structural relationships between plate tectonics and mineralization 13, 14, 15, 16, 17, 18, 19, 20 They are philosophical, in that they are generalized and refer to no specific area. Yet it is true that a large part of the world mineral potential is concentrated at the convergence of oceanic and continental plates, for example, around the Pacific. Therefore, the interaction of two plates by either subduction, obduction or slippage likely has an important role for the genesis and/or the (structural) control of these "orogenic" ore deposits. If subduction is the driving mechanism for the generation of igneous rocks 21, 22 and endogenic ore deposits 18, volcanic activity and the nature of volcanic products certainly are the major geologic processes and events to be tested. Fonteilles 23 and Alsac 24 have already emphasized the important relationship between mineralization and the talc-alkaline affinity of the volcanics. The Andean orogen is one of the best areas for testing such genetic relationships. Rich and varied endogenic and volcanogenic ore deposits occur there and plate interaction is still active.

Jan 1, 1975

By M. Christou

The LIFE-Environment Demonstration Project ?Treating Waste for Restoring Land Sustainability?(www.bangor.ac.uk/ies/TWIRLS/TWIRLS_home.htm), a project initiated by the University of Wales, Bangor, UK in which NAGREF is a partner, aims to demonstrate the effective use of industrial and municipal wastes for the remediation of post-industrial and degraded sites in urban and rural sites. Within the framework of this project, a schist quarry, which is located in a mountainous area near Athens and which has been exploited in the past for cement production, was chosen for bioremediation experiments in collaboration with the quarry owners, TITAN Cement Co. Three different areas within the quarry were selected representing 3 different topographies. These were a compacted, flat area with seasonal water logging (untreated control), a gently sloping, land formed area; and artificially created mounds of overburden rock material formed on the flat area. Compost produced from mixing municipal waste, green waste and digested sewage sludge at the recycling plant of the Association of Communities and Municipalities in the Attica Region (ACMAR), near Athens was used for nutrient amendment. Six replicates of three treatments were applied with varying compost application rates in order to examine the effect of the addition of organic matter in the establishment of suitable vegetation on the infertile schist material. Pine trees (Pinus halepensis Mill.), 4 per replicate, were pocket planted in a volume of 3 liters of schist or schist-compost mixture (1:2 and 2:1). Tree height, main stem diameter and branching were measured following planting and these measurements will be repeated annually to test hypotheses that compaction and water logging reduce Pine establishment by natural regeneration and that nutrient addition improves establishment of pine on schist waste. The availability of nutrients and variation in other soil physico-chemical parameters will also be studied in each treatment and related to plant growth. As a demonstration project, open days are planned on the site for the public and official bodies involved in municipal waste handling and other relevant areas. The aim of these will be to illustrate the effective re-use of waste for the sustainable restoration of post-industrial and degraded land.

Jan 1, 2006

By Ben Benally, Joseph M. Hans

INTRODUCTION The decontamination of the former Shiprock uranium millsite and the interim stabilization of its tailings piles began in March 1974, and ended in June 1978. Personnel monitoring for whole body gamma ray exposure was conducted for selected individuals working at the mill site throughout most of this period. The millsite and exposure conditions are briefly described to develop a basis for interpretation of the exposure data. Millsite The Shiprock uranium millsite is located in the community of Shiprock, New Mexico on a bench overlooking the San Juan River (Figure 1). Both Shiprock and the millsite are located on the Navajo Indian Reservation. About 1.5 million tons of tailings were produced on the millsite during its operation from 1954 to 1963. The tailings were pulped with waste process fluids and water, and discharged to form two tailings piles. The piles (ponds, dams) were formed with earth starter dikes and the dikes were then raised using the separated sand fraction of the tailings. The slime fraction of the tailings were discharged into the diked impoundment. The mill was shut down and partially dismantled before the lease expired in 1973, and the remainder of the mill and tailings reverted back to the Navajo Tribe which was the lessor. Portions of the millsite were then occupied by the Navajo Engineering and Construction Authority (NECA), a tribal enterprise. In addition to its regular activities, NECA established an on-site training school for heavy equipment operators. The trainees principally used the south tailings pile as a practice area and spread the tailings into a 10 hectare row of raffinate ponds located along the southwest side of the millsite. Overall, the training activities inceased the effective area of the tailings piles from 20 to 35 hectares. Another 56 hectares were contaminated with wind and water eroded tailings. Exposure Conditions Persons decontaminating a millsite may be subject to radiation exposures from several sources. Only whole body gamma exposures are discussed in this report. These exposures are arbitrarily divided into three levels: high, intermediate, and low. The levels are related to areas in which the decontamination work was being done and have no connotation concerning imminent hazards. High exposures would result when persons were working with raw tailings, and intermediate exposures would occur when persons were working in the ore storage and mill yards. Low exposures would result from working in areas where surface contamination exists from wind and water erosion. [ ] The millsite and its contaminated environs were divided into major areas to facilitate the decontamination work (Figure 2). Areas A, B, and C are defined as perimeter areas containing surface contamination. Work in these areas was expected to result in low exposures. Areas D, E, and F are the

Jan 1, 1981

By Sunil Vytla, Agus Sasmito, Akash Adhikari, Srivatsan Jayaraman Sridharan, Purushotham Tukkaraja

Previous studies on blast fumes (carbon monoxide and nitrogen dioxide) clearance and workplace reentry time have overlooked the effects of toxic gases trapped in the muck pile. The currently available models for calculating the mine reentry times assume that all post-blast fumes are emitted upon detonation. However, recent studies reported that as much as 60 to 70% [1–5] of the fumes or gases produced during an underground development blasting could remain trapped in the adjacent rock mass or in the muck pile. Trapped fumes are slowly released [1–5], and when disturbed, high concentrations are released, representing a possible risk during the loading and transportation of the muck pile. In this study, mathematical models were developed using computational fluid dynamics to understand the behavior of the trapped fumes and their effect on mine reentry time. The three scenarios considered for this study include (i) gas emission source with no muck pile volume, (ii) gas emission source with non-porous muck pile volume, and (iii) gas emission source with porous muck pile volume. The estimated reentry times in all three scenarios were compared to see how porous media affects dilution time. It was observed that scenario 3, with fumes trapped in the muck pile, took a significantly longer clearance time (more than double) as compared to scenarios 1 and 2.

May 17, 2022

By H Vigil, G. Peach

Long tunnels with only one access shaft pose many program problems for logistics, combine these with the requirement to drive directly out under the seabed for 10.2 km, and the program issues become even more challenging. The Musaimeer outfall tunnel was one such tunnel and to meet and eventually improve on the planned completion date required a complex and extensive management of all tunnel logistics required to support consistent tunneling for a two-year period. This technical paper will discuss the management issues and solutions implemented to meet the challenges of the Outfall tunnel construction.

Dec 1, 2022

By S. S. Klima, J. A. Organiscak

Researchers at the National Institute for Occupational Safety and Health (NIOSH) performed laboratory testing to examine and improve airborne dust capture and methane removal performance of flooded-bed scrubbers on continuous mining machines using a blowing face ventilation configuration to reduce respirable dust exposure to shuttle car operators. Several testing conditions were examined to minimize shuttle car operator dust exposure without adversely affecting continuous miner performance and production. Curtain-to-face setback distance of 9.1 m versus 15.2 m (30 ft versus 50 ft), face ventilation airflow of 226.5 m3/min versus 339.8 m3/min (8,000 ft3/min versus 12,000 ft3/min), and the use of side-body-mounted blocking sprays (on versus off) were the three primary parameters compared. Scrubber airflow was set and maintained at 198.2 m3/min (7,000 ft3/min) throughout testing. An examination of slab cuts versus box cuts and the location of the shuttle car (present behind the continuous miner versus not present in the entry) was also performed to demonstrate the effects of these constantly changing scenarios on scrubber performance. Results show that the best blowing face ventilation setup for minimizing shuttle car operator dust exposure for the tested parameters uses a 15.2-m (50-ft) curtain-to-face setback with 339.8 m3/min (12,000 ft3/min) face ventilation while operating the side-body-mounted blocking sprays. INTRODUCTION Coal mine worker overexposure to respirable coal dust continues to be a problem in U.S. underground coal mining operations, potentially leading to coal workers’ pneumoconiosis (black lung). The U.S. Mine Safety and Health Administration (MSHA) requires that respirable dust exposure to coal mine workers does not exceed a 1.5 mg/m3 average over the actual working shift (79 Fed. Reg. 24814 (2014)). Although using a blowing face ventilation configuration on continuous miner (CM) sections is beneficial for removing methane emissions from the mining face, it can be detrimental for dust control for shuttle car (or ram car) operators and any other workers on the return ventilation side of the CM when compared to exhausting ventilation. Even with machine-mounted scrubbers on CMs, shuttle car operators still have some of the higher dust exposures with blowing face ventilation systems (NIOSH 2011, Beck et al. 2015). Although scrubber discharge air is not completely clean, dust being blown around the scrubber inlet and therefore not being captured by the scrubber can further increase these dust exposures (Goodman 2000). Dust control problems are also caused by inadequate face ventilation quantities causing scrubber face airflow recirculation issues (Schultz et al. 2010). In order to minimize respirable dust exposures on blowing face ventilation sections, ventilation, water spray, and scrubber parameters were experimentally examined to improve operating ranges for both dust and gas control. Several blowing face ventilation factors were examined with respect to CM spray systems and scrubber operation. Curtain-to-face setback distance and side-body-mounted blocking sprays were previously examined in the laboratory for dust control on a full-scale CM model using a scrubber on a blowing face ventilation system (Goodman 2000). The blocking sprays produced larger dust reductions at the CM’s rear corners and return for a 6.1-m (20-ft) curtain setback distance as compared to a 12.2-m (40-ft) curtain setback distance with equal face and scrubber airflows of 169.9 m3/min (6,000 ft3/min). Because face ventilation airflow quantities, shuttle car operator locations, and tracer gas concentration gradients were not previously examined during these experiments, additional research was required to determine improved operating parameters for blowing face ventilation systems.

Jan 1, 2019

By R. D. Auten

This paper is primarily a report on the process of using oolitic aragonite, as received from Marconi& Ocean Industries, Ltd. without further processing, for a major portion of the raw feed to a rotary kiln producing cement clinker. Oolitic aragonite is a high purity calcium carbonate material, dust free, with the appearance of a course, white sand. It is farmed when under the right conditions of temperature ocean currents, and ocean floor topography. The calcium carbonate will precipitate into small spherical particles on the ocean floor. These oceanic conditions are correct to cause precipitation of the calcium carbonate near Ocean Cay in the Bahama Island chain. The present growing deposit near Ocean Cay is in the billions of tons and is mined by a relatively shallow-operation hydraulic dredge. The aragonite thus formed is en orthorhombic crystaline form of calcium carbonate with a specific gravity of approximately 2.9. At a temperature of 505°C. (940F), the aragonite converts to the hexagonal crystal of calcite with a specific gravity of 2.6 to 2.7. This change in specific gravity weakens the structure of the particles but the individual pieces are still fairly hard. When the material is then calcined at 900°C (1650°F), the particles retain their shape but become soft and will break up under finger pressure.

Jan 1, 1978

By Randall E. Brown

Irrigation simulates a climate change so that crops can be grown that otherwise would not thrive. The abundant sunshine and warm weather of many arid regions induces a rate of growth in excess of that in cooler, moister regions. Hence, the arid part of eastern Washington, traversed by the Columbia River, is admirably suited to irrigation. The Pasco Basin lies in south-central Washington at the south end of the Columbia Basin Irrigation Project of the U.S. Bureau of Reclamation. The Basin, because it lies in the rain shadow of the Cascade Mountains, receives only 6 to 10 inches of precipitation a year with somewhat greater amounts, commonly as snow, on the higher hills. Recent extremes included 3 inches of precipitation from August 1967 to August 1968, and 12 inches in the succeeding "12 months. Most of the precipitation falls during winter. If it were to fall in summer or were evenly distributed throughout the year, evaporation rates probably would produce a true desert.

Jan 1, 1971

By J. L. Coburn

The Huari-Huari ore body is located in Southern Bolivia, at an elevation of approximately 3,800 meters above sea level. The ore is a complex massive sulfide, slightly marmatitic sphalerite, in a fault fissure filled hypo- thermal vein in Paleozoic shales and quartzite-altered sandstone. The sphalerite has common associations with pyrite and quartz and is frequently intricately intergrown with stannite, chalcopyrite, and pyrrhotite. The sphalerite also contains numerous inclusions of pyrite, marcasite, galena, boulangerite, jamesonite, quartz, arsenopyrite, and cassiterite. A research program was undertaken to develop a flowsheet for the recovery of separate silver, zinc, and tin concentrates by selective flotation. Based on this experimental work and subsequent flowsheet development, engineering and construction of a 500 metric ton per day concentrator was undertaken. This paper describes the process that was developed for the Huari-Huari ore and the unique aspects of the Huari-Huari concentrator.

Jan 1, 1977

By Richard C. Marshall

The heightened concern over the environment which has developed in recent years has caused activities on National Forest lands to come under more intense public scrutiny. This has been especially true for activities oriented toward the production of commodities. Cattle grazing, mining, timber harvesting, and oil and gas leasing and drilling have all been increasingly subject to appeal and litigation. As a result, environmental analyses being conducted by the Forest Service have become more comprehensive, and measures to reduce or eliminate adverse impacts on resources have been given more attention. The costs of such environmental mitigation measures can be significant even when viewed in the context of the millions of dollars a company may spend, for example, to develop a mine. Using the Montanore Project in northwestern Montana as a case study, this paper examines the costs of alleviating some of the detrimental effects which may occur as a result of a mining operation. Although many of the general issues that have been raised about Montanore are common to other mineral projects, the scale of the project, as well as the fact that the ore body is within a wilderness area, the site is in grizzly bear habitat, and the surface waters are considered to be pristine, all combine to make Montanore particularly challenging from an environ- mental standpoint. Much of the information which follows is contained in the most recent version of the Draft Environmental Impact Statement (DEIS) which is scheduled to be published in several weeks. Based on agency and public comments, some of the information presented in the paper will change before the Final Environmental Impact Statement is issued in 1991.

Jan 1, 1991

A virtual reality approach is presented that can aid entities such as mining companies and land use planners in communicating a visual understanding of a mining operation to interested stakeholders, citizens? groups, and public committees. These visualizations are particularly useful in permitting, production planning and mining closures, contributing to accurate communication and evaluation of mine plans, ultimate land use and evaluation of potential design options A case study is presented, that was created using commercially available virtual reality tools, to emphasize the benefits of visualization technologies in the sustainable development of mineral resources.

Jan 1, 2003

By Alexander Karim

This paper reviews the growth pattern in bauxite and alumina production, and primary aluminum smelting through 1980. Because the alumina and primary metal are intermediate products of the major integrated aluminum companies, it is not possible to determine their production costs. The costs indicated in this paper are order of magnitude costs based on published figures and the market price of these products. The conclusions in this paper indicate the general pattern of growth in the aluminum industry and are not meant to be a substitute for the feasibility and economic studies that are needed for individual bauxite mining, alumina refining and aluminum smelting projects.

Jan 1, 1968

By James A. Finch, Xiang Zhou, Yue Hua Tan

Methods to determine frother functions, control of bubble size and froth properties, are now widely used. Some collectors also exhibit frother functions which are less understood. Using a water-air system in a mini-mechanical flotation cell setup, this paper determines bubble size and water overflow rate for three amine collectors: one primary amine (dodecylamine, DDA) and two commercial ether amines (Flotigam® EDA and Flotigam® 2835-2L) and their combination with two common frothers, MIBC (methyl isobutyl carbinol) and PPG 425 (polypropylene glycol, molecule weight 425). Compared to the frothers, the amines were less effective in reducing bubble size, giving larger minimum size and the two commercial amines showed evidence of coalescence at low concentration. In blends, at fixed frother dosage, frother eliminated the coalescence but as amine concentration increased the amines dominated bubble size. Water overflow was a strong function of reagent type. For fixed 1-cm froth depth, PPG 425, Flotigam® 2835-2L and to a lesser extent DDA produced overflow while MIBC and Flotigam® EDA did not. In blends with frother overflow increased except with Flotigam® EDA. Mechanisms are briefly explored. The principal benefit of blending identified is the elimination of coalescence if residual concentration of the two commercial amines is below ca. 10 ppm.

By Irwan Halim, Young Jin Park

A new tunnel lining was designed for rehabilitation of the existing unlined Weehawken Tunnel in New Jersey. Structural assessment using beam spring models was performed for the lining design as a drained structure at the invert with a waterproofing umbrella. Empirical Federal Highway Administration (FHWA) guideline was typically adopted for estimating hydrostatic pressure, which recommends full hydrostatic pressure at the crown and ten or twenty-five percent gradual reduction from the initial pressure toward the invert. Finite element seepage analyses were conducted for the actual conditions based on anticipated drainage behind the lining and impact on the structural design. Considerations will be provided on the existing guideline for estimating hydrostatic pressures.

Dec 1, 2022

By J. L. Fuller

Mine ventilation surveys were conducted by Technical Support engineers during June 1987 and September 1989 at the Dutch Creek Hine. The mine is located near Redstone, Colorado and is operated by Mid-Continent Resources, Inc. Following completion of the initial survey, several recommended improvements were incorporated into the ventilation system by mine personnel. The second survey permitted documentation of the effects of those changes on the ventilation system performance. This paper describes the processes involved in the implementation of the recommended changes. The substantial improvements in system efficiency and reduced operating costs are also described.

Jan 1, 1991