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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 Stephen Semeniuk

Working with junior mining companies as a valuer, my experience with regulators is that simplicity works and the sales comparison method is the way to go. What I like about Mr. Ellis?s approach (as in his Table 7) is the integration of commodity prices with the timing of acquisitions and the implication of price changes in gold on the adjustment of individual project valuations. However, the sample gold-related appraisals in Ellis?s paper are pre-2008 transactions and readers should be made aware of the current market for such projects. Before moving on, to be noted is that the effective date of the Las Brisas appraisal (Ellis?s sample Appraisal 3) is Feb. 10, 2006; given that the subject value of Transaction 9, Choco 10 in Ellis?s Table 6 was listed as $353 million for a 95% interest in the con-cession, I am uncomfortable accepting that the acquisition was suddenly worth the adjusted value of $1,205 million (as given in Ellis?s Table 7). In some cases, illiquidity discounts can apply, and commodity-wise, in the one-month period between the acquisition in January 2006 and the adjustment to the Las Brisas conditions as of February 10, 2006, the indicated gold price change was only 41 cents/g ($12.60/oz); i.e., from $17.50/g to $17.91/g ($544.40/oz to $557/oz).

Jan 1, 2012

By Jr. Freed

Basic design features, details of the face ventilation system, roof support and Operator protection system, certified lighting, and in-mine evaluation plans are presented for an Automated Extraction System (AES) that has been designed to fill needs which are present in the Mining Industry. The philosophy of design and proposed operation of the machine, as well as the relationships between these factors, are reviewed. The AES is designed to help overcome production problems resulting from the regulation of roof control, clean-up, ventilation, dust suppression, and operator protection required by the Federal Coal Mine Health and Safety Act of 1969. The design permits more continuous operation and greatly improves operator safety. The machine is a full-face drum-type continuous miner which includes self-advancing, continuous temporary roof support and permanent roof support equipment. Onboard self-advancing face ventilation, dust suppression, and air scrubbing equipment are also included in the design. A further improvement over existing equipment is the incorporation of an automatic programmed cutting cycle control system. All mining functions including movements of the roof support system are handled by this automatic system.

Jan 1, 1978

By B. Mishra, Q. Shi

Numerical simulations have been used to investigate roof fall in the past decades. Comparing to the continuum based methods, the discrete element method has been well recognized for its excellent performance in simulating large strain problems and fracturing processes in the rock mass. However, the discrete element method has its limitations. When simulating a large-scale problem, a large number of particles are required, which consumes significant computational resources. In the present study, a 3D numerical model coupled with the finite-difference method (FDM) and the discreteelement method (DEM) was created to simulate the laminated roof failure in an eastern coal mine in the US. In the FDM-DEM coupled model, the laminated roof of the entry is represented by an assembly of bonded particles using PFC3D. The laminated roof is simulated by adding parallel discontinuities. The discontinuities are given certain stiffness and strength in the model. The ribs, floor, and far-field surrounding rock are represented by continuum zones using FLAC3D. The strength of the discontinuities is varied sequentially and the fracturing of the laminated roof was analyzed with respect to entry advance. The results showed that the laminated roof fractures along the discontinuities while an intact roof fractures in a dome shape. Increasing the strength of discontinuity could enlarge the tensile zone inside the laminated roof and hence change the crack distribution. In addition, the crack quantity in the laminated roof behind the advancing face decreases with the increment of discontinuity strength while this trend is not occurring ahead of the advancing face. The simulation demonstrated that coupled method using PFC3D/FLAC3D can reproduce the laminated roof failure in underground coal mines.

Mar 2, 2022

By Andre Vien, SANDRO DAVID DI, Frank Laroche

In 1994, Claude Bazin presented a novel method for linking size data from milling models to the feed input of flotation models. It was achieved with the simple addition of a metal/mineral distribution–size distribution relationship. This allows grade and recovery predictions from a varying mine plan through product size distribution predictions. 

By K. V. Raj, C. A. Berry, A. T. Weakley, A. L. Miller, P. R. Griffiths, D. A. Parks

Diesel particulate matter (DPM) has been classified as a carcinogen to humans by the International Agency for Research on Cancer. As a result of its potential carcinogenic nature, DPM exposure is regulated by the Mine Safety and Health Administration. Currently, diesel emissions in the workplace are monitored by collecting the aerosol onto filters, which are then sent to a laboratory for thermal-optical analysis using the NIOSH method 5040. This process can take days or even weeks, and workers can potentially be exposed to excessive levels of DPM before the problem is identified. Moreover, the delay involved in getting the loaded filter to the lab inevitably means the loss of some of the more volatile organic carbon. To remedy this delay, researchers from the National Institute for Occupational Safety and Health are seeking to develop a field-portable, real-time method for measuring elemental and organic carbons in DPM aerosols. In the current study, the use of mid-infrared spectrometry was investigated. It is believed that mid-infrared spectroscopy is more suitable for use in a real-time field-portable device than thermo-optical analysis methods. This article presents a method for measuring organic carbon (OC) and elemental carbon (EC) in DPM for a broad range of OC/EC ratios. The method has been successfully applied to laboratory-generated and mine samples.

By F. N. Kissell

U.A. Mine Safety and Health Administration (MSHA) coal dust compliance data sometimes shows high silica levels at roof bolters. However, it is unclear whether this silica normally originates from the bolter itself or from other dust sources upwind of the bolter research studies to answer this question at individual mines have been conducted. However, operational practices vary from mine to mine thus, the information gleaned from any one study cannot be accurately extrapolated to describe silica dust sources in most mines. In this paper, three decades of bolter dust research are reviewed the results showed that, while inadequate maintenance on the bolter dust collection system can result in excessive dust, more likely reasons for high silica levels are inadequate ventilation of the mine entries being bolted and dust traveling downwind from the continuous miner to the bolter. Scrubbers on continuous miners may not be removing as much silica dust as expected. Mining Engineering, 2011, Vol. 63, No. 10, pp. 78-82. Official publication of the Society for Mining, Metallurgy and exploration, Inc.

Jan 1, 2011

By M. F. Werneke

Flotation of the carbonate, oxide and silicate minerals of copper (malachite, azurite, chrysocolla) has been the subject of much research in recent years, but few effective solutions to this problem have been found. With decreasing reserves of sulfide minerals, the economic recovery of these "oxides" appears to be an important source of copper for the future. Xanthates have been known for many years to be malachite collectors (1), but only at very high dosages, or at lower dosages following activation of the mineral by sulfide ion. Dewitt and Batchelder (2, 3) found that chelating agents such as certain oximes were collectors for malachite and azurite, but also required high reagent dosages. Fuerstenau (4) has suggested, for example, that potassium octylhydroxamate may be an effective collector for malachite, On the other hand, Balberyszski (5) has found that oxide minerals may be completely sulfidized at high temperatures with gaseous sulfur or H2S, and then floated with conventional collectors. None of the above approaches appear to offer an economically effective method for the direct flotation of these oxide minerals.

Jan 1, 1977

By Xiaochun Xiao, Xin Ding, Yishan Pan, DI WU, Xiangfeng Lv

Rockburst is a sudden disastrous instability of coal mass that poses a serious threat to underground exploitation of coal resources; therefore, approaches of prediction and control methods are valuable for improving mining environments. The mechanical properties and bursting liability of coal with drying, under-saturated, and saturated moisture content under uniaxial compression are investigated, and the charge induction signal during coal deformation both in the laboratory and on-site is recorded in this study. The presence of water reduces the cohesion and increases the internal stress caused by non-uniform deformation of minerals, resulting in the strength, elastic modulus, and bursting liability being weakened. The charge induction precursor main frequency band is 1–100 Hz and belongs to the very-low-frequency signal regime, and it indeed varies with the loading stage, leading to specimen failure owing to changes in amplitude and continuity of the charge pulse in both the time and frequency domains. Water inhibits the richness of charge induction and reduces the bursting liability, and the earlier the precursor appears, the more total charge emerges. Moreover, measurement results indicate that the amplitude and continuity of the charge pulse decrease over a longer time, as recorded in a coal seam with water injection, further verifying the weakening of the coal dynamic characteristics. Charge induction can be a valuable tool with which to obtain the precursors for rockburst and to aid the evaluation of water injection.

Dec 26, 2022

By Peter Dietrich, Joseph DeMello, Norbert Fuegenschuh, Kerwin Hirro, Jeff Brandt, Mike Cole

This paper presents a successful case history of the ground improvement efforts and excavation of twenty-three cross passages between twin bore tunnels driven by EPB tunneling machines in Los Angeles, California on Section 1 of the Westside Subway Extension. Unique and complicated ground conditions local to the tunnel alignment include San Pedro sands, siltstone/claystone Fernando Formation, and zones of “asphalt impacted soils.” To provide water cut-off and soil stabilization, jet grouting was performed prior to TBM excavation at the location of many of the cross passages. However, upon investigating the cross passages prior to excavation, the subsurface conditions required additional measures and SEM tools to ensure successful completion of the project.

Jun 13, 2023

By Sam Lo Grasso, Carlos Herranz Calvo, Stuart Warren, Ted Giesing, Charles Marchesano

Mott MacDonald and Project Management Advisors are providing Technical and Project Management services for San Diego County for the Courthouse Commons Project. The Courthouse Commons Project involves the redevelopment of three downtown blocks owned by San Diego County and construction of an Inmate Transfer Tunnel between the County Central Jail and the San Diego Central Court. The tunnel will be 327 feet long, crosses the San Diego Fault and is being constructed using the Sequential Excavation Method (SEM). This paper discusses the history and procure‑ ment strategy for the project, the technical aspects of the transfer tunnel and the con‑ struction progress of the tunnel to date.

Jun 13, 2021

By Roger Malmström, H. Heden, Kjell Lidin

INTRODUCTION LKAB was formed at the turn of the century when the railways between the ore fields and harbors were built. The mines are situated north of the Arctic Circle in Sweden. Kiirunavaara is the largest mine, with a pro¬duction capacity of approximately 30 Mt/a. Malm¬berget has a capacity of about 12 Mt/ a. Both are under¬ground mines. Svappavaara, the only opencast mine currently in operation, has a capacity of about 4.5 Mt/a. The ore harbors are at Narvik for the Kiruna and Svappavaara mines and at Lulea for the Malmberget mine (see Fig. 1). Production in the form of finished products is shown in Fig. 2a, b, c, and d. Due to poor ore markets in re¬cent years, production and shipments have been cut back, but there was a positive swing in 1978. LKAB has been 96% state-owned since 1957. In addition to the iron mines in northern Sweden, LKAB has subsidiaries in central Sweden which produce sulfide ores, quartz sand, and uranium (Fig. 3). The mining methods employed are opencast bench stoping at Svappavaara and sublevel caving at Kiirunavaara and Malmberget. GEOLOGY The Kiirunavaara ore body is 4000 m long and av¬erages about 90 m wide, with variations in width from a few meters to around 150 m. The ore has been ex¬plored by deep drilling down to about 1000 m, but mag¬netic measurements indicate a depth of at least 1500 m. The Kiirunavaara ore is oriented in a north-northeasterly direction with a number of ores in the boundaries be¬tween the wall rock types. The ore in Kiirunavaara is mainly a fine-grained magnetite with a varying content of fine-grained apatite. The apatite content of the ore decreases with increasing depth. The other ores are all apatite-bearing and a couple are hematite ores (Fig. 4a, b). The ores are sedimentary, tilted, and tectonically de¬formed. They have a lateral dip of 0.87 to 1.2 rad (50 to 70°). The contacts between ore and wall rock are distinct and sharp, but both the hanging wall and the footwall are brecciated and impregnated with magnetite. The footwall of the Kiirunavaara ore consists of syenite porphyry with a low quartz content and rela¬tively good strength; the hanging wall consists of quartz porphyry. Both types are known as Kiruna porphyries. The ore at the boundary with the hanging wall is often rich in kaolin. There are a few veins of syenite porphyry running through the ore, which has a few major faults (Fig. 4c, d). There are two sharply delineated ore grades in Kiirunavaara: low phosphorus ore with less than 0.1 % phosphorus (about one-third of the ore) and high phos¬phorus ore with greater than 0.5% phosphorus. The iron content is 67% in the low phosphorus ore and 60% in the high phosphorus ore. These ore types are sold as different grades and so are kept separate during mining. MINING AT KIIRUNAVAARA The Kiirunavaara and Luossavaara ores were first mined using opencast bench stoping in 1902. When mining costs rose owing to higher waste removal, under¬ground methods were adopted. In the mid-1950s, the ores were still being mined on the surface at the same

Jan 1, 1982

By J. Kuti

In room and pillar mining a large number of working points are arranged to follow a mining pattern. Geological and roof control problems can be overcome or their effect minimized by varying this pattern. Longwall mining on the other hand, fixes the mining pattern for anyone panel. This aspect of longwall mining leads to constancy, so that a well-conceived organization, ventilation, dust and roof control systems lead to daily repetition and subsequent simplicity of control. All the same, a fixed mining pattern calls for a very careful consideration and selection of design parameters. (Ref. 1.)

Jan 1, 1971

By M. Brnich, S. Kramer, B. McNamara, T. Hethmon, M. Pedersen-Howard, S. Rajapaske, D. Lingenfelder, B. Huber, D. Hebig

"The development of mining safety and health management as a recognized profession has been long in coming. Over the last 150 years, the mining industry has evolved from having individuals randomly involved in safety related work with no specific responsibilities or qualifications, on to the designation of individuals responsible for safety, regardless of knowledge, qualifications and experience and finally to today’s expectation that virtually every mine and mining company has designated individuals operating as safety and health professionals. Further, with the complexity, risk potential and moral expectations surrounding safety, people who address mine safety and health management are justifiably expected to function in a professional capacity including:1. Rendering a specialized service based on advanced knowledge and skill.2. Maintaining a high degree of obligation to those most affected by mine safety outcomes.3. Bound by an ethical code in working with the public, employers and miners.4. Maintaining confidentiality with an employer or client. This historical change parallels thedevelopment of other professions, e.g., attorneys, engineers, physicians, etc., with the exception that those professions require a license granted by a governmental agency, which is justified on the basis of public protection, in order to practice. Likewise, decisions made by today’s mine safety and health professionals, both directly and in association with other managers, clearly have a significant impact on the life and welfare of miners throughout the world.CertificationIn light of this, there is growing need to improve standards of competency and professionalism for those who work in mine safety and health management. An effective mechanism to accomplish this, other than licensure, is the use of accredited professional certification programs. There are many professional certification programs for safety and health throughout the world (Hale & Harvey, 2012). However, there is only one certification specific to mining —the Certified Mine Safety Professional (CMSP). The International Academy of Mine Safety and Health (ISMSH-SME) was formed with the purpose of developing and managing mining safety and health certification programs for the Society for Mining, Metallurgy and Exploration (SME). In 2016, following the discontinuation of the International Society of Mine Safety Professionals (ISMSP), which developed the Certified Mine Safety Professional (CMSP) credential in the 1990s, the IAMSH-SME began the process of updating and relaunching the CMSP program. Among other work required to gain third-party accreditation both domestically and internationally, the IAMSH-SME has developed a new Body of Knowledge associated with mine safety and health management (Table 1)."

Jan 6, 2018

By T. Bauerle, G. Poplin, Z. Dugdale

"The issue of mine worker fatigue is as complex as it is understudied. Generally, worker fatigue lies somewhere on a continuum between psychology and physiology, which makes the measurement and management of it difficult with no easy solutions for operators or workers. Answers to even basic questions remain elusive—such as what is fatigue, how is it measured, and how can organizational resources reduce fatigue—and answers seem to present no single, clear path to action for the health and safety of the worker. This manuscript supplements the growing body of interest in the problems of fatigue in the mining industry by reviewing some of what is known about worker fatigue in general and in the mining industry in particular. The material covered here includes basic topics of the hows and whys of worker fatigue; an overview of fatigue models, findings, and evidence-based solutions with a focus on mining; and potential future directions aimed at mitigating miner fatigue. INTRODUCTION “It is recommended that the whole fatigue test problem be stated in a form the nature of which may be indicated by the following suggestions: that the term fatigue be absolutely banished from precise scientific discussion, and consequently that attempts to obtain a fatigue test be abandoned [emphasis added].” – Bernard Muscio, Pioneer Australian Philosopher and Industrial Psychologist, in a 1921 Report to the Cambridge Industrial Fatigue Research Board Fatigue presents several challenges for the mining industry. Depending on the specific occupation, daily work, or operational setup on any given mine site, mining jobs can have a fair amount of labor-intensive tasks mixed with monotonous and repetative duties. Combined with the long working hours and shift-work schedules of mining work, the prevalence of fatigue in mine workers may seem rather unsurprising. On the one hand, mining is certainly not alone in facing the challenge of addressing worker fatigue. Indeed, many of the characteristics above mirror the similarities of fatigue in other industries, such as health care, aviation, and security. To the extent that fatigue in mining acts like fatigue in any other industry, then any fatigue management applications, trainings, or interventions in existence can be borrowed from other industries and applied to mining in a “cookie-cutter” approach. On the other hand, some have argued that mining in particular is especially susceptible to increases in the prevalence of fatigue beyond the characteristics listed above due to the multifaceted combination of factors in mining environments associated with fatigue: dim lighting; limited visual acuity; hot temperatures; loud noise; highly repetitive, sustained, and monotonous tasks; shiftwork; long work hours; early morning awakenings; and generally poor sleep habits (Canadian Centre for Occupational Health and Safety, 2012; Legault, 2011). Legault (2011) in particular argues that it is the combination of these factors simultaneously that can make mineworkers particularly susceptible to sleep deprivation and fatigue in comparison to other industries where these factors are often not present alltogether. If fatigue looks and acts different in mining, as others have argued, more research is needed to determine if, how, and why worker fatigue might need to be managed differently in mining."

Jan 1, 2018

By Donald P. Richards

Is a shaft the same as a tunnel and can it be approached in the same manner for design and construction? The most obvious difference between a shaft and a tunnel is that of orientation; whereas a tunnel is commonly near horizontal or slightly dipping, a shaft is commonly vertical or steeply inclined. As a result, design and construction methods employed for tunneling, in general, cannot be directly applied to shafts, although some of the basic concepts of behavior are quite similar. Many of the shafts that have been sunk in various parts of the world are owned by private mining companies. Each company has generally accumulated years of experience in shaft sinking and mining techniques pertinent to its particular geographic location. When a new shaft is to be sunk or an existing shaft deepened, the tendency often seems to be to continue to use the methods that have been used successfully in the past.

Jan 1, 1979

By Reynold Q. Shotts

One often sees in the papers, in these days of ecological consciousness, estimates of the quantity of land that has been "devasted," "ruined," or "destroyed," by surface or strip mining, especially for coal. One feels sure that coal miners must have been the first to discover the art of excavation and that the public didn't know of its existance until five or 10 years ago! Estimates of the acreage vary widely with most of them sounding somewhat unreal. One estimate of 175,000 acres in Alabama appeared in one newspaper article and the implication was that all of this was mining for coal. The question was raised anew last summer when the author began working on a land use estimate utilizing aerial photographs, a preliminary project to the Alabama Earth Resources Technology Satellite (ERTS) contract presently being fulfilled. One land use category was barren or waste land and aside from some sand beaches in the two coastal counties in Alabama, recently strip mined land constituted most of that category. It quickly became apparent that old stripping was very hard to detect so that estimates from aerial photographs are not accurate. With regard to relatively new stripping, a thin veneer of reflective dirt washed over the countryside may result in a considerable overestimate of the excavated area. Actually, there is a way to estimate the area excavated by strip mining using published Bureau of Mines figures. At least three sets of data are needed: (1) Coal production figures, (2) average thickness of coalbeds mined, and (3) an accurate recovery figure.

Jan 1, 1973

By C. Dirscherl

"Declining ore grade, leading to increased material transport and plant throughput requirements, is one of the major challenges in the current mining environment. This is accompanied by rising energy and labor costs, decreasing plant productivity and the requirement for highest plant availability. Siemens’ answer is the latest gearless drive technology for grinding and conveying. Gearless drive solutions are surpassing the mechanical limits of conventional drive systems serving to utilize the principle of economies of scale. By elimination of various components of the drive train the maintenance activities and spare parts inventories are reduced. The advantages are culminating in the incomparable availability of the Siemens’ gearless drive technology of 99.46 to 99.71% - as confirmed by real operational data from the Antapaccay mine in Peru. It was the first plant worldwide to use gearless drives for both applications. KEYWORDS: Gearless Mill Drives, Gearless Conveyor Drives, Availability, SAG Mill, Ball Mill, Overland Conveyor, Antapaccay INTRODUCTION – THE GEARLESS PRINCIPLE The principle idea behind a gearless drive system is to reduce the number of components and diversity of parts. Especially those components that are at the edge of current manufacturing or power limits are eliminated. The used equipment provides the possibility to scale up and increase the power transmitted to the driven machine. This finally results in a possible increase of throughput respectively transported or processed material. In order to apply this principle of simplification we will take a look at the components of a conventional drive system consisting of: - Driven equipment (mill, conveyor, slurry pump…) - Components altering the rated speed (gearboxes, girth gear / pinion) - The electric motor - Starting devices for the motor (VSD, CCV, LRS, clutch…), which are necessary because a direct across-the-line start of high power motors with load would result in a significant drop in the line supply voltage - Alternatively a variable speed drive (VSD) or cycloconverter (CCV) to utilize the possibility of speed variation during operation - The electrical supply system (cables, switchgear, transformers, protection equipment) Intermediate gearboxes are not required when a motor is used with a rated speed that directly matches the speed requirement of the driven equipment. Furthermore the VSD can be used to smoothly start the motor and to vary speed during operation, which means that it satisfies both requirements."

Jan 1, 2015

By R. A. Matuszak

Throughout the history of power excavating machines, engineers have continuously tried to shape the main drive speed-torque characteristics to provide an optimum performance from each main motion. Selection of prime mover for the various motions has been the subject of many engineering studies and most forms of energy conversion have been tried. A new form of electrical power conversion looms on the horizon' as the most optimum yet. Controlled frequency operation of a squirrel cage induction motor increases the reliability of the most reliable form of energy conversion (electrical) found thus far and at the same time improves the performance characteristics.

Jan 1, 1977

By Chen-Luh Lin, Jan D. Miller, Sindhoora Puvvada

Most of the future phosphate resources in Florida, which accounts for 70  percent of production in the United States, are contaminated with too much dolomite that is difficult to remove with existing industrial practices. The low-grade ore quality coupled with increased phosphate demand is of concern to the Florida phosphate industry. In order to resolve the dolomite issue, various beneficiation technologies were designed and evaluated, but none have been sufficiently successful [1].