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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 Jacob Grasmick, Bill Newns

Despite ongoing digitization and “hardware” technological advances, geotechnical uncertainty remains the most significant risk in underground and tunnel construction. And, whilst they are commonly held up as an example of the sophistication of the industry, the practice of drafting and using geotechnical baseline reports is subject to a wide range of influences, not all of which support good risk management. Uncertainties in predicting ground behavior, the gap between the pre-construction assumptions, and the systemic response to construction remains a significant technical and communication challenge. Accordingly, this paper presents a framework to quantify geotechnical uncertainty using geostatistics and translate these into practical tools for ground risk management throughout planning, procurement and construction. Adopting even some of the principles of this framework should provide improvements to contract risk management and should assist to minimize the potential for commercial losses.

Dec 1, 2022

By Duluth Engineers' Club, Engineers' Club of Northern Minnesota

"The history of Duluth commences with Daniel de Greysolon du Lhut, one of the explorers of the Upper Mississippi who came to the head of the lakes in the summer of 1679. Radisson and Groseillier, and Claude Allouez, a Jesuit priest, are supposed to have visited the head of the lakes, -but there is no authentic record previous to that of du Lhut.In 1792, the fur traders established a fort at Fond du Lac, fifteen miles up the St. Louis River from Lake Superior, but within the limits of the present city •of Duluth. In the early 50's, there were a few scattering settlers at Oneota and around the George Stuntz trading post on Minnesota point. In 1855-6, the settlement on Minnesota point was called Duluth, commemorating the name du Lhut, and organized as a town in 1857. The first board of trustees and town council consisted of -William Nettleton, J. B. Culver; Robert E. Jefferson, Grin W. Rice and William Old: In 1870, the city of Duluth was incorporated, and five years later a portion of the same territory was incorporated as the village of Duluth, and the two municipal corporations were still in existence on March 1, 1887, when the city and the village of Duluth were incorporated as the present city.The first saw mill in Duluth was erected in 1856-57, on the present site of the ship canal. It cut logs from a virgin forest at the upper end of Minnesota point.The first railroad was built to the head of the lakes in 1870. The charter for this road had been granted in 1861 to the Lake Superior and Mississippi Railroad Company, afterward called the St. Paul and Duluth, and which is now a part of the Northern Pacific Railroad."

Jan 1, 1920

By S. Dawson

The Republic of South Africa has become a major producer of opencast coal in recent years. Opencast production commenced in 1970 and by 1977 some 10 million run of mine tonnes were being produced annually, Since then surface mine activity has increased to more than 60 million tonnes which represents approximately one third of the total annual South African? coal production. Whilst a substantial portion of this production is exported, the majority is used in the domestic market, The largest consumer, being the South?\ African Electricity Commission (Eskom), produces most of South Africa's electricity using coal fired power stations,

Jan 1, 1990

Well designed and maintained haul roads are the key to minimizing truck haulage on-road hazards and costs, as well as increasing productivity. However, practically designing and managing a haul road for optimal performance is often difficult to achieve. Poorly designed and built roads exhibit high rolling resistance - a 1% increase in road rolling resistance can typically reduce speed on ramp by as much as 10% - and on the flat by up to 26%. In the current economic climate, investment and operating decisions come under scrutiny. In the long run, this scrutiny returns improved efficiencies and leaner, healthier operations. The focus of this evolving evaluation process should and will certainly fall on haulage operations ? simply by virtue of their contribution to overall cost of operations ? often in excess of 50% of total costs for deep open-pit mines. Whilst the end result - improved efficiency and reduced cost per ton hauled ? is not in itself problematic, it is the route, or process followed to achieve these savings that needs to be carefully managed. We can be guided on this journey by our understanding of how a road design is developed, and, critically, the interplay between a good design and safe, cost efficient haulage. This paper briefly summarizes the evolution of mine haul road design, from the seminal USBM work of Kaufman and Ault in 1977, through to current geometric, structural, functional and maintenance management design components. These augmented design and management guidelines have been developed over the past decade, both in response to the requirements of mine operators for more safe and efficient haulage systems, and the truck manufacturers? requirements for a more predictable and controlled operating environment. These developments have been paralleled by the need to minimize haulage hazards, both from a health and safety perspective. Whilst improved mine haul road design does indeed reduce haulage accidents, recognition also needs to be given to human factors which are a significant contributor to haulage accidents. The human factor is the most problematic to address in a road design. It is often easier break the link between the interactive effects which may lead to accidents than trying to predict and reduce human error. These human factor interactive effects include the geometric, structural and functional design components and to prevent an accident or reduce the severity of its consequences, a road should be more accommodating to human error. The more that is known about human error, the better a road can be designed to accommodate those actions or non-standard practices that would, on a poorly designed road, invariably escalate an error into an accident.

Jan 1, 2010

By H Arvidson, Rondinelli Sousa, Nic Pollock, Cesar Carrasco, Boz Elloy

Global public mineral reporting codes have driven strong governance of public disclosures of minerals information. Recently, we have seen an increase in disclosure of information related to Environmental, Social and Governance (ESG) issues, and governance of ESG information in mining companies has arguably reached a similar level of governance and diligence afforded mineral reporting. We define Resource Governance as the conjunction of environmental, social and minerals governance. A modern systems approach to Resource Governance, which combines mineral and ESG information, would provide not only reporting and governance capability, but also has the potential to sense/respond, predict, and manage ESG risks.

Feb 1, 2024

By George H. Davis

The Caribou sulfide deposit near Bathurst, New Brunswick (Figure 1) is illustrative of one variety of strata-bound sulfide deposits. It consists of numerous near-vertical sulfide lenses which are concordant to the foliation and lithologic layering of low-grade metamorphic host rocks. Pyrite is the chief mineral in these lenses, but appreciable quantities of sphalerite, chalcopyrite, and galena are also present. Rocks in the Caribou mine area belong to the Tetagouche Group of Ordovician age. They consist chiefly of (1) quartz-sericite and quartz- sericite- feldspar schists, (2) greenschists, and (3) slate and phyllite. The trends of these steeply dipping rocks define the trace of a tight, steeply plunging fold structure, the Caribou fold (Figure 2). This fold plunges approximately 750 to the north-northwest; its axial plane strikes N.20°E. and dips steeply westward. Sulfide lenses of the Caribou deposit are associated spatially with the Caribou fold. The deposit is located in the fold along the contact between quartz-sericite and quartz-sericite-feldspar schists on the hanging wall and quartz-chlorite-sericite phyllites and graphitic schist on the footwall (Figure 3). Genesis of the Caribou deposit is ambiguous because its strata-bound form suggests syngenetic sulfide deposition, whereas its location within a fold suggests structurally controlled epigenetic mineralization. Acceptability of a particular genetic model rests on establishing the time of mineralization relative to deposition, deformation, and metamorphism of the associated rocks. To establish the timing for Caribou mineralization, the deformational histories of rock and sulfide, respectively, were compared. Epigenetic and syngenetic models can be tested against this interpreted structural history of the Caribou deposit.

Jan 1, 1971

By P. A. Rittenhouse

Reserves of potash are more than adequate to meet future world demand for this primary fertilizer nutrient. The bulk of both reserves and current production is located in only a few countries. Recent attention has focused on potential development of smaller reserves to supply local markets in developing areas of the world. However, most new capacity in the next decade will be built in countries with large current production and reserves. The paper reviews current and future projects that will add to the world supply of potash.

Jan 1, 1985

By S. J. Schatzel, J. D. Addis, V. Gangrade, L. L. Chasko, C. A. Hollerich

A ventilation study was conducted at a western U.S. coal mine to evaluate the movement of longwall face air and exchanges between the face and worked-out areas to document the presence or absence of face airflow pathways between these locations. This field study was part of a project investigating the effect of longwall face length and caving characteristics on longwall face air behavior and its potential movement on and off of the face. Tracer gas experiments using sulfur hexafluoride (SF6) were done to describe air movement on the face and in the mined-portion of the active panel. Maintaining adequate ventilation air on longwall faces is important for worker safety and for the dilution of methane emitted from the face and caved gob.

In cold regions rinsing of spent cyanide leach heaps is stopped during winter and is resumed again after snow melts. The effect of this idle time on the overall cyanide removal process was studied in this work. Samples were collected for rinsing tests from one heap at the Ryan Lode Mine of Citigold Alaska, Inc., near Fairbanks. The material was tested for cyanide removal a large column, 1.22 m high by 20 cm square, and in a small column, 1.22 m high by 10 cm in diameter. The rinse water was analyzed at regular intervals to determine the rate of cyanide removal from the solids. It was found that diffusion plays a major role in the removal of cyanide from the ore particles. Calculations showed that the insulating effect of the snow cover on the heap provides an excellent moderates the interior temperature of the heap, and would be expected to help the progress of the diffusion reaction during winter. The result expected result wil1 be higher cyanide values reporting to the rinse water after snow-melt.

Jan 1, 1993

By M. A. Cornachione

The west central upper Peninsula of Michigan contains a large resource of graphitic slate. The slate has potential industrial use as a substitute for shale currently used in the production of portland cement. Some of the unweathered slate, however, has a high concentration of pyritic sulfur which can create emission problems when processed in a kiln. A low cost method to reduce the sulfur content of the slate through the optimization of pyrite oxidation in a bio-heap leaching operation was investigated.

Jan 1, 1992

By Sahendra Ram, Ashok Kumar, Rakesh Kumar, AMIT KUMAR SINGH, Dheeraj Kumar, Arun Kumar Singh, Rajendra Singh

This paper describes the successful mechanized extraction of coal pillars in 11 panels using the fish-tail method from 2010 to 2017 at Pinoura Mine in India. This method proved its potential of coal recovery with efficient strata control under weak roof due to faster rate of extraction in a single lift. Observations of strata and snook behavior during the field studies in different panels of the mine are included.

By Jogeshwara Sahu, Sapan Kumar Kandi, SANDEEP KUMAR JENA, Sachida Nanda Sahu, Sarada Prasad Das

The present article reports the recovery of potassium from mica scrap using carbide lime waste and NaCl. The acid leaching of mica [4 M H2SO4 at 90 °C] can recover a maximum of 25% potassium. However, in the chlorination roasting (with CLW and NaCl) water leaching process, it was possible to recover potassium to the tune of 94% [900 °C, 50 min roasting; mica:CLW:NaCl 1:0.75:1]. The formation of water-soluble phase like sylvite (KCl) and water-insoluble phases like anorthite ( CaAl2Si2O8) and nepheline ( NaAlSiO4) confirms the complete breakdown of the mica crystal structure. The extraction mechanism proceeds with the formation of a transition state followed by the release of potassium as KCl. The characterisation studies using ICP-OES, XRD, FTIR and FESEM support the proposed extraction mechanism. The salt produced by the evaporation of roast-leached liquor confirms the presence of sylvite and halite only, which can be separated to get the fertiliser grade KCl.

Sep 29, 2021

By Francesco Chiappalone, Marco Invernizzi, Franco Gasperin, Brad Yoder, Fabrizio Fara

The Ship Canal Water Quality Project includes a 2.7-mile, 18-ft and 10-in internal-diameter tunnel that extends from Ballard to Wallingford, two popular neighborhoods in the West of Seattle. During the TBM Main drive a 12' × 12' boulder with variable strength up to 47,000psi was encountered resulting on signicant damages to the Cutter ead. The rst part of this paper describes the design and construction of an underground recess in front of the TBM to create a safe working environment for the TBM repairs. The second part describes an injection campaign performed to seal an unforeseen water inow appeared during the excavation of the 11 Avenue Diversion Structure.

Jun 23, 2024

By Lance Rasband, Richard Hanke, John Starcevich

"Mining on Seattle’s SR99 tunnel began in July of 2013. Initial mining progressed slowly through a 4.5 m (14.9-ft) thick fiber-reinforced concrete headwall before immediately entering the first of three planned safe havens. Once through the headwall and safe haven the machine would move through roughly 122 lineal m (400 ft) of jet grout improved soil at a rate of slightly more than 1.6 m/d (5.3 ftpd). It was anticipated that once mining has passed through the improved area, “Bertha” – now the world’s second largest tunnel boring machine (TBM), would be moving at a rate of almost 11 m/d (36 ftpd). By the end of October 2013, Bertha had mined roughly 131 m (430 ft), averaging 1.4 m/d (4.7 ftpd), and had begun mining within native soils. By the start of December 2013, tunneling had reached the 244 m (800 ft) mark and Bertha was averaging 3.6 m/d (11.9 ftpd), achieving as much as 12.8 m (42 ft) of progress on given days. Unfortunately, on Dec. 6th, 2013, Bertha began to stumble and all progress quickly came to a halt.Initial reports stated an obstruction had stopped Bertha in her tracks. The preliminary investigation involved installation of 10 deep dewatering wells to reduce the hydrostatic pressure within the ground around the TBM, to allow the contractor’s personnel to inspect the cutter head from within and also to investigate for the presence of obstructions at the face of the cutter head. During inspection, the contractor’s crews found fragments of steel pipe entangled in the cutter head. The steel was apparently from an abandoned 254 mm (0.9 in.) diameter monitoring well casing, previously installed by the Washington State Department of Transportation (WSDOT) to monitor groundwater conditions for the design and planning of this tunnel project. After the steel was removed from the cutter head and cleared from Bertha’s path, she attempted to move forward but was only able to generate a slow crawl."

Jun 1, 2016

By Cathleen J. Webb, Arden D. Davis

Begun in 1992, an abandoned and inactive mine inventory in the Black Hills National Forest has resulted in a hazard ranking of the most severely affected sites. For purposes of the inventory, the Black Hills were divided into three main regions: the northern Black Hills, with primarily gold mines; the central Black Hills, with pegmatite mines and some gold mines; and the southern Black Hills, with primarily uranium mines. A computerized data base has been developed along with standard forms for field crews. The forms were designed to provide maximum compatibility with other abandoned mine inventories on various federal and state lands. Measures recommended for the most hazardous and heavily affected sites include regrading of unstable slopes, fencing of open shafts, and remediation of the most severe acidic mine drainage problems. Specific examples are illustrated where remediation and safety measures were recommended or have been implemented. The vast majority of the sites, however, needed little or no remedial action.

Jan 1, 1995

By Xiaojie Yang, Gang Yang, Zhenli Hao, Manchao He, Ruifeng Huang, Zheng Wang, Chaowen Hu

Preventing the spontaneous combustion of remnant coal, which is indicated by carbon monoxide (CO), is a significant issue for coal mining safety. The N00 longwall mining method with Z-type ventilation is advantageous for the prevention and control of CO; however, research regarding this topic is limited. To investigate the distribution of CO in a goaf and working face, a sealing material and technique for blocking the goaf were introduced after proposing a forming method for a Z-type ventilation system; furthermore, a monitoring method was designed and applied in the field. The results demonstrated that the CO concentration during mining in the upper corner and return airway ranged between 4–6 ppm and 3–7 ppm, respectively. More importantly, no CO was generated in the goaf. The results indicate that the advantages and mechanisms regarding the prevention of spontaneous ignition using the N00 longwall mining method with Z-type ventilation are as follows: (1) The adoption of the downward ventilation technique is not only beneficial for reducing the air pressure difference between both ends of the working face, but also prevents CO accumulation in the upper corner. (2) The basis of a spontaneous combustion disaster is eliminated owing to the absence of coal pillars reserved in the goaf. This study proposes a superior method for mitigating spontaneous combustion disasters related to remnant coal in the goaf in a coal mining field and contributes to the better understanding of the N00 longwall mining method for coal mining safety.

Nov 28, 2022

By Anthony Harding

In a world of technology and electronic communication, it is easy to forget what engineers do best with a problem: sitting around a table, exchanging views and ideas with sketches and respecting everyone?s view. This was the approach adopted in the project to arrive at a solution for the cross passage opening sup-port for the Seattle University Link Extension. Schedule and space constraints usually impede concurrent cross passage excavation and tunnel boring machine (TBM) operation. And where the space is constrained, opening support solutions that maximize available cross sections are of great benefit. While there are a number of solutions that minimize space, some of these solutions can require expensive steelwork and extensive drilling and fixing. However, following a detailed round-the-table discussion of the options and constraints, it was identified that a shotcrete shell would not only limit obstruction of the space during installation, but also permit easy installation, particularly around services, and avoid costly steelwork and drilling and fixing.

By CHENGLONG XU, HAORAN LI, YALI FENG, JINRONG JU, Shunliang Liu

In order to realize the resource utilization of spent hydrodesulfurization catalyst, a solvent extraction-oxalic acid precipitation process is studied in this paper for efficiently recovering vanadium, nickel, and aluminum from the acid leaching solution of spent hydrodesulfurization catalyst. The process conditions for extracting vanadium with Cyanex 272 and precipitating nickel using oxalic acid as a precipitation agent were explored in detail. The results show that vanadium (IV) in the sulfuric acid medium containing nickel and aluminum was efficiently and selectively extracted by Cyanex 272. After three-stage countercurrent extraction, the extraction efficiency of vanadium was 99.76%, and the co-extraction efficiencies of nickel and aluminum were only 2.47% and 1.87%, respectively. Thermodynamic calculation shows that the extraction of vanadium (IV) from the sulfuric acid medium with Cyanex 272 is an endothermic reaction. The innovative method of oxalic acid precipitation was used to recover nickel from the raffinate, achieving selective extraction of nickel from the solution containing a high concentration of aluminum. The precipitation efficiency of nickel was 98.58%, while that of aluminum was only 0.75% under optimal conditions. The proposed flowsheet for the separation of vanadium, nickel, and aluminum from acid leaching solution may provide a new idea for the comprehensive recovery of valuable metals from spent hydrodesulfurization catalyst.

Nov 30, 2022

By William Gleason

"Government support for Canada’s mineral industry was on full display during the Prospectors & Developers Association of Canada (PDAC) conference in Toronto, ON, Canada on March 3-6. First, there was the announcement of the five-year extension of Canada’s Mineral Exploration Tax Credit (METC), the first multi-year extension of the METC since its inception in 2000. Canada’s Minister of Natural Resources, Amarjeet Sohi, added to that support when he spoke at the opening keynote session and announced the Canadian Minerals and Metals Plan (CMMP), a plan that aims to map out the future of the industry in Canada. Finally, the support for the mining industry was buttoned up with a visit to the conference by Canadian Prime Minister Justin Trudeau.More than 25,000 people from 135 countries attended the annual conference that features a robust trade floor, technical sessions and an investors’ exchange that aims to put mining companies in touch with potential investors. Mining companies and ambassadors from nations around the world are given the opportunity to present to small audiences throughout the conference and this year PDAC was able to sway the Prime Minister to speak on its behalf.Trudeau sat down with PDAC President Glenn Mullan on March 5 to talk about the METC extension and a host of other issues important to the Canadian and global mining industry, giving the home country a bit of a profile advantage when it came to making a pitch to investors.Trudeau entered the week of the conference in the midst of the most serious political scandal of his career and was defending himself against accusations of political interference with the top prosecutor in the land over a criminal case involving one of Canada’s largest companies, SNC-Lavalin. During the question-and-answer session at the Metro Toronto Convention Center, Trudeau seemed more than happy to keep to the discussion about mining. He spoke favorably about the industry during the half hour conversation and praised the industry for its work with Indigenous people as well as its efforts to advance technology and innovation. He made a case that Canada is a safe and reliable place for investment in the minerals sector.“We are at a time of change right now, of transformation with new technologies and global supply chains, and everyone is trying to adjust to the new realities that have accelerated so much these past years,” Trudeau said. “What we are trying to do as a country and what you have done as an industry is to try to look at where things are going – go to where the puck is going to be, not where it is. You, as an industry, know that investments in innovation, research, science — investment in technology and partnerships with Indigenous communities are all things that are going to give you opportunities to be competitive in the coming years.”"

Apr 1, 2019