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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 Derek J. McCracken, William G. Holroyd

Emery is a rock that at one time held a large share of the abrasives market. The introduction of synthetic abrasives, however has forced it to settle for only certain niches in the marketplace. This loss of market share is due mainly to the higher amounts of impurities and weaker internal structure that naturally occurring minerals have compared to manmade materials. The use of rocks and minerals as abrasives dates back to early man, who used flint, quartz, and other natural materials to fabricate various tools. During the 19th century, with the Industrial Revolution imminent, the character of the abrasives industry was changed forever as synthetics were introduced. Frank B. Norton is credited with producing the first manmade abrasive when, in 1855, he manufactured a vitrified grinding wheel using emery grit and clay. Before Norton's accomplishment emery had been the only commercially available abrasive. The latter part of the 20th century has seen synthetics capture an increasing share of the abrasives market from natural materials. The term emery is believed to have been derived from the words emeri (French), smeriglio (Italian), and smiris (Greek). The term corundum, for the principal mineral of emery, seems to have originated from kauruntaka, the Indian name for the mineral. GEOLOGY Emery is a gray to black, granular rock comprised of various minerals including corundum (A1,0,), an iron-bearing mineral (usually magnetite-Fe,O,, hematite-Fe,O,, or hercynite- FeAI,O,), and several trace impurities such as mullite, titania, silica, and magnesia. The hardness of emery normally ranges between 7 and 9 on the Mohs scale, depending on its mineral com- position and level of impurities. Corundum, the hardest mineral in emery, typically has a hardness of 9. The specific gravity of emery ranges from 3.2 to 4.5, also depending on mineral composition and purity. The crystallography of each mineral contained in emery differs somewhat. Corundum exhibits an hexagonal crystal structure, whereas magnetite forms within the isometric system, frequently as octahedral crystals. Hercynite, an iron spinel, is also isometric. Hematite has an hexagonal structure but often is found as botryoidal and reniform masses. Principal deposits of commerical emery are found in the United States, Turkey, and Greece. In the United States two emery producers in the Westchester County-Peekskill area and one in the Cortlandt County area of New York closed their mines in the late 1980s. Commercial production in the United States now comes only from the western Cascade Range in Oregon. The emery in New York has a typical A1,0, content of 41.5%. Most of the rock is not true emery because it contains a mixture of spinel and magnetite but very little corundum. The deposits are of Late Ordovician-Early Silurian age and consist of veins in which emery is mixed with olivine, pyroxene, and hornblende. The veins evidently were formed by contact metamorphism and are surrounded by Precambrian schists that contain mica, sillimanite, cordierite, garnet, and quartz. The deposits in Oregon were formed during Miocene time by the contact metamorphism of ferrunginous bauxite by intrusive lamprophyric dikes and plugs. Emery is found in thin layers bordering these tabular dikes, which are usually oriented perpendicular to bedding, and in "surficial placer deposits. The emery deposits in Turkey occur as small, massive, lens- shaped bodies and as surficial placers. They are believed to have formed during Permian and Triassic times. In Greece the principal site of emery production is at Cape Emeri on the Island of Naxos. These deposits consist of lenticular masses of emery surrounded by marble. They originated during Mesozoic time, evidently by metasomatic replacement. Smaller deposits on several other Aegean islands were formed by the metamorphism of bauxite or other alumina-rich materials.

Jan 1, 1994

By David Green

Outokumpu introduced Flash Flotation in the early l 980's for the recovery of floatable material from grinding circuits. The devel­opment came as a result of surveys made in the company's own concentrators, initiated to find ways of improving recoveries with increasingly complex and lower grade feeds. Hydrocyclones make a separation on the basis of particle size and mass, resulting in the "over collection" of fine grained, high S.G. particles. Minerals such as pentlandite, galena and gold are easily caught in the circulating load around the mill until they are overground and rendered more difficult to collect. In the case of downstream flotation this may simply involve a reduction in the rate coefficient due to the finer sizes or, as is commonly experienced in gold operations, the mate­rial is slimed and coated onto non-floating gangue and is eventual­ly lost to tails. At the time of Outokumpu's plant surveys, it was a relatively common practice, particularly in Pb operations, to have a flotation section fed directly from the secondaiy mill discharge. This is called unit flotation and certainly provided an improvement but very high wear rates and frequent sanding out of the cells was com­mon. The development of the SkimAir® Flash Flotation cell by Outokumpu provided a subtle but quite dramatic departure from the unit cell approach. Now it was possible to feed cyclone under­flow into a special purpose-built flotation machine and recover a final grade concentrate from the grinding circuit (see Figure I). The cell was designed to handle the coarse circulating load, per­mitting the coarsest fractions to be short-circuited back to the mill and retain the floatable sizes for a nominal time of 30 seconds to several minutes. The short retention time was possible largely due to the relatively clean content of the cyclone underflow stream. This means that the fine gangue is not present except in small quan­tities and most of the fine to mid-size paiiicles are higher S.G. and more likely represent valuable mineral. This condition provides for very high rate coefficients. Typical operations would recover 40-60% of the valuable mineral in this fashion and improvements in recovery were typically from 2-5% for sulphide minerals to the 5-20% range for gold and silver.

Jan 1, 1998

By D. PATIL, B. K. Parekh

Water is the mainstay for the beneficiation of fine-size coal and minerals, but it is also the least desirable constituent of the final product. The basic concept of the novel process described in this paper is based on the differential surface heat absorption capacity of the individual particles. When a differentially heated solid mixture is placed on a moving belt that has been coated with low-temperature melting resin, the hotter component of the mixture will stick to the belt while the relatively cooler component will stay free on the belt and fall off at the end of the belt run. Experiments were conducted with pyrite, coal and quartz particles of 6 × 18 mesh size. The goal of the test program was to find the optimum conditions at which there exists a required temperature difference between minerals and coal particles by controlling the operating and system variables. Preliminary test results show that there is a potential for separating mineral matter from coal using the thermo-adhesive separation technique.

By R. P. King

Knowledge of the behaviour of flotation machines had developed and increased considerably over the last few years. Although much work remains to be done on the study of the fundamental processes that influence the collection of hydrophobic particles at an air-water interface, there is enough information to permit the building of realistic models of the gross flotation behaviour of various ores. These models serve as an ideal base for the development of simulation techniques for the steady-state behaviour of entire flotation plants that consist of a large number of individual flotation machines. Simulation techniques have a very real role to play in assisting with the design of new plants and in improving the operation of exisiting plants. Recently, highly efficient data-logging systems have been introduced on flotation plants. These systems are based on the on-line measurement of volumetric flowrate, pulp densities, and metal contents, and they generate enormous quantities of information regarding the operation of the plant. Unfortunately, this information is largely wasted at the present time because efficient data-reduction techniques, although available10 are not in common use. Simulation techniques play a central role in such data reduction because they form the essential link between the fundamental kinetic flotation processes on the one hand and the plant data on the other.

Jan 1, 1974

By YUSONG MIAO, DI WU, XIANRONG YAN, YIPING ZHANG, JIE LIN, KEBIN LI

Rock fragmentation has been a concern in hard-rock mining for the mining industry. Rock fragmentation distribution is an important index to measure the blasting effect. It not only affects the cost of drilling and blasting, but also affects the efficiency of subsequent operations, such as loading, transportation and secondary crushing.

The 25th Peruvian Mining Convention (Convención de Ingeneieros de-Minas del Perú) was held Sept. 10-14, 2001, in Arequipa, Peru. The biennual meeting, sponsored by the Peruvian Institute of Mining Engineers (Instituto de Ingeneiros de Minas del Peru), is designed to showcase the Peruvian mining industry and to ?promote progress in the national mining sector.? The convention consisted of technical sessions, forums, field trips and social activities. The technical sessions featured 80 papers selected from more than 200 papers submitted. The well-organized 2001 meeting was held at the Tecsup Institute of Technology of Arequipa. The meeting was held in conjunction with Exposición Technologica Minera (Extemin), a mining trade exhibition. The2001 Extemin had representatives from more than 400 companies in attendance. In addition to the many Peruvian companies present, the trade exhibition featured pavilions representing the United States, Canada, Germany, Australia and Chile. Registration at the 2001 meeting was about 3,300, a conference record. The theme for the 2001 meeting was Mining: Society and Development. Mario Brescia was chairman of the organizing committee. He said in his opening remarks that ?this year?s meeting seeks to emphasize the commitment on the part of the [mining] companies to treat our natural resources responsibly, controlling any adverse impacts and giving priority to group benefits.? Consistent with this theme, many of the technical papers stressed environmental and social responsibility. Many successful examples of environ-mental and social responsibility on the part of the mining industry were presented in the technical sessions.

Jan 1, 2001

By Bruce Congleton

The Florida phosphate industry is a leader in environmental control, both in terms of dollars spent and significant achievements. For instance, since 1960 the phosphate industry has spent over $71 million for air pollution and control devices, including installation, research and development and maintenance. Water pollution control expenditures also total in the millions, with over $69 million spent in the same 10 year period. The industry also is a leader in water conservation measures, having spent nearly $ 18 million since 1966 for conservation devices. Since phosphate is mined by strip mining, land reclamation plays an important part in the environmental control picture. Here again, the phosphate industry has met the challenge with a voluntary program of reclamation which accounts for over 20,000 acres of land useable after mining has taken place. In terms of progress in environmental control, the industry has been able over the years to solve within the limits of technology the fluoride emission problems it once had, and is currently at work solving sulfur dioxide and particulate problems. In just the past year the industry also has been extremely successful in limiting phosphorus and nitrogen discharges into area streams. The industry continues to cooperate with state and local pollution control officials on matters of environmental control, and future plans include even closer cooperation and assistance, as well as increased expenditures.

Jan 1, 1972

By W. C. Yates

Lack of visibility from large, open-pit haulage truck cabs has become a serious safety problem. Anaconda conducted a research program to develop a low cost system to alert haulage truck operators to small vehicles present in blind areas. Several systems were developed and tested. As open-pit haulage truck size has increased, so has the size of the blind areas. Mine utility vehicles, pickup trucks, and cars are concealed within these blind areas and become safety hazards. Figure 1 shows the typical blind areas of a 136 t (150-ton) haulage truck. The areas of greatest concern are at the rear center and front right corner of the truck. In these "no visibility" areas many small vehicles have been crushed by large haulage trucks at various mine sites. In most instances, the occupants escaped the vehicle before it was destroyed. But injuries and death have occurred. In most cases, the accidents were attributed to negligence or carelessness by the small vehicle driver. The limited visibility problem still exists, though, and a solution is needed. Initial Solution The usual plane mirror on the driver's side and the convex mirror on the right front of the haulage truck allow only limited rear visibility. The typical, right side convex mirror is generally small and difficult to locate at a glance. This convex mirror also presents an image that distorts distance perception. These mirrors are of¬ten broken and immediate replacement not demanded or made. The US Bureau of Mines, in a contract with M.B. Associates, San Ramon, CA, developed an improved visibility system. It consisted of a larger, left view mirror and unique, blind area viewer. The large 230 x 690 mm (9 x 27 in.) left mirror has a small convex spot mirror near the bottom. The entire unit can be quickly replaced if broken. The large size provides a full view of driver orientation features such as the rear tire and the top of the load bed. The right 300 x 410 mm (12 x 16 in.) mirror has a convex surface and is quite rugged. The 510 mm (20 in.) spherical radius presents the operator with some distance distortion, but objects in its view are easily seen. The "blind area viewer" consists of a modified fresnel lens that allows the driver to "look around the corner." Installation of three of these lenses on the front of each haulage truck is rec¬ommended for adequate blind area coverage. This system significantly increases an operator's field of view and allows viewing of objects within about 3 m (9.8 ft of the truck. Many open-pit mines are nor mounting on smaller vehicles a long whip with a flag and lamp or both. This increases vehicle visibility to haulage truck operators. The whip is permanently attached to the mine vehicle. It can also be magnetically attached to transient vehicles. The whip system. though, is inadequate for visibility in the critical rear and right front blind areas. Alternate Solutions All of these visibility aids as¬sume an attentive driver. In addi¬tion, areas such as the rear blinc, area are not covered. Based on the inadequacy of existing visibility systems, Anaconda made a com mitment to further the truck de¬tection technology. The best ap¬proach was considered to be ar active system. It would notify the haulage truck operator that an en¬croaching vehicle is present. Sev¬eral systems were considered, in¬cluding ultrasonics and elec¬tromagnetics. For the ultrasonic system, com mercial and in-house design were looked at. Designing an( building transducers with the spe cific beam shape to match the haulage truck blind spots re¬quired a major technological breakthrough. False alarms ap¬peared difficult to prevent en¬tirely. They were caused by pass¬ing, trailing, or leading vehicles a., well as nonthreatening objects. As a result of these problems, the ul¬trasonic technique was not pur sued. An alternative, an electro

Jan 7, 1982

By W. R. Reed

This study evaluates the roof-bolter canopy air curtain (CAC) system in an exhausting face ventilation system, demonstrating its effectiveness and illustrating the CAC protection zones. Two scenarios are considered: (1) a roof-bolting machine in the center of the entry for installation of the fifth row of bolts from the face, and (2) a roof-bolting machine positioned close to the face for the installation of the last row of bolts. In both scenarios, the bolting machine is placed in an environment that contains 6.0 mg/m3 of respirable dust and is ventilated by an exhaust curtain with 9,000 cfm (4.25 m3/s) of air to simulate the roof-bolter machine operating downstream of a continuous mining machine. Two operation positions are simulated at the same bolting location: dual drill heads in the inward position for two inside bolts and in the outward position for two outside bolts. The influence of the CAC on airflows and dust dispersion is evaluated with the CAC operating at 250 cfm (0.12 m3/s) with dust reductions ranging from 39.5 to 82.8 percent. When the roof bolter is operated close to the face, increasing CAC airflow was required for adequate protection, as the dust reductions can be as low as 39.5 percent. Increasing CAC airflows to 350 cfm (0.17 m3/s) and 450 cfm (0.21 m3/s) were evaluated, demonstrating that dust reductions increased to 59.7 percent (350 cfm) and 72.0 percent (450 cfm). These results revealed improvement in respirable dust reductions compared to the CAC airflows at 250 cfm when the bolter is operated close to the face, showing the CAC can provide protection against high respirable dust concentrations for roof-bolter operators.

By RENE GOMEZ, RAUL CASTRO

Estimation tools and models are now available to estimate fragmentation, but some variables have yet to be studied to understand their effect on the fragmentation process. One such variable whose mechanisms have yet to be studied is the residence time, which in block caving directly depends on the distance that fragments travel from their original position in the broken ore to the drawpoint. In this study, granular material fragmentation was characterized during its flow to understand its characteristics and mechanisms. The results show that the breakage of fragment singularities occurred mainly within medium and smaller sizes, increasing fine material during flow. Thus, the main fragmentation mechanism in experiments was identified as abrasion between rock fragments where fine material continuously increases as distance increases in spite of the high rock strength and the piston flow movement used. The results presented here can be applied to incorporate fragmentation during flow of large travel distance of ore such as in block caving.

By Andrea Brickey, JUDITH BUABA, RICHARD AMOAKO

This study applies a machine-learning technique known as multiclass logistic regression on a 10-year injury dataset from the U.S. Mine Safety and Health Administration (MSHA) to determine miners’ susceptibility to injury and to help identify significant risk factors associated with different classes of injury. The analysis identifies specific risk factors that influence a mineworker’s susceptibility to a given class of injury: nonfatal with no days lost or restricted activity; nonfatal with days lost and/or days of restricted work activity; and fatal and total permanent or partial permanent disability. These factors include miner’s age, mine type (coal versus noncoal), experience on the current job (years), shift start time, employment type (operator versus contractor), mining district and type of accident. The results of the analysis indicate that a miner’s experience on the job (the number of years worked in a current job) is a significant risk to injury occurrence, even for those with decades of total mining experience.

By Yuting Xue, Danqing Gao, Brijes Mishra

Heterogeneity and discontinuity significantly affect rockmass strength. Past studies have largely used arbitrary scaling approaches to produce rockmass strength from laboratory rock tests. This paper proposes a stochastic approach to produce rockmass strength from laboratory rock tests. Based on the laboratory data, MATLAB with an extreme value stochastic model generated a database for each physico-mechanical property of the rock. Then finite-difference software FLAC2D simulated laboratory-sized rock specimens. Random material properties in MATLAB were generated using the grids developed in the numerical model. The random properties were then applied to the final FLAC2D model. Model runs simulated the approach performed in the laboratory. The results from the model indicate that a stochastic approach produced compressive strengths that were lower than those from the deterministic approach. Failure modes for each specimen were different from those observed in the laboratory. In addition, random density also influenced the failure mode, highlighting the importance of stochastic analysis in rocks.

By Larissa Koroznikova, Steve Durkin, Patrick Bouwmeester, Michael Tuck

 This research project explored the viability of a new mining technology — thermal fragmentation — in narrow-vein mining. Thermal fragmentation technology uses a flame jet to produce extreme heat that spalls the surrounding rock to a strategically located drill hole, as an alternative to traditional blasting. This paper creates a net present value (NPV) model of a mining method using thermal fragmentation as well as one of an existing method used for narrow-vein mining. Comparisons and evaluations were made regarding the feasibility of the new technology. It was found that while overall costs for thermal fragmentation were relatively high, reductions in wages, haulage and processing costs as well as increased productivity and ore recovery meant that the new method would improve the financial performance of any operation.

By W. Moser

During the ten year span from 1978 to 1987, the number of fires which occurred in under-ground coal mines doubled from the previous ten years. Anyone involved with underground coal mines is well aware of the associated tragedy that can result from these fires, both to personnel and to property. Every day mine management and mining personnel face this threat of a possible mine disaster or fire. Their ability to deal with such a situation safely and effectively depends on the level of emergency preparation developed and maintained. As a direct result of the ever-increasing interest in the Mine Emergency Preparedness Program and the Mine Fire Training Programs currently being conducted, the Emergency Preparedness Center was created. As a branch of the Mining Extension Service at West Virginia University, the Center provides preparedness training at several different levels on a varying range of topics. Classes are conducted at a new especially-designed training laboratory at the National Mine Safety & Health Academy in West Virginia. By maintaining the proper equipment and levels of training allowing for immediate response, the personnel who are part of the Center believe that the impact of a mine fire or other such emergency situation can be minimized. This paper will present recommendations for maintaining an efficient mine emergency preparedness program and will provide information regarding the Mine Fire Training Program as conducted by the Emergency Preparedness Center and describe the advantages of the newly constructed training facility.

Jan 1, 1993

By David Maust, Rob Albinger, Mike Walling, Michael Rispin

The safeguarding of health and life is the number one priority for underground infrastructure projects. While culture and approach are critically important, the industry has also seen the development of innovative tools and technologies that assist in making the underground environment and working places more safe and secure, both on an everyday basis and in the event of an unexpected occurrence.

Dec 1, 2022

By C. W. Schultz

The Alabama tar sands of the Hartselle Sandstone formation present a more difficult problem in primary extraction than do the Athabasca tar sands. In contrast to the Athabasca tar sands, the Alabama tar sands are "oil wetted" and the contained tar, or bitumen, is of much higher viscosity. A physical beneficiation scheme was developed in which clean sand from an external source was used as a scrubbing medium. High intensity scrubbing liberated the tars which are readily recovered by froth flotation. Locked cycle tests have shown that, after the use of an initial ration of clean sand, the system produced enough new clean sand to be self sustaining.

Jan 1, 1992

By A. C. Burrow, R. P. King

A dynamic model that predicts the variation of carbon content with time in the argon-oxygen decarburization (AOD) process has been developed. The model recognizes three distinct zones in the AOD vessel: the tuyere region in which the blown oxygen reacts very rapidly with the metal components in the molten alloy; a region in which bubbles of inert gas and oxide drop lets rise through the molten alloy; and a zone in which the slag layer can interact with the molten alloy. The process is dynamically controlled by the rate at which dissolved oxygen, produced on the surface of rising oxide droplets, and dissolved carbon diffuse through the molten alloy to react at the surface of the rising bubbles. The rate at which carbon and oxygen react on the bubble surface is assumed to be intrinsically very fast. Predicted decarburization rates compare reasonably well with rates measured in the AOD vessel at Middleburg Steel and Alloys. The model has been developed primarily to allow development of a time-optimal blowing stategy for the AOD vessel.

Jan 1, 1990

By Edward F. Fries

Computerized, real -time monitoring had its beginning in the U.S. coal industry in the early 1970's. Over the last 10 years, developments in technology have made systems available that are capable of monitoring and controlling many mine parameters that can increase safety and production. However, situations currently exist where computerized monitoring systems are not being utilized to their fullest capability. They produce reams of printed output that are not sorted in a useful format, and human operators are not able to react fast enough in emergency situations tn tile large amount of information that the systems generate. A solution is the application of an expert system as the interface with real-time monitoring. An expert system would use an extensive knowledge base and human-type reasoning ability to make decisions on optimum strategies. Expert systems have been applied successfully to problems in other industries, and could provide significant benefits to mine information management systems. The use of an expert system with real-time mine monitoring is discussed in this paper.

Jan 1, 1986

By M. E. Grimes

Rio Algom Mines Ltd. owns eight uranium mines and mills in the Elliot Lake district of Ontario, seven of which were producing before 1960. At present only one mine is operating meeting current contract requirements. Under present economic conditions, it is not feasible to mine ore of less than 2.0 lbs./ton U308, although there are very large reserves below this grade. We are interested in preconcentration for three possible applications: to extend ore reserves by permitting use of lower grade ore, to reduce costs on processing of present grade ore, and to reduce capital investment in expanding production to meet future production goals.

Jan 1, 1973