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By Levent Ozdemir, Bjorn Nilsen

For several recent TBM tunnel projects, unexpected ground conditions have been encountered, causing extra cost, considerable delay, and in some cases major claims. Undoubtedly, insufficient and/or irrelevant site investigation and testing are among the main causes of such incidents. The purpose of this paper is to review the main investigations and tests relevant for hard rock TBM projects, with particular emphasis on the considerable development that has taken place over the last few years. Also, guidelines for defining optimum scope and extent of site investigations and testing are discussed, as well as the importance of adjusting the investigations and tests according to complexity of the ground conditions and project type.

Jan 1, 1999

By Rudrajit Mitra, Erik Hulthén, TOBIAS HARTMANN, ELISABETH CLAUSEN, Aarti Sörensen

There has been an ongoing debate on how to transform engineering education to better prepare students for today`s professional world that is characterized by increasingly complex problems and challenges that engineers are tasked with upon entering the industry. Within the conceive–design–implement–operate (CDIO) framework, entrepreneurship education presents a valuable pedagogical approach to foster the necessary skills of the students through integrated, hands-on, active learning experiences. While numerous publications have addressed possibilities of how experiential, problem-based, project-based and active learning can be integrated into engineering curriculum, there has been hardly any attention on mining engineering with respect to adopting this approach. This paper will address the possibilities of integrating entrepreneurship education into mining engineering programs in particular. This paper will enhance and foster discussion among academics from mining engineering on how to integrate elements of entrepreneurship education on a course, program and departmental level to infuse value creation experiences across the curriculum.

May 25, 2022

By Manoj Khandelwal, Bright Akuinor Tsidi, Newton Amegbey, Daniel Mireku‑Gyimah

One of the ambient effects of production blasting is flyrock. To effectively manage flyrock throw distance in mining, there is the necessity to successfully envisage blasting output without sacrificing the hazardous impact of flyrock which may result in fatality and operational shutdown. For flyrock throw distance prediction, velocity of detonation (VOD) and charge per bank cubic meter (CPBCM) are not usually included. This paper focuses on the use of support vector machine (SVM) regression to ascertain the impact of VOD and CPBCM on flyrock throw predictions. The machine learning models were linear support vector machine (LSVM), quadratic Gaussian support vector machine (QGSVM), fine Gaussian support vector machine (FGSVM), medium Gaussian support vector machine (MGSVM), and cubic Gaussian support vector machine (CGSVM). The outcome indicates that FGSVM was the most sensitive with a 4% improvement when VOD and CPBCM were included. As a result, the LSVM model provides a suitable AI competitive alternative tool for flyrock throw prediction in mining operations by incorporating VOD and CPBCM.

Feb 10, 2024

By R. Shields

"Hard rock mines move large volumes of material. But the conveyors essential to this movement suffer lots of problems, including carryback, spillage, dust, and belt wander. Many of these issues are created at the transfer points where the belts are loaded. This presentation will start with an overview of the latest transfer point systems that incorporate safety and serviceability by design. It will then report on recent projects. One project is the Conveyor B Transfer at the Coeur Rochester silver mine near Lovelock, Nevada. Here performance was improved with the installation of belt support cradles, engineered chute walls with external wear liner, and a compact dust collector. A second project is the improvement of belt support idlers and skirtboard sealing in a long loading zone of a conveyor under the concentrator at an Arizona copper mine. THE IMPORTANCE OF TRANSFER POINTS Conveyors are essential in mine material handling. Their performance will often make the difference in mine productivity and profitability. A key to conveyor performance are the transfer points where the conveyor belt is loaded and discharges. At these transfer points, many of the problems encountered with the conveyor system are created. The problems that arise at the transfer stations include off-center and segregated loading, mistracking, blockages and plugging. And there are a variety of problems originating with fugitive material—cargo released in the form of carryback, spillage, or airborne dust—that are created or exacerbated in the transfer points. These fugitive materials turn into other conveyor-related problems, including shortened component life, unplanned outages for conveyor maintenance, unexpectedly high labor costs for maintenance and cleanup, worker health and safety problems, and issues with community relations. As estimate attributed to the U.S. Mine Safety and Health Administration (MSHA) notes that 85 percent of conveyor maintenance is a result of fugitive material at conveyor transfer points. TECHNOLOGIES TO IMPROVE TRANSFER POINTS A number of techniques to improve the performance of conveyor transfer points have been developed. They include: • Absorbing impact, to prevent damage to belt, belt support systems, and conveyor structure, and reduce spillage caused by the impact energy arising from long material drops or large lumps of material loaded onto the receiving belt. • Stabilizing the belt line, to eliminate sag that allows spillage and encourages material entrapment that can damage the belt. • Protecting the skirtboard seals, by sheltering the sealing strips from the mass of cargo pushing material toward the edges of the belt. • Using self-adjusting, multiple-barrier edge seals, to keep material on the belt by providing long-lived seal efficiency with minimum maintenance requirements. • Controlling and centering the belt’s path, to eliminate belt wander and the spillage and damage it can cause. • Allowing dust to settle, through the incorporation of chutework that provides expanded stilling zone and the use of dust curtains at the points where the belt enters and exits the transfer. • Adding supplemental dust control systems, through the installation of systems for passive dust gathering, water-based dust suppression, and/or active dust collection."

Jan 1, 2017

By Joel Lööw, Jan Johansson, Erik Lund

Digitalization and automation technology offer new possibilities to increase productivity and obtain higher levels of autonomy in mining operations. Introducing autonomous systems into mining is not only a technical problem in terms of effectiveness and efficiency, nor a problem of safety in human-automation interactions. The systems also need to be designed and developed so that they foster healthy and attractiveworking environments. The design and development phase of newmining technology has not been extensively studied previously. To fill this knowledge gap, we investigated technology developers’ basic assumptions about humans and their interactions with the technology they develop. We conducted five semi-structured workshops within an EU funded project concerned with developing digitalization and automation solutions for the mining industry. The data suggests that many critical functions will still be under human control in future mining systems. The results also indicate increased complexity in the interaction between autonomous systems and humans as the technology becomes more advanced. As a result, we suggest that a human perspective, based on sociotechnical principles, should not only be considered in implementing the technology at mines but also in the early conceptual phases of developing and designing the technology. This will ensure healthy and attractive work environments in the future mining industry.

Mar 26, 2024

By William Gleason

"There are few people more qualified to speak of the tumultuous times in the global mining industry during the past four years than Newmont Mining Corp. president and chief executive officer Gary Goldberg.Goldberg stepped into his current position in 2012, just before MINExpo 2012. Gold prices had hit record highs not long before that ($54.15/g or $1,856.40/oz on Sept. 8, 2011), expansions were happening around the world and the gold mining sector was still living in the glow of one of its longest upswings in history.That all changed between April 8 and April 15, 2013 when the price of gold dropped by nearly $200/oz ($46.27/g or $1,586.20/oz on April 8 to $40.45/g or $1,386.80/oz on April 15), putting an end to the decade-long mining boom and forcing mining companies like Newmont to re-evaluateeverything.Three years later, with the gold sector recovering, Newmont Mining is not only surviving but is thriving with a pair of mines coming online, Long Canyon in Nevada and Merian in Suriname. On Oct. 1, the Merian Mine went into production on time and more than $150 million under the initial development capital budget.Goldberg, who was one of the featured speakers at the opening session of MINExpo International 2016 on Sept. 26, also spoke with Mining Engineering about the previous four years and the future of the industry.“Mining goes through cycles all the time and gold is no different,” Goldberg told Mining Engineering when asked about surviving the downturn since 2012. “I thought it was important that we take a good methodical and steady approach across the business to determine what was the right thing to do and to set the business up to improve performance. Anyone can cut costs for the short term, but we set out to do it in a sustainable and reliable way. We created a program we call Full Potential to look for sustainable ways to reduce costs and improve productivity. That program has taken more than a billion dollars out of our costs since we implemented it 2013 and that shows up in our results. Our all in sustaining costs are down 28 percent and our productivity is up 39 percent.”During the downturn, Newmont restructured its business model, sold off some assets and created a leaner, more nimble operation. It has paid off with the addition of two new mines and the acquisition of another, the Cripple Creek & Victor Mine in Cripple Creek, CO.“The gold industry had not seen a downturn in 12 years. We had half a generation that had not experienced a downturn, so helping them through that in an organized way and keeping a view toward the long term throughout the downturn was important. We were one of the few companies that continued to invest in assets,” he said."

Nov 1, 2016

By Osvaldo Bascur, Barun Gorain, Jaco Steyn

"The last few decades have seen some remarkable advancement in information technology, but recently various digital technologies have resulted in several synergies to deliver innovation in diverse applications. The mining industry has been relatively slow in adopting these technologies compared to the other industries, but this scenario is changing fast.Challenges. Mining companies globally are going through a series of challenges such as declining ore grades with complex metallurgy, increasing depth of ore bodies, high capital and operating costs, lower productivity, shortage of technical resources, significant pressure from stake-holders to deliver, along with growing environmental and corporate social responsibility issues. Improvement in profitability would need significant improvements in operational performance.Consequently, over the last few years, there has been a major focus among some mining companies to imbibe operational excellence. This has been only possible because of the replacement of a silos-based approach by an integrated view of the organization. Such an integrated view is now possible via the evolving digital technologies. Even so, such a transformation calls for a change in culture, which, for most organizations is not trivial. Attempts in the past to integrate functions, such as through mine-to-mill initiatives in the mining industry, have demonstrated significant benefits to many operations (McKee, 2013). Still, sustaining these benefits has clearly been a challenge due to manpower turnover and lack of proper systems and structures that integrate information between business functions within an operation and between operations and the corporate level.Opportunities. The advent of digital technology has opened up opportunities to integrate interdepartmental information for a unified understanding across an entire organization. The advances in instrumentation, equipment control systems, supervisory control systems (SCADA/ Historian) and industrial networks have helped in the direction of enterprise- wide integration. The availability of real time information across an enterprise has given rise to numerous possibilities to improve organization performance. As suggested by Seshan and Gorain (2016), some of the potential opportunities are as follows:"

Jan 9, 2018

By Ihsan Berk Tulu, Ted Klemetti, Deniz Tuncay, Cicek Sena, Zhao Haochen

"Analysis of Longwall Pillar Stability (ALPS) and Analysis of Retreat Mine Pillar Stability (ARMPS) treat the pillar as a passive structure that is designed to carry overburden dead-weight. This dead-weight is calculated by simple rules based on the geometry of the mining, such as “tributary area theory,” “pressure arch theory,” and “abutment angle theory.” Although the pressure arch loading approach indirectly accounts for the generally stiffer overburden response of narrow and deep panels, it does not include the effect of specific geology of the overburden in load calculations. The relationship between successful pillar layouts and overburden geology can be incorporated into the load calculation by using the Ground Response Curve (GRC) approach.This paper introduces the GRC modeling methodology to investigate the effect of overburden geology and excavation geometry on load transfer mechanisms using seven field measurement case studies from four U.S. mines. It was also shown that the modeling methodology used to derive GRC in this study approximates mining-induced stresses and deformations within 5% of the values measured in the field.INTRODUCTIONFrith and Reed (2017) stated that current state-of-the-art pillar design methods ignore the overburden mechanics and use estimated dead-weight of overburden to compute pillar sizes. In the United States and around the world, overburden loading is typically estimated by simple geometric rules, generally with the tributary area theory (TAT). The specific overburden mechanics, structural competence of the overburden strata, geology, in situ stresses, and overburden/pillar interactions are typically ignored. However, these important mechanical responses affect the stability of the mine pillars and openings; therefore, they also affect the safety of the mine workers.Research conducted by the National Institute for Occupational Safety and Health (NIOSH) after the Crandall Canyon mine disaster (Esterhuizen, Mark, and Murphy, 2010) showed that small panel width-to-depth ratios and stiff-strong overburden result in a reduction of the observed pillar loads, much smaller than the TAT estimate. In fact, as a response to the Crandall Canyon disaster, Mark (2010) implemented a pressure arch loading approach into the latest ARMPS program to recognize the inherently greater stability of narrow panels at depth. The pressure arch approach is a first logical step to introducing non-tributary area loading into the practical ARMPS program. Although the pressure arch loading indirectly accounts for the generally stiffer overburden response of narrow and deep panels, it does not include the effect of specific geology and mechanical response of overburden in the load calculations."

Jan 1, 2019

By W. Hustrulid

"In recognition of his inspiring dedication to the mining industry through education, research contributions and dissemination of practical knowledge, exceptional leadership and excellence in mining engineering practice and for his lecture, “You can't make a silk purse out of a sow's ear.” Recipient of the 2002 D.C. Jackling Award Introduction It is always difficult to decide on the most appropriate title to give to a paper or talk. It is a particularly difficult decision in the case of the Jackling Lecture, because the title becomes part of the award citation. I hope that the significance of this unusual title will become crystal clear as you read the pages that follow. However, to assist you in this journey, I will provide the following few words of guidance. In making a cake, you need the proper ingredients. If one or more of them are missing, it will not be a cake. In addition, the quality of the cake depends on the quality of the ingredients. In my lecture, the "cake" is the U.S. mining industry of the future. A national perspective President George W. Bush in his State of the Union Address (Bush, 2002) delivered on January 29, 2002, defined three national objectives: •win the war on terrorism, •protect the homeland and •revitalize the economy. Under the heading "revitalize the economy," he indicated the importance of "good jobs" and "energy production" by saying: "Good jobs begin with good schools. Good jobs also depend on reliable and affordable energy. This Congress must act to encourage conservation, promote technology, build infrastructure and it must act to increase energy production at home so America is less dependent on foreign oil." I wish that he would have broadened his focus and stated instead that: "This Congress must act to encourage conservation, promote technology, build infrastructure, and it must act to increase materials production at home so America is less dependent on foreign sources." With regard to jobs, all jobs are not equal. To paraphrase John Reeves of MidContinent Resources (Reeves, 2002): "If our nation is to prosper, we all cannot make a living by doing each other's wash. Some of us, at least, must be actively engaged in the primary production of raw materials from the riches of the earth and other Americans must turn those materials into consumer products." The unfortunate trend in our country has been to neglect the primary production of basic materials, even those coming next in line. We have left those responsibilities to others while we concentrate instead on performing various services, i.e., doing each other's wash and flipping burgers. This cannot continue. It must be remembered, especially by those in leadership positions, that all "jobs" are not created equal. Some jobs are much more essential to the security and wellbeing of our country than others. We must be sure that the important ones are in place. We cannot produce the basic materials that our nation requires without access to those materials. This leads to my Proposition 1: You cannot have a viable mining industry without a clearly enunciated, positive U.S. materials policy. Background regarding U.S. materials policy Resources for freedom. In January 1951, President Truman created the President's Materials Policy Commission, with William S. Paley as chairman. As expressed in the invitation letter from the president to Paley: This commission, within the executive office of the president, is to study the broader and longer-range aspects of the nation's materials problems as distinct from the immediate defense needs. The task of the commission is to make an objective inquiry into all major aspects of the problem of assuring an adequate supply of production materials for our long-range needs and to make recommendations that will assist me in formulating a comprehensive policy on such materials. The commission should study, together with any other aspects deemed by it to be pertinent, such questions relating to production materials as: - the long-range requirements outlook; - the long-range supply outlook; - the prospect and estimated extent of shortages; - the consistency and adequacy of existing government policies, plans and programs; and - the consistency and adequacy of private industry practices.

Jan 1, 2003

By N. Iverson, E. Haft, V. T. McLemore, M. Woodard, E. Owen

Present and emerging technologies are renewing interest in domestic rare earth elements (REE) production. REE deposits throughout the North American Cordilleran alkaline-igneous belt are being re-examined for their economic potential. In New Mexico, the mineral deposits found in this belt are associated with Eocene–Oligocene alkaline to calc-alkaline igneous rocks. Four areas in New Mexico have been examined for their REE potential. The chondrite-normalized REE patterns are similar for all four districts, even though different REE minerals are found. Crandallite, xenotime, bastnäsite and brookite are found in fluorite veins and carbonatites at Laughlin Peak. Bastnäsite was extracted during fluorite processing from 1954-1980 from the Gallinas Mountains, where samples as high as 8% total REE are found in fluorite veins. Other REE minerals include agardite, parasite, xenotime, and monazite. Allanite, thorite and as much as 8133 ppm total REE are found in fluorite veins in the Capitan Mountains. In the Cornudas Mountains, exploration along the outer edge of the Wind Mountain nepheline syenite laccolith and within phonolite dikes, plugs, skarns and carbonate-replacement deposits in Chess Draw contain as much as 3110 ppm TREE, hosted in eudialyte, monazite, bastnäsite, and calciocatapleiite.

Feb 1, 2023

By L. E. Eary, Andy Davis

The evolution of pit lake water quality depends on the lithology and hydrologic characteristics of the ultimate pit surface, the availability of buffering capacity in the wall rock vs. oxidizable sulfide content, the alkalinity of recharging groundwater and the evapo-concentrative characteristics of the system. This paper assesses the geochemistry of 11 existing pit lakes, ranging from the acid Red Hill and Berkeley pit lakes (pH 2.6 to 2.8) to the alkaline Yerington pit lake (pH 8.45). Predicted pit lake chemistry is similar to that in existing pits, with long-term chemistry lying on a geochemical continuum between end members that consist of influent calcium bicarbonate groundwater and naturally occurring sulfate-rich evaporite playa lakes.

Jan 1, 1998

By Jon Pocock, Ashma Singh

The traditional approach for the beneficiation of South African siliceous sedimentary phosphate ores has been reverse cationic flotation. The robustness of this approach, however, has been a concern due to its sensitivity to parameters such as slimes content, headgrade ( P2O5 and SiO2 content), reagent dosages and conditioning times. The phosphate mineralisation for the ore body under investigation is predominantly carbonate fluorapatite composed of mainly quartz and apatite and minor amounts of chlorite, ilmenite and carbonates. Beneficiation of low grade sedimentary ores containing calcareous impurities, such as calcite and/or dolomite in addition to siliceous gangue, is required to meet the increasing demand; therefore, much research has been carried out to find an alternative technique to beneficiate this material. This paper investigates traditional flotation approaches versus the currently adopted ‘Crago Process’. Comparative results are presented in terms of upgrade potential for the production of concentrate rock for downstream applications. The novelty of the ‘Crago Process’ lies in its double stage approach, i.e. direct fatty acid flotation followed by reverse cationic amine flotation. The Crago process was able to achieve higher upgrades reporting at 32.1% P2O5 compared to conventional cationic flotation only achieving grades of 18.5% P2O5. Furthermore, the recovery gain was 3%.

May 13, 2023

The most complete mining show ever held in the United States and the largest exposition of its kind to be held anywhere in the world in 1988. That's how the American Mining Congress is billing its "MINExpo International '88," to be held April 24-28 at Chicago's McCormick Place, the largest exposition facility in the country. MINExpo International '88 will combine for the first time two previously separate AMC-sponsored shows - the International Coal Show and the International Mining Show. Starting with the 1988 show, MINExpo International will be held every four years. The next show, in 1992, will be held in Las Vegas. The MINExpo in Chicago will feature more than 500 mining equipment and services exhibits covering 3 hm2 (320,000 sq ft) of exhibit space. Exhibitors will display products ranging from small safety devices to large earth-moving equipment. MINExpo is one of the few trade shows selected by the US Department of Commerce for its Foreign Buyer Program. Commerce is working with US embassies around the world to publicize MINExpo and to form delegations of visitors from many countries. Overseas visitors to the show will be assisted at an on-site International Business Center. It will provide currency exchange, translation, and other services to foreign buyers. Registrants at MINExpo will also be able to attend their choice of 27 morning-only program sessions. At these sessions, international mining experts from industry, government, and academe will analyze technical, strategic, and policy matters and discuss the outlook for the industry. "Toward the 21st Century" is the theme of this year's program. The technical workshops and managerial seminars are designed to assist mining executives, engineers, and geologists as well as mine superintendents, managers, and foremen in handling their responsibilities. Based on previous attendance at AMC international mining shows, the association says that more than 25,000 persons are expected to attend the Chicago show. It is expected that approximately 15% of the attendees will be from foreign countries. The Soviet Union will be among those exhibiting at MINExpo. The Russians have leased more than 2.8 dame (3000 sq ft) of space to display their mining machinery and equipment. It is the first time that the Russians have joined in an exhibition of mining equipment in the US. The two largest manufacturers of mining equipment in the Soviet Union, Setmash and Avtoexport, will put on display in Chicago a variety of Russian-made equipment. It will range from 100 t (110 st) heavy-duty dump trucks and diesel engines to drilling, hoisting, and conveying equipment. In addition to some 400 US exhibitors of mining equipment and services at MINExpo, nearly 100 companies will be present from other major mining nations such as Australia, Canada, Great Britain, Japan, the Netherlands, and West Germany. And, for the first time, a Chinese manufacturer will take part in the AMC show, participating with its US marketing partner.

Jan 3, 1988

By William H. Mount

Since the late 19405, St. Joe has operated rubber-tired, trackless mining equipment underground in its Southeast Missouri Lead Belt operations. At first, the trackless equipment was operated in conjunction with rail haulage equipment in the room-and-pillar operations, but was to later replace rail haulage completely. The first pieces of equipment to travel on pneumatic rubber tires were short-haul shuttle cars of 12-ton capacity hauling rock from the heading to the mainline railroad. Early-model drill jumbos were the next pieces of production equipment to be carried on rubber, along with mobile slusher ramps. Mobile diesel equipment, in the form of conventional rear-dump trucks, made its appearance underground in the early 1950s, introducing the era of relatively high-speed mobile equipment as compared to the electrically powered shuttle cars. Haulage distances for rubber-tired vehicles were no longer dictated by trolley lines and trailing cables and tires were subjected to increasingly severe applications. St. Joe's first completely trackless mine, the Hayden Creek Mine, was opened in 1952, employing rubber-tired drill jumbos, electric shuttle cars, and for the first time, an articulated diesel truck consisting of the tractor unit of a conventional earthmoving scraper and a rear-dump rock wagon. Those machines rolled on the first true earthmover tires to be used underground by St. Joe. The articulated truck concept proved to be very successful, and constitutes an In- creasing portion of the underground haulage today.

Jan 1, 1975

By Christopher J. Vise

Although production operations at mines, representing the extraction and removal of the mined material, often appear to receive the greatest amount of attention, the emphasis given to auxiliary operations is continually increasing. This is due to the changing economic, social, and environmental climate in which modern mines must operate. Auxiliary operations can best be described as those activities that are not directly related to the extraction and removal of the mined material, but must receive proper attention if recovery is to take place in a safe, efficient, and socially responsible manner. In fact, certain mining auxiliary operations, such as strata control and ventilation, are considered to be of such importance that they warrant separate sections in this Handbook. Judging from a mine-personnel standpoint, it is not uncommon for a mine to hire the same number or more individuals responsible for auxiliary operations as the number assigned to production.

Jan 1, 2008

By L. F. Ruppert, R. C. Milici

Coalbed methane (CBM) is currently being produced from a relatively small area in the Dunkard and Pocahontas basins, in the northern and central parts of the Appalachian Basin, respectively. In general, much of the production occurs where the coal beds are beneath 500 feet or more of overburden, where the rank of the coal is high-volatile B or greater (%Ro >0.8), and where the natural fracture system is enhanced by structural deformation. It is anticipated that near-term CBM development will continue within these areas and will expand in the Appalachian basin as technology improves and as the price of gas rises.

Jan 1, 2003

By John L. Watson

The processes of magnetic separation and cyclone classification are common in the mineral processing industry, and frequently the two are found in consecutive stages in the beneficiation of a magnetic mineral ore. The application of a magnetic field across the cyclone, to combine the two stages in treating a magnetic mineral pulp, has been investigated with a view to possible practical applications in the mineral industry The results of this research reveal that magnetic particles can be manipulated within the cyclone body by the application of a magnetic field, and that magnetic grades may be significantly upgraded with recoveries in excess of 90%.

Jan 1, 1983

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 Y. C. Kim, I. S. Roditis, P. K. Medhi

P. Mousset-Jones I found the article most interesting and timely. I consider it imperative that mine case studies like this one are undertaken and published so that the practicing mining engineer and geologist can obtain a better idea of what is the preferred estimation and grade control technique to use, given the site-specific geology, grade distribution, etc. Mining companies, with operating gold mines, need to be encouraged to either initiate such a study in-house or support a research project by financing a graduate student at a local university. The latter method is preferable since it not only provides research support but also an excellent training opportunity for young mining engineers and geologists. Ideally, what is needed is exploration drill-hole, blasthole, and mine production data that can then be used to assess the efficiency of different estimation and grade control methods by comparing the results obtained using the drill/blasthole data with the actual production data. It is hoped that more mining companies will realize that the rewards from this kind of research greatly outweigh the sometimes perceived problem with releasing data to a university. I noticed that the authors used the blasthole data to represent the actual values, the validity of which relies heavily on the two key assumptions with regards to blasthole assays and in-pit ore-waste selection procedures. Could the authors comment in more detail on these assumptions and what criteria they used to check the validity of the assumptions? Since the article was published, have the authors had the opportunity to compare their estimates with the actual production data? It would be interesting to compare other estimation methods with OK and IK. For example, how well did the polygonal method used at the mine compare with the results given in the paper? I would like to mention that B.L. Kwa completed a similar study (Kwa and Mousset-Jones, 1986) using exploration drill-hole, blasthole, and production data from the Alligator Ridge mine in Nevada. The study compared a variety of estimation methods, including IK, and the final results are shown in Fig. 1. The IK method exhibits the smallest difference between estimated and production results and is closely followed by the indicator moving window (Ind MW) method. Reference Kwa, B.L., and Mousset-Jones, P., 1986, "Indicator Kriging Applied to a Gold Deposit in Nevada," Proceedings, Symposium on Ore Reserve Estimation Methods, Models, and Reality, CIMM Annual Meeting, Montreal, Quebec, Canada, May, pp. 185194. Reply by Y.C. Kim We do concur with Professor Mousset-Jones with respect to the merit of such case studies performed at a local university. In answer to his request for comment on the validity of the two key assumptions made in our paper, we can only say that these are reasonable assumptions that are very difficult to validate. The assumption of blasthole assays being accurate can be partially validated by a careful analysis of the nugget component of blasthole variograms. The assumption that the in-pit ore-waste selection procedure in use was an effective one can only be validated through comparison between the mine estimates of ounces of gold versus the actual recovered ounces of gold at the mill. Neither one of these two assumptions has been validated to date due to several reasons. For example, the mine went through a change in management since the study. Similarly, no compelling reasons have been presented to perform detailed variogram analysis of the blasthole data. We do, however, believe that the obtained results (i.e., indicator kriging performs better than OK in a highly skewed deposit) will remain the same in relative terms, regardless of how valid these two assumptions may be. The most recent comparative study by D. S. Lindsey of the Montana College of Mineral Science and Technology also shows a similar ranking between ordinary kriging versus probability kriging, which is an extended version of indicator kriging. Reference Lindsey, D.S., 1987, "A Comparative Study: Probability Kriging vs. Ordinary Kriging at the Golden Sunlight Mine," MS Thesis, Department of Mining Engineering, Montana College of Mineral Science and Technology, Butte, MT, May, 81 pp.

Jan 3, 1988

By Laura Suarez, Jörgen Kajberg, Pär Jonsén

In recent years, slag, a residue from pyrometallurgical processes, has become more attractive in circular economy frameworks to increase the efficient use of resources throughout the life cycle of steel products and help in the reduction of carbon emissions. Its applicability is strongly dependent on the particle size, and therefore, the optimization of breaking processes should be approached by increasing the knowledge of the dynamics of slag to promote fracture. Increasing the knowledge on themechanical response ofmanganese slag opens up the potential for the development of cost-effective numerical models, e.g., constitutive models based on inverse engineering calibration frameworks or digital twins. In this study, rate-dependent tests of manganese slag have been performed using a split Hopkinson pressure bar device for testing its dynamic mechanical response. In order to obtain information about the crack initiation and fracture process, 2D ultra-high speed imaging was implemented with a sampling frequency of 663,200 fps for diametrically loaded specimens. Full-field deformation measurements using digital image correlation (DIC) techniques showed a staggered fracture process where failure points on mechanical response curves vary due to the internal events happening in the material. Localized frictional occurrences and inertial effects acting inside the pre-cracked matrix have a strong effect on the global mechanical response, and therefore, a great variability of strengths was obtained.

Nov 3, 2023