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By Min Chen, Qinghua Liang, Weishan Yan, Yuan Feng, Shigang Wang

Various coal mine robots (CMRs) and unmanned aerial vehicles (UAVs) are implemented to explore unknown mines for improving the safety and efficiency of mining. It is challenging for CMRs and UAVs to achieve accurate positioning due to the absence of GPS, poor lighting conditions, and similar geometric features in complex mine scenes. LiDAR-based localization and mapping methods are admittedly more accurate than others, while long-time running in large-scale scenarios will also introduce non-negligible cumulative errors. This study presents a semantic-aided LiDAR simultaneous localization and mapping (SLAM) with loop closure, which leverages the uniqueness of mine intersection structure to establish stable semantic loop closure. Specifically, we propose a semantic intersection descriptor of translation and rotation invariance, which encodes 3D point clouds of the same intersection from different positions and viewpoints into a unified image. By using the semantic descriptor, we can construct a constant loop constraint when the same intersection is revisited from different directions to reduce cumulative drift. We provide experimental validation using large datasets collected in two large underground mines, namely, a simulated Edgar mine deployed in ROS Gazebo and a public underground mine dataset provided by ETH. Experimental results show that the proposed method has higher localization accuracy and outperforms the existing LiDAR-based SLAM strategies.

Aug 10, 2023

By David B. Brooks, Roger L. Williams

Control of the environment is as old as mining. Engineers have always had to consider how best to deal with the surface, and the character of the surface environment always affects mining method in some way. However, if the relationship of the mine to the environment is old, today's approach is new. For one thing, land, air and water formerly could be viewed simply as obstacles to be overcome or resources to be utilized to win ore at the lowest possible cost. Now we have come to realize that these nonmineral components of the environment also are highly valuable. For another thing, environ- mental protection has become a public policy issue. Again, a special public interest in land and land use is old. From the firs(, the crown claimed extra rights in valuable minerals, and to this day a multitude of laws and regulations control-and tax-land use in every country. What is new is the detailed public attention bring given to waste management practices, whether these wastes be in the form of solids, liquids or gases, and regardless of where in the environment they appear. (It is convenient to lump all mining environmental problems, including hank fires and subsidence, together under the term "waste management," for in effect that is what they are.) As a result of these changes, the mining engineer must consider that lie is dealing with two productive resources the minerals and the remainder of the environment-and he must expect that lie will be judged not only on his efficiency in recovering the one but also on his effectiveness in protecting the other. Further, in seeking to protect the environment, the modern mining-environmental engineer has a dual role. First, there is the obvious task of finding better ways for industry to cope with waste-management problems in actual operations. Second, there is the less obvious but equally important task of helping formulate appropriate public policy objectives for the environment. Throughout; the section it is assumed that mining is an acceptable land use for the tracts under consideration. The question of whether mining will be permitted at all on these tracts is a further public-policy issue, ultimately to be resolved politically and thus, since it is beyond the scope of engineering, is not a subject that can be usefully discussed in a mining handbook. Finally, none of the statements in the section are predicated on the assumption that required waste-management measures will be privately profitable in the conventional sense. Indeed, the reverse is more likely to be the case-at least if accounts are kept so as to include all appreciable costs and a normal rate of return on investment in waste-disposal and reclamation equipment.',',' However, it is clear that improved waste management will be required of mining firms and that, to a considerable although undetermined degree, this expenditure is in the best long-run interest of both public and industry. The several studies that have attempted to quantify the impact of mining on the environment are admittedly rough but still provide enough information to indicate that there is a big job to be done. For example, something approaching 7,000 mi of stream in Appalachia alone are continuously or significantly affected

Jan 1, 1973

By R. Halatchev

This paper treats the spatial aspect of mine sequence optimization, revealing it in the context of determining the optimum number of cutbacks of an openpit mine. Cutback mining is currently a dominant method in the mining of base and precious metals. It is based on a pseudo-economic discretization of the pit space using advanced pit design algorithms. The result of implementing such an approach of pit design is the generation of pit shells, which need to be grouped into an optimum number of cutbacks to maximize project value. In this paper, the development of a mathematical solution of this problem using combinatorial analysis is presented. The solution provides a multivariate investigation of the optimum mine sequence with the implementation of a method for production scheduling optimization that uses Net Present Value (NPV) as a criterion for assessing the economic efficiency of mine sequencing. A case study using the conditions of a hypothetical openpit gold mine is provided to illustrate the applicability of the approach. The results obtained reveal the complex nature of NPV variation as a function of the cutback geometry.

Jan 1, 2015

By M. J. Allan, D. J. Barratt

This paper reviews current testing methods for sizing autogenom and semiautogenom mills in the North American context with comments on the necessity for test work and requirements for different circuits and equipment selection. The economics of testing and the value received are discussed.

Jan 1, 1987

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 Glenn E. Hoffman

Relax: the world today is not running short of many mineral commodities, even though prices are spiraling upward. Einstein?s observation still holds true that everything is still relative, as long as one can pass on the incremental costs of production to the consumer. However, a strong consensus exists among many of the companies comprising the minerals processing industry that it is becoming increasingly difficult to find the easy-to-mine, high-quality resources that make juicy profit margins, which shareholders like. For the most part, the resource cherries have all been picked, and established mineral processing companies that are exhausting their reserves, or in the process of looking to add reserves so as to create longevity for their company, have no recourse but to look long and hard at what were once considered the dregs of the earth. Even end users, such as steel companies, are now looking to become ?miners,? to establish captive iron ore resources. Owning a captive resource facilitates a dependable supply of feed materials, which translates into effective cost control and a guarantee for a thriving sustainable business in the future.

Jan 1, 2012

"Tell us how you got involved in mining?I was first exposed to mining at a young age, as a consequence of my dad and his passion for the industry and rock collecting. Even though he graduated with a degree in mining engineering from Washington State University, my dad spent most of his career working as a structural engineer for the Boeing Company. At the time, Boeing supported a range of employee activities and clubs, including one devoted to mineral prospecting, small-scale dredging and rock hounding. My dad was extremely active in the Prospectors Club, where as a family, we spent a good part of my youth tramping around the Pacific Northwest digging for mineral specimens and panning for gemstones and gold. On my mother’s side of the family, I had relatives that mined in Dawson City and Fairbanks, AK which left a family legacy of sorts. I loved the stories that my dad and a close buddy of his, who was a geologist, would tell about various operations and towns, as well as the wild times at the annual Northwest Mining Association (NWMA) meeting in Spokane, WA. My first recollection of ever being at a commercial operation was during a tour of the Bunker Hill Mine with my dad when I was 7 or 8 years old; this had to have been shortly before the May 1972 fire at Sunshine. That visit of the mine and processing facilities made a permanent impression on me. While I always knew there was something special about the Silver Valley, I began to understand why. To this day, I still get the same feeling when I visit historic mining districts like Leadville, Morenci, Virginia City, Butte, Silverton and Barkerville. During our summer excursions to Helena, MT to dig sapphires, we would usually make visits to Butte and watch mine operations inside the Berkley Pit and surface activities at the Kelly and Mountain Con. In high school, I did well in math and science and began entertaining thoughts of pursuing a degree in engineering. Above all, I wanted to go to a college in the West that had a good academic reputation, where I could also play football. As a 6-ft, 190-lb nose guard, my options for a Division I scholarship were pretty slim, and there weren’t that many technical schools in the Northwest that were Division II that offered athletic scholarships. As fate would have it, I was unexpectedly contacted by Marv Kay, a legendary coach at the Colorado School of Mines (CSM), and was recruited to play ball. Fortunately, I had a couple of high school friends who were already attending CSM, and I had just secured a summer internship with Asamera Minerals in Wenatchee, WA. It was as if all the stars had aligned, and, with the support of my parents, I made the decision to attend Mines. Despite the stress of getting through CSM during a period when the mining industry was in freefall, it was a great decision to attend Mines, and I’m thankful for all the opportunities, friendships, and faculty mentoring I received as a student"

Mar 1, 2019

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 G. M. Wali Ullah, MEHMET KIZIL, ` Micah Nehring, PETER KNIGHTS

In operations that use the sublevel stoping mining method, production scheduling takes into account factors, including ore reserve envelopes, ore grade averages, equipment capacity, feed controls to the mill, and geotechnical restrictions, across the scheduling horizon. Mathematical programming is one of the most effective methods for enhancing the decision-making process in regard to the most viable production schedule in light of a given set of limitations. The majority of research on sublevel stope mining focuses primarily on a single objective of optimisation, which is to maximise the net present value (NPV). Environmental, social, and governance (ESG) considerations are becoming more prevalent in the mining industry. This includes aspects relating to deforestation, land disturbances, gas emissions, community relations, and water usage, among many others. Institutional and other kinds of investors are becoming more interested in the work that resource companies do regarding their ESG obligations. This review article identifies the gap in the existing literature and proposes to simultaneously optimise the production schedule around three objectives. Two of these relate directly to ESG aspects.

Nov 6, 2023

By RIINA SALMIMIES, Paula Vehmaanperä, Antti Häkkinen

The dissolution of iron oxides in mixtures of acids is fairly uncommon but can result in a more efficient dissolution process. The objective in this work was to investigate the dissolution of synthetic hematite powder in mixtures of oxalic and sulfuric acid. Experiments were done at different acid ratios and temperatures. An increase in temperature from 15 to 35 °C increased solubility, whereas an increase from 35 to 50 °C did not change the solubility but had a profound effect on the kinetics. An important finding was that oxalic acid advanced the dissolution process since increasing the amount of oxalic acid in the system resulted in faster kinetics and higher solubilities. The dissolution kinetics were well described with the Kabai model, which was the only studied model able to describe the whole reaction time. However, the solid specific constant a varied for the different acid ratios and this is argued to be a result of changes in the solid phase. The changes in the constant a were not in line with the original study of Kabai, which indicates that a cannot be the solid specific constant but it can be the constant connected to dissolving media describing the changes in the dissolution mechanism.

Sep 23, 2020

By Charles W. Daugherty

INTRODUCTION The Washington Metropolitan Area Transit Authority's (WMATA's) rapid transit system, Metro, ultimately will comprise 162.5 km (101 miles) of line divided among 10 routes. As shown in Figure 1, about 24 km (15 miles) of the system will consist of mined rock tunnels distributed along the A, B, C and K Routes. The structural construction contracts for all of the A, C and K Route rock tunnels are complete and trains are running in about one-third of them. A contract for construction of rock tunnel section B-9, the southernmost third of the B Route, was awarded on June 27, 1980. The final design of Sections B-10 and B-lla, the remainder of the rock tunnel portions of the B Route and the Metro system, are well advanced and should be under con¬struction by 1982. Of Metro's 87 stations, 11 will have been constructed by mining in solid rock, a not inconsiderable achievement, since each structure must be over 183 m (600 feet) long, wide enough to accommodate two trains and one or two passenger platforms, and high enough to achieve a stable arching action without encumbering columns. With the passage of years, some original priorities have been reordered, and ways have been sought to streamline and simplify this most complex of Metro structures without grossly violating the architectural standards that make it unique. This paper will summarize that search, and describe the design and construction aspects of the resulting product, the dual chamber rock tunnel station.

Jan 1, 1981

By O. A. Orumwense

The liberation of intimately disseminated impurities from the coal matrix often demands that the material be ground to a high degree of fineness. Similarly, some technologies for coal utilization require superfine particles (i.e., sizes less than ten microns). This implies additional costs for coal preparation plants due to the high energy and media costs associated with fine grinding operations. Besides, there are problems such as sever product contaminations due to media wear and impairment of the quality of coal. Hence, proper choice of grinding media type is important from the viewpoints of cost reduction and product quality.

Jan 1, 1993

By Elham Najafi, Sina Ghassa, Ata Akcil, Hadi Abdollahi, Sandeep Panda, Zohreh Boroumand

The present study investigates the influence of ferrous iron (as FeSO4) and ferric iron (as Fe2 (SO4)3), and pyrite (FeS2) on the ability of bacterial leaching of a high-grade sulfide Zn–Pb ore. In this regard, shake flask experiments were carried out at 5% (w/v) pulp density of the ore sample (having 40.7% Zn and 12.4% Pb initial metal content) using a consortium of mesophilic iron and sulfur-oxidizing acidophiles. A concentration of 0.04 mol/L of ferric iron in the leaching media was found to be optimum for zinc extraction without affecting growth of the microorganisms. Under this concentration, the dissolution of Zn, Pb, Cd, and As was found to be 57%, 0.2%, 0.03%, and 9.9% in 25 days. Using ferrous iron in the media, 0.16 mol/L of Fe2+ was found to be the optimum concentration for efficient bacterial growth and metal dissolution (54.6% Zn, 0.08% Pb, 0.03% Cd, and 10.2% As) from the sample in 25 days. On the other hand, using pyrite as the source of energy for bacterial growth, an initial 12-day lag period was observed when compared to the effect of ferrous iron in the media. Under the optimum concentration (test with 0.24 mol/L iron in the form of pyrite), the dissolution of Zn, Pb, Cd, and As was found to be 39.8%, 0.1%, 0.03%, and 10% in 25 days. The surface chemistry analysis indicated formation of a sulfur layer over the particle surface that hindered reagent diffusion and affected metal recovery through bioleaching.

By M. J. Hrebar

In the summer of 1990, a study was conducted to document large tractor (i.e., Caterpillar Dl1N) utilization in surface coal mining. The tractors were found to be utilized as primary production machines and in combination systems with blast casting and draglines and blast casting and excavator/truck systems. In addition, dozers were used to prebench ahead of a primary dragline system. The study also established ranges and averages for Dl1N operating costs and mechanical availability. Based on simulated production of various tractor dozing applications, the potential for low cost coal stripping was suggested (Hrebar, 1991). A follow-up study, also funded by Caterpillar Inc., was conducted in the summer of 1991 to determine actual production rates in two dozer stripping applications. These actual production rates would then serve as a foundation for estimates of stripping costs. This paper presents the results of the studies in a contour and a cast application.

Jan 1, 1992

By John C. Harkey

The paper shares programs that presently use the CDC PLATO System to train individuals in industry. A short history of PLATO development; as a training system is presented with reflection on the major training trends being used to improve training effectiveness. A discussion is offered to describe the benefits of using a system for individualizing instruction. An introduction; is offered showing how one can recognize' individual differences, with an explanation of how the strengths of a computer are used to deliver and manage the training. Simulations of hazardous processes are shown to be one of the most effective uses of the computer for training.

Jan 1, 1979

By G. Robert Guillet

Nepheline syenite is a light-colored feldspathic rock that is used primarily as an addition to the glass batch. It is also used in ceramics and as an industrial filler. Composed essentially of the soda and potash feldspars and nepheline, nepheline syenite contributes needed alkalis and alumina to the glass composition. And because it contains a higher proportion of these oxides per unit weight, it is a formidable competitor for feldspar in northeastern North America and parts of western Europe. Nepheline-bearing rocks are not uncommon on a world scale, but few are able to be beneficiated to a composition sufficiently low in iron to be used in the making of glass. Nepheline can only form in an environment deficient in silica. Hence free silica, as quartz, is always absent in the primary mineral assemblage. Biotite, hornblende and magnetite are usually present as minor accessory minerals, and zircon, garnet, muscovite, and apatite may be present as trace minerals. Nepheline syenite is produced for glass, ceramics, and filler markets by Unimin Canada Limited at Blue Mountain, in south- eastern Ontario. Unimin acquired the former Indusmin and IMC properties from Falconbridge Ltd. in 1990. Elkem Nefelin AIS commenced production of similar products from Stjernoy Island in northern Norway in 1961. Unimin acquired this company in 1992. Nepheline has also been a byproduct of apatite mining on the Kola Peninsula for many years, and in 1951 the production of alumina from nepheline was commenced in a plant near St. Petersburg (Leningrad). There are now four plants in the Russian Republic, two smaller ones based on nepheline tailings from apatite mining and two larger and more recent plants in central Siberia using other nepheline resources. All four of these plants are integrated complexes that produce alumina for the subsequent production of aluminum metal, sodium and potassium carbonates, and portland cement. Roofing granules are produced by the 3M Company from a nepheline rock in Arkansas. In 1980 and 1989, trial shipments of nepheline syenite were recorded from new sources in Brazil and western Turkey respectively. Recent interest is also recorded for deposits in China, Saudi Arabia, and British Columbia.

Jan 1, 1994

By William R. Yernberg

Santa Fe Pacific Gold, headquartered in Albuquerque, NM is expanding its operation at the Twin Creeks Mine in Nevada. The $250-million sulfide expansion project, including the Sage Mill, is under construction and is 80% complete. Also, additional mining equipment has been purchased to haul the sulfide ore to the mill. With the expansion, employment at Twin Creeks is expected to reach approximately 970 people by the end of 1996. Santa Fe Pacific Gold now owns and operates three gold mines in the United States and is involved in several other gold projects. The three currently operating mines are the Twin Creeks, Mesquite and Lone Tree mines. The Mesquite Mine is located in California’s Imperial Valley. Lone Tree is located 55 km (34 miles) southeast of Winnemucca, NV. The company’s total gold production from these operations is expected to be in the range of 26.3 to 26.6 t (845,000 to 855,000 oz) in 1996. This compares to a total production of about 124 kg (4,000 oz) for the company in 1989. Production costs range from $6.90to $7.25/g ($215 to $225/oz). At the end of 1995, the company reported proven and probable reserves of 556.7 t(17.9 million oz) of gold.

Jan 1, 1996

By Sean Cassady, Jason Liu, Sanja Zlatanic, Taehyun Moon, Chris Devery

"For the Hollywood International Airport Runway Expansion Project at Fort Lauderdale, Florida, the structural fire durability analysis was completed for a series of tunnels formed by roadway and railroad cells located under the runway structure. A systematic design approach was developed to mitigate structural damage during a fire event and arrive at a practical method to structural fire engineering that is compliant to NFPA 502. To ensure the NFPA 502 requirements are satisfied, the performance based approach was implemented and the engineering analyses were performed for the adopted design fire event. The analyses considered the facility’s unique features including its fire safety systems to determine applicable design fire curves for structural durability analyses. The paper also outlines the process of defining the project specific fire curves for a specific design fire scenario and summarizes the results of heat transfer and structural fire durability analyses. This approach was aimed to assist the owner and Authority Having Jurisdiction to achieve practical decisions to the tunnel facility fireproofing.INTRODUCTIONFort Lauderdale–Hollywood International Airport (FLL) in Broward County, Florida is a major hub facility serving more than 23 million passengers annually. As part of the Airport Expansion Program, the South Runway (9R-27L) Expansion project aimed to meet ever increasing service demands via an increase to runway lengths. This necessitated the placement of one of the reconstructed runways on bridge structures over the existing U.S. Route 1 (US 1), a major north–south U.S. Highway that serves the East Coast of the United States, and the Florida East Coast (FEC) Railway, thus effectively creating multiple tunnel cells beneath the subject runway. For this project, HNTB suggested a tunnel fire damage mitigation system that would protect the runway major structural elements from the design fire event that may happen within the tunnel cells. This paper addresses the issues related to the fire event originating within the tunnel encompassing the US1 highway only, and deals with requirements of NFPA 502 [5] exclusively. Therefore, while approaching the structural fire protection issues for the specific tunnel cells beneath the runway structure, the requirements of the American National Standard NFPA 502 (Standard for Road Tunnels, Bridges, and Other Limited Access Highways, 2008 edition) were followed. Per this standard, regardless of tunnel length, all primary structural concrete and steel elements shall be protected in order to:"

Jan 1, 2016

By Steve Kral

As the mining industry watches commodity prices continue to soar, the question on most everyone’s mind is how long will this upcycle last. The con-census among speakers and attendees at the SME Annual Meeting and Exhibit is that this cycle is sustainable. The buzz at the meeting was, of course, the current boom cycle the industry is in. Most agree that China’s huge appetite for mineral commodities is part of the force driving the upturn. But the improving economies of other developing nations also plays a role. However, along with the good times come challenges. Speakers at the keynote session addressed some of the challenges and offered their opinions on the sustainability of the boom.

Jan 1, 2006

By Nasser Madani, Yerbol Tussupbekov, Sergei Sabanov, Zarina Mukhamedyarova

A case study was conducted on a metal mine operating in Kazakhstan, in which problems were associated with use of a complicated and outdated ventilation system and its high expenses. The mine needs to reconsider its existing ventilation system and identify the risks associated with operational losses when using this ventilation system. The aim of this study was to develop an efficient risk analysis method capable of estimating operational risks and financial benefits of the existing mine ventilation system. The developed risk analysismethod considers ventilationmodelling, riskmodelling, and financialmodelling.Ventilation modelling comprises ventilation simulation and ventilation financial simulation. In risk modelling, the number of risk events occurring with the use of existing ventilation system and the operational losses during these events is estimated. Financial modelling considers operational losses and ventilation financial simulation benefits and uses a dynamic cash flow model to estimate how cost variability influences the cash flow. As a result, the improved ventilation system attains an additional NPVa ranging from 3.2 to 8.5 million US$ at the corresponding defined probability of 90%. The results of this study reveal that the developed risk analysis method can efficiently estimate the financial benefits of ventilation modelling and consider risk events and their total operational losses associated with use of the existing ventilation system. This approach provides a range of possible outcomes and helps with deciding whether the ventilation system is appropriate or whether it should be updated to better suit the project financial benefits.

Jun 3, 2020