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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 D. R. Wilburn

The worldwide budget for non fuel mineral exploration was expected to increase by 27 percent in 2003 from the 2002 budget, according to the Metals Economics Group (MEG) of Halifax, Nova Scotia. The increase comes after five years of declining spending for mineral exploration. For the first time in several years, all regional exploration budget estimates for 2003 as defined by MEG would increase from similar 2002 estimates. However, MEG included 193 more companies in its 2003 survey than in 2002. As with previous MEG survey reports, estimates reflect anticipated expenditures rather than actual dollars spent. Caution, therefore, must be taken when comparing 2002 and2003 estimates or evaluating the magnitude of regional changes from year to year. Sample variations and currency exchange rates may influence year-to-year variations of MEG data. Even so, it is likely that the general climate of improved metal prices in 2003 encouraged companies that had previously left the mineral exploration sector or reduced their exploration activity to once again focus on minerals exploration or increase exploration activity and budgets.

Jan 1, 2004

The U.S. National Institute for Occupational Safety and Health (NIOSH) conducted a study to determine the effectiveness of a filtered air delivery system to reduce respirable dust exposure of roof bolter operators in underground coal mines. When performing roof bolting operations, roof bolter operators may experience exposure to high levels of respirable dust during a working shift, especially when working downwind of the continuous mining machine. While drilling and installing roof bolts, this filtered air system supplies a clean curtain of air over the roof bolter operator by means of a plenum mounted beneath the canopy. This experimentally designed air curtain, adapted for roof bolting machines used in this study, is based upon previous design prototypes, computational fluid dynamics (CFD) simulations and trial-and-error testing. Both the prototype and final designs were tested in the full-scale mining galleries at the Office of Mine Safety and Health Research (OMSHR) in Pittsburgh, PA before being taken underground for field testing. Test results of the system in both laboratory and field studies show reductions in operator exposure to respirable dust when the operator is positioned directly under the protected zone of the canopy.

Jan 1, 2012

By George D. Brunton

The past and present argillaceous rock studies for the U.S. National Waste Terminal Storage Program consist of: (1) evaluation of the geological characteristics of several wide- spread argillaceous formations in the United States; (2) laboratory studies of the physical and chemical properties of selected argillaceous rock samples; and (3) two full-scale in situ surface heater experiments that simulate the emplacement of heat-generating radioactive waste in argillaceous rock.

Jan 1, 1981

By R. W. Fedors, S. T. Green, G. R. Adams, C. Manepally, L. B. Browning

This paper provides estimates of large-scale temperature gradients that can be used to support modeling of natural convection and cold-trap processes in thermally perturbed drifts. Temperature influences estimates of the quantity and chemistry of water contacting engineered components (e.g., drip shields and waste packages) in a potential high-level waste repository at Yucca Mountain, Nevada. Temperature gradients drive natural convection and cold-trap processes, which could affect the distribution, quantity, and chemistry of liquid-phase water contacting drip shields (waste packages).The confluence of high temperatures, liquid-phase water, and high chloride may lead to corrosion of drip shields and waste packages. An overview of the evolution of environmental conditions in thermally perturbed drifts is presented to provide a context for the estimates of temperature gradients. A mountain-scale conduction-only model is used to estimate temperature gradients and temperature differences for a drift located at the center of a potential repository. Thermohydrologic models and heat transfer algorithms are used to evaluate the reasonableness of the conduction-only results. Estimates of temperature using an in-drift heat transfer algorithm account for the possibility of drift degradation and formation of a rubble pile on the drip shield. Temperature differences between the center and ends of the drift are estimated to rapidly increase to 80 °C soon after repository closure. That temperature difference decreases over time to 15 °C after 10,000 years. Local temperature gradients are generally estimated to be less than 0.2°C/m, though the gradients can be much larger near changes in lithology and near the end of the drift. The estimates of temperature gradients do not account for intermediate- and small-scale variations, such as those influenced by differences in heat loads between waste packages, intra-layer variations in thermal properties of the surrounding fractured rock, or localized drift degradation.

Jan 1, 2004

By Joel Nonnweiler, Rafael Castro, Ross Webb

The three thousand foot long 66-inch diameter Folsom East Interceptor Section2B was completed accident free, on time and under budget with no measurable surface settlement. The tunnel passed through nested cobbles, highly abrasive sands and gravels, and abandoned mine workings with less than five-feet of cover at times. Preventing settlement was critical since the tunnel passed under a heavily traveled state highway. A pilot project to test microtunneling and pipejacking methods in the same ground conditions abandoned both drives before completing the planned drive lengths. This paper discusses performance of the conventional tunneling method selected to excavate the ground and the effectiveness of the ground modification techniques employed.

Jan 1, 2001

By Liming Yuan, Wei Tang, RICHARD THOMAS, JOHN SOLES

Lithium-ion battery pack fires pose great hazards to the safety and health of miners. A detailed experimental study has been conducted at the National Institute for Occupational Safety and Health (NIOSH) Pittsburgh Mining Research Division (PMRD) to investigate the effectiveness of different fire suppression systems on Li-ion battery pack fire extinguishment. Tests were conducted in a well-ventilated container. Two sizes of battery packs (12 V, 24 V) were heated by heater strips to trigger thermal runaway and fire. Water mist with different flow rates, ABC powder, type D dry chemical, and water mist with F500 additives were used as the fire suppression agents. Multiple thermocouples were installed on the battery packs to measure the temperature evolution during the tests. The results indicated that the water mist with F500 additives is the most effective suppressant among the agents tested. Dry chemicals, however, do quench the fire for a moment, but cannot prevent re-ignition of the battery since they do not provide enough cooling. The findings of this paper can be used to develop safer battery fire suppression techniques in mining environments.

May 4, 2023

Editor's note: Biographical information about Ihor Kunasz, president, Newmont Uzbekistan, can be found in the February 1998 issue of ME, page 94 and in the May 1996 issue, page 92. Your personal assessment of the minerals business. Gosh! When I think about what has happened to the minerals industry over the past 27 years that I have been a member of SME! There have been fundamental structural changes in the industry. And I think that SME has been quite successful in coping with these changes as well. There has been a reorientation in how the minerals industry does business. It used to be called rationalization. Today we call it reengineering. In addition, the minerals industry has become more complex and more global. Shareholders have become more vocal and demanding in the management of the business, asking for protection of their shareholders' value. In the 1980s, a fundamental change was precipitated by a merger and acquisition fever in all industries, including the minerals industry. Raiders such as T. Boone Pickens put enormous demands on companies that, in turn, had to spend substantial management time to fend off the raiders. This resulted in a major restructuring of the mining houses. Today, for example, Anaconda, Kennecott and Amax are only historical names.

Jan 1, 1998

By J. Kou

In this paper the activation behavior of quartz using Ca(OH)2 as an activator in quartz reverse flotation with anionic collector was evaluated and their adsorption behavior was investigated using a variety of techniques. The adsorption of the collector KS-I on the surface of quartz with and without Ca2+ was primarily characterized using Quartz Crystal Microbalance with Dissipation technique (QCM-D), which is a high sensitivity in-situ surface characterization technique. The flotation performance was evaluated using a laboratory mechanical flotation cell at different process parameters such as pH, collector dosage, and Ca(OH)2 dosage. The anionic collector evaluated was a commercial fatty acid KS-I. The QCM-D data showed that the collector adsorbed on quartz more readily with Ca2+ as activator. The mass and structural property of the collector layer adsorbed on quartz surface at 2.16×10-3 mol/L of Ca2+, 0.3 g/L of collector and pH 12.0 have been studied using the technique of QCM-D. The chemisorption of the collector KS-I on the surface of quartz in presence of Ca2+ were also demonstrated by means of zeta potential, QCM-D and FTIR analysis.

Feb 23, 2014

By J. W. Wilson, P. C. Graham

SUMMARY The Witwatersrand quartzites in which South African gold mining operations are moat exclusively conducted, are notoriously difficult and costly to drill. Despite this situation, however, with the high cost of developing new mines and extending existing mines, together with the rising cost of labour and mining problems resulting from the ever-increasing depths of workings, the demand for raise-boring in these formations is increasing rapidly. Not only is the demand for raises and shafts increasing, but also the length and size of these excavations. Raise-boring studies carried out in South African gold mines have indicated that increased penetration rates and possibly reduced costs could be obtained if higher thrusts were available at the reaming head. Until fairly recently there has been no raise-boring machine suitable for underground use that possessed the thrust and torque characteristics necessary to achieve high penetration rates in hard abrasive quartzite formations and the cutters available were not really developed for high loading. In response to these requirements a raise-borer, the Robbins 83R was designed and built in Seattle, U.S.A. for the Anglo American Corporation. This machine is operating in South African gold mines and is currently being used at a depth of 12 000 ft below surface in one of the. Group's mines. The initial raises bored have substantiated that increased penetration is attainable at high thrust and it is now apparent that the machine is sufficiently versatile to drill raises of up to 12 ft in diameter in quartzite formation over a length of 2 000 ft.

Jan 1, 1974

By H. Dreissen

Upgrading of low-concentration ores is of growing importance today. The Heavy Medium Cyclone Process, thanks to strong centrifugal forces, effectively separates particles varying only slightly in specific gravity but widely in size. The paper discusses the separation efficiency, the method of assessing that efficiency, and the influence of such factors as medium solids. The operating results of nine heavy medium cyclone plants handling following minerals are reported: barite, wolfram, iron, magnesite, diamond, lead-zinc, fluorspar, rocksalt potash. Highlighted are an improved recovery system for heavy medium and some other developments, such as techniques for separation down to 0.1mm and the application in the field of recycling.

Jan 1, 1980

By J. -G. Swanson

Dust control in longwall coal mining depends primarily on the prevention of dust at the source and secondarily on the suppression of airborne dust. One of the primary methods for the prevention of dust is the wetting of the coal face prior to extraction, which can be achieved with water spray systems installed on the shield supports. The spray droplets must travel across the airway to the longwall face, where high ventilation air speeds can entrain water droplets and prevent them from reaching the face thus minimizing the dust control at the source. Through an evaluation of spray plume characteristics in a wind tunnel, the droplet size and droplet drift behavior was determined. This drift behavior was examined by evaluating the spray plume concentration drop and the droplet size shift near the nozzle exit at varying air speeds. Based on these evaluations, CFD modeling was applied to simulate the spray behavior for varying geometries. These results led to the selection of appropriate spray nozzles capable of carrying water droplets to the face at higher air speeds, resulting in an adequate wetting of the coal face and reduced dust generation.

Jan 1, 2012

By Jon Y. Kaneshiro, Eric Dawson, Pooyan Asadollahi, Steven Hunt

This paper provides updates to the paper published by the lead author at RETC 2011 with a summary of developments in technologies, products, and approaches to corrosion analyses of gravity sewer tunnels and microtunnels. This paper presents approaches in evaluating degradation of reinforced concrete liners. Also, the carbon footprint of conventional concrete liners and alternative “green” liners are compared and their life cycle costs are considered. A few case histories from the past decade are provided indicating the latest and emerging trends in liner protection.

Jun 13, 2023

By J. Chae, D. Pecha, R. Andrews

The Henderson/ML King CSO Project is a major combined sewer overflow (CSO)reduction project for the Department of Natural Resources and Parks of King County, Washington. The central element of the project is the 3100 lineal feet long, 14'-8"diameter 42nd Ave S Storage/Treatment Tunnel. During the course of the project, the owner and consultants evaluated numerous elements of the tunnel including the alignment, geotechnical conditions, tunnel liner, and settlement monitoring requirements. The contractor utilized innovative shaft construction methods for the tunnel portals, and adhered to strict contract requirements in successfully constructing the tunnel. This paper provides an overview of the design and construction elements of the 42nd Ave S Storage/Treatment Tunnel that led to the successful completion of the project.

Jan 1, 2005

By G. Duncan, K. Winther, R. Ericsson

Distinct trends in grinding mill technology have emerged in recent years. In an effort to optimize overall mill performance for the needs of the End User, broad measures of logistical speed, process flexibility, operational risk, and overall costs now exert greater influence on the specification of grinding equipment. As a result, innovative alternatives to conventional grinding mill structures, supports, drives, feed, and discharge configurations are now being offered and selected with greater frequency. This paper investigates these trends in grinding mill technology, utilizing optimization and decision-theory techniques. In particular, the paper considers how specific advances in process design, product engineering, manufacturing techniques, and mining operations continue to relax technological constraints, enabling further mill innovation. In this context, a methodology is presented, illustrating how proper selection and specification of grinding mill components and configuration can target an optimization of the four End-User performance measures listed above.

Jan 1, 1999

By D. R. Shoemaker, H. W. Judges

A 16.5-kt/d underground molybdenum mine is being developed at Questa in northern New Mexico by Molycorp Inc., a wholly-owned subsidiary of Union Oil Company of California. The new $200-million underground project will revitalize mining and milling activity at Questa, where small scale underground mining first began in 1920. Large scale open-pit mining was initiated in 1965 but now, because of the high stripping ratio, surface mining is being phased out. Construction of the underground mine began in 1979, and first produc¬tion is scheduled for early 1983. The company expects full capacity-9 Gg of molybdenum per year-to be reached in 1984.

Jan 6, 1980

By T. Harrison

Surface coal mines in West Virginia are receiving stringent NPDES discharge limits for total recoverable selenium. With limits in the low parts-per-billion range, selection and implementation of proper sample collection and analytical methods are imperative for quality assurance and control and for consistency in results. Given the typical oxidized form of selenium in the water, the low limits and the large and variable flow rates from the watersheds, end-of-pipe treatment is difficult and cost-prohibitive to implement. Discharge locations in the remote and steep terrain exacerbate the problem. To evaluate options for end-of-pipe treatment at a Patriot Coal Corporation surface mining operation in West Virginia, CH2M HILL performed wastewater characterization for a range of key constituents and selenium species at three outfalls for selection and preliminary sizing of appropriate treatment processes. A preliminary evaluation of base and wet-weather flows was done to understand flow variability considerations for discharges. A conceptual evaluation of technologies to treat selenium to permitted levels was conducted in con-junction with order-of-magnitude life-cycle cost estimates.

Jan 1, 2010

By S. E. Phillipson

During the course of evaluations by the Mine Safety and Health Administration’s Roof Control Division, the controls on ground instability were investigated at surface and underground limestone mines throughout the eastern and southern United States. Structural geologic features, including joints and faults, were identified by basic geologic mapping as primary controls on highwall and back instability in surface and underground limestone mines. By comparing the spatial orientation of discontinuities and internal angle of friction with the orientation of highwalls on a stereonet, the potential for sliding, toppling, and raveling failures was evaluated in a semi-quantitative fashion. Structural geologic mapping identified faults and joints, which dismembered the back and were associated with ground instability, in underground mines. This paper documents the importance of recognizing structural geologic controls on ground stability in limestone mines, advocates basic geologic mapping as a critical component of ground control programs at surface and underground limestone mines, and provides examples of simple stability evaluations using the stereonet method.

Jan 1, 2006

By Sara Swiokla Korsikas, Toren Olson, Amado Guzman, Yuri O. Zepeda P

Ore agglomeration has been used as part of the heap leaching process for the last 40 years. However, industrial experience shows that the lack of a universal agglomeration standard has limited the benefits of this, otherwise, valuable unit process. The more complex the ore, in terms of the nature and relative abundance of fines (<74 μm), the more important that the agglomeration product satisfies some minimal requirements. This paper presents an agglomeration scale that identifies the quality standards for agglomerates and documents the resulting mechanical, physical, and hydraulic (hydrodynamic) behavior associated with each level on the agglomeration scale. The hydrodynamic properties of an agglomeration product are critical for the proper design of a leaching operation and, as shown in this paper, can be used to select the optimal pretreatment method for a given ore sample. Agglomeration as a unit process not only allows better conditioning of the hydrodynamic behavior of the ore but also creates an opportunity for optimized delivery of reagents to kick-start the leaching process which may ultimately improve the economic performance of leaching. Industrial case data is used to demonstrate the shortfalls associated with low-quality agglomeration and the benefits of improved agglomeration which range from enhanced porous structure (better percolation and drainage characteristics) to better metallurgical response (faster kinetics and higher metal recovery). Proper agglomeration has been used to render otherwise untreatable ores into valuable leaching resources.

Feb 9, 2024

By D. Brady

When deciding to deploy rescue teams underground the decision makers need to be able to determine that there won?t be an explosion whilst the rescue teams are underground. Previously general body concentrations in areas likely to be travelled were compared to explosive limits on a one off basis with no formal process looking at trends or other areas. A new approach is being adopted that takes into account the rate of change of gas concentrations with triggers set to enable a withdrawal of personnel prior to a possible explosion and influences such a barometric pressure changes. This paper explains the rationale behind the changes made and the advantages and implications of adopting such an approach.

Jan 1, 2012