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By Duane A. Smith

Horace Tabor. No 19th century Colorado mining man is better known but, unfortunately, probably less understood. He is little appreciated for his significant contributions to the industry and the state. A century ago, Tabor was headline news. The legend today, however, has become so all pervasive and so interwoven with fact that the two are hard to separate. For example, he never told Baby Doe on his death bed to hang on to the Matchless mine. Yet this has emerged as staple Tabor fare. So much attention has been focused on his matrimonial triangle that it overshadows the man. Symbol of mining's reward Tabor traveled west in the 1859 Pike's Peak gold rush. In the next generation, he came to symbolize the rewards mining might lavish on an individual. The Leadville Daily Herald (Sept. 10, 1882) could write, without exaggeration, that "the extent which the mining industry of Colorado is under obligation to Tabor cannot be easily estimated - what he has done for Leadville and Denver is patent to all." It had not come easily, nor had Tabor started out a success. His early placer mining at Payne's Bar, near present-day Idaho Springs, CO, had turned no fortune. So in 1860, he, his wife Augusta, and son went south to Colorado City, then over Ute Pass and up the Arkansas Valley to Oro City. Arriving soon after the initial discovery, Tabor staked a good claim. With a sharp eye, he and Augusta broadened their base by establishing a store. Both mining and business would pay dividends in the following years. By the season's end, though, Oro City was already declining. Always on the lookout for a richer district, Tabor and his family moved the next year across the mountains to promising Buckskin Joe. The familiar pattern followed, with the store and post office being the center of their attention. Mining investment and management now replaced the earlier physical panning and sluice operating. Seven years later, the Tabors abandoned Buckskin Joe and returned to Oro City. It had moved up California Gulch to be near the district's best mine, the Printer Boy. Middle class was not enough Middle class respectability, plus a steady income, was the Tabor's by the 1870s; fine as far as it went. But it proved far from the fortune Horace had always been seeking. Oro City languished in the backwash of Colorado mining and Tabor seemed like many men who had drifted around the Territory following the ebb and flow of mining. His faithful wife Augusta had been a steady factor in the success the family achieved. She helped year after year to operate the store and post office. Not simply the happy-go-lucky individual he has often been portrayed, Tabor was a hard working businessman/mine owner. An R. G. Dun and Company agent evaluated him in 1876 "Net worth $23,200. Is a very shrewd businessman and not liable to lose money, has a good chance to make money as he had no competition." Leadville: Tabor's silverlined-fortune After all those years on the Colorado mining frontier, in 1877, Lake County's wealthiest and most respected merchant made another move. It was short in distance, only 4 km (2.5 miles) down California Gulch, then a little north to a new mining camp. This new camp, soon named Leadville, gave birth to the Tabor fortune and legend. Middle-aged (Horace was 47), the Tabors once more set up their general store and found themselves in the midst of the open¬ing of a new district. This time silver beckoned and not the gold that had brought them West 18 years before.

Jan 1, 1989

By Joseph L. Walker

INTRODUCTION In looking over the diversity of the papers that are being presented during this meeting on The Industrial Practice of Fine Coal Processing one cannot help but be impressed with the progress the industry has made in beneficiating fine raw coals, and in the number of innovations that are under study to increase recovery and to improve the quality of the finest size particles produced at a preparation plant. Those who are not in our industry, who look at the technical program, might be confused, when they see that the papers include such topics as cleaning to zero and heavy media cyclone cleaning 28M x 100M; application and performance of fine coal jigs, tables, hydrocyclones, spirals, and flotation; filtration, dewatering and thermal drying; and ancilliary aspects such as fines handling, instrumentation and process control plus screening and liberation. This is an observation and not a criticism of the diversity of papers being presented. The program fits within the parameters of fine coal preparation as the term "coal preparation" is defined, but perhaps not as the term "fine coal" is defined. Admittedly these definitions are sometimes loose. However, each should be made more definitive if a meaningful fine coal preparation overview is to be possible. COAL PREPARATION DEFINED In the opinion of the writer, the term "coal preparation" should be defined as including all work activities that are performed on all components of a run-of-mine coal from the time it leaves a surface reserve or an underground portal, until all components are either ready for shipment or are stowed on, or in the earth in an environmentally acceptable manner. This definition excludes the work that is performed to improve coal quality or handleability inside the mine or pit. This work is commonly called "face" or "pit" preparation. FINE COAL DEFINED The term "fine coal" means different things to different people. In the past, anthracite finer than No. 3 Buckwheat (3/16 in.) was considered fines which often were discarded from the breaker as an unsalable by product; and bituminous coals finer that about 1/4 in. (slack) were either discarded or sold at cost to prevent an accumulation of "no bills" which referred to a product having no immediate sale. Although a standard definition of "fine coal" is yet to be accepted by the industry, a designation of coals by particle-size range has evolved through the wide use of three-circuit flowsheets, wherein the optimum size range by washer type determines the size fractions: a coarse-coal circuit for the plus 3/8 in., a -11- coal circuit for the 3/8 in. x 28 Mesh, and a fine-coal circuit for the remaining 28 Mesh x 0. Logically, the term "fine coal" should refer to some resultant size fraction or some top size by zero. This definition should include a 28 Mesh x 0 feed to a flotation cell but should exclude a 28 x 100 Mesh size fraction fed to a heavy media cyclone. Failure to include the resultant sizes in the definition precludes accounting of the full range of particle sizes present in the feed to the plant. Since the 28 Mesh x 0 fraction is treated in the final circuit of the three discreet washing circuits, now almost always used in U.S. commercial applications, and since it contains all of its resultant sizes, in the writer's opinion, it should be designated "fine coal". FINE COAL CLEANING Cleaning coal fines, which in the past was at best marginally profitable, is now an essential part of coal preparation strategy for a number of reasons : 1. Raw coals now cost more to produce and

Jan 1, 1988

From 2009 to 2012, Aker Wirth, in cooperation with the BGR (German Federal Institute for Geosciences and Natural Resources), developed a concept for the deep sea mining of manganese nodules, which it also examined by means of a profitability analysis. The study was undertaken for the German Federal Ministry of Economics and Technology. The increasing scarcity of resources, coupled with the continuous rise in resource prices, drive the search for new raw material deposits. As a result, the deep sea is coming increasingly under the spotlight. At depths of more than 1,000 m (3,280 ft), large deposits of ores and precious and high-tech metals, such as manganese, cobalt, nickel, copper and gold, along with rare earths (which are important for the high-tech industry), can be found. The extreme deep sea conditions ? enormous water pressure, ice-cold temperatures and complete darkness ? present huge financial and technical challenges to the mining industry when extracting these materials. Aker Wirth has recognized the potential of this important future market early on and advances the development of relevant products.

Jan 1, 2013

Caterpillar and Fortescue Metals Group have moved forward with the delivery, installation and support of a complete Cat MineStar System at Fortescue?s Solomon iron ore mine in the Pilbara region of Western Australia. The complete technology suite was implemented for the first phase of Solomon, the 20 Mt/a (22 million stpy) Firetail manned mine, in October 2012. As part of an autonomous mining solution for phase two, the 40-Mt/a (44-million stpy) Kings Mine, eight Command for hauling Cat 793F CMD trucks were commissioned and commenced operations in the second quarter of 2013. The mine plan calls for a progressive ramp up to 45 autonomous trucks during the next several years. In addition, other Cat MineStar System capability sets, Fleet, Terrain, Detect and Health, are being used across the mobile equipment fleet, including support equipment and light vehicles. Working closely with Fortescue and its mining contractor, Leighton Contractors, Caterpillar and the Cat dealer in Western Australia, WesTrac, are providing a full solution for managing, operating and supporting Cat MineStar System and Command for hauling. The greenfield Solomon Mine has brought together the skilled team from Caterpillar, Fortescue, Leighton Contractors and WesTrac to deliver an efficient, cost effective autonomous mining solution.

Nov 1, 2013

By JIAQI JIN, Chen-Luh Lin, Amanda N. Erskine, Jan D. Miller, Shijie Wang

The liberation and exposure of valuable mineral grains in ore particles are of significant importance in understanding the efficiency of flotation separations. A flotation feed sample from the Kensington concentrator was scanned by micro Xray computed tomography (micro-XCT), to determine the liberation and exposure of auriferous pyrite grains. The analysis results suggest a satisfying extent of liberation for particle sizes smaller than 212 μm. Theoretical flotation recovery of pyrite for selected particle size fractions was predicted from the three-dimensional liberation and exposure analysis. The plant flotation tail was also characterized by micro-XCT to identify liberated and partially liberated pyrite particles that might not be collected into the concentrate. However, liberation analysis of the tail sample revealed that the majority of liberated pyrite was recovered in the plant flotation circuit. Trainable Weka, a machine learning segmentation approach, was compared with the Watershed thresholding segmentation for the 106 × 45 μm particle size fraction scanned at a voxel size of 1.85 μm. Improved segmentation of small particles was found using the machine learning method.

Mar 1, 2024

By Ward Sumner

The Jones Hill prospect is a Proterozoic age, volcanogenic, semi-massive to massive sulfide deposit. The deposit is located on the western edge of the Pecos greenstone belt in the southern Sangre de Cristo Mountains of northern New Mexico. The prospect is found in a block (West Block) of meta- igneous rocks, primarily diabase, metavolcanic rocks, and metasedimentary rocks (fig. 1). This assemblage is typical of lithologies found in the greenstone belt. Metamorphic grade is greenschist to lower amphibolite. The West Block is bound- ed on the west by Proterozoic age (1.7-1.4 b.y. by Rb/Sr), granitic plutons collectively called the Embudo granite, and on the east by Paleozoic sedimentary rocks, primarily sandstones, shales, and limestones of Mississippian and Pennsylvanian age. The mineralization occurs in a single horizon which has been overturned and cut into two blocks by a high-angle reverse fault (fig. 2). The mineralized horizon is found at the contact of felsic metavolcanic and rnetavolcaniclastic rocks with overlying intermediate metasedimentary rocks. The local stratigraphic sec- tion from bottom to top is as follows: 1) porphyroblastic quartz- sericite schist (originally a rhyolitic, subvolcanic intrusive); 2) quartz-sericite-chlorite-biotite schist (felsic metavolcanic and metavolcaniclastic rocks); 3) chlorite-talc-biotite-sulfide schist (altered felsic metavolcanic rocks); 4) carbonate-quartz-sulfide [ ] chlorite-tremolite-talc schist (mineralized exhalite); 5) quartz- chlorite schist (silicified tuff); and 6) amphibole-chlorite-feldspar- biotite schist (occasional mafic to intermediate metavolcanic flows).

Jan 1, 2013

By J. W. Currier

The compositions and natures of the materials charged to a blast furnace, as well as their respective distributions within the furnace, are known to int1uence furnace performance. However, fifteen years ago, there was little reason to believe that any significant variation of these parameters had been overlooked. Nor was there any particular reason to believe that olivine might be a particularly useful raw material for blast furnace applications.

Jan 1, 1989

By Steve Kral

The Northwest Mining Association (NWMA) has been an advocate for the U.S. mining industry since 1895. For several decades, the organization has represented mining members located mostly in the Northwest and some southwestern Canadian provinces. Today, though, the NWMA?s membership is located in 42 states and seven provinces and has become a national voice for the mining industry. So, during the association?s 119th and final meeting as the NWMA, a name change was announced. The organization is now called the American Exploration and Mining Association (AEMA). But that?s not all that has changed, according to the association. The new name reflects more closely the diversity and location of the AEMA?s membership. It will still be an advocate for the mining industry, dealing with land, environmental and community issues on state and federal levels. The conference, held in December 2013 in Reno, NV, attracted about 2,500 attendees. And the accompanying exhibit included 230 equipment and service suppliers in 246 booths. Technical programming ran the gamut of mining industry issues and technologies, including surface and underground mining; high technology systems and automation in mining, metallurgy and exploration; along with social issues, finance and safety. The following is a sample of some of the sessions.

Mar 1, 2014

With commodity prices rising again and market conditions stabilizing, the Metals Economics Group (MEG) found that most mining companies increased their exploration budgets in 2010. In the groups 21st edition of the Corporate Exploration Strategies (CES), MEG found a 44-percent rise in the estimated worldwide exploration total for 2010. MEG found that the estimated total 2010 budget for nonferrous metals exploration reached $12.1 billion, reinstating almost two-thirds of the industry?s $6 billion in cuts to exploration in 2009. Nonferrous exploration refers to expenditures related to precious and base metals, diamonds, uranium and some industrial minerals; it excludes iron ore, aluminum, coal, and oil and gas. In 2008, exploration budgets were at an all-time high of $14.4 billion. This capped a six-year run in which budgets rose. In 2009, nonferrous exploration budgets dropped 42 percent in 2009 as the global economic crisis and declining prices for almost all commodities took their toll on the industry. Metals prices - the primary driver of exploration spending - have improved markedly since bottoming in early 2009, and have traded well above their long-term trends throughout 2010. In response, major, intermediate and junior companies have all increased their aggregate exploration allocations in 2010. In particular, the significant improvement in the availability of equity financings for the juniors over the past 12 to 18 months has allowed this group to account for the largest share of the overall increase in exploration spending this year.

Jan 1, 2011

By Xuebin Liu, Yi Shang, Can Zhou, Hongqiu Zhu, Junbo Du

In the neutral leaching process of zinc hydrometallurgy, the pH value directly affects the leaching rate of zinc calcine. However, due to the complex mechanism of the leaching process and frequent fluctuation of working conditions, it is difficult to control the pH value by manual control. Therefore, this study proposes a fuzzy control method based on rule extraction under multiple working conditions, and analyzes the pH control performance. Firstly, the different operating states are classified according to process mechanisms and the Pearson method. Secondly, under the framework of the active learning algorithm, the approximate linear dependence (ALD) method is introduced to iteratively select samples with rule information in the original sample set for manual annotation. Then, the support vector machine (SVM) method is used to extract fuzzy control rules in different working conditions. Finally, a fuzzy rule set is established according to the samples mapped by the support vector. The simulation results based on industrial data show that the proposed method has better control performance than conventional fuzzy control and proportional–integral–derivative (PID) control.

Apr 1, 2024

By Isabel Barton

This article describes and analyzes the history of research into the origins of the uranium-vanadium(-radium) deposits of the Paradox Basin. For several decades after their discovery in 1881, research was desultory and almost entirely descriptive, fluctuating with demand for vanadium and radium. Systematic geologic descriptions, accumulated between 1910 and 1950, supported rapid progress during a government-backed surge of research in the 1950s, when uranium was the chief commodity of interest. Most of the major theoretical innovations date from this decade, including the use of concepts from solution chemistry to identify the conditions and constrain the processes of deposit formation and alteration. Research from this time was highly influential in geology at large, providing the model for sandstone-hosted uranium deposits worldwide and numerous new minerals and mineral structures. After about 1960, mine production remained high but research dwindled, and most new advances were to the details of the hydrothermal model of ore formation rather than its core concepts. By the end of the 1960s, the deposits were understood to have formed at the mixing interface of an oxidized, metal-bearing water with a reducing fluid of debated origin. Research was desultory over the ensuing decades; the source of the metals and the nature of the chemicals constituting the trap were not clearly established. They remain questions today, as do factors like the relationship between ore mineralization and the geologic history of the basin. (More in the full paper.)

Jan 1, 2025

By G. Robert Moorehead, Peter T. Luckie, Harold L. Lovell, David J. Akers, James K. Kindig

Jigging is a process of particle stratification in which the particle re- arrangement results from an alternate expansion and compaction of a bed of particles by pulsating fluid flow. The vertical direction of fluid flow is reversed periodically. The rearrangement results in layers of particles that are arranged by increasing density from top to bottom of the bed. This response, developed from the many and continuously varying forces acting upon the particles, permits a solid-solid separation more related to particle density and less to particle size than any other "hydraulic-type" process. The stratification is usually carried out in a rectangular, open-top container called a jig, in which the mass of particles (termed a "bed") is supported on a perforated base through which the water flows in alternating directions. The coal particles, in addition to the vertically expanded and compacted bed motion, move continuously, horizontally across the supporting screen. Following the particle stratification, the particle bed is physically "cut" at a desired horizontal particle density plane to separate the desired clean coal product from the more dense refuse. The jig system includes means for continuously introducing the raw coal and for moving the water through the coal bed in a controllable manner, as well as for separating and removing the stratified particles from the system as two or more product streams. In coal preparation, this highly versatile unit operation is applied preferably to a wide size range of particles with top sizes up to 8 in. (20 cm) rather than to a closely sized fraction. In gravity ranges, the process has been applied to gold particles with a density of 19.3 and to coal particles having densities less than 1.30. Single jig washers have capacities from 5 (4.6) to greater than 700 tph (637 t/h) of feed coal. The separation results attainable by jigging have favored this unit operation as optimum for creating a clean coal product as required by steam coal specifications. Al- though the jig is used in preparing coals which are difficult to separate, its limitations to achieve both quality products and high recovery are being recognized in comparison with heavy media-based processes which make sharper separations from feeds having high "near-gravity" contents. The accu- racy of the densimetric stratification in the upper portions of the jig bed are less precise. It follows that coals with more than 10% near-gravity material

Jan 1, 1991

The Bagdad mill, built in 1977, was de-signed for a mill capacity of 36,300 tpd. An ABC (Autogenous Mill-Ball Mill-Crusher) grinding circuit was chosen. The original mill contained three completely independent grinding circuits, each containing one 9.75 m diameter by 3.96 m long fixed speed autogenous mill, one 4.72 m diameter by 6.71 m long ball mill and one 2.13 m diameter short-head cone crusher. Total installed power per grinding circuit was 8,464 kw with 5,966 kw in the autogenous mill, 2,237 kw in the ball mill and 261 kw in the crusher. (See FIGURE I--Major Equipment Flow Diagram.) The autogenous mills were designed to be able to operate semi-autogenously but were never converted to SAG. As a result of this design, only about 4,100 kw of the designed power is utilized in the autogenous mills. The grinding circuits are closed with 2.44 m by 6.10 m double deck vibrating screens. Screen oversize is returned, by a series of conveyors, underneath the mill coarse ore stockpile to feed the crushers. Variable speed belts feed the crushers and control power draw. Crusher product reports directly to the tail end of the autogenous mill feed belt. (See FIGURE 2--Typical Crusher Feed and Product Size Distributions.) Tramp iron in the autogenous mill-crusher circuit is handled in a unique way. A magnetic sensor detects the metal. This closes a gate which directs the crusher feed onto a separate belt which bypasses the crusher and returns the material to the autogenous mill feed belt.

Jan 1, 1992

By Steve Kral

"The Rapid Excavation & Tunneling Conference (RETC) is a world-renowned event that attracts some of the best minds in the global underground construction and tunneling industry. The experts gather at this conference to impart new technologies, discuss challenges to their projects and learn about new technologies that have become available to them.The 2015 RETC will be held June 7-10 at the Sheraton New Orleans, in New Orleans, LA. This biennial conference, of which SME is a sponsor, is expected to attract about 1,400 attendees from around the world. These professionals represent all parts of the global tunneling and underground construction industries - contractors, engineers, owners, consultants and equipment suppliers.More than 110 technical papers in 21 sessions will be presented over two-and-a-half days. Paid attendees will receive a proceedings volume of the conference. The proceedings will also be available from SME. In addition to the technical programming, the accompanying exhibit will include 155 exhibitors occupying 175 booths, providing RETC attendees the opportunity to get a look at the latest in equipment and service technology. Three short courses will be held on the Sunday preceding the start of the show. And there will be plenty of opportunities for attendees to meet and chat during several social activities that are scheduled throughout the conference."

Jan 1, 2014

By S. Afrouz, C. Keles, E. Sarver, A. Greth

While respirable dust monitoring has long been done on the basis of mass concentration, it is increasingly recognized that specific dust characteristics may play an important role in health outcomes. Scanning electron microscopy with energydispersive X-ray (SEM-EDX) can be used for detailed particle analysis, but the quality of results can be dependent on the sample substrate; ideally, particles should be deposited on a smooth, uniform substrate like polycarbonate (PC). While direct air sampling onto PC filters is possible, this is not the standard approach in many situations. For example, in coal mines, polyvinyl chloride (PVC) filters are often used. They enable conventional mass-based analysis — of the total respirable dust, and the content of crystalline silica in this fraction — but are fibrous and thus not ideal for SEM-EDX or other microscopy. To address this issue, the current work tested a simple method to recover respirable dust particles from PVC filters and redeposit them to PC. Results generally indicated that recovered particles are representative of the original dust sample in terms of mineralogy distributions. Where this was not the case, the issue appeared to be with high particle loading density during SEM-EDX work rather than related to the recovery/redeposition method itself. This bodes well for applications where a single PVC filter sample could be used for nondestructive analysis to determine respirable dust mass and/or respirable silica mass, followed by preparation for SEM-EDX analysis to evaluate particle characteristics. The recovery and redeposition method might also be adapted for other applications, such as to enable the analysis of respirable dust samples collected by the continuous personal dust monitor (CPDM).

Oct 1, 2024

ShouSteel Mining Ltd., a subsidiary of ShouSteel (Group) Co., was founded in 1959 and is located in QianAn City in Hebei Province, China. ShouSteel?s pelletizing plant uses iron ore as a raw material combined with limestone, dolostone, or olivine, with bentonite as a binder. After mixing the raw materials and forming them into small, spherical balls, ShouSteel then fires pellets in kilns for hardening. The company sells the finished pellets as raw materials for blast furnaces used to produce industrial metals such as iron. ShouSteel?s handling capacity is approximately 24.5 Mt/a (27 million stpy) of ore. The company?s production capacity is 3.2 Mt/a (3.5 million stpy) of oxide pellets and 560 Mt (650 million st) of sinters. Until recently, ShouSteel Mining had not replaced its electronic scales in its series of ingredient chambers. Because of the wear and tear on these older scales, the weighing system began to encounter regular problems. The company experienced a high failure rate from the integrator, an unstable signal, weak anti-interference ability and low accuracy. ShouSteel also found that spare parts required during repairs were consistently high in cost and that system calibration was becoming increasingly frequent.

Jan 1, 2012

By M. C. Mound, L. Fradette, C. Colbert

Metallurgical Accounting in the mineral processing industry transforms accumulated process data, including flow rates and assays, into a coherent information format. This is used to rapidly provide production reporting and key performance indications. A fully comprehensive and coherency of available data must be a component of any system expected to accomplish reconciliation in the mass balancing process. Quality issues are thus improved with such desired methods via a mass-balancing engine utilizing the results of measurements acquired by various on-line sensors, analyzers, and sophisticated laboratory equipment. Metallurgical Accounting, when accomplished through such an engine, provides high value information in a simple, straightforward, and simplified manner. Exceptional utility is then transparently available to authorized personnel for access to metallurgical accounting reports, production reports, mass balance results, performance indicators, and so on. This paper discusses how such information can be used to "drilldown" into each result set by consulting the data hierarchy to evaluate and validate calculations and input data used to produce the specific results being queried. The power of such a system resides in the full and true integration of all production and laboratory data. What is integrated are the data thus acquired via a single user interface, a single database, a single configuration tool, etc. From this comes the derivation of contextual information and its maintenance. It is possible to reduce metallurgical accounting and production reporting from possibly hours or even days to a matter of minutes. The result is maximization of information reliability and availability from masses of otherwise discrete and difficult to access key data.

Jan 1, 2003

By Roe-Hoan Yoon, Kaiwu Huang

Derjaguin and Dukhin [1] were the first to develop a first-principle flotation model by considering the role of surface forces in bubble-particle interactions. According to the model, the ζ-potentials of particles constitute the energy barriers, E12, for particle (1)-bubble (2) interactions, which corroborates well with the observation that flotation recoveries reach maxima under conditions of zero-zeta potentials. In the present work, a series of surface force measurements were conducted for the quartz-dodecylamine hydrochloride (DAH) flotation system, for which detailed studies had been conducted by D.W. Fuerstenau [2], including the measurements of zeta-potentials, contact angles and collector adsorption as a function of pH.

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 P. Henderson, M. E. Morris, W. A. Johnson, F. D’Alessandro, D. Wilton

"The objective of this research is to develop and apply computer models to evaluate the potential lightning impacts on underground coal-mining. These models can then be utilised to assist in the design of effective controls. This project will provide a significantly improved level of knowledge and control over current lightning abatement techniques. The findings may also be applied to open cut and coal preparation situations. Computer modelling identified that by isolating cased boreholes from underground conductive media such as roof mesh, and placing spacings between roof mesh the risk of an ignition can be reduced by more than a factor of ten. These controls should be applied in conjunction with minimising the potential for a flammable atmosphere to exist underground and ensuring that there is no transmission medium for the lightning to reach the atmosphere. INTRODUCTION The objective of this research was to develop and apply computer models to evaluate the potential lightning impacts on underground coal-mining. These models could then be utilised to assist in the design of effective controls. If successful this project would provide a significantly improved level of knowledge and control over current lightning abatement techniques. The direct potential for harm from lightning has long been recognised for the surface facilities of coal mines. However recent events at Blakefield South in NSW on January 5 2011 (DTI, 2011) and at Sago mine in the USA in 2006 (MSHA, 2007) have suggested that there is potential for lightning to cause significant damage to the underground workings of a coal mine. A very detailed analysis carried out by as part of the MSHA investigation into the SAGO disaster by Sandia Laboratories identified at least ten other incidents over the past thirteen years where lightning had probably caused the ignition of a sealed goaf area of a mine (SANDIA, 2011). In addition there is a long history of lightning related incidents in South African coal mines (Geldenhuys, 1985). Fortunately in those cases no lives were lost. The event at Blakefield South has suggested that there may be the potential for ignition to occur in an active longwall goaf. The potential for a lightning strike to ignite a flammable atmosphere in an underground coal mine has been demonstrated from the past experience both here and overseas. It requires three things: • Lightning • A mechanism to convey the lightning underground to the flammable atmosphere • A flammable atmosphere."

Jan 1, 2016