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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 P. Mills

The four top barite-producing countries in the world are China, India, Morocco and the United States. China is currently the largest exporter of barite followed by India. More than 95 percent of the barite mined today is used by the petroleum industry as driller’s mud. The rest is used in the industrial market and the medical field. Most of the barite mined in the United States is in Nevada. This year, mining activity has increased due to an increase in oil exploration/development. This was caused by an increase in the crude oil prices.

Jan 1, 2005

By P. A. Plunkert

Metallurgical-grade bauxite was imported into the United States from 11 countries in 2004. The principal suppliers of this 10 Mt (11 million st) of imported ore were Jamaica (33 percent), Brazil (25 percent), Guinea(23 percent) and Guyana (11 percent). The average value of imports, cost, insurance and freight (c.i.f.) U.S. ports, was $31/t ($28/st). Calcined refractory-grade bauxite imports were 165kt (182,000 st) with an average value of $146/t ($132/st), c.i.f. U.S. ports. China supplied 70 percent; Guyana, 22

Jan 1, 2005

By Montaser S. El‑Salmawy, AHMED A. S. SEIFELNASSR, Ahmed Al‑Abady, Abdeaziem M. Abdelaal, Amr F. M. Ibrahim

Iron is a key detrimental impurity in silica sands that determines their contribution to high-technology industries. Herein, a simple ecologically sound approach is investigated for iron removal from a silica sand sample obtained from the El-Zaafarana area-Egypt. The sample was subjected to a detailed microscopic mineralogical study supported by XRD and XRF characterization. The sample was beneficiated using distilled water attrition scrubbing and screening over a 25 μm sieve followed by leaching using a mixture of equal amounts of phosphoric and oxalic acids. Leaching experiments were designed and analyzed using the Box-Behnken design (BBD) methodology. A model was developed and evaluated using the analysis of variance technique to map the relationship between the residual iron oxide in the produced concentrate and selected variables such as leaching temperature, oxalic acid, and phosphoric acid concentrations. XRD and mineralogical analysis reveal that quartz is the most dominant constituent of the studied sand and other minerals such as kaolinite, iron oxide, rutile, and zircon exist in trace amounts. The head sample shows a silica and iron oxide content of 95.69% and 2379 ppm, respectively. Attrition and separation over a 25 μm sieve increase the silica content to 97.05% and decreases the residual iron oxide to 455 ppm. The final product after leaching under optimized conditions shows 99.82% silica and 55 ppm iron oxide.

Aug 30, 2022

By Jr. Goller

You and I can visit cement plants, inspect the various rotary kiln systems and find some equipment or some burning techniques that waste energy--fuel and power. After we have made such a visit and studied a few ideas, we could recommend ways to eliminate much of this waste. Probably every idea would cost money to bring into action. For our discussion, let us arbitrarily set an upper limit of $1,000,000 on the recommendations that we are allowed to make. Call these "low-cost" or "short-term" measures. They are improvements that do not require more than say, three months to complete; they do not require a major revision to the process. Other recommendations are "high-cost" or "long-term"; they are outside the scope of this discussion. Some of our "low-cost" recommendations would offer a satisfactory return on the money that they cost; the remainder would not. Now, is there some way that we can rather quickly pick out the "low-cost" measures that will show a satisfactory return and spend our time making these improvements first? Can we separate these items from those where the return is less likely to be good? I feel that we can pick some of these items quickly if we have a kiln system that has consistently non-uniform day-to-day operation. If the operation is uniform we probably cannot pick them quickly.

Jan 1, 1977

By Walter H. Schwedes

Ore grinding mills are really just slowly rotating barrels, but barrels that are growing in size so fast that the application of electric drives for them is rapidly approaching a technology like that for wind tunnels or pumped storage drives. This application is particularly worthy of care because some 40% of the 75 megawatts of power used by a large copper ore concentrator, or some 60% of the 200 megawatts supplied to a large iron ore concentrator, are for grinding. These ore plants are located where the ore is, not where a utility happens to be. So, the challenge is not only to choose a drive and .power transmission for reasonable cost, high performance, reliability and minimum maintenance, but to afford the interface between mill drive and power distribution and source systems to minimize the whole ore plant's monthly power bill, or costs of self generation. Conclusions can be reached in optimizing a drive selection only for each particular ore plant's set of parameters, but by identifying the criteria for selection and then weighting each type of drive per criteria, yardsticks for final choice become apparent. This is the purpose of this paper. Grinding action takes place inside the barrel, where the ore charge is ground with the aid of balls, or mill length rods, or large chunks of ore as in autogenous grinding.

Jan 1, 1972

By J. M. Mutmansky

This paper outlines the results of a study of opinions of practicing engineers concerning the value of environmental engineering courses in a mining engineering curriculum. One hundred engineers with significant experience in mining-related engineering work were carefully chosen. Of the sixty-seven responses received, about half were from mining engineers and half from environmental engineers. The results of the survey are outlined in detail. The number and type of courses recommended by the respondents are summarized as well as the specific topics recommended for inclusion in a mining engineering curriculum. The survey form also asked for the stages in the mine life when environmental experts were needed and the percentage of environmental engineering performed by outside experts for many mining-related environmental tasks. The results of this line of questions are provided. Finally, the paper offers a comparison of the results for environmental engineers and mining engineers and analyzes the differences.

Jan 1, 2001

By Jenny Alsén, Hans Hogard

"Construction of large facilities underground in urban areas has many advantages. In order to show the advantages, a case study of the Norsborg metro depot in Stockholm Sweden has been made. The Norsborg metro depot will be the largest and most modern underground metro depot in northern Europe. The depot has been built in hard rock in an urban area with small impact on the environment and local residents. The paper describes how it is possible to build underground facilities in a cost efficient way and take care of the challenges regarding working environment that comes with locating a permanent working place underground. INTRODUCTION The Stockholm area is one of the five fastest growing regions in Europe and home to more than a fifth of Sweden's population on just two percent of Sweden's surface. The population is growing rapidly, with about 35,000 people per year and is expected to reach 2.6 million in 2030. In order to meet the development and enable continued growth, housing projects and expansion of infrastructure need to keep the same pace; this is an easy conclusion to make but much more difficult to realize in practice. The main challenge is to accomplish development in a sustainable and efficient manner, minimizing the use of resources and land. By constructing facilities underground more urban space will be made available for development and/or for greening of city centers. Considering sustainability factors such as land value in decision making for placing of structures or facilities, underground locations could become a first choice alternative. During 2015 and 2016, several major underground infrastructure projects in the city of Stockholm will start, including a 14 km sewage tunnel and an 18 km by-pass highway tunnel. Furthermore the Stockholm metro system is currently undergoing the largest expansion since the 1970’s, a 19 kilometers extension of the metro system including new trains and new stations is planned. During 2013 - 2015 Skanska Sweden took part in the construction of a new metro depot placed underground in the southern part of Stockholm; the Norsborg metro depot. This is a top modern urban underground facility that in 2017 will serve as depot for 17 new metro trains. The project was selected for “Outstanding Project of The Year” at the ITA Tunneling Awards 2015."

Jan 1, 2016

By Gerhard Lang

"Slurry Microtunneling is a well-established technology building on over 20 years of experience in successful tunnel installations under all kinds of soil conditions across the U.S. and Canada. Recent microtunnel installations prove that initial hesitation, e.g. curved drives, is fading and long-distance pipe jacking projects as well as lake outfalls are being considered. One of the younger technologies is Direct Pipe®, which combines the benefits of HDD and Slurry Microtunneling. It fits exactly into the area where HDD is not feasible or too risky to apply. The paper points out the benefits of the Direct Pipe® technology for owners, engineers and contractors and discusses the latest developments of Slurry Microtunneling for long-distance, curved drives and sea/lake outfalls with wet recovery of the equipment such as on the ‘Keswick Outfall Project’ in Ontario. The first Direct Pipe® installation in the US was executed in August 2010. Since then, another 22 crossings have been carried out amongst a total of more than 60 Direct Pipe® crossings worldwide. INTRODUCTION Pipelines installed underground are indispensable for supplying the growing world population with water, oil, gas and electricity, for removing wastewater and for providing functioning telephone and communications networks. During recent years the limits of trenchless applications have been permanently shifted, leading to higher and more stringent project requirements and consequently new technologies, either as further development of existing methods, or through the development of new methods by incorporating elements of proven technologies. MICROTUNNELING TRENDS IN NORTH AMERICA Slurry Microtunneling has a wider geological application range in comparison to EPB and hard rock Microtunneling. The Slurry MTBM can be equipped with specific cutting wheels to cope with different soil conditions. The most flexible and most often employed type is the mixed soil cutting wheel, which contains a mixture of disc cutters as well as scrapers for varying soil conditions from cohesive soils (clay, silts) to highly permeable soils including sands, gravels and cobbles and even hard ground formations such as rock and boulders. A detailed geotechnical report provides the appropriate data to configure the MTBM and its features to the ground conditions expected. Mixshield or hydroshield (AVN/AVND) MTBMs in particular, can be safely operated with little overburden (~ 3-5 x machine diameter) and minimum risk of frac-out or settlement on the surface. This is especially beneficial in urban areas with sensitive buildings or for river crossings with protected fish habitats."

Jan 1, 2016

By RICKARD HANSEN

With vehicles frequently found in underground mines and tyres being a major fuel item, the risk of tyre fires will be severe underground. This study presents an in-depth analysis of tyre fires on mining vehicles to increase the knowledge of the risk, applying data from full-scale fire experiments and CFD simulations. It was found that the wheelhouse of the loader caused an increase in the flame tilt angle of approximately 10%, decreasing the flame impingement and heat flux downstream. The flame temperature of the drilling rig tyre was found to be approximately 7% higher than the loader tyre, increasing the risk of igniting adjacent fuel items. The construction of the wheelhouse/mudguard will contribute to a longer flame length by creating a fuel-rich environment. The CFD simulations predicted higher flame tilt angles for the drilling rig case for higher flow velocities, indicating the influence of a varying wheelhouse/mudguard construction and tyre geometry on the flame tilt angle. The construction of the loader resulted in a flow behaviour, where the short distance to the front mudguard/tyre and the separation of flow directly downstream of the protruding construction led to fire gases being steered past the front mudguard/tyre. In the drilling rig case, the longer distance to the front mudguard/tyre led to fire gases being directed towards the body of the vehicle after passing the area with flow separation. An increased knowledge of the tyre fire risk on mining vehicles and mitigating measures would improve the fire safety in underground mines.

Feb 10, 2022

By Robin J. Hickson

El Abra has mining concessions granting the right to exploit minerals in more than 130 km2 (32,122 acres). SCM El Abra owns “rights to occupy” the surface of these claims. The company also owns the surface rights over the process plant area and over land conveyor route. The project has procured all material easements relating to the mine area, processing facilities and access rights of way. Engineering, procurement and construction Figure 1 sets out the development and construction schedule for the project. Development is already well under way. As of early January 1996, about 70% of the project was complete and more than 80% of the capital expenditures were committed.

Jan 1, 1996

By Bernd Hagenah, Katie Theis, Cristina Lauzon, Petr Pospisil

Lidding over or tunneling existing transportation infrastructure is currently under review in several U.S. cities. The main reasons for this are the use of the created space for urban development, the reduction of noise and exhaust fumes for the residents, and, thus, a significant increase in the quality of life. The main aspects to be considered during the planning process are (1) total investment and operational costs, (2) impact of construction works on current traffic, (3) safety and fire protection, and (4) socio-environmental issues. The paper presents some basic planning principles, and experiences of recent urban highway coverages are shared.

Jun 23, 2024

By Jens Gutzmer, Helmut Mischo, George Barakos

"It has been nearly eight years since rare-earth elements (REE) became the subject of frontpage headlines. It was when the controversial Chinese export policy for these critical commodities was epitomized in a maritime border dispute with Japan in September 2010 that resulted in the big REE crisis and price spike of 2011 (Barakos et al., 2016c; Mancheri, 2015).The world was dismayed, especially in REE-importing countries such as the United States that was, and still is, totally dependent on Chinese production and exports (Barakos et al, 2016c; Kennedy, 2015). The short-lived alarm initiated a treasure hunt by way of exploration for REE deposits all over the world. The continuously growing demand on the one hand, and the Chinese sovereignty of the REEmarket on the other, led the rest of the world to explore their own REE resources. In just a few years, more than 400 projects were initiated to explore REE deposits outside of China (ERECON, 2015; Goodenough, 2016).The prices of REE, however, dropped rapidly in late 2017 and were in six-year lows, before the 2011 crisis (Barakos, 2017). The viability of even major established producers is being challenged, not to mention the development prospects of potential REEmarket entrants (Barakos et al., 2016b; Rollat et al., 2016). Production cutbacks and industry consolidation in China have impelled REE market experts to forecast that prices have already reached their lowest point and have nowhere to go but up (Adamas, 2015; Roskill 2015). Yet, expectations for increased REE prices are limited and drastic changes are unlikely to happen in the near future, as there is still excess supply in the overall REE market (Barakos, 2017). Nevertheless, the low prices of rare earths are not the only reason that potential producers are struggling to enter the global REE market. Among other parameters, the separation process of the individual elements seems to be the most important factor, as it is technically challenging and expensive to build and to operate."

Jan 8, 2018

By C. V. Baltzer, E. L. J. Bingham

Compliance with the EPA's emerging Clean Water Act regulations can be challenging. Open pit copper mines in Arizona have found themselves in a tangled web of changing rules, regulations, and guidance documents regarding storm water and process water discharges. Large mining properties must come up to speed on a myriad of issues including the definition of zero discharge, what constitutes a process related spring or seep, and tailings and waste rock Best Management Practices. The example of the Pinto Valley Mine in Arizona is used to illustrate National Pollution Discharge Elimination System regulatory issues.

Jan 1, 2001

On Dec. 20, 2013, an 8-m (26.2-ft) diameter Robbins hybrid single shield/earth pressure balance tunnel boring machine (EPB TBM) was launched to bore the Grosvenor decline tunnel for Australia?s Anglo American coal mine. The machine was built using onsite first time assembly (OFTA) in order to fit within a tight project schedule. Assembly at the remote jobsite near Moranbah, Australia took about four-and-a-half months, and then the machine was walked down into a launch tunnel. Two decline tunnels, at grades of 1:6 and 1:8, will be used for mine access to new coal seams. The hybrid machine is tackling mixed ground conditions ranging from sand and clay to varying types of sedimentary hard rock up to 120 MPa UCS, as well as coal seams. Methane gas is expected to be present throughout the tunnel, so the machine has been designed as explosion-proof-compliant to ERZ-1. ?Grosvenor is the first underground coal mine in Queensland to use a TBM for drift construction,? said Glenn Tonkin, Grosvenor project director. ?We are proud to be pioneering this technology.? Only about 300 m (984 ft) of ground in each decline tunnel is expected to require EPB mode, while the rest of the tunnel will be bored in hard rock mode. Thus, the design was optimized toward hard rock excavation.

By George O. Lower

The use of cyanides in the extraction of gold and silver is well known.1 Such extractions employ con¬centrations of cyanide in the range of 0.02-0.25 % sodium cyanide equivalent in leaching cycles of 24-48 hours and frequently longer. Copper minerals, even though minor components of precious metal ores, dissolve in these cyanide leaching solutions, consume cyanide, cause fouling of mill solutions, and thus interfere with the precipitation and recovery of gold and silver. 2,3,4 This paper presents a summary of laboratory investigations on the use of cyanide solutions as extractants for copper from various copper-bearing ore fractions. In view of the metal contents involved, it will be apparent that larger quantities of cyanide are required to extract copper than for the extraction of precious metals. In cyanide solutions of concentrations generally favorable to copper extraction, sulfide and oxide copper minerals were found to dissolve rapidly at room temperature and atmospheric pressure. For example, on products in the flotation size range, the major portions (e.g. 65-85%) of the extractable copper frequently dissolved in 2-10 minutes. At coarser grinds, e.g. 100% minus 28 mesh and 100% minus 10 mesh, 75-85% of the total copper was extracted in 30 minutes.

Jan 1, 1966

By Ehab Gomaa, K. A. El‑Nagdy

Backfilling material such as tailing (mine wastes) mixing with cement or gypsum has grown throughout the world’s underground mines. However, despite their growing popularity, the typical hydraulic and mechanical fill types utilized in many mines still exist. Deep underground mining has increased due to the lack of commercial minerals nearby. Mine wastes were considered the main part of backfilling to prevent environmental pollution, ground subsidence after mine abandonment, and mine collapse during deeper extraction phases. The cemented backfill technique is the principal technique used in underground mines, which include cement with fly ash and/or filter dust, cement with tailing material and fly ash, gypsum with fly ash, and synthetic anhydrite with fly ash and have been reviewed. It has concluded that a backfilling material must be selected based on further goals, available material near the mine site, and economic factors. This paper analyzes different backfill material mixtures to create a technique that will increase safety in underground mining conditions and foresees an appropriate formula that gives high uniaxial compressive strength. The multiple linear regression (MLR) on the collected data from the experimental works to construct the relationship between the uniaxial compressive strength (UCS) of the mixture and the components of the backfilling and the prediction formula for expected compressive strength was obtained. The results revealed that the predicted regression equation was robust and reliable to predict the (UCS) for the new components of the filling (cement (CE), filter dust (FD), water content (WC), and time (T)).

Oct 3, 2023

By Barton G. Stone

"Sampling is the process of taking a small portion of an article such that the consistency of the portion shall be representative of the whole," (Baxter and Parks, 1939)."An orebody is a mixture of minerals in proportions that vary in different parts of the mass. As a consequence, the proportion of contained metals also varies from place to place. Therefore, a single sample taken in any particular place would not contain the same proportion of metals as does the orebody as a whole except by a highly improbable coincidence."The probable error, which would be very large if only one sample were taken, decreases with the number of samples, but it never disappears completely unless the samples are so numerous and so large that their aggregate is equal to the orebody itself, in which case the orebody would be completely used up in the process of sampling."Since carrying sampling to such an extreme would defeat its own purpose, some probable error is always present in actual cases and the practical objective is to reduce this probable error to allowable limits. This means balancing the number of samples against the desired accuracy; if there are not enough samples the result is unreliable; if there are too many, the time and expense of taking them is excessive." (McKinstry, et al., 1948).In an actual orebody, the accuracy of sampling depends not only on the number of samples but also on their proper distribution throughout the orebody, for it would obviously be incorrect to take all of the samples either in a rich part or a lean part. Therefore, it is important to select the places in such a way that all parts of the orebody will be represented."

Jan 1, 2014

By D. R. Tesarik, T. C. Trancynger, W. G. Pariseau

The Davis detector cavern was excavated on the 4850 Level of the former Homestake Mine in the mid- 1960s to house a novel neutrino detector developed by Nobel Prize winner Dr. R. Davis. The original cavern was about 9.1 x 16.8 x 9.7 m high, excavated in a Precambrian amphibolite known as the Yates unit and enlarged in 2010. In 2009, the National Science Foundation selected the site for development as a national Deep Underground Science and Engineering Laboratory (DUSEL). This retrospective rock mechanics study of the Davis cavern is intended to inform design of the much larger caverns and laboratory rooms being considered for the same 4850 Level. Provision for rock mass variability, sequential excavation, jointing and wall damage from blasting are included in analyses that were done using two different computer codes and methods (FLAC3D and UTAH3). The results are in agreement with observations and show that cavern stability is indeed the case. The main conclusions are: (1) if conventional scaling of laboratory rock elastic moduli and strengths is done, then 0.25 and 0.50 scale factors are reasonable, (2) measured statistical and spatial variability in rock properties should be incorporated into geomechanical analyses to better reflect reality, (3) discontinuities (“joints”) are essential to reliable analysis of excavation safety and when properly taken into account eliminate the need for empirical “scaling” of laboratory rock properties, (4) major geologic features such as rhyolite dikes and breccia zones may be important to excavation safety at Homestake and should be explicitly represented in analyses and (5) quantifying wall blast damage is important to engineering design of underground excavations.

Jan 1, 2012

By Deniz Akbay

The strength of rocks and soil is a crucial design parameter in engineering projects, and it can be determined through various test methods such as uniaxial compressive strength, tensile strength, and shear strength. The point load index test is a popular indirect test method for predicting the uniaxial compressive strength of rocks. However, the reliability of the point load index’s estimation of uniaxial compressive strength of rocks is questioned due to the wide range of coefficients that are used to predict uniaxial compressive strength of rocks using point load index values. Factors such as the shape and type of rock specimen, practitioner, and test apparatus used can affect the accuracy of the point load index test. This study investigated the effect of four different specimen shapes used in point load index test (diametral, axial, block, and irregular lump tests) in predicting the uniaxial compressive strength. The rock samples were tested using four test procedures which are called diametral, axial, block, and irregular lump tests. The results showed that the irregular lump test was the most accurate in predicting uniaxial compressive strength, with the highest correlation coefficients and lowest mean absolute percentage errors. The point load index test can be used as a reliable predictor of uniaxial compressive strength of rocks when the irregular lump test is preferred.

Oct 18, 2023