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By S. Frimpong, E. Gbadam, W. Nyaaba, G. Somua-Gyimah

Recent studies towards dragline excavation efficiency have focused on incrementally achieving automation of the entire excavation cycle. Initial efforts resulted in the development of an automated dragline swing system, which optimizes the swing phase time. However, the system still requires human operation for collision avoidance. For full dragline autonomy, a machine vision system is needed for collision prevention and big rock handling during the ‘swinging’ and ‘digging’ phases of the excavation operation. Previous attempts in this area focused on collision avoidance vision models which estimated the location of the bucket in space in real-time. However, these previous models use image segmentation methods that are neither scalable nor multi-purpose. In this study, a scalable and multi-purpose vision model has been developed for draglines using Convolutional Neural Networks. This vision system averages 82.6% classification accuracy and 91% detection in collision avoidance. It also achieves an 87.32% detection rate in bucket pose estimation tasks. In addition, it averages 80.9% precision and 91.3% recall performance across terrain recognition and oversized rock detection tasks. With minimal modification, the proposed vision system can be adjusted for other automated excavators. Keywords: Surface mining, dragline bucket, deep learning, machine learning, oversized rock, convolutional neural network, machine vision, object detection, earthmoving equipment. INTRODUCTION Complete excavator automation is widely regarded as the next phase in efforts toward improving earthmoving efficiency. Earthmoving often involves complex, forceful interactions between an excavator and the ground. The nature of these interactions depends largely on the type, properties and physical characteristics of the earth material. This process is further complicated by the random occurrence of tree roots, boulders and other such obstructions. Therefore, the ability of a controller to detect changes in the operating conditions, adjust the digging strategy and respond in real-time is of utmost importance. Early studies into autonomous excavation identified some key performance criteria which included the following [1]: • The autonomous excavator must be able to work in any type of earth material. • Its excavation accuracy must be within 50mm. • It should be able to handle different surface and underground obstacles autonomously. • It should be able to operate at the speed of the average operator in any condition. • Its operation should be capable of safe integration with other site systems.

Jan 1, 2019

By M. Kuchta

A linear integer programming (MIP) model to solve the long-and short-term production-scheduling problem for sublevel caving operations is presented. The MIP model is designed as a multi-time-period problem to provide monthly schedules that meet production, blending and sequencing requirements. One of the most important issues during the development of the MIP model was the requirement of sequencing between blocks. In this mathematical model, unique constraints that ensure sequencing of the production from sublevels are developed. A suggested method of handling a large number of variables is also given. The MIP scheduling model was implemented on a data set obtained from the Kiruna Iron Ore Mine located in northern Sweden. The initial MIP model implementation was successful and provided a solution that optimized resource recovery while meeting monthly and yearly production constraints. The scheduling results obtained based on the Kiruna Mine are further presented and discussed.

Jan 1, 2003

By E. Kurt

The field of percussion rock drilling is subdivided into two areas of application; that which takes place on the surface and that which takes place underground. Surface drills are used in quarrying, highway construction, and maintenance work; underground equipment in mining and tunneling work. Two basic principles are involved in the operation of all percussion drills. First, the principle that reciprocates the impacting piston and second, the principle that causes the drill steel and bit to rotate. The back and forth motion of the piston is accomplished by a self-acting automatic valve that admits air alternately to each end of the piston (Figure 1). Drill steel and bit rotation is imparted by an integral ratchet mechanism (Figure 2) in the so-called "rifle bar" machines (Figure 1) or by a separate pneumatic motor in "independent rotation" drills (Figure 3). While rock drills are subject to all kinds of physical and operational abuse, they are most sensitive to faulty lubrication. Proper lubrication is the single most important factor in the longevity of a percussion drill.

Jan 1, 1970

By J. E. Miller

The development of a new means of measuring the relative abrasivity of a slurry came about by necessity in 1967 during a full scale loop test of a 560 H.P. reciprocating pump handling magnetite slurry. In order to evaluate the life of expendable fluid end parts, the question of the amount of attrition in a re-circulated slurry had to be considered. An expected reduction in abrasivity as a result of this attrition would certainly give erroneous data on a parts life test. There- fore, some means of measuring such change in abrasivity became imperative. Several test methods were investigated1 but it was felt that these did not fully represent the wear due to back and forth rubbing action associated with a reciprocating pump. A "rubbing block" device used some years ago to determine the quality of hard facing materials was recalled, along with its shortcomings, in that an attempt was made to suspend a small percentage of abrasive particles in a colloidal viscous "mud". Erratic results were attributed to the fact that it was difficult to maintain a consistent slurry concentration under the metal wear block and the reciprocating speed was not great enough to maintain good agitation.

Jan 1, 1973

By M. S. Klima

A 25-mm diameter dense-medium cyclone was tested to investigate the effects of geometry and operating conditions on cyclone performance when processing -150 I'm coal. The emphasis was on examining those variables (e.g., flow rate and inlet velocity) which impact the separation kinetics (specifically the number of g's and the mean retention time) and the occurrence of apparent bypass. Apparent bypass, indicated by partition curve "tails", results from the short circuiting of the feed coal to one or both of the product streams and represents a loss and/or contamination of the clean coal. This paper presents the results for this series of tests.

Jan 1, 1993

By L. L. M. Kadnuck

The U. S. Bureau of Mines studied the suitability of using flexible tendon cable supports as secondary roof supports at a western coal mine. The supports were installed in longwall tailgate entries and grouted into the mine roof. This paper quantifies how the use of cable supports can improve ventilation in underground airways. A mine ventilation simulator was used to model the changes in airway resistance and airflow and show potential for further ventilation improvements when cable supports are used. Model results indicated that cable support use translated to savings in air pressure around the longwall panel and increased airflow at the longwall face.

Jan 1, 1994

By G. A. Calboreanu

The deterioration rate of any metal or alloy is increased in a erosion-corrosion application because the passivated surface layer is removed by the solid particles contained in the pumping fluid and the material surface becomes corrosion active again. Numerous attempts were made to engineer a stainless steel with higher hardness and unaffected corrosion performance. Alloys of special interest in such an area are the duplex stainless steels particularly the CD4MCu material which has the capability of being hardened due to its ferrite-austenite microstructure. Unfortunately, the CD4MCu with higher hardness comprises different intermetallic compounds which will increase the corrosion rate. The paper is analyzing the erosion-corrosion performance of a new type CD4MCu with 32% higher hardness and superior wear performance. The corrosion performance of this new alloy is better than the corrosion performance of the common CD4MCu material which the industry could supply. The corrosion effectiveness was evaluated with the Huey test, the potentio-dynamic anodic polarization test and the weight loss test whereas the erosion resistance was established with a low stress ball-on-disk type apparatus. The Wilfley hard CD4MCu material had 39% lower weight loss and 32% smaller volume loss than the common CD4MCu alloy The hardness range of the centrifugal pump parts poured and processed with the Wilfley hard CD4MCu is 320-350 HBN versus 250-255 HBN hardness of the common CD4MCu. After approximately 18 months of experimentation and field testing it was clearly established that the life time of the Wilfley hard CD4MCu is higher than the common CD4MCu and consequently centrifugal pumps were supplied to different customers in North and South America. India and more recently Australia. Sincere thanks to all the A.R. Wlifley & Sons Inc. and Western Foundries Inc. employees who supported and help to implement this work. special thanks to George Wilfley. Dave Cobb. Bill Becker Sr. and Wayne Taylor

Jan 1, 1997

By M. W. Harmer

Laboratory test work, pilot plant testing and plant experience with wet, fine mesh screens is discussed. High frequency, low amplitude, fine mesh, wet screens were installed on the 6th cleaner concentrate stream. These screens produce a 60% oversize recovery split of the molybdenite concentrate that is of leached equivalent quality. The undersize stream is leached with 'hot ferric chloride to remove Pb and Cu contaminates before roasting or shipment to sulfide customers. This plant modification is a good example of using existing technology in an unconventional flow sheet to yield significant cost savings.

Jan 1, 1990

By Mark A. Koestel

Cobalt-sulfide mineralization can he found in potentially economic quantities where permeable, basal Cambrian formations "pinchout" against Precambrian pal eotopographi c highs. These environments are common around the Saint Francois Mountains of southeastern Missouri and they share many similarities with the geologic environments of Zambia and Zaire in South Africa. Exploration for this type of deposit involves test drilling targets identified by trend analysis from past drilling, geophysics, geochemistry and a comprehensisve study of regional geology and isopach maps. Innovative ideas, new exploration concepts and insoluble residue geochemical methods may provide the necessary "edge" needed to complement basic geologic understanding leading to ore discovery.

Jan 1, 1987

By Y. Guan

The dissolution behavior of copper and gold from their pure state and from Au/Cu alloys in cyanide solutions has been investigated using a rotating disc. Oxygen was used as an oxidant. The effect of the composition of the alloys, stirring speed of the disc, concentration of lixiviants and temperature on the overall dissolution kinetics has been studied. Gold/copper alloys of three compositions were used in this study. The atomic percent of gold in these alloys was 75, 50 and 25, respectively. The dissolution behavior of these three alloys was compared with that of pure gold and of copper under the same chemical conditions. In general, the dissolution of copper and gold from alloys is partially controlled by surface chemical reaction and largely by mass transfer.

Jan 1, 1992

By Daniel A. Wasson

A review of the history of boosters is given with examples of the prominent types that have been made commercially. The performance and design features of protected core boosters are discussed in detail. A new gel booster is discussed with its advantages to the mining industry. Booster size, hole configuration, performance and safety aspects are reviewed. Important features of boostering in above ground and underground blasting are related to an economic analysis. This presentation will cover different types of boosters commonly used in mining. However, for the purpose of this paper a few terms need to be defined to clarify the action of different parts of a priming system. Booster* - "Any unit of explosive or blasting agent to be used in a charged hole for the purpose of perpetuating or intensifying the initial detonation". Primer* - "A unit, package or cartridge' of explosives containing a detonator or detonating cord which is used to transmit detonation to other explosives or blasting agents". Detonator - A device for initiating a detonation from a flame or a small electric current, the former being represented by a fuse cap and the latter an electric blasting cap.

Jan 1, 1981

By W. A. McKinney

The U.S. Bureau of Mines, Kennecott Copper Corp., and New Mexico Institute of Mining and Technology are cooperating on a research project to improve extraction of copper from previously leached waste dumps that are in part compacted and impervious to leach solutions. The field work is being done at the "J" leach dump, Chino Mines Division, Kennecott Copper Corp., Santa Rita, N. Mex. The laboratory percolation leaching tests were made at the U.S. Bureau of Mines Salt Lake City Metallurgy Research Center on drill core samples from the "J" dump to determine how much copper might be leached if permeability could be restored by explosive heaving or other means. The core samples from nine drill holes on "J" dump contained from 0.06 to 0.14 percent copper. Copper extractions ranging from 15 to 3 percent were obtained in 75 days by percolation leaching of minus-1-inch material with dilute sulfuric acid. The tests results indicate that about 2'7 percent of the copper remaining in the "J" dump could be extracted under ideal leaching conditions.

Jan 1, 1970

The viability of physico-chemical purification methods such as selective flocculation for separation of two components having similar chemical composition and same crystal structure but different surface properties is demonstrated. Loss of selectivity was observed in a dolomite-dolomite mixture with Polyethylene Oxide (5 million molecular weight) as the flocculant. Hetero-flocculation was minimized using a low molecular weight PEO (MW -105) as the site blocking agent (SBA). Near complete separation was achieved at pH 10.5 at 100% recovery level.

Jan 1, 1993

By Martin H. Stanczyk

In recent, years the demand and consumption of finely ground industrial minerals has substantially increased for such uses as fillers and chemically reactive components. The size, specifications for these types of industrial mineral materials vary to a great extent and depend on the particular end purpose' and on the physical properties of the mineral itself. Size reduction of industrial minerals usually is obtained by conventional crushing and grinding methods. However, some specialized milling techniques have been developed for producing these minerals in extremely fine particle size ranges. During recent years the Bureau of Mines has been investigating an attrition grinding method to produce ultrafine subsieve-size mineral particles. The Bureau developed process, which has been patented,2 comprises the intense agitation of a slurry composed of the material to be ground, a relatively fine granular grinding medium, and a suspending fluid. The process has been shown to be effective for the comminution of kaolin in the particle size range of 2 microns and finer on a batch3 and continuous basis.4,5 This report presents the results of batch tests made to determine the effectiveness of the attrition grinding process for comminuting commercial products of (1) mica, a tough lamellar material, (2) fluorite, a brittle intermediately hard material, and (3) barite, a relatively soft, massive material.

Jan 1, 1967

By T. W. Camm

The Bureau of Mines conducts studies of the economic impacts of regulations on federal lands. These studies are part of the Bureau Potential Supply Analysis (PSA) program. To meet the needs of these studies, a methodology was developed to estimate operating and capital costs for a mineral deposit given its tonnage, grade, and depth. The format for the cost models in this study was developed at the Bureau's Western Field Operations Center (WFOC), Spokane, W. A., for studies of known and undiscovered resources on Federal lands. These cost models are described in a Bureau publication by Camm (1991).

Jan 1, 1993

By John G. Oldsen

During the last several years, implementation of trusses, in lieu of wood cribs, has been successful for supplemental tailgate support in the Pittsburgh seam. This paper reviews the truss support system provided by the new high strength 0.6" tensioned cable truss, which is now also being used in cribless tailgates. Cable loading and roof deformation were monitored to evaluate roof and floor performance. The test results indicate that the cable truss system successfully controlled the roof and floor during the first and second panel extraction. This paper will describe the advantages of cable trusses and their load transfer mechanism as well as mine evaluation.

Jan 1, 1997

By Felipe Calizaya, Sekhar Bhattacharyya

Mechanized underground mines suffer from noise overexposure. Noise levels are often above the Permissible Exposure Limit (PEL) where underground fans are used. Sound levels in active workings can reach up to 121 A-weighted decibels (dB(A)), especially when fans are not equipped with silencers. Use of silencers seldom ensures PEL. Overexposure of noise induces permanent hearing loss among mine workers. A NIOSH-funded research project and field studies at six coal and non-coal mines revalidated the findings. The University of Utah undertook laboratory studies to reduce fan noise at the source. A new silencer prototype with varying noise dampening material was designed and tested. The silencer and associated extension can be repacked with different dampening materials. The silencer and the extension were used in various configurations. Attempts were also made to simulate field conditions. The tests demonstrated a maximum sound level attenuation of about 14 dB(A) at the fan discharge. A properly designed silencer offers lesser resistance and thereby better fan performance and lower energy cost. The re-packable silencer is more likely to be maintained properly. Lowering of noise level happens in audible frequencies (4000 to 8000 Hz) which are important in A-weighting.

By R. C. Freas

The physical and chemical properties of mica are unique relative to most other industrial minerals. As such, mica is suitable for a variety of functional applications in new and emerging markets. This paper examines some of these applications and particularly the contribution mica makes in end product performance.

Jan 1, 1997

By C. J. Bise

Virtual Reality (VR) is a concept in which the human experience of perceiving and interacting with a computer-modeled environment is achieved through the use of sensors and effectors. It is an advanced fonn of computer graphics where the images are generated based upon where the user looks and how the user moves. As personal-computer-based (PC-based) instruction gains acceptance as an innovative approach to providing safety training, VR offers the capability of providing a multisensory, rather than merely a multimedia, mode of presentation. VR has been effectively used by the military for training tank commanders and by hospitals for training surgeons. However, these applications have been limited to small numbers of highly skilled participants. The purpose of this paper is to examine VR's potential for enhancing the hazard awareness of larger numbers of individuals in a broad-based approach to mine safety training, such as new-miner, annual-refresher, and independent-contractor training.

Jan 1, 1996

By Vishnu S. Gupta

A modular computer program APEX (AMAX Process Evaluation Executive), has been developed at AMAX Extractive R&D, Golden, Colorado to facilitate rapid simulation of steady state material and energy balances of existing and/or proposed metallurgical process flowsheets. Currently, APEX is being used for the design, analysis, and evaluation of several of AMAX?s Nickel, Molybdenumand Tungsten processes. A unique feature of APEX is that it allows specifications of flow rates and compositions for different solid size fractions in addition to aqueous organic and gaseous phases. Thus, a metallurgical process which may involve crushing, grinding, flotation, leaching, washing, solvent extraction, precitation and refining operations can be simulated in a single computer run using APEX. APEX requires two input data files. The first is a process data file which includes physical and thermodynamic properties of the various chemical components of interest. This data file is unique to the process under study and does not require changes for alterations in the process flowsheet. The second data file is specific to a simulation case and includes descriptions of the flowsheet, various feed streams and the process equipment's operating conditions. In addition to temperature, pressure and percent solids, calculated information for each stream includes weight and volumetric flow rates, chemical compositions, specific gravities and enthalpies of solid, liquid and gas phases. For each process equipment in the flowsheet, APEX prints its operating conditions and detailed information about the streams that enter and leave the unit. Models of several general unit operations are preprogrammed in APEX. Also, the modular design of APEX permits quick and easy additions of simulation models which are specific to new and/or unique process operations. To study process stability and optimization, APEX permits several cases of a flow-sheet to be run together. Three simulations of the Moa Bay Nickel process have been excluded to illustrate the ease and flexibility of using the APEX system.

Jan 1, 1980