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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 J. A. Irvine

In 1972, a cooperative program to map and estimate the quantity of Tertiary coal resources in southern Saskatchewan was initiated by the federal and Saskatchewan governments. More than 700 exploratory boreholes were drilled over a two-year period, and data were obtained from other organization s on an additional 1500 boreholes in the area. Stratigraphic data and data on each coal seam penetrated in the boreholes, along with technical and location data for each borehole, were stored in a computer data base for convenience of retrieval, modification and manipulation. Programs and program packages were developed or adapted to: (1) select borehole information defined by variable retrieval parameters from the data base; (2) calculate derived information , such as overburden ratios. cumulative net coal thicknesses , mean weighted center of gravity of coal seams in each borehole, etc., from the selected data ; (3) produce posting maps of either selected data or calculated information in various combinations at variable scales on a plotter or CRT display; (4) produce contoured structure, isopach or ratio maps , and perspective diagrams as appropriate , utilizing plotter or CRT display; (5) calculate and categorize quantities of coal in place within user- defined "mineability-economic-reliability" limits. The emphasis in computer utilization was placed on geological credibility of the results and ease of operation by relatively untrained geological personnel, resulting in extensive use of interactive methods. The single most important benefit derived from using computer-assisted procedures is the ability to produce new maps and quantity estimates rapidly and inexpensively as a result of availability of new data or/and changes in external criteria which impose economic or mineability constraints.

Jan 1, 1978

By C. Woofter

Quarry operators must continue to change and adapt environmental compliance methods to meet the increasingly demanding regulations. To fulfill industry needs, a computer-based decision support system is being developed to facilitate decision making that mine operators are required to make regarding environmental responsibilities. This system can help to determine permitting and compliance measures needed for air, surface water, groundwater, noise, aesthetics, vegetation, wetlands, hazardous wastes, storage tanks and wildlife habitats during the development, operation, and closure phases of mining. Operators will utilize the system's user-friendly interface consisting of mouse driven responses and limited keyboard entries on a desktop computer. The system is easy to upgrade according to the user's needs and changes in current laws and regulations. Data input models, user interfaces, and support of decision making are explained. The program permits inclusion of the decision maker's own insights through "what-if' analysis, in which the user can change ad hoc entries and check the related consequences. Using this approach, the user has complete control over all steps of the decision making process. A storm water example is selected to demonstrate the potential benefits of the support system to environmental decision makers.

Jan 1, 1995

By D. A. Poukhovski

Two integral components of the 30 CFR 48 training requirements mandated for new miners, newly employed experienced miners, and the annual refresher training of all miners are hazard recognition and prevention of accidents. In these categories, instruction shall include the recognition and avoidance of hazards present in the mine, and a review of accidents and their causes. Unlike instruction preparation for fact-based material, program development for hazard recognition places a particular challenge before safety-training specialists because they are often limited in their ability to adequately gauge the trainees' levels awareness prior to training. Further, they must also assure that the training is relevant, and it is presented in a thought-provoking manner. Computer-based instruction is particularly well suited for assisting trainers in developing hazard-recognition topics because it can be used in pre-training and post-training modes for assessment of training effectiveness, in addition to use as a presentation tool. Therefore, this paper will present a recent approach developed at Penn State to apply this technology for assessment and instruction of accident prevention through hazard recognition, with an application prepared for surface coal mines.

Jan 1, 1997

By John C. Galloway, Heinz G. Leistner

ACKNOWLEDGEMENTS The investigations described in this paper were supported by contracts with the Defense Nuclear Agency (DNA) under direction of Lt. Col. John Galloway, and by Boeing Company research funds under supervision of James Wooster. Other engineers of The Boeing Company who contributed to the work of this investigation were Don Armitstead, John McAvoy, and Tom Day. INTRODUCTION In this paper, we are describing a current concept for placing intercontinental ballistic missiles (ICBMs) in sites deep underground to be used as a strategic Future Secure Reserve Force (FSRF). The objective of such concepts is to utilize soil and rock cover to protect high value strategic weapons from destruction by nuclear attack. The burial deep underground achieves two purposes. First, it imposes a miss distance upon the attacking weapon equal to the depth of burial minus any penetration capability the weapon might have. This tends to offset increasing accuracy of weapon delivery. The other purpose is to absorb as much of the weapon's energy as possible, thus reducing the effects of powerful weapons. This use of soil or rock cover over military facilities began with the development of man's capability to loft projectiles. Until recently, underground military installations, by their nature, performed defensive functions. Since they are not mobile and their weapons in the past had very limited range, an enemy would have to approach them before an engagement could take place. Thus, they were often used to control "choke points" on sea lanes as in the case of Gibraltar or

Jan 1, 1979

By A. Bruynesteyn

Procedures are discussed to determine if a waste material can become acid producing when left exposed to the environment. When wastes proves to be acid producing, methods are described that can be used to determine the characteristics of the effluents produced from a commercial size waste dump, taking into consideration that large quantities of pollutants can accumulate inside a waste dump during dry periods. The length of such dry periods and the quantity of rainfall greatly affect effluent characteristics.

Jan 1, 1980

By N. Mutemeri, T. -L. Field, M. Chuma

The categorization of artisanal and small-scale mining has a significant impact on perception and understanding of the sector, particularly from a livelihood perspective. Several developing countries classify different types of artisanal and small-scale mining based on legal status. Given the nature such activities, the tragedy of the commons theory has been applied to understand the inevitable environmental, economic, sociocultural, safety, and health negative externalities – which are products of informality and illegality. Consequently, formalization is a panacea to sustainability. This article aims to offer a conceptual organization and foundational knowledge for characterization of artisanal and small-scale mining. It seeks to identify existing literature on the subject to avoid replication and acknowledge other scholars. Moreover, the article aims to place the study within the context of existing literature, establishing relationships with other studies and why the research is necessary. This paper pinpoints gaps left from other studies in so far as the characterization of artisanal and small-scale mining is concerned. Thus, reviewing literature abetted in finding similarities and differences on how artisanal and small-scale mining is defined from a scholarly and legal basis. The paper ascertains major claims made by earlier research on this topic, such as environmental impacts, the lack of adequate regulatory framework, and presents querying and probing questions lacking from other studies.

Jul 10, 2024

By D. Nardini

The need to move towards faster and safer mine development is a key priority in mining houses globally. In addition to this, South Africa faces an array of challenges introduced by labour-intensive operations; hence a study was conducted to look into improving development rates and labour productivity, specifically in the areas where trackbound flat-end development is required. The aim of the study was to propose a method to deliver fit-for-purpose tracked tunnels that advanced at a rate of one blast per end every single working day. A major part of the study was to optimize the selection of an appropriate trackless fleet and mitigate any constraints introduced with the mechanization. This was done by creating scenarios, based on a typical case study, looking into the aspects around safety, mine design, mine activity cycling, men and machine requirements, service installations, and trackless-trackbound interfaces. The case study was based on a deep-level gold mine developing twin headings with connectings; however, with the move to extend and deepen platinum operations it is foreseen that twin end development will become more prevalent due to ventilation, logistical, and other requirements. With the introduction of the trackless mechanized system suggested, development rates of 56 m of system advance are expected (189 m total development), with on an average of three headings and fixed blast times. Scenarios run with multi-blast conditions yield expectations of 75 m/month advance of the system, significantly higher than the conventional performance seen today.

Jan 1, 2012

By J. van der Walt, W. Spiteri

Flyrock remains a significant threat to the health and safety of mine employees and integrity of infrastructure, as well as to the safety of the neighbouring communities and their property. This investigation was motivated by the general lack of fundamental research and mathematically quantifiable data in the literature regarding the relationship between blast design parameters and their impact on flyrock. The focus was to develop a concept that can be used to mathematically quantify the trajectory of flyrock resulting from a blast, which can be used for future research. The ultimate goal for this technique, once it has been fully developed, is to: ➤ Enable mining operations to generate a database with accurate historical flyrock measurements resulting from their blasting operations ➤ Allow research teams to conduct scientific investigations into flyrock and the impact of various blast design parameters ➤ Generate point-cloud data to visualize blasts and flyrock in a virtual reality environment for training and education purposes. This paper summarizes a conceptual technique and preliminary fieldwork that was carried out to determine the technique’s feasibility and motivate further development. The results show conclusively that a modified photogrammetric technique is capable of capturing flyrock data for further processing and analysis. The data acquisition procedure can, at this point, be used to meet the first aim of the project, namely to gather a field database of historical flyrock generation. Further development of the technique is ongoing and it is envisioned that the scientific-based technique will provide a method whereby future flyrock studies will be comparable and that assumptions will be limited.

Apr 5, 2023

By Catharine L. VanOmmeren

Emulsion quality characteristics such as shelf life, handling, and sensitivity are critical to the end-user. It is therefore important that the consumer be prepared to ask his supplier specific questions. To do so, he needs to have a basic understanding of what an emulsion is and how emulsion properties can affect safety, performance, and environmental impact. The criteria to be covered include: energy, velocity, sensitivity, minimum priming, shelf life, pumpability, effect of AN quality, over-the-road handling, and formulation The consumer will learn how each of these properties can directly affect him. The information will enable him to set minimum standards in product selection, blending, and application.

Jan 1, 1989

By S. Michael, T. E. Moongo

Electrowinning consumes a substantial amount of electrical energy, and owing to the ever-increasing unit cost of electrical power there is a need to improve current efficiency in the process. This research was carried out to design a continuous quality improvement framework for improving electrowinning current efficiency by applying statistical process control (SPC) on an online industrial copper electrowinning operation. A sequential mixed research methodology was applied and a statistical software package utilized for analysing data. It was concluded that metallurgical short-circuits (hotspots) had the most significant effect on current efficiency. Bringing hotspots under statistical control resulted in a 5.40% improvement in current efficiency, which is equivalent to approximately 74 t of 99.999% pure grade A copper cathode production over a period of 1.5 months.

Jan 1, 2021

By David Corkum, David Hatem

Subsurface construction projects are risky ventures and the decision to deliver a project using the Design-Build model does not eliminate those risks. Differing site conditions, inadequate design, and delays will continue to plague some projects. The Design-Build procurement model, however, presents a broad opportunity to allocate those risks much differently than in the familiar Design-Bid-Build model. Starting with a philosophical approach to risk and reward, this paper discusses the continuum of possible risk allocation strategies. It concludes with a proposed optimum strategy in terms of the project’s overall economic efficiency, and points to the dispositive contractual provisions that serve to contour the risks.

Jan 1, 2003

By T. Feldmann, G. P. Demopoulos

The feasibility of chloride leaching processes depends on interfacing them with cost-effective HCl regeneration technologies. This paper summarizes the most important findings of research conducted in the past 3 years concerned with a novel process to regenerate high-strength HCl from concentrated CaCl2 solutions at temperatures below 100°C, via reaction of CaCl2 with H2SO4 resulting in the formation of calcium sulfate phases (gypsum, a-hemihydrate or anhydrite). From constant supersaturation semi-batch experiments in pure solution it was found that the crystal growth rate of hemihydrate, and hence the particle size, was influenced by the rate of reagent (Ca2+, SO4 2-) supply to the reactor. Additionally, growth studies of DH in presence of impurities (K+, Mg2+, Sr2+, Ba2+, Fe2+/3+, Al3+, La3+, Y3+, F- and PO4 3-) showed that specifically Sr2+ and PO4 3- are taken up during crystal growth. Furthermore, it was found that decreasing water activity (via different HCl/CaCl2 concentrations) and increasing temperature reduce the metastable life-time of DH and HH by increasing the phase transformation speed. The DH/HH transformation was identified to be dissolution-precipitation based, while HH to AH is a topochemical process. Finally, continuous experiments on bench scale are underway to confirm the feasibility of the process to obtain super-azeotropic strength HCl with up to 9 mol/L (~30wt.%) from 5 mol/L CaCl2 (~40wt.%) solution.

Jan 1, 2014

By J Loeb, D Thornton

Blast movement measurement is a key component of grade control, enabling mines to carry all of the precision involved in locating ore blocks, through a chaotic blast, to production. A monitoring system was developed about ten years ago so that mine operation personnel can measure three dimensional movement in every production blast. Research has shown that blast movement is always highly variable with a significant non-deterministic component. The consequence is that modelling will be inaccurate and therefore optimal ore recovery can only be achieved by direct measurement of blast movement.Three dimensional movement vectors are measured at discrete locations in the blast. If blast movement is only measured at one location in a blast pattern, data is severely limited and has all of the inherent inaccuracies of modelling a variable population. It is intuitive that the accuracy of defining the post-blast ore block mark-ups are proportional to the number of movement measurement locations, however increasing the number of monitoring locations causes increases to the direct operating costs of the mine.A cost-benefit analysis is used to explore the optimal number of monitoring locations. Using the method described in this paper, an automated selection of the number and location of blast movement monitors are analysed against the value of recovered ore compared to the control, for each trial.CITATION:Loeb, J and Thornton, D, 2014. A cost benefit analysis to explore the optimal number of blast movement monitoring locations, in Proceedings Ninth International Mining Geology Conference 2014 , pp 441–450 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 18, 2014

By L Nienaber

Mines, after becoming operational, often retain the same support and reinforcement designs developed in the feasibility study. These designs are conceived from limited drilling data and regional experience, thus having an empirical flavour. Empirical designs are perceived to be conservative, catering for a variety of failure mechanisms, which are not always present in mine development drives.This begs the question: If you were to invest in the necessary resources to obtain sufficient data and complete the required analyses for the different development drives in the mine, to engineer a support and reinforcement scheme with the capacity to match the demand of the rock mass, what is the difference in cost when comparing an empirical design to an engineered design?To answer this question, mine tunnels with different geometries and orientations, where detailed structural data was available, were selected for a comparative design exercise. Material cost, development cost, cycle time and professional fees for engineered and empirical designs were estimated. The outcome is summarised in the following paper that discusses the process followed and the results of the design comparison.

Mar 8, 2011

This report presents production and delivered costs for coal exports from the five major Western coal-exporting countries: Australia, Canada. Colombia, South Africa, and the United States. Cost data were compiled from visits to 43 mines by U.S. Bureau of Mines engineers between 1985 and 1990. All report costs are in January 1989 U.S. dollars per short ton. Production costs for raw coal are divided into mining and regulatory categories. Costs are broken down by type of cost, type of mine. and country. Scheduled operating and capital costs for raw coal were processed by the Bureau's MINSIM discounted cash flow program to determine total production costs calculated at 0% and 15% discounted cash flow rates of return (DCFROR). Delivered costs are for salable coal delivered to various markets. Costs are broken down by supply country, market, and type of cost. Scheduled operating and capital costs for salable coal were processed by the Bureau's MINSIM discounted cash-flow program to determine total salable coal costs at 0% DCFROR. Added to total salable coal costs were transportation and port costs to get delivered costs. Comparative overview information on the coal industries of the five study countries are appended. This appendix includes information on industry economics and exports, production and reserves, and coal industry issues.

Jan 1, 1993

By Erik Sherer

Indonesia is poised to become a major player in the Pacific Rim thermal coal markets. Although the colonial Dutch developed numerous coal mines in the late 1800's for steamship bunkers and domestic fuel, Indonesia's coal industry has only recently begun to actively participate in the growing global marketplace. This export coal is primarily the result of the commercial development of coal mines in eastern Kalimantan by foreign contractors. From virtually no coal exports in the late 1980?s, Indonesia's coal industry has increased its exports to approximately 15 million metric tons (Mmt) in 1992. In 1992, Indonesia was the world?s sixth largest exporter of steam coal, By the year 2000, Indonesia projects that it will supply approximately 25 percent of the seaborne thermal coal requirements of the Pacific Rim countries. Although limited quantities of this coal may enter the European and U.S. markets, high qualities, low production casts, and favorable transportation rates will make Indonesian coals very competitive in the rapidly growing Pacific Rim markets. This study examines the Indonesian coal mining industry and compares it to the U.S. coal mining industry. This report is the sixth in a series of coal exporting country studies requested by the House Appropriations Committee. Previous studies examined the Colombian, Canadian, Australian, South African, Polish, and Venezuelan coal industries.

Jan 1, 1994

This report on the Venezuelan coal industry is the seventh in a series of studies on coal exporting countries requested by the House Appropriations Committee, The committee asked that the basic differences in mining costs for U.S, and foreign mines be identified, especially those costs incurred in complying with health, safety, and environmental regulations.1 Basic costs in extracting raw coal are analyzed in this report for surface operations, This report also provides a limited analysis of the relative market competitiveness of selected Venezuelan and U,S. steam coal mines in three electric utility markets: New England and the east coast of Florida in the United States, and western Europe. Although some Venezuelan coal has coking characteristics, all coal-producing regions of Venezuela sell coal in steam markets.

Jan 1, 1994

By Lary L. Speakman

Typical heavy metal removal system generate a great deal of waste that must then be discharged somewhere. Using Bio-Fix Beads developed by the Bureau of Mines in combination with other waste stream minimization processes, Harrison Western Environmental Services has developed a "zero" discharge operation. Data from current on-site operations will demonstrate the effectiveness of the Harrison Western approach. For 1992 Annual TMS meeting,: "Future Trends and Innovations" Material category Key words: Residues and Effluents Technical category Key words: Extraction and Processing.

Jan 1, 1992

The need for an integrated approach to optimization of unit operations in both the pit and the mill has long been recognized, but the complexity and nature of the overall problem has up to now resisted solution. This paper reports on a modeling methodology which couples symbolic and numeric computing to unify operations in both the pit and mill. The ultimate goal of this work is to optimize all operations that are influenced by blasting. Blasting plays a key role in all facets of operations. Obviously, drilling and blasting costs are determined by blast design, but the down-stream costs that are closely related to blasting results are often treated as separate functions: loading, hauling, cleanup, and crushing and grinding are all heavily influenced. Diggablilty and bucket fill factor are a function of fragmentation, the condition of the floor and uniformity in the shape of the muck pile. Likewise, cycle times and loading delays partially determine haul cycles, while fragmentation distribution and size determines the efficiency of truck loading. Removal and breakage of oversize causes loading delays and increases cleanup costs. The influence of blasting doesn't stop at the crusher. Mill productivity, power consumption, and maintenance are a function of the feed. Even at the SAG mill a reduction of a critical particle size during blasting can increase throughput. Thus, a bottle-neck for production far removed from unit operations in the pit can be alleviated by a modification in blast design. The question is: how do we optimize blasting with respect not only to itself but to al\ related mining and milling operations? For that matter, how do we even model blasting so that we can control the results of a blast?

Jan 1, 1991