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By G S. Beros, K M. Edwards

Over the past 20 years drum scrubbers have become a widely adopted technology within iron ore beneficiation plants. Generally, the drum scrubbers in use are considered high-capacity machines capable of accepting larger-sized feed material. Together with a water addition to a desired pulp density and a mild energy input, these large rotating machines effect an attritioning action that removes water soluble clays and other deleterious materials. Within the Western Australian iron ore industry, drum scrubbers have been successfully applied to Channel Iron, Marra Mamba, Bedded and Detrital orebodies. The introduction of drum scrubbers has enabled Western Australian producers to satisfy the substantial increase in demand for iron ore from Chinese steelmakers by making the lower-grade sections of the above orebodies economic. However, despite being a relatively simple unit process, the requirements for successful design and operation of these machines are not fully understood. This paper draws on the collective experience of both authors to provide some points to consider for incorporating drum scrubbers into iron ore beneficiation plant flow sheets.

Sep 18, 2023

By M I. Pownceby, N Karimian, A Frierdich

These may be found with goethite through mechanisms including direct substitution or coprecipitation of nanocrystalline phases. Understanding P incorporation in goethite has significant implications for Australia’s iron ore industry as it lowers their commodity value. The current study tests a novel low-temperature technique to extract P impurities from synthetic goethite phases under O2-free ambient conditions by utilising Fe(II)-catalysed recrystallisation. The objective of this study was to examine the effect of the Fe(II)-catalysed recrystallisation of goethite on the geochemical behaviour (mobility and speciation) of co-associated P. To achieve this, we tracked changes in labile P (aqueous and 1M NaOH extractable) concentrations over time in goethite suspensions which were reacted with Fe(II)aq for 14 days under circumneutral pH conditions and room temperature conditions. Temporal changes in Fe mineralogy were investigated via synchrotron-based X-ray absorption spectroscopy. Iron K-edge extended X-ray absorption fine structure (EXAFS) spectroscopy confirmed goethite as the only mineral phase in P-free treatments while goethite (~86 per cent) and feroxyhyte (~14 per cent) were the main phases in 1.0 per cent P-containing treatments after a 14- day reaction with Fe(II)aq. According to our findings, the treatment of P-goethite with Fe(II) for a duration of 7–14 days, followed by a 24-hour extraction of the reacted solids using 1M NaOH, results in the removal of approximately 79.5 per cent of the initial P content. This removal encompasses both the aqueous fraction (~4.5 per cent) and the surface adsorbed fraction (~75 per cent) from the 1 per cent P-bearing mineral phase. Notably, this approach demonstrates an improvement in P extractability, with approximately a 10 per cent increase compared to the 1 per cent P-goethite sample that was not reacted with Fe(II).

Sep 18, 2023

By D Lalor, N Goodman

The increasing demand for batteries is resulting in the development of large-scale projects for the production of key battery metals such as nickel and vanadium. Several of these projects plan to extract the battery metals from the ore via chemical roasting, leaving large volumes of waste iron oxides after fuming and/or leaching of the battery metals. These iron oxide wastes can be smelted in a HIsmelt furnace using biochar as the reductant, to produce clean, green pig iron with net zero carbon emissions. This green pig iron can then be added to basic oxygen or electric arc steelmaking furnaces to produce green, net zero carbon, steel. This paper describes the flow sheets and the economics for potential projects producing green pig iron via HIsmelt using waste iron oxides from nickel and vanadium production plants.

Sep 18, 2023

By G Zhao, S Hapugoda, E R. Ramanaidou, P Hapugoda, Y Jin, G O’Brien

In 2021 the ports of Port Hedland and Dampier in the Pilbara Region of Western Australia handled 900 Mt of iron ore. This ore was produced in the Hamersley’s mines and transported by trains to the ports for subsequent export. Dust, which is generally considered to be particles less than 100 μm in diameter, is generated at all steps in the supply chain. Whilst all dust may have potential impacts on human health and mangroves and buildings a proportion of the dust is classed as respirable (PM10) dust, which consists of particles <10 μm in diameter. In 2021, in response to the community concern with iron ore dust, CSIRO commissioned an internal study to characterise and benchmark the dustiness of the different ores and to develop targeted strategies to minimise dust impacts, without affecting other iron properties, such as stickiness during transportation. A specific concern is that that the dust in the PM10 fraction may contain significant amounts of particulates, such as free silicates which may have health implications for the workers and residents. This study provided detailed mineral and chemical characterisation of the dust generated from the railed fine ore products for five generic Australian ore types: Australian Channel iron Deposit (ACID), Australian Brockman (AB), Australian Marra Mamba (AMM), Australian Pilbara (AP) and Australian magnetite (AM). The dust from these fine ore products were compared to that generated from a sample of Brazilian Hematite (BH) type ore fines. The ores were evaluated for their physical, chemical and mineralogy properties, dust generating potential and understandings of the relationship between the dustiness of iron ores and their physiochemical properties. The size distributions of the railed fine ore products were determined and a suite of analyses were conducted on subsamples of total (-106 μm) and fine (-38 μm) dust. For all the ores, the total dust fraction contains less Fe and more contaminants (SiO2 and Al2O3) than did the bulk ore. The fine dust fraction contained even less Fe and more contaminants (SiO2 and Al2O3) than the total dust fraction. This suggests that the iron ore dust contains more clay and potentially free silica than does the bulk ore. These findings were supported by optical and Scanning electron microscopy analyses of the samples. Dustiness measurements were made for each of the different ores (-106 μm) to investigate the relationship of dustiness of various iron ores with their physiochemical properties and assess their responses to dust suppression by the application of water sprays.

Sep 18, 2023

By G McCullough, J Els, J Bassan

Integrated Remote Operations Centres (IROCs) have a crucial role in optimising a mine’s carbon emissions, especially as industry faces an imperative to achieve net-zero emissions on an accelerated timeline. To meet this time pressure, operations must adopt a comprehensive approach to energy-related carbon management and history has proven that modern technologies cannot be simply bolted into existing operations. An IROC is the most dependable solution to enable a swift transition from strategy to operational tactics that support carbon optimisation. Achieving net-zero emissions requires addressing significant energy management challenges such as fleet electrification, integration of renewable energy sources and large-scale energy storage. These challenges demand a profound change in planning, managing and executing work at large operations. The key to overcoming these challenges is an integrated approach incorporating collaborative decision-making across the value chain and more sophisticated planning approaches. Additionally, closer integration with downstream processing offers opportunities for carbon optimisation across the value chain. This includes the ability to supply tailored products that meet more varied feed-requirements of customers transitioning to less carbon-intensive processes and developing collaborative decision-making across the entire steelmaking value chain (by incorporating steelmakers, transport, coal/natural-gas/hydrogen supply, energy supply and iron-ore supply). However, this requires significant improvement in collaborative maturity and integrated decision-making capability. Finally, the imperative to reduce carbon emission demands the introduction of a range of new technologies into existing operations. The new technologies will increase the operational complexity of the mines and IROCs will need to evolve capabilities to manage the increase complexity and support the effective operationalisation and integration of these new mining technologies. This paper outlines the new capabilities required and the role of IROCs in effective integration across the demand value chain. The focus is on building on the mining industries’ existing IROC experience and augmenting with processes, technologies and lessons from other industries.

Sep 18, 2023

By S J. Loach

F-Series reconciliations are formal comparisons of estimates and measurements of ore quantity and quality made at pre-determined points along the mining value chain. F1 is the ratio of ‘Depleted Grade Control Ore/Depleted Long-term Model Ore’ and validates the models upon which Resource and Reserve statements are based. F2 is the ratio of ‘Produced Tonnes and Grade/Depleted Grade Control Ore (-) Changes in Pre-Crusher Stockpiles’ and validates that the ore tonnes and grade delineated in the pit are being accurately extracted and correctly delivered to the processing plant. These factors provide important corporate assurance for a mining company by providing quantitative feedback on model-predicted tonnes and block grade estimates. Since 2009, BHPs Western Australian Iron Ore F-Series reconciliations have been calculated in a single, centralised sequel-server database. This software routinely collates data regarding mineral resource block model depletions, grade control model depletions, pre-crusher stockpile inventories and production tonnes and grade measurements and then calculates F-Series factors for both tonnes and product quality. This paper will present case studies where reconciliation factors were used to identify improvement opportunities leading to projects that improved our models and subsequent forecasts of production tonnes and quality. In addition, it will show how reconciliation factors are tools that monitor control during periods of rapid change and provide feedback on the effectiveness of improvement projects.

Sep 18, 2023

By Dongjie Zhang, Zeyu Liu, Shuxin Liu, Yang Liu

Lateral pressure provided by caving rocks plays an important role in keeping the stability of the sidewall rock mass and controlling the rock movement. Taking Xilinhot Fluorite Mine as an engineering background, we studied the control mechanism of the granular media lateral pressure on the rock movement by combining physical experiments, theoretical analysis, and field monitoring. The results indicated that with the increase of the granular media depth, the lateral pressure provided by the static granular media presented two stages of rapid growth and slow growth. The lateral pressure on the footwall was negatively correlated with the dip angle of the orebody, and the lateral pressure on the hanging wall was positively correlated with the dip angle of the orebody. Ore drawing only caused the granular media lateral pressure near the drawing point to decrease. As the granular media moved, the granular media lateral pressure outside the pressure reduction area further increased, and this part of the granular media would play a key role in limiting surface rock movement. On this basis, the improved calculation formula of GLMP was given, which could be better applied to calculate the GLMP and critical granular media column with different dip angles. The action mechanism of the GLMP in the control of the surface rock movement was clarified. The granular body in the collapse pit was mainly composed of three parts: the bottom loose granular media column, the middle compaction granular media column, and the upper critical granular media column. The critical granular media column was the most important area to control surface subsidence and rock movement. Finally, through field practice, after effective filling of the collapse pit, the surface vertical displacement of the hanging wall and footwall was decreased by 56.8% and 55.6%, respectively, and the control effect of surface rock movement was remarkable.

Sep 18, 2023

By Ewan Wingate, Ranjit Prasad, Yanjun Liu

The use of phosphorus by mankind is long established. From use in agriculture, foods, high tech electronics, and more recently in EV battery cathode production, one cannot escape its impact on today’s society. This paper will review and describe the circular journey of phosphorus through its value chain from the mining operation of phosphate ore through beneficiation into downstream chemicals production and finally into the EV battery cathode production space. This will include a review of phosphoric acid production from phosphate concentrate using wet process route and thermal route. The wet process route discussed will be via dissolution of phosphate concentrate by sulphuric acid. The thermal route will discuss thermal decomposition of phosphate concentrate using submerged arc furnace to produce yellow phosphorus followed by its combustion to produce phosphorus pentoxide and subsequent hydration to produce phosphoric acid. It will also discuss briefly other phosphate derivatives for specialty chemicals and recovery of phosphorus units from wastewater treatment plants, sewage sludge and incinerator ash. Finally, the paper will discuss the use of phosphorus in EV batteries in the form LFP cathode materials and its production. It will also briefly discuss the LFP battery recycle.

Sep 11, 2023

By CIM Environmental, Social Responsibility Society

Within the mining industry, the pathway from exploration, to planning, construction, operation and closure has become more complex over the last few decades. The current financial, environmental and social influences present the mining industry with unprecedented challenges and opportunities. In addition, international environmental and social reporting standards and codes are becoming increasingly robust. The reporting requirements provide an added impetus for issuers to effectively manage environmental and social impacts and risks. Reporting requirements also provide the opportunity to be transparent. The intended audience for these Environmental, Social and Governance (ESG) Guidelines for Mineral Resource and Mineral Reserve Estimation includes practitioners, industry participants at all levels of skill and experience, corporate management and board members, government agencies, academic institutions and interested parties. For practitioners, this document provides underlying key principles of environmental, social and governance practices. The ESG Guidelines provide guidance for those using environmental, social, governmental and governance information when preparing and implementing mineral exploration programs and contributing to the preparation of mineral resource and mineral reserve estimates for mineral properties that are either at the study stage (i.e., scoping / preliminary economic assessment, pre-feasibility, or feasibility studies) or in operation. The guidelines can also be used to help mineral resource and mining companies apply good practice to manage their environmental and social risks and opportunities. Companies can identify and retain appropriate professionals to prepare environmental and social materials to support company studies. The guidelines are also a resource for companies developing effective environmental and social management strategies at any project stage. This document is not intended to be prescriptive and is not intended to provide exhaustive guidance on what to consider in terms of environmental, social, legal and governmental modifying factors in the preparation of MRMR estimates. Rather, it is intended as general guidance to assist companies and practitioners in considering and applying these modifying factors for MRMR estimates. This document is also not intended to guide environmental and social impact assessment (ESIA); however, the measures needed to manage impacts help inform the constraints and costs for defining mineral resources and mineral reserves and inform the costs and schedules of mineral project studies. All documentation of MRMR estimates made by an issuer and intended to be, or reasonably likely to be, made available to the public in a jurisdiction of Canada must comply with the requirements of National Instrument 43-101 Standards of Disclosure for Mineral Projects (NI 43-101), as amended from time to time (Canadian Securities Administrators, 2016a and 2016b). Disclosure is not addressed in these ESG Guidelines. Determination of what to include in disclosures is defined in the applicable Securities’ legal frameworks. Appendix A presents a summary table showing the linkage of the principles and topics in these ESG Guidelines to the potential effects on project costs, schedules, government permits and approvals, social licence to operate and financing.

Sep 8, 2023

By Xianyang Qiu, Xiuzhi Shi, Chen Xie, Xiaofeng Huo, Yanhai Wang

In upwards medium-deep hole cut blasting, many confinement effects exist due to the small number of free surfaces, which is mainly provided by an empty hole. If the cut blasting effect cannot meet expectations, then subsequent blasting construction will be seriously affected, and large security risks to operators in the stope can be induced. The number of free surfaces is directly related to the layout of the cutting borehole. Therefore, it is necessary to optimize the layout of the first round of cutting boreholes. Theoretical analysis, numerical simulations, and field tests were used to study the formation process of cut blasting and optimize the layout of the first round of cutting boreholes. Based on the blasting parameters in the field, LSDYNA software was used to establish cut blasting models with four kinds of borehole layouts in the first round. The RHT constitutive model was used to simulate the rock-breaking effect. The numerical results show that the cut blasting effect is optimal when Nos. 3, 5, 7, and 9 are charge holes and Nos. 1, 2, 4, 6, and 8 are empty holes. In addition, the greater the number of empty holes, the larger the release space and the better the cut blasting effect. The uniformity of the empty hole distribution, namely, the uniformity of the release space, also affects the cut blasting effect. The field results indicate that a good cut blasting effect can be achieved by optimizing the borehole layout.

Sep 7, 2023

By W. C. Joughin

The science of soil mechanics is 100 years old, and rock mechanics is about 80 years old. While methods of analysis and design have been developed and have evolved over time, these are relatively young sciences. The rapid increases in computing power and new technologies have enabled more sophisticated modelling and monitoring. However, there are still many aspects of soil and rock mechanics that are not well understood. Geotechnical failures, which have major consequences, still occur. These consequences may include environmental damage, major production holdups and associated loss of revenue, damage to infrastructure, and loss of life. High-consequence events, which are rare, are more difficult to anticipate and to design for, because by their nature they involve extraordinary circumstances or conditions, often geological in nature. The risks are usually mitigated by conservative designs and monitoring. Detailed geotechnical investigations help us to understand the natural variability of soil and rock masses and identify unusual or unexpected conditions. Investigating and researching major geotechnical failures is essential to enable these unusual circumstances to be anticipated. In the past, severe unanticipated events may have been treated as natural events or ‘acts of God’. However, society now has much greater expectations and it is essential to have policies and procedures in place that enable appropriate management of these rare, high-consequence risks. A good example is the Global Industry Standard on Tailings Management (GISTM), which was introduced after the catastrophic dam collapse at Vale’s Corrego de Feijao mine in Brumadinho, Brazil. The address will explain the concepts of uncertainty and variability, and how they should be taken into account in geotechnical design. The challenges facing geotechnical engineers, mine owners, and managers will be discussed. referencing a number of real case studies.

Sep 6, 2023

By C. M. D. Majola, K. E. Langerman

Energy efficiency is a cost-effective way of both bolstering energy security and limiting the harmful effects of energy use on the environment. Mining is an inherently energy-intensive activity, and the 2008 revision of South Africa’s National Energy Efficiency Strategy (NEES) set a target of a 10% reduction in energy consumption by 2015 for the mining sector. In this study, we investigate the effectiveness of the NEES in improving energy efficiency in the South African coal mining sector by surveying energy intensity at a number of operations, and analysing energy efficiency trends and energy use by process and energy carrier at an underground coal mine in Mpumalanga. Most mines surveyed exhibit an increase in energy intensity over time. At the case study mine, the increase was primarily due to increased energy use in the beneficiation and discard reclaiming processes. Trends in energy consumption are a poor reflection of trends in energy intensity, as a decline in energy consumption is most easily achieved by reducing production. A more appropriate metric for energy efficiency at coal mines is energy intensity, defined as energy use per unit of saleable product, relative to a multi-year baseline. The evidence suggests that the NEES has been ineffective in promoting energy efficiency in South African coal mines. We propose that greater success could be achieved by monitoring and reporting on energy intensity at the process level, and by incentivizing energy efficiency gains.

Sep 6, 2023

By I. Ince, S. Kahraman

Preparation of suitable core specimens for physico-mechanical testing s not always possible, particularly for soft and clay-bearing rocks. Although several indirect test methods have been proposed to predict the properties of rocks, specimen preparation from soft rocks for some indirect tests is still difficult. For such cases, the needle penetration test has been developed. In this paper we present a study on the predictability of the physico-mechanical properties of pyroclastic rocks from the needle penetration index (NPI). The NPI, uniaxial compressive strength (UCS), Brazilian tensile strength (BTS), density, and porosity tests were performed in the laboratory on specimens from ten different locations in Turkey. Correlations were established between the NPI values and the physico-mechanical properties. Strong correlations were observed between NPI and both UCS and BTS. General correlations were found between NPI and both density and porosity.

Sep 6, 2023

By Brendan Demich, Brendan Macdonald, Timothy J. Orr, Jonathan K. Hrica, CASSANDRA L. HOEBBEL, Jason Navoyski, Jennica L. Bellanca

The paper describes the process of collecting detailed accounts of near-miss incidents and turning them into impactful visual stories using graphic simulation. The aim is to create high-quality training materials to reduce haul-truck-related accidents and fatalities in mining.

Sep 1, 2023

By Yongheng Jiang, Wentong Wang, Haoming Luo, Chuanju Liu, Qianjun Zhang, Sha Guo

Rock burst has always been a major problem in deep underground engineering with high stress, and rock burst strength evaluation has become an important research topic. To effectively predict the rock burst hazard in underground rock mass engineering, a cloud model (CM) rock burst intensity evaluation method based on the CRITIC method and order relation analysis method (G1) was proposed in this paper. First, a rock’s uniaxial compressive strength σc, tangential stress σθ, uniaxial tensile strength σt, ratio of uniaxial compressive strength to tensile strength σc/σt (brittleness coefficient), ratio of tangential stress to uniaxial compressive strength σθ/σc (stress coefficient), elastic deformation energy index Wet, and depth of cover H were selected as evaluation indices of rock burst intensity. Ninety-five groups of rock burst measured data at home and abroad were selected, and the objective weight and subjective weight of each index were calculated by using the CRITIC method and G1 method, respectively. The comprehensive weight was determined according to the combined weighting method of game theory, and the sensitivity of each evaluation index was analyzed. By utilizing a forward cloud generator, the membership degrees of different rock burst grades were calculated, and then the rock burst intensity grades of the samples were evaluated and compared with the evaluation results of the CRITIC-CM method and G1-CM method and the actual grades. Finally, the rock burst classification ability of the model was analyzed. To better verify the accuracy and reliability of this model, the rock burst case of the W39 line in the Chengchao Iron Mine was analyzed by using this model. The research results show that the rock burst evaluation results based on CRITIC-G1-CM are basically consistent with the actual rock burst grade, and the rock burst intensity grade evaluation model has good practicability and reliability.

Sep 1, 2023

By Amar Prakash, V. M. S. R. Murthy, Ajoy Kumar Singh, Avinash Paul, John Loui Porathur

Weak, layered, and fragile rock mass formation, if not supported properly, is subject to roof failure thereby affecting safety and productivity in underground coal mines. Though Central Mining Research Institute – Indian School of Mines Rock Mass Rating (CMRI-ISM RMR) based well-defined support design guidelines are established, still occurrence of roof failures in underground coal mines is a real matter of concern for mining engineers and researchers. Numerical modeling techniques are successfully used by several researchers by simulating rock mass condition for stability assessment of mine openings. The analysis becomes crucial in case of weak and fragile rock formation. The present research envelops the determination of 31 cases of rock load by CMRI-ISM RMR under different geo-mining conditions followed by the development of modified Rock Mass Rating (RMR), i.e., rock mass rating dynamic ( RMRdyn) by incorporating P-wave velocity as a new parameter. The rock load determined using RMRdyn and numerical models was correlated and found in close agreement. In addition, the deviation in rock load determined by all the three approaches, i.e., CMRI-ISM RMR, numerical modeling, and RMRdyn, was compared with the actual field data. The percentage deviation obtained in RMRdyn and numerical modeling is less compared to CMRI-ISM RMR.

Sep 1, 2023

By Andres Salazar, Carlos Delgado Robles, Richard K. Preece

Minera Escondida, located in the Antofagasta Region of northern Chile, is the world’s largest producer of copper as concentrate and SX-EW cathode. Projects to increase mill and flotation capacity began soon after start-up in 1990 to off-set decreasing copper grade. Subsequent projects had the objective to increase copper production through heap leach and SX-EW production and a second concentrator. The mine footprint concurrently expanded peripherally from the central high-grade enriched core of Escondida and then into the separate Escondida Norte deposit. Early in the mine life, metallurgical forecasting that was based on metallurgical composites of presumed ore types and historical plant production was adequate for operational planning, plant design, and project valuation. This approach became unreliable, however, as the increase in mine footprint was accompanied by an increased variability in key ore body characteristics such as hardness, copper-iron sulfide mineralogy, and sulfide liberation textures that were not reflected in the geological criteria used for ore type designation. The project study teams turned to small-scale physical and chemical tests to better characterize the spatial distribution of these key ore characteristics. Programs associated with capital growth projects were carried out through the mid-2000s to sample and construct a three-dimensional spatial model of hardness, copper sulfide mineralogy, and rougher flotation recovery from tests on 15-m drill core composites. Mathematical models were developed from the respective ore characteristic data to calculate throughput, flotation recovery, and concentrate copper grade. The spatial models were integrated with the concurrent mineral resource block model using standard geostatistical methods and the metallurgical process calculations were applied to the block estimates. The geometallurgical model, originally constructed on a project basis, is now managed by a dedicated team reporting to the manager of Geosciences & Resources Definition in the Escondida organization. The model has evolved with increasing complexity of the mine and processing plants and currently includes seven forecasting areas for three concentrators and four areas for two leach plants. Metallurgical forecasts of mill throughput, final flotation recovery, and concentrate copper grade still have the highest relevance to mine planning and optimization. Sample preparation, test procedures, and quality control methods are summarized for the ore characteristic tests important to these forecasts. Analytical results from recent annual sampling programs are presented for the hardness indices, rougher flotation recovery, and partial extraction copper analyses. Geostatistical analysis of the SAG mill hardness index is summarized as an example for the spatial estimation process. Mathematic models are presented for throughput (based on hardness indices), final flotation recovery (based on rougher recovery and plant calibration studies), and concentrate copper grade (based on sulfide mineralogy and empirical pyrite rejection studies).

Aug 31, 2023

By Lei Zhang, Zhibo Ma, Pingye Guo

The mechanical behavior of hard roofs often leads to significant deformation and strong mine seismicity in gob-side entry retaining (GER) of the longwall mining, affecting the mining safety and efficiency of coal mines. Field investigations indicate that the failure process of the retained entry by hard roofs can be divided into three stages. In this paper, theoretical analysis and numerical simulations are first used to evaluate the damage process of the retained entry under the hard roof. The results show that the instability of the retained entry in the conventional GER method results from the combined static-dynamic loads (in stage II and stage III) from the hard roof. Then, an innovative method, through fracturing roofs to maintain entry (FRME), based on GER with the hard roof is introduced to solve this problem. In this method, the roof of the mining area is pre-fractured, and when the coal seam is mined, the direct hard roof will collapse along the fractured surface due to its deadweight and mining pressure. The hard roof control effect on the static and dynamic loads, taking into account the innovative method, is verified with simulations and theoretical analyses. The results are compared with those of the conventional GER method. Furthermore, based on the numerical simulation study of dynamic responses, it is found that compared to the GER method, the dynamic response of the retained entry using the innovative method is more moderate and more conducive to the stability of the entry. Field application also validated the effectiveness of the innovative method to control the mechanical behavior of the “massive sudden collapse” of the hard roof.

Aug 14, 2023

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 Sunny Murmu, Gnananandh Budi

One of the most significant concerns in longwall ground control is the instability and failure mechanism of the coal wall. The current research uses FLAC3D to simulate panel 1 of the Adriyala Longwall Project, India, in order to evaluate the distribution of vertical stress and material failure mode, in and around the longwall face. Additionally, three distinct criteria are used to evaluate coal wall spalling: vertical stress distribution, maximum shear strain, and residual cohesion. A novel algorithm is also proposed to appropriately capture roof bed caving, shield installation and advancement, and coal extraction from the face. The findings of the modelling show that progressive longwall extraction creates an elliptical stress relief zone around the excavation void. During the peak stress phase, the height of the stress relief zone is greatest, whereas the width is highest during the main fall phase. As mining advances, the coal wall at the face line appears to lose its stress-bearing capability. Shear failure was the most common coal wall failure mode. Maximum spalling depth (MSD) and longwall face spalling index (LFSpI) were used to measure the extent and volume of coal wall spalling in FLAC3D. For panel 1 of the ALP mine, the MSD, and LFSpI were determined to be 3 m and 90.5 %, respectively. The mode of coal wall spalling was expected to be total or fragmented failure. The field observations and the numerical modelling findings were in good agreement. The compressive strength and deformation modulus of the immediate roof appear to have a substantial role in coal wall spalling. The results of the proposed numerical simulation exercise can help strata control engineers better detect the risks of coal wall spalling and enhance face control for safe and productive working environment at the longwall face.

Aug 8, 2023