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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

The criteria used to design, operate and control flotation columns are significantly different from those used for conventional flotation machines. Therefore, a computer-aided design (CAD) package for column flotation has been developed. The simulator has been set up using guidelines developed at Virginia Tech and information published in literature during the past few years. The simulator is useful for determining the proper design and appropriate operating conditions for a column cell to fit a specific set of conditions. In addition, the simulator can be used for training in column operation and for trouble-shooting operational problems. Simulation results have been found to be in good agreement with experimental data obtained using laboratory columns.

Jan 1, 1990

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. J. Bise, 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.

Feb 24, 1997

By F. S. A. de Frey

The main users of computerised financial evaluation tools in the mining industry are the mining investment analyst, the mine manager together with his financial manager and the mining student (undergruadate and post-graduate). The mining investment analyst's needs mainly centre around the-micro and macro aspects affecting the mining industry in general. The mine manager needs a tool to assist him with the planning, reporting and controlling of production, costs, efficiency, productivity and cashflow. For the mining student studying Financial Evaluation, the main need is for a computer program which will assist him in learning the basics of the subject. This paper concentrates on the needs and objectives of the course Financial Mine Evaluation, the approach to which is presented. Emphasis is placed on the practical computing sessions and the role of the FCS-EPS package as a training tool.

Jan 1, 1987

A computerised cataloguing system for geological specimens is described. The catalogue is designed for use with a compactus-type storage system. The information stored in the catalogue for each specimen includes the type of specimen, locality information in terms of standard ~ap sheets and descriptive location, geological age, stratIgraphy, and specimen descriptions. The catalogue can be interrogated at any level of detail on the basis of any combination of these specimen parameters.Other information stored for each specimen 'is the compactus address, collection date, reference information and the type of analyses performed on that specimen:Any mterrogatlon produces a listing of those specimens which satisfy the search criteria.

Jan 1, 1974

By Bruce C. Trent

In order to effectively model subsidence caused by underground openings, a two-dimensional computer code has been developed which couples near- and far-field response. The near-field is simulated by a discrete element block code and a finite difference code represents the continuum region in the far-field. The explicit equations allow rapid and inexpensive solutions to geometries which may lead to subsidence. Two sample problems are presented which illustrate the important features of the code.

Jan 1, 1979

By J. E. Lawver, B. J. Clingan, R. E. Snow

Response surface methodology is a well-known and powerful technique for determining optimum conditions in flotation systems. One disadvantage is the onerous task of the numerical calculations and curve plotting. This paper describes a system in which the investigator simply selects the range of several flotation variables after which the design of the experiment, data analysis, generation of response surface equations, and response surface plots are automatically carried out using a digital computer and a computer-driven curve plotter. Several typical response surfaces of important variables in phosphate flotation are presented as examples.

Jan 1, 1980

By James E. Lawver

Response surface methodology is a well-known and powerful technique for determining optimum conditions in flotation systems. One disadvantage is the onerous task of the numerical calculations and curve platting. This paper describes a system in which the investigator simply selects the range of several flotation variables after which the design of the experiment, data analysis, generation of response surface equations, and response surface plats are automatically carried out using a digital computer and a computer-driven curve plotter. Several typical response surfaces of important variables in phosphate flotation are presented as examples. An overview of the flow charting of the system is provided in the addendum.

Jan 1, 1978

By M. A. Anderson

After mope than fifty years Of Continuous operation, the Nevada Mines Division found itself faced with declining ore headings and metallurgical efficiencies, and rising operating costs. Although intensive process improvement programs had been initiated at various times in its history, insufficient return on investment served to defeat plans for any major changes in circuitry. The advent of practical large-volume flotation machinery, along with the success of long-range exploration drilling programs, complimented the results of an intensive program of research and development. The result of laboratory testing, pilot plant testing, and full scale plant tests was the proven indication of metallurgical improvement given increased flotation residence time and the effect of mechanical agitation in flotation.

Jan 1, 1975

By M. H. Solomon

After the global financial crisis of 2008, African mining is entering anew phase of development. The rapid withdrawal of emerging market funding from the critical exploration and development industries provided a hiatus in funding, a gap which was quickly filled by Chinese and other Asian investors. While the continent is still economically dependent on its extractive industries, the prevalence of Dutch Disease has undermined Africa?s ability to benefit fully from its mining, oil, and gas industries. While the extractive industries are closely related to many of the more fragile and failed states in Africa, it is equally true that the strongest states in Africa have mining-based economies. This paper explores the possible linkages between mining, strong and weak political economies, and poverty in Africa. It draws the conclusion that neither Dutch Disease nor Resource Course is a given in resource-endowed countries, and that it can be avoided if the mining economies in these countries are actively integrated into their respective broader economies and used to foster economic diversification. The author asserts that given the capacity constraints of many African governments, it is contingent on mining companies to become integrally involved in catalysing diversification around their infrastructure and supply chains.

Jan 1, 2011

By Mike Dry, Mani Manimaran, Mykolas Gladkovas, Mariam Melashvili, Chris Fleming

Development of a new hydrometallurgical flowsheet requires quantitative description and optimisation of all chemical processes in each step in the process, as well as mass and energy balances across a fully integrated circuit incorporating all the unit operations. This paper covers steps leading to early modelling of a gold processing plant based on a bromine/bromide lixiviant. Research conducted at SGS Lakefield in collaboration with Albemarle provided the data that were used in the development of this model. A previous investigation in this series described the leaching behaviour of various mineral types in Stabilized Bromine reagent. This paper is concerned with the gold recovery operations associated with a conceptual bromine leaching process. The recovery of gold by different types of resin and activated carbon was studied, along with various methods of stripping the gold from the extractant. The circuit is closed by electrolysing the spent leach liquor to oxidize some of the contained bromide back to bromine that would allow recycling the regenerated leach solution back to the leach step in the process.

Jan 1, 2015

By D. J. Donaldson

The PAL process for recovering nickel from laterite ore requires large volumes of thick abrasive slurry to be raised lo high temperature (245°C+) and pressure (40 atm.+). Flow diagrams of the process typically result in facilities that have serious operating and reliability problems. Most of the problems can be attributed to using multiple pump stations to raise the slurry to autoclave pressure, large amounts of flash and live injection steam to heat the slurry to autoclave temperature and several steps of flash cooling to lower the temperature and pressure of the abrasive autoclave slurry down to atmospheric conditions. It is proposed that operating and reliability problems of PAL facilities can be mitigated by using Tube-in-tube heat exchangers and "float type" positive displacement pumps. The subject paper describes an innovative application of such equipment in the facility design of the PAL process. Keywords: Nickel, Laterite, PAL, Heating, Slurry

Jan 1, 2004

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 M. Fafard, D. Picard, J. -F. Bilodeau, G. Soucy

To simulate adequately the behaviour of a Hall-Heroult electrolysis cell, a finite element model must take into account the properties of each material. However, it has some lacking knowledge on the mechanical behaviour of materials, like the long-term visco-elastic (creep/relaxation) behaviour of cathode. A three-dimensional model is then proposed in this paper and will be ready to be implemented in the finite element code FESh++. The model was developed using the three-dimensional model based on thermodynamic of irreversible processes where the choice of the internal variables is based on a phenomenological approach. All parameters of the model are represented by constant constitutive tensors and the temperature and chemical dependencies are taking into account through scalar functions multiplying the constant constitutive tensor. The goal of the first part of this project was to determine the parameters of the threedimensional visco-elastic model at the reference state (virgin material at ambient temperature) of three different cathode materials. This paper presents the theoretical model and the results of creep tests at ambient temperature for the semi-graphitic carbon cathode.

Jan 1, 2006

By P. J. Bhonde, R. D. Angal, R. H. Tupkary

Manganese imparts numerous beneficial mechanical properties. Hence it finds extensive application in iron, steel and non-ferrous sector. Prevalently, it is incorporated in the form of master alloys i.e. 'ferromanganese'. In India, ferromanganese is mainly the inexpensive and paramount source of availability of manganese. Various conventional and non-conventional techniques of ferromanganese production have been adopted in past and present. However, these techniques have demerits viz. high refractory, energy consumption, losses of valuables in slag and fumes. Also geographical co-ordinates of the plant restricted the manufacturer to prefer an appropriate process. Accordingly, the industrially implemented methods had reliance on availability of infrastructure, energy, mineral resources, grade of raw material, outlay of labor, environmental compatibility of technique etc. In view of the liberalized economy and the gap scenario in the supply and demand of ferromanganese, the authors felt it indispensable to explicitly bridge up this vacuum by initially designing a simple energy conserving, eco-friendly, low capital investment technique for decarburization of ferromanganese. Measurement of the data involved studying the impact of rate governing parameters on the process kinetics. This laboratory scale investigation is expected to escalate the Mn/C quotient of high carbon ferromanganese. Key Words: ferromanganese, carbon, carbide, decarburization, rate, kinetic

Jan 1, 2007

To separate complex mineral mixtures according to their dielectric properties. Approach Develop a laboratory-scale continuous dielectric separator to separate mineral mixtures by exploiting their difference in dielectric properties. How it Works Dielectric separation is de-fined as the separation of particles based on their dielectric properties. The uniqueness of the Bureau's continuous separator, called the ?Rotating Drum Dielectric Separator,? is that it contains a high-voltage electrode con-figuration. The drum electrode consists of a series of coaxial parallel wires mounted on the outside surface of an Insulated cylinder. The screen electrode Is a wire mesh, quarter cylinder positioned outside and coaxially with the drum electrode. The drum electrode is placed in a liquid of dielectric constant K with the liquid level just above the drum's axis. The screen electrode is completely Immersed

Jan 1, 1981

By Paul Clark

Generation - Profile l 9,726 megawatts (MW) of capacity l 46,877 gigawatt hours (GWh) produced at an average plant availability of 88.4% l 47 facilities in four geographies: Canada; the U.S.; Mexico; and Australia l Fuel mix of coal (62%), gas (26%), hydro and renewables (12%) l 23.2 million tonnes of coal mined l 47.0 million gigajoules (GJ) of gas consumed

May 1, 2004