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By Min Chen, Qinghua Liang, Weishan Yan, Yuan Feng, Shigang Wang

Various coal mine robots (CMRs) and unmanned aerial vehicles (UAVs) are implemented to explore unknown mines for improving the safety and efficiency of mining. It is challenging for CMRs and UAVs to achieve accurate positioning due to the absence of GPS, poor lighting conditions, and similar geometric features in complex mine scenes. LiDAR-based localization and mapping methods are admittedly more accurate than others, while long-time running in large-scale scenarios will also introduce non-negligible cumulative errors. This study presents a semantic-aided LiDAR simultaneous localization and mapping (SLAM) with loop closure, which leverages the uniqueness of mine intersection structure to establish stable semantic loop closure. Specifically, we propose a semantic intersection descriptor of translation and rotation invariance, which encodes 3D point clouds of the same intersection from different positions and viewpoints into a unified image. By using the semantic descriptor, we can construct a constant loop constraint when the same intersection is revisited from different directions to reduce cumulative drift. We provide experimental validation using large datasets collected in two large underground mines, namely, a simulated Edgar mine deployed in ROS Gazebo and a public underground mine dataset provided by ETH. Experimental results show that the proposed method has higher localization accuracy and outperforms the existing LiDAR-based SLAM strategies.

Aug 10, 2023

By Rahul Singh, Sunil Kumar, Erich Dohm, Maoming Fan

The rapid increase of P2O5 use for food, biofuels, and LiFePO4 batteries etc. accelerates the depletion rate of phosphate reserves. In the phosphate industry, a significant amount of ultrafine phosphate has been discarded as slime tailing due to processing difficulties. The major problems associated with ultrafine particle flotation are low probability of bubble-particle collision and adhesion, and high probability of unwanted gangue particles entrainment. This paper investigates the enhanced ultrafine phosphate particle flotation probability by Eriez’ CavTube generated fine/ ultrafine bubbles and the improved flotation selectivity by wash water etc. Ultrafine phosphates with various gangue minerals of quartz/muscovite, calcite/dolomite, and iron/ silica were studied. Microscopic observations show that the entrained ultrafine gangue minerals can be minimized by using wash water in column flotation. A three-factor threelevel central composite experimental design was conducted for ultrafine phosphate flotation. For comparison, both benchtop mechanical cell and laboratory column flotation tests were performed at their optimal respective flotation conditions. Using Eriez CavTube column flotation technology for Industries Chimiques du Senegal (ICS) ultrafine slime tailings, a concentrate grade of 36.0% P2O5, was achieved at 89.4% P2O5 recovery. Improved flotation performance was achieved using column flotation as compared to benchtop mechanical cell flotation. The benefits of Eriez’ column flotation technology realized from this study include the high P2O5 grade and recovery.

Feb 1, 2024

By Mathew Cook

Technological developments in Distributed Fiber Optic Sensing and improvements in both hardware and software have allowed fiber optic sensing systems to be deployed in a variety of applications such as pipeline leak detection, perimeter security monitoring, and power cable real time thermal rating. Recently, there has been a larger adoption of monitoring of conveyor belts in so called Conveyor Health Monitiring Systems (CHMS) within the mining and bulk material handling industries to identify idler conditions on an ongoing basis. Several attempts have been made to institute sensing capabilities into conveyors with mixed success. However, recent breakthroughs in modeling, installation methodology, and technology, as well as increased understanding of application and industry requirements, have allowed the technology to be deployed at both experimental and commercial scales. This paper summarizes the application conditions and requirements, design considerations, methodologies used, the outcomes achieved, the logistical and field considerations, and the future possibilities of the use of this technology in CHMS using Distributed Fiber Optic Sensing.

Feb 22, 2026

By David R. Morrey

During the past 50 years, significant research has been performed in the ecology and physiology of plants that colonize soils containing elevated concentrations of heavy metals. Similar work has also been performed on plants that are able to survive acidic and saline environments. Efforts have focused on the ecological analysis of plant communities that occur over a range of metalliferous mining wastes. Investigations have been performed on the mechanisms that allow selected varieties of plant species to survive in normally phytotoxic environments and on the potential applications of metal-tolerant varieties of plant species. The purpose is the remediation and reclamation of mining wastes and soils that contain unusually high concentrations of so-called heavy metals. Characteristics of some mineral wastes Metalliferous mining wastes present special environmental restoration problems because of their toxicity. Potential toxicities are mostly caused by residual metals derived from weathering of low-grade ore or the waste products of mineral processing. In cases where pyrite forms a part of the mining waste, acid generation by oxidation may exacerbate the toxicity problem by promoting heavy-metal mobilization in aqueous solution.

Jan 1, 1995

By Peter Haller

Introduction The impact of the Comprehensive Environmental Response, Compensation, and Liability Act, or Superfund, as well as the Resource Conservation and Recovery Act (RCRA) and their state counterparts underscore the intention of the nation's lawmakers to reduce the risk from hazardous substance to American society. The promises and requirements embodied in these laws, together with their prospects for liability, will continue to have a very substantial impact on decision making in the mining industry. These laws present the prospects for staggering liabilities, often of an unquantifiable nature in terms of time and amount. It is therefore necessary to keep them in clear focus. This is particularly true in light of President Reagan's signing into law the Superfund amendments on Oct. 17, 1986, and in light of the Environmental Protection Agency's (EPA) major policy pronouncement of July 3, 1986, regarding solid wastes from extraction of ores and minerals. This article examines the general trends as well as the specific provisions of these laws in an effort to assess the prospects of liability for the mining industry of releases of hazardous substances into the environment. Hazardous substances vs. hazardous wastes The distinction between the terms "hazardous substances" and "hazardous wastes" is important to appreciate for the purposes of assessing the potential for liability for a mining operation. Hazardous substance is a term that appears in and is defined in the Superfund Act. In Superfund, it is defined by reference to other substances that have been declared to be hazardous under other federal environmental statutes, such as RCRA, the Clean Air Act, and the Clean Water Act. Hazardous waste is a term that is less all-encompassing than hazardous substance, as that term is defined by RCRA. Hazardous substances do not need to be wastes to be considered hazardous for the purpose of Superfund liability. A "release" of a hazardous substance into the environment can bring about potential liability under Superfund. Many mining wastes, even though they are not considered hazardous wastes by EPA under RCRA, have been determined by that agency to be capable of bringing about liability under Superfund if they contain chemical substances, such as the heavy metals copper, lead, mercury, zinc, silver, and others. Therefore, it is not sufficient for the mining industry to be able to answer whether one has hazardous waste at a mining site. That question only goes partway in addressing the potential for liability. The next question is, do one's solid or liquid mining wastes contain hazardous substances that could bring about liability under Superfund? Superfund 1980 law: A review Some provisions of Superfund as it existed before its recent amendments must be considered. The law provides that the owners and operators of mining sites, together with those who transport hazardous substances to such sites, can be held jointly and severally liable for the cost of cleaning up the site. The concept of joint and several liability means that one party, as among many, can be held totally responsible for the costs of cleanup. This is particularly true where the harm done by many parties to the envi-

Jan 2, 1987

By Steve Meador

West Virginia's basic coal mining regulatory programs are not unique when compared to Federally approved programs implemented by other coal producing states. In fact, the language in The West Virginia Energy Act governing subsidence mirrors that written in the Federal Surface Mining Control and Reclamation Act as well as other states' statutes. Certain legal and administrative issues, how¬ever, combine to make West Virginia's regulation of surface subsidence a singular approach.

Jan 1, 1986

By Hao Zhang, Mi Zhou, Lichun Jiang, Xihong Zhang

This study investigates the roof stability of underground limestone mining in the presence of stratified joints during the excavation process. An analytical solution is derived to predict the stresses and deformation of underground tunnel structures, with the structure simplified as a double-hinge arch. The accuracy of the analytical model is validated through comparison with finite element modeling results. A parametric study is then conducted to assess the influence of different design parameters on the optimization of tunnel stability during excavation. The results indicate that the best stability of the tunnel can be achieved in engineering practices when the applied load (q) is 5 MPa and the joint inclination angle (θ) is 45°, with the roof span and thickness set at either 12 m and 8 m or 15 m and 10 m. These findings provide valuable design guidance for underground limestone mines with stratified joints.

Oct 18, 2023

By Guodong Li, Chenlin Wang, Zibiao Yu, Bo Xu

Abandoned coal mines have many underground space resources, such as roadways, shafts, and gobs. Among them, abandoned roadways are the best gas storage space for underground compressed air energy storage (CAES). However, CAES caverns have high air pressure and strict sealing requirements. Therefore, the stability and sealing of abandoned roadways under high internal pressure must be analyzed. Afterward, the suitability of abandoned roadways used for CAES caverns should be evaluated. In this study, the numerical simulation software FLAC3D was used to calculate the stress, deformation, plastic zone volume, and pore pressure of surrounding rock in an abandoned roadway under 10 MPa internal pressure. The influence of buried depth, surrounding rock grade, and in situ stress state on roadway stability and the effect of surrounding rock permeability on roadway sealing were analyzed. Results showed that the stress, displacement, and plastic zone volume of surrounding rock were affected by high internal pressure when the buried depth was less than 300 m, but high internal pressure had little effect on them when the buried depth was more than 300 m. The suitable range of buried depth was more than 300 m. The optimal choice of surrounding rock grade was I and II, followed by grades III, IV, and V. The optimal choice of in situ stress state was σH > σh > σv, followed by σH > σv > σh and σv > σH > σh. The sensitivity of the stability evaluation parameters was ranked in descending order as follows: buried depth, surrounding rock grade, and in situ stress state. When the surrounding rock permeability was less than 1 × 10− 14m2, the 24-h air leakage rate of the roadway was less than 1%. The suitable range of surrounding rock permeability was less than 1 × 10− 14m2.

May 23, 2023

By Rong Lu, Hao Wu, Bing Dai, Guoyan Zhao, Li Cheng, Weizhang Liang

Affected by the disturbance of blasting activities, deformation instability and rock dynamic disasters are prone to occur in deep hard rock roadways. Thus, it is particularly necessary to understand the failure behavior of rocks and roadways under dynamic loads. In this study, a series of impact loading tests were carried out on sandstone samples with and without a circular cavity by a modified split Hopkinson pressure bar (SHPB) test system. The mechanical properties and energy evolution of the samples were systematically investigated, and the effect of cavity size was analyzed. The results showed that the presence of the cavity in the samples weakens the dynamic compressive strength by more than 10%, and the peak strain and brittleness are also reduced to varying degrees. Under dynamic loading, spalling cracks occur first on the roof and floor of the cavity, and then different numbers of shear cracks are formed on the sample diagonals. The eventual shear failure mode is the result of the connection of the shear cracks and the cavity. As the cavity radius increases, the dissipated energy density and fractal dimension both grow accordingly, leading to smaller and smaller rock fragments. The dynamic failure behavior of the circular cavity can be well explained based on the dynamic stress distribution law. Overall, this study can provide a reference for the study of the mechanism of rock burst in deep roadways.

Feb 18, 2021

Let’s start off with your assessment of the mining industry. Today, the status of the mining industry is stronger than it has been over the previous few years. While mining continues to be a major part of the world’s economic foundation, the industry is gaining strength due to rebounding metals and minerals prices. And now, with these rising prices and the changes the industry instituted during the years when mining-related commodities were selling at low prices, our stronger, more productive and internationally competitive industry should flourish. Mining remains an essential business and the industry is far ahead of the game when it comes to the trend of globalization as a key to sustained growth. Also, the industry continues to realize increased productivity through technological innovations. And an increasing number of countries are moving towards capitalism, which opens doors for exploration and mining within their borders. After looking at all of these factors, I believe that the mining industry will only continue to gain momentum in the future.

Jan 1, 2004

By T. V. Johnson

The microstructural relationships in dolomitic fluxed taconite pellets were studied. The influence of basicity (in the range 0.75 to 2.1) and firing temperature (to 1340°C) on the grain structure, macrostructure, and mineralogical phase relationships are described. Extensive slag bonding of hematite grains begins at temperatures between 1220 and 1230°C, and results in fundamental changes in grain structure. Successive temperature increases result in little change in grain structure until 1340°C, when extensive coalescence of the hematite grains begins.' Increasing flux additions have little effect on grain structure but greatly influence pore character. The compressive strength decreases with increasing flux addition, increases with increasing firing temperature, and is related to the macrostructure of the pellet. The compositions of the slag phases are represented on the CaO-Fe2O3-SiO2 phase diagram, and the compositional path of slag development is described.

Jan 1, 1980

By S. Bargigli, S. Ulgiati, M. Raugei, F. Cherubini

Metallic magnesium is mostly used in lightweight alloys in order to decrease fuel consumption in automotive applications. Several different production processes are currently used worldwide, and the magnesium production scenario is changing rapidly, with Chinese production increasingly dominating the world market. For the purpose of this paper, a novel approach to Life Cycle Assessment was applied, in which Material Flow Accounting and energy-based methods (Embodied Energy, Exergy and Emergy Analyses) are integrated and complemented, with a detailed description of the environmental hazards associated with emissions from all the different processes.

Jan 1, 2005

By S. Potgieter-Vermaak, T. T. Chiweshe, W. Purcell

Complete isolation of chromium (III) from the reference material (SARM 131), Upper Group 2 (UG2) chromite ore, and Merensky Reef mineral ore was achieved using ammonium phosphate salt as flux. Optimum pH (3.2–3.8) conditions and sample to flux ratios (1:25) were some of the factors that were critical for the complete isolation of chromium. Increasing the sample to flux ratio (1:50 excess) however resulted in the conversion of all the elements in the melt into a green solution (pH, 5.8–6.7). A different chromium compound was subsequently isolated from the green solution by allowing this solution to stand in an open vessel in a cupboard for a month during which time the pH decreased to pH 3.5–4.2. Quantitative analyses of chromium from the isolated precipitates of SARM 131, UG2 chromite ore, and Merensky Reef mineral ore indicated chromium contents of 41.87, 60.41, and 23.93% respectively which were very close to the chromium content in the original samples. Analysis of the chromium precipitates using IR indicated the presence of phosphates (1100–1200 cm−1 ) while SEM-EDX analysis showed the presence of microscopic crystalline particles with Cr, P, and O as the major elements. Further characterization of the chromium precipitates using XRD and Raman successfully identified the product as chromium (III) metaphosphate C-type (Cr(PO3)3, JCPDS no. 01-077-0672), in the isolated chromium precipitates.

By D. M. Jepsen

One of the first things we tell a potential new client is that they have only one chance to make a first impression with an Aboriginal community; all future communications and engagement will be predicated on that first impression. The key components of this most critical meeting are not your power point, your maps, or your draft plan for development ? they are instead a genuine, evident and clear demonstration of a sincere desire to develop a positive relationship that is based upon respect, and consideration and understanding of local communities and their interests, needs and desires. Relationship building is the foundation of proactive and positive consultation and accommodation with Aboriginal communities and the tone is set with the first meeting. C3 has refused more clients than we have accepted due most often to the fact that relationships between the company and the Aboriginal community have already devolved into a tense and toxic scenario. Land access and tenure certainty for exploration and mine development is critical to the foundation of a healthy, sustainable and environmentally and economically sound mineral exploration and mining sector. Without certainty confidence to invest in mineral exploration will be severely eroded. We all understand that substantive investments in exploration are required to increase the possibility of discovering, defining and developing new mines. The development of positive relationships based on a shared commitment of understanding, mutual respect and trust by Aboriginal Peoples and the mineral sector can provide the required business certainty and deliver social and economic benefits for local Aboriginal communities.

Jan 1, 2012

By Graham Davis

The future of the world's minerals industries is often painted as bleak. Peter Drucker has repeatedly proposed that the demand for minerals has become "uncoupled" from world economic growth.' This implies that, while mineral demand was in the past linked to the growing demand for and consumption of goods and services, further world development will not require substantial mineral inputs. Lester Thurow noted that for these reasons the US minerals industry is diminishing in scale and economic importance.2 There is some documented evidence of such uncoupling, and the demand for minerals may indeed diminish in the future. But such announcements are, to this point, no more than speculation. For instance, is it not just as likely that renewed environmental concerns will cause increased demand for the relatively innocuous environmental properties of metals, replacing plastics? And even if the prophesied demand decreases do occur, a sufficient fall in metal prices due to technological advances could increase the quantity of minerals demanded above current levels, in spite of leftward shifting demand curves. Thus, worldwide mineral production activity may increase or decrease in the future and no one can say whether more or fewer of the earth's citizens will become involved in the extraction and processing of minerals.

Jan 1, 1994

By Xiaobo Zhang, Panshi Xie, Xiaobo Wu, Ding Lang, Jiandong Yu, Yongping Wu, Kun Feng

In a fully mechanized top coal caving mining process, the mechanical properties of the top coal deteriorate constantly, and the stability of the support is determined by the boundary position of the top coal entering the limit equilibrium state. Top coal flaking occurs more easily along the advancing direction owing to an increase in the distance of the boundary from the wall. Moreover, the strength of the coal seam is an important factor that determines the boundary position. The equation of the top coal limit equilibrium zone boundary, used in fully mechanized top coal caving mining, was determined based on the limit equilibrium theory, continuum damage mechanics, and the Hoek–Brown rock empirical strength criterion. Using the RFPA3D and UDEC numerical analysis methods, the effect of top coal strength on the mechanical behavior during the mining process was determined; and the space–time relationship between the top coal deformation failure, damage evolution, and boundary of the limit equilibrium zone was established. The results revealed that when the coal mass entered the limit equilibrium zone, accelerated crack development, accelerated damage, and axial unloading occurred. Moreover, an increase in the coal seam strength caused the boundary of the top coal limit equilibrium zone to be closer to the wall. By comparing the numerical results with the theoretical results, the overall trend was found to be consistent, allowing the verification of the rationality and reliability of the determination equation of the boundary position of the limit equilibrium zone.

Sep 21, 2021

By Kanhaiya Mishra, Phanil. K. Mandal, S. K. Behera, P. S. Paul, Prashant Singh, C. N. Ghosh

The techno-economic and social benefits of cemented paste backfill (CPB) resulted in its wide acceptance by the mining industry. The Ordinary Portland Cement (OPC) remains the key binder but to diminish its economical constraints, suitability of alternate binders has been examined worldwide. The present study aimed to investigate the effect of partial replacement of OPC with fly ash on the CPB’s strength and to determine the most optimal mix to achieve the required strength (1 MPa at 28 days of curing) at the most cost-effective way using the Bayesian network (BN). The CPB mixes were prepared at 72 wt.% solid concentration with mill tailings (87–91%), OPC (6–13%), and fly ash (0–4%), and instantly after mixing, fresh (slump, bleeding, density) CPB properties were measured. The strength was tested at 7, 14, 28, and 56 days of curing and initially analysed through traditional model. The traditional models follow the aleatory principle and are considered not appropriate for geotechnical engineering. Hence, the BN model was developed and tested. The reliability of two classifiers in learning model structure was compared which gives Naïve Bayes as the highest reliable tool. The CPB’s strength is most sensitive to the OPC content. The most consistent mix(s) is mill tailings: 87–88%, OPC: 9–11%, fly ash: 1–4%. Adding fly ash at 89–91wt% mill tailings possesses high failure probability of the CPB. The collinearity test indicates that the fines percentage and chemical composition of CPB’s ingredients are highly correlated with its slump, bleeding, and strength development.

Jul 14, 2022

By E. J. Haas, K. A. Rost

"This study sought to identify changes in continuous mining machine (CMM) operators’ risk perception and risk behaviors as a result of adding a proximity detection system (PDS) into their environment. To accomplish this research task, 9 CMM operators from 5 locations were interviewed. Interviews were thematically analyzed for constructs including patterns in risk perception and behavior before and after PDS integration and the process of adapting to the PDS. Operators discussed standing in the red zone less than they did before using the PDS; however, they also discussed other risky decisions they made while learning how to operate their CMM with the PDS technology such as “cheating” the technology and working faster to meet production goals. The process of relearning job tasks with technology and unintended behaviors as a result of that relearning process need to be taken into account when introducing new technology into the mine environment. The study results show an in-depth view of mine workers’ perspectives and how their job tasks and environment could be or are affected when learning how to use new technology that are relevant to companies and mine operators when introducing new technology into the mine environment. INTRODUCTION Established “red zones” can help prevent striking and pinning incidents by providing guidance to continuous mining machine (CMM) operators about where they should stand and not stand while operating a CMM. Although red zones influence operator placement positions, these guidelines are not foolproof safety mechanisms. Depending on the job task and circumstances of the mine environment, a CMM operator may unintentionally or intentionally stand in a red zone. For example, CMM operators may work in close proximity to their CMM for better visual attention cues and the ability to work at a higher rate of production [1-3]. To further enhance protection and prevent collisions between vehicles and mine workers, a proximity detection system (PDS) was developed for the industry. The PDS determines an individual’s position relative to a specific piece of machinery, issues visual and/or audible warnings to the mine worker to change positions, and, if necessary, disables machine motion [4]. The introduction of new technology within other sectors has been identified as a factor that influences work decisions. Specifically, previous research demonstrates that when technology debuts there can be an initial intrinsic risk perceived among users about how the technology will interact with their current environment and behaviors; however, these ambiguities, including the possible risks and benefits, are seldom studied [5]. Some research suggests that the constant presence of technology can disrupt situation awareness and decision-making capabilities by increasing worker responsibilities and worker cognitive demands [6-8]. Further, if workers’ perceived risks both with and without technology are misjudged, unsafe decisions that result in human error and injury may be more likely [9-11]. Although these statements are provided within a broad contextual framework, they support the need to study how technology is perceived among end users in their own environment. Because research about technological impact on worker behaviors has suggested both positive and negative consequences of technology, this issue is worth addressing in the mining industry. Specifically, research has not determined whether CMM operators view their placement choices in the red zone as safe or risky and what effect PDS technology has, if any, on risk perception and subsequent risk behavior."

Jan 1, 2015

By Jacob L. Brinkman, Catherine E. Johnson

Unmanned aerial vehicles (UAVs) are being explored by researchers to measure concentrations of gas emissions in situations where such measurements are otherwise extremely difficult to obtain, such as NO and NO2 (NOx) emissions from surface mine blasting. Recently, countries have imposed or are planning to impose surface blasting gas pollution regulations, which creates a need for an improved understanding of UAV-based gas measuring systems. The experiments detailed in this paper were performed to determine if airflow generated by the rotors, also known as downwash, unnaturally alters concentration measurements. Downwash turbulence could create locations of varying pressure, which could affect concentration. A UAV fitted with gas sensors was attached to a stand in a controlled environment containing a mixture of NOx. The gas sensor measuring points were placed at various distances on and from the UAV body to evaluate downwash effects on gas concentration. Results show that the presence of downwash turbulence causes no statistically significant changes to concentration measurements at any distance or direction from the UAV. Based on these results, it is possible to use a UAV-mounted gas monitor to measure concentrations without concern for downwash interference, provided the UAV and measuring point are entirely contained within the gas cloud.

May 20, 2021

By John Reilly

Traditional methods of project procurement of have remained virtually unchanged in the U.S. infrastructure construction industry for more than 50 years. The traditional method, Design-Bid-Build (DBB), uses a two-step process that separates planning and design from construction. Design is generally done by the public agency and their consultants and the subsequent construction contract is procured from the private sector, almost always by a “low-bid” approach. This method has worked well for many projects, delivering quality work for the lowest bid price. This is particularly true for those projects where the work, and the public agency’s management procedures, are well understood by the contracting community and there is relatively low uncertainty in the work or conditions, particularly geotechnical conditions for underground construction. However, concerns exist with the DBB process. It is time consuming because all planning and design work must be completed prior to beginning any construction work and it is of concern for complex or large projects, plus those with significant risk, where the separation of design and construction, in conjunction with pressures resulting from the low-bid environment, often result in substantial cost and schedule increases. Frequently, these increases occur in a non-productive, inefficient, adversarial work environment leading to claims, disputes and costly litigation (Quick 2002).

Jan 1, 2007