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By G. H. Sedahmed, S. A. Nosier, M. H. Abdel-Aziz, A. A. Mubarak, M. A. El-Naggar, E. G. Abdel-Aziz

The performance of a rotating fixed bed reactor in recovering copper from industrial waste solutions by cementation is studied under various conditions. The rotating fixed bed is made of stacked woven steel screens to take advantage of two features of screens: the ability to present large area per unit volume and their ability to promote high turbulence. Variables studied are initial CuSO4 concentration, bed rotation speed, mesh number of the screens and bed thickness. The presence of baffles was found to increase the rate of cementation. The data were correlated by a dimensionless mass transfer correlation suitable for the design and operation of large scale cementation reactors.

By G. H. Sedahmed, S. A. Nosier, M. H. Abdel-Aziz, A. A. Mubarak, M. A. El-Naggar, E. G. Abdel-Aziz

The performance of a rotating fixed bed reactor in recovering copper from industrial waste solutions by cementation is studied under various conditions. The rotating fixed bed is made of stacked woven steel screens to take advantage of two features of screens: the ability to present large area per unit volume and their ability to promote high turbulence. Variables studied are initial CuSO4 concentration, bed rotation speed, mesh number of the screens and bed thickness. The presence of baffles was found to increase the rate of cementation. The data were correlated by a dimensionless mass transfer correlation suitable for the design and operation of large scale cementation reactors.

By Carmel Bofinger, Maureen E. Hassall, David Cliff, Eric Stemn

Incident investigation is of utmost importance in most high-risk industries and is often used to improve organisational safety. This study was undertaken to examine the content of past incident investigation reports to determine the effectiveness of the incident investigations. The study uses a semi-quantitative method to assess the effectiveness of incident investigations in the Ghanaian mining industry by evaluating the quality of past investigation reports. The assessment tool consists of five elements with several indicators and rating scales for assessing the quality of an investigation report as a measure of the effectiveness of the investigation. The method was applied to 304 investigation reports of three Ghanaian large-scale gold mines, and the results correlated with incidence rates of the mines to determine if any relationship existed. The results showed that the mines differ significantly in the quality of their investigation reports, suggesting differences in the effectiveness of their investigations. In addition, the incidence rates of the mines negatively correlated with some elements of the assessment tool. In general, the method was found useful and revealed areas where improvement is needed.

By Carmel Bofinger, Maureen E. Hassall, David Cliff, Eric Stemn

Incident investigation is of utmost importance in most high-risk industries and is often used to improve organisational safety. This study was undertaken to examine the content of past incident investigation reports to determine the effectiveness of the incident investigations. The study uses a semi-quantitative method to assess the effectiveness of incident investigations in the Ghanaian mining industry by evaluating the quality of past investigation reports. The assessment tool consists of five elements with several indicators and rating scales for assessing the quality of an investigation report as a measure of the effectiveness of the investigation. The method was applied to 304 investigation reports of three Ghanaian large-scale gold mines, and the results correlated with incidence rates of the mines to determine if any relationship existed. The results showed that the mines differ significantly in the quality of their investigation reports, suggesting differences in the effectiveness of their investigations. In addition, the incidence rates of the mines negatively correlated with some elements of the assessment tool. In general, the method was found useful and revealed areas where improvement is needed.

Mining steeply dipping coal seams is a difficult task in the mining industry. Prior to 1996, fully mechanized longwall mining methods along the seam strike direction were tried in China and other countries. Due to its larger coal reserve in steep seams, China made more but still limited progresses on mining in such seams than the other major coal-mining countries. In the last two decades, accelerated research efforts have been made to improve the mining technology in steeply dipping coal seams. Based on these works, a dynamic model of ?R-S-F? system under asymmetrical constrains in mining steep seam is established and the theory of strata control and hazard prevention begin to be formed. The key technologies for mining steep coal seams include: global and regional strata control methods in longwall face, methods for the longwall face machines to sustain static and dynamic loads, and flexible protection technology. These theory and technologies have been successfully applied to mining of steep coal seams of varying thickness and hardness, with hard and soft roof and floor, and with high potential of spontaneous combustion in China. In the recent years, the technology has been introduced to Russia, India, Uzbekistan and other countries where steep coal seams are mined.

Jan 1, 2012

By Bhaskar B. Thapa

The proposed Caldecott fourth bore will consist of a two lane highway tunnel along California State Route 24 near the City of Oakland. The proposed design and construction sequence for the 15-m-diameter tunnel are based on the New Austrian Tunneling Method (NATM). The initial support system incorporates combinations of shotcrete, rock dowels, lattice girders, spiles, and grouted steel pipe canopies. The final lining is cast-in-place reinforced concrete. A waterproofing membrane and drainage system are placed between the initial and final linings. State Route 24 is a lifeline route, required to be open to emergency vehicles within 72 hours after a major earthquake, defined as having a return period of 1,500 years and a peak ground acceleration of 1.2 g. Although the seismic design criteria are stringent, the design of the tunnel lining system is ultimately controlled by static ground loads in the weak rock along the alignment.

Jan 1, 2008

By Sigurd L. Lamhauge, Karl Gunnar Holter, Svein E. Kristiansen

An innovative sprayable waterproofing membrane in combination with the traditional Nordic method of waterproofing with polyethylene foam sheets was used for the waterproofing of the tunnel. The sprayable membrane was integrated in the final sprayed concrete lining in a sandwich structure, hence constituting a composite water-proof lining based on sprayed concrete. The spray able membrane was applied in areas with small to moderate water ingresses, making up approximately 50% of the total area requiring waterproofing in the tunnel. State-of-the-art application technology with a computerized spraying robot was used. A consistent application of the required thickness at a high speed was thereby achieved.

Jan 1, 2007

By P. Koh

A novel approach incorporating computational fluid dynamics (CFD) and flotation modelling has been used for investigating flotation cell designs. CFD modelling has increasingly been employed to enhance understanding of the cell hydrodynamics in mineral and coal flotation. Opportunities for improving the flotation cell performance can be identify by modelling. The CFD-flotation model from CSIRO incorporates cell hydrodynamics that affect particle-bubble interactions. Information from the model includes velocities, turbulent dissipation rates, gas hold-up, particle-bubble attachment and detachment rates. The attachment and detachment rates have been found to be effective measures of cell performance for cell design.

Jan 1, 2011

M.S. Azun I have many objections to the content of the author's paper. Before discussing it, however, I would like to repeat the property of semivariogram function. Second order stationary properties of regionalized variables (ReV's) such as semivariogram function y(h) are perfectly known in geostatistics. Also, the kriging equations in the language of mathematical statistics using second order stationary properties are well understood. However, the way to use the sample (estimated) semivariogram function in any one of the kriging procedures is vague. The sample semivariogram function is given as follows: [ ] where N is the total number of samples, Xi is the sample value at the i - th location, Xi+h is the sample value at the i + h - th location, and h is the distance among the samples. An estimation variance of sample semivariogram function of first lag is smaller than that of higher order lag. The theoretical semivariogram function reaches the variance of samples asymptotically. But this is not easily observable because of the larger variation involved in the estimate of semivariogram function. In general, an estimation procedure is done for h = 0, 1, 2, up to the greatest integer less than N/2, even though sample semivariogram function can be computable through N-1. After estimating semivariogram function, the critical question of how to model sample semivariogram function arises. As seen in the above equation, sample semivariogram function is discrete and can be smoothed by the model being selected. Therefore, modeling of sample semivariogram function is the most important step in geostatistics. It not only smoothes a discrete function but also affects the results of the kriging procedure. When the only aim is to model the semivariogram function, which is the basic point of the author's paper, one can employ any fitting techniques, such as curve fitting, or any arbitrary functions, which are called submodels in the paper. The term "arbitrary function" is used rather than "submodel" because there is no basic understanding of developing them. The author suggests that the sum of those submodels can also be used for the modeling of sample semivariogram function. The combination of any arbitrary functions brings many problems instead of giving an insight of the domain structure considered. The author used two arbitrary functions and the nugget effect in response to sample semivariogram function (Fig. 10). For the same example, he stated that the parameters involved in the mixed arbitrary function model can be accepted when the discrepancy between sample semivariogram function and the model is small visually. For verifying the fitting behavior of any selected model, one should not be contented with the visual satisfactory. Some statistical measure such as goodness of fit has to be used. The author's practice is no more than an exercise in curve fitting without any fundamental understanding or conceptualization of the underlying physical mechanism. Furthermore, the selection of any model is not an easy task if the purpose is the search for the "best" response to the observed second order properties of ReV's. I suggest that the Markovian model (Azun, 1983), on the basis of a theoretical understanding of underlying mechanism, which gives more information about the occurrence of regionalized variables, is used to respond all properties of ReV's. There are a lot of problems for modeling of one-dimensional sample semivariogram function. Thus, it is not appropriate to go to higher order dimensional sample semivariogram function modeling. In the meantime, I would recommend that one can connect the values of standardized sample semivariogram function rather than simple values of semivariogram function in the two-dimensional estimation. The standardized values can be computed in dividing the semivariogram function value by the number of sample pairs involved in each lag regardless of the directions. In conclusion, geostatistics is an interdisciplinary area in mining that uses the principles of mathematical statistics. Thus, it should not violate any probabilistic and statistical rules. When Matheron was developing the theory of geostatistical study in the early years of geostatistics, many mining people had a reservation accepting the geostatistical tools. However, this does not mean that we, the geostatisticians, might try to convince those people using some "strange" tools or rules as some authors implied (Baafi and Kim, 1984). Instead, we have to develop and explain the geostatistical tools staying only in the framework of statistical concepts and properties. References Azun, M.S., 1983, "Stochastic Process Modeling of Spatially Distributed Geostatistical Data," Columbia University, Ph.D. Thesis. Baafi, E.Y., and Kim, Y.C., 1984, "Discussion - Comparison of Different Ore Reserve Estimation Methods Using Conditional Simulation," Mining Engineering, Vol. 36, No. 3, p. 280. Reply by J.M. Rendu The interactive method proposed by Rendu allows practitioners to develop semivariogram models that take into account not only the numerical information obtained by sampling, but also highly significant additional information that often cannot be quantified. The geology of the deposit - including hypotheses concerning its genesis, sampling methods, assaying methods, and mathematical methods used to calculate the semivariograms - all have an influence on the numerical results obtained and on how these results should be interpreted. If all the information concerning the spatial distribution of values in a mineral deposit was contained in the sample values, it could be argued that statistical techniques alone would produce optimum models. However, this is rarely, if ever, the case. Methods that allow the user to take into account his experience and his geologic understanding of the deposit should not be rejected for the sake of theoretical statistical purity.

Jan 11, 1985

By D. Earley

High metal prices and new world trade standards and accounting for environmental liability in financial disclosures are creating markets for metals commodities that are produced using ?green technologies?. A promising "green" gold leaching system uses a polysulfide based lixiviant which is non-toxic and non-polluting. Laboratory testing has demonstrated selective gold extraction rates comparable to those of cyanide. The polysulfide lixiviant is a dilute aqueous solution which can be inexpensively produced from readily available chemical reagents and even mining wastes. The reagent system is self-buffering and maintains the optimal chemical environment for leaching. Treatment of residual leach solutions is not necessary because the lixiviant itself is not toxic, and breaks down as the system equilibrates. Simple closed system boiling is used to recover gold from process solutions. The polysulfide lixiviant can then be readily renewed and recycled back into the system, forming a closed loop system that conserves reagents and energy which minimizes operating costs. Economic projections have shown that the system can be used profitably for standard ore types and grades.

Jan 1, 2009

By Hyung Jeek Kim, Jongmin Joo, Jonguk Kim, Jai-Woon Moon, Kyeong-Yong Lee

"Co-rich ferromanganese crusts (Fe-Mn crusts) distributed on seamounts in the western Pacific are potential economic resources for cobalt, nickel, platinum, and other rare metals in the future. Evaluation and selection of a mining site can be established based on abundance and grade of Fe-Mn crusts in the site as well as topography that should be smooth enough for mining operations. Therefore, acquisition of shipboard echo-sounding and acoustic backscatter data are prerequisite to the selection of potential mine sites in addition to visual and sampling operations. Acoustic backscatter data can be used to locate crust-covered areas on a regional scale with the understanding of acoustic properties of crust through its correlation with visual and sampling data.During an expedition that took place from January to March 2014, KIOST collected geophysical and geologic data to assess the resource potential for Fe-Mn crusts on three seamounts (guyots) in the Western Pacific. In OSM11, one of the three surveyed seamounts, three camera tows were performed to observe the distribution of Fe-Mn crusts on the summit and slopes of the seamount. Although sediments of various thicknesses generally cover most of summit region of OSM11, several regions with high backscatter signals occur on the periphery of the summit. The occurrence of Fe-Mn crusts, observed during the camera tows, on those high backscattered regions suggests that the backscatter signals of shipboard multi-beam sonar can reflect changes in the geology of the seafloor from sediment layer to Fe-Mn crust deposits. The Fe-Mn crust deposited around the summit region is worthy of notice because of its topographic characteristics, including shallow depth, flat or gentle inclined surface, and smooth relief, which are more suitable for mining operation compared to the flanks of seamount."

Sep 1, 2014

By C. Laughton

Construction of a Deep Underground Science and Engineering Laboratory(DUSEL) is proposed under the auspices of the US National Science Foundation(NSF). DUSEL will provide scientists and engineers with a research facility capable of supporting a broad spectrum of fundamental and applied research deep in the earth’s crust. Research partners are physicists, biologists and geoscientists. DUSEL research calls for the construction of a network of shafts, tunnels and caverns that will provide laboratory facilities at depths of up to approximately 2 kilometers. The Project is still in the planning stages but, the initial experimental program is taking shape and conceptual designs have already been developed at two hard rock mine sites. This paper discusses the overall program and key engineering tasks being developed to support the construction of deep, large-span caverns. These caverns will house a new generation of physics experiments. As currently scoped, the experiments call for the excavation of permanent caverns with spans of up to 60 meters, sited at depths in excess of a kilometer.

Jan 1, 2007

By C. Hosten, K. V. S. Sastry, D. J. Kawulok-Englund

Introduction Since the last decade the iron ore processing industry has undergone drastic changes from supplying screened and natural ores to manufacturing tailored concentrates and pellets. Increased need for the beneficiation of lower grade iron ore deposits and the increased demand for higher grade concentrates necessitate finer grinding of iron ores before concentration. The normal filtration stations used in the past are experiencing difficulties in dewatering the finely ground concentrates to moisture levels acceptable for balling. In addition to finer grinding, applications of complex beneficiation techniques has decreased the filterability of the concentrates and create problems in filtration of iron ore concentrates. An overview of the filtration literature indicates there are few research reports on the dewatering of iron ore concentrate slurries. There exists a need to understand the principles and mechanisms involved in the filtration of iron ore concentrate slurries with a goal of developing more efficient filtration techniques. This paper presents the results from the first phase of our research program that included the development of a reproducible benchscale filtration technique and the investigation of the filtration behavior of eight iron ore concentrates.

Jan 10, 1983

By J. M. Wempen

Booster fans, large underground fans, can increase the volumetric efficiency of ventilation systems by helping to balance the pressure and quantity distribution throughout a mine, reducing leakage and reducing the total power requirement. However, in ventilation systems that use booster fans there is a potential for system recirculation, the leakage of return air to intake air, and also for localized recirculation near the fan through the bulkhead and airlock doors. Air that is recirculated locally decreases the system efficiency because the quantity of air flow through the fan increases without increasing the airflow throughout the system. To understand the detailed flow characteristics of a ventilation system with a booster fan, two-dimensional computational fluid dynamics (CFD) models were developed using the software Ansys-FLUENT. Though two-dimensional models do not represent the full complexity of the flow dynamics, they do provide a good representation of the flow characteristics and they allow for a qualitative analysis of how the flow dynamics are affected by the system characteristics. The CFD models were used to evaluate how the number of booster fans, the booster fan placement, the location and geometry of the fan installation and the construction of the airlock system affect the flow characteristics and the localized efficiency of the ventilation system.

Feb 27, 2013

By Daniel Brutto

"Environmental considerations are a key driver within marine mining consenting processes across different national and international legislative regimes and are critical in shaping the global public perception of the industry. As a result, it is vital that mining companies seeking to operate within marine environments establish a robust understanding of the sensitivities of the seabed environments in which they are active, the impacts of their activities and the ability of the environment to recover from these impacts. The significant risks of failing to do so include an inability to either obtain or maintain operating permits. At the individual project level, the environmental effects of any given development project are typically defined within the scope of an Environmental Impact Assessment (EIA). For well-established industries operating in well-studied environments this approach typically works well. However, where emerging industries or existing industries that are operating within new environments are concerned, there may be significant knowledge gaps pertaining to our understanding of how specific anthropogenic practices or activities interact with the marine environment. These knowledge gaps can cause significant uncertainties pertaining to the likely significant effects of a project. Such uncertainties may result in barriers to industry and economic progress, increased consenting risks, increased project costs to be borne by individual project developers through the acquisition of additional environmental data during the pre-consent or post-consent project phases, project delays and/or significant increases in environmental monitoring burdens with corresponding increases in project costs."

Sep 1, 2014

By H. Ipek

Industrial grinding machines used in the mineral processing industries are mostly of the tumbling mill type. These mills exist in various types: ball, rod, pebble, autogenous, and semi-autogenous. Balls and rods are traditionally media shapes used in the tumbling mills. In resent years, as an alternative to balls, grinding charges with various shapes are being used. Cylpebs are slightly tapered cylindrical grinding charges with length equaling diameter, and all the edges being radiused. Cylpebs of equal diameter and length have 50% greater surface area and 45% greater weight than balls of the same material. In addition, they have 9% higher bulk density than steel balls, or 12% higher bulk density than cast balls. An important advantage of cylpebs over balls is that cylpebs produce narrower granulometric distribution due to their shapes. However, some discrepancies were found in the literature regarding the milling performance of cylpebs in comparison with balls (Chi, 2004). In recent studies, Chi (2004) has provided detailed information on cylpebs and has compared these to balls in relation to media mass, size distribution, surface area, and input specific energy. Ipek (2006) has investigated the effects of cylpebs and balls with equal mass and surface area on the breakage rate of quartz, using cylpebs and balls separately. Similarly, Lameck and Moys (2006) have investigated the effects of balls and worn balls on breakage rate of material using worn balls as grinding environment. However, no study has attempted to investigate the effects of grinding environment other than balls on the brekage distribution. As indicated by Prasher (1987), the breakage distribution function is independent of the following variables in ball mills: hold-up (Mika et al., 1967; Kelsall et al. 1969), mill speed and ball load (Herbst and Fuerstenau, 1972), media load and ball density (Kelsall et al., 1973), mill diameter (Malghan and Fuerstenau, 1976), and powder charge (Shoji et al. 1980). The aim of the present paper is to compare the effects of cylpebs and balls on the breakage distribution function of quartz with respect to same mass and same surface area. BACKGROUND Comminution as a rate process is called kinetic approach. Studies on the kinetic approach are reviewed by Oner (2001). Oner states that grinding kinetics are based on studies by Kolmogorov in 1941 and that Robert (1950) is the first to suggest this approach. Later, Melzak, Loeveday, and Reid have improved the grinding kinetics equation; and, Austin and Lynch have conducted two basic studies on the analytical solutions of these equations. Considering the results of studies comparing the size reduction mechanisms, it has been accepted that breakage constitutes of two operations. These two basic operations, first defined by Epstein (1948), are those of selection of material for breakage and the distribution of breakage material to particle sizes smaller than the initial size (Lynch, 1977). Epstein defined the two operations as: ? Pn(y), the probability of breakage of a particle size in the nth step of the breakage process. ? F(x,y), the cumulative distributions by weight of particles of size x<y arising from the breakage of a unit mass of a size y. Probability of breakage is called a selection or a breakage-rate function (Si). Characteristics size distribution after breakage is called a breakage distribution or appearance function (Bi,j). Due to the difficulties in representing particle size distributions mathematically and constantly, the batch equation based on particle size fraction is suggested. Thus, as is the case in breakage distribution and specific rate of breakage, the breakage parameters were defined by batch grinding experiments conducted in laboratories (Oner, 2001). When effective breakage occurs in the mill, the breakage of material with single feed size fraction usually fits first order grinding kinetics and the specific rate of breakage values can be calculated through the slope of semi-log plot. The values of the breakage distributions are deduced from the size distributions at short grinding times where there is mainly size 1 material breaking and only small amount of smaller sizes to rebreak (Austin et. al., 1984). B values can be calculated by using BII. [ ] where j is the top size of the charge, Pi(t) is the cumulative percent undersize of i th size interval at the short grinding time which gives no more than about 30% broken out of the top size interval. Cumulative primary breakage distribution, Bi,j, is also defined in an empirical form by [ ] where xi is the top size and Bi,j is the weight fraction of primary breakage products. The parameters F, ? and ß define the size distribution of the material being ground. On plotting size versus Bi,j on log scale, the slope of the lower portion of the curve gives the value of ?, the slope of the upper portion of the curve gives the value of ß, and F is the intercept as in Fig.1. [ ]

Jan 1, 2009

By Larissa Koroznikova, Steve Durkin, Bradley Drake, Michael Tuck

This paper presents the results from the investigation of the application of thermal fragmentation in Australian hard rock underground narrow-vein mining. Two geologically similar samples from an underground narrow-vein hard rock gold mine were collected to obtain a measure of the technology’s ability to recover ore by the creation of large thermal openings to assess the applicability of the thermal method. Particle size distribution showed a higher generation of fine product, − 2 mm, by thermal fragmentation compared with selective blasting by 31%. The Bond work index for thermal ore (12.62 kWh/t) is half to that of the blasted ore value (25.32 kWh/t). The average grindability obtained for the thermal ore sample was greater than the blasted sample by a factor of 2.44, a higher value indicating a decrease in the energy required to grind. The thermal fragmentation method generates product with higher dissolution of gold in cyanide, by 14% for the − 9.5 + 2 mm size fraction samples. Additionally, the thermal fragmentation results in higher production of − 9.5 + 2 mm material by 15 % compared with selective blasting.

By Larissa Koroznikova, Steve Durkin, Bradley Drake, Michael Tuck

This paper presents the results from the investigation of the application of thermal fragmentation in Australian hard rock underground narrow-vein mining. Two geologically similar samples from an underground narrow-vein hard rock gold mine were collected to obtain a measure of the technology’s ability to recover ore by the creation of large thermal openings to assess the applicability of the thermal method. Particle size distribution showed a higher generation of fine product, − 2 mm, by thermal fragmentation compared with selective blasting by 31%. The Bond work index for thermal ore (12.62 kWh/t) is half to that of the blasted ore value (25.32 kWh/t). The average grindability obtained for the thermal ore sample was greater than the blasted sample by a factor of 2.44, a higher value indicating a decrease in the energy required to grind. The thermal fragmentation method generates product with higher dissolution of gold in cyanide, by 14% for the − 9.5 + 2 mm size fraction samples. Additionally, the thermal fragmentation results in higher production of − 9.5 + 2 mm material by 15 % compared with selective blasting.

By D. Brün, T. W. Nattkemper, T. Kuhn, T. Schoening

Underwater exploration for marine resources using camera-equipped devices (OFOS, ROV, AUV) is receiving growing attention. This development is creating a continuously growing pile of digital underwater images leading to a serious bottleneck in the analysis. However, any harvesting strategy must be coupled to an efficient and effective assessment of the biodiversity in the area of interest and in nearby control areas. To integrate manual image and computational image interpretation on different levels (i.e. regarding geology and environmental sciences and taxonomy), sophisticated software support is required, which is not yet offered explicitly, neither by commercial software companies nor by academic or other publicly founded institutions. Here, we present the first version of a new digital asset management system that offers functionalities for easy data management, sharing, manual annotation and integration of computational modules for image enhancement/pre-processing and interpretation. The functionality is demonstrated with data from the CCZ provided by the BGR Hannover.

Sep 1, 2014

By Jacob Carr, Bruce Whisner, Adam Smith, Jingcheng Li

Electromagnetic-based proximity detection systems (PDSs) are utilized on mining machinery to protect workers from being pinned or struck. These systems generate magnetic fields covering the space around a machine, and a miner-wearable component (MWC) detects the field. The PDS determines the distance of miners relative to the machine based on the detected magnetic flux density in the magnetic field. This information is used to establish warning and shutdown zones around the machine. Maintaining a stable magnetic field is essential for system accuracy. However, components used to generate magnetic fields can be influenced by temperature changes. Depending on ventilation conditions and seasonal alternation, a PDS can be subject to significant temperature fluctuation. To better understand and quantify this phenomenon, researchers from the National Institute for Occupational Safety and Health (NIOSH) developed an experimental apparatus to study the influence of temperature on magnetic field generator circuits used in PDSs. Results from the study show that the electric current through a generator can be influenced by both ambient and internal temperatures, modifying the magnetic field that is produced. These findings show that temperature can significantly influence the ability of PDSs, used in underground coal mines, to accurately determine a worker’s position in relation to mining machine.