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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 the Global Positioning System (GPS), poor lighting conditions, and similar geometric features in complex mine scenes. LiDAR-based localization and mapping methods are more accurate than others, while long-time running in large-scale scenarios will introduce nonnegligible cumulative errors. This study presents a semantic-aided Li- DAR 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 data sets collected in two large underground mines, namely, a simulated Edgar mine deployed in ROS Gazebo and a public underground mine data set provided by ETH. Experimental results show that the proposed method has higher localization accuracy and outperforms the existing LiDAR-based SLAM strategies.

Feb 1, 2024

By D. Brunner

System simulation is an increasingly popular technique for analyzing and improving existing as well as newly designed underground mining operations. An engineering firm that specializes in simulation helped a major metals producer build a long-range planning model of an existing underground mine. Subsequently the team adapted this model to assess technology alternatives in the design of a new mine. The two models differ in the level of detail used for modeling the development process. This paper discusses the differences in approach between the models along with the experiences gained and challenges faced during the construction and use of the models.

Jan 1, 1999

By Helmut Goehring

Surface mining has been used primarily where deposits of minerals were exposed or close to the surface. Surface mining can, therefore, be considered the oldest branch of mining. As the most accessible deposits became uneconomical because of the lack of suitable high capacity conveying systems, deep mining took its place. Only in the twentieth century was this trend reversed as high capacity production and conveying systems were developed. This rapid development was triggered by the steadily increasing demand for raw materials and fossil fuels, as well as by the ever increasing ratio between overburden and deposits.

Jan 1, 1982

By F. A. Renninger

The mineral aggregate industry is the world's largest mining and processing endeavor, yet it is graced with little of the romance or public awareness that accompanies mention of gold, silver, iron, copper, uranium, or aluminum mining efforts. Much of this reaction is undoubtedly due to the fact that the uses to which crushed stone and sand and gravel are normally put are not fully recognized or appreciated by the general public. Few individuals ever have occasion to purchase mineral aggregates for anything other than use for decorative shrubbery beds or walkways. They may, however, buy ready-mix concrete for a new patio, bituminous concrete for a new driveway, concrete blocks, or other building materials for a new room and never realize that the primary ingredients of their purchases are either direct or indirect products of the mineral aggregate industry. The average person driving past an operating crushed stone quarry or an active sand and gravel pit rarely realizes the economic impact the industry, represented by that operation, exercises on the general economy. He is not aware, nor does he really care, that elements of the modern comfortable environment to which he has grown accustomed rely to a great extent on the products of the crushed stone and sand and gravel industries Iron and steel, glass, cement, agriculture, and highway and building construction are but a few of the major industries to whom the products of the mineral aggregate industry are basic. Without these industries or without the stone, sand, and gravel basic to them, most of the major elements of our modern day civilization would be non-existent.

Jan 1, 1968

By J. Zhai, Z. Yin

"The electrokinetic and flotation behaviors of ilmenite using lead ions as the activator and sodium oleate as the collector were studied. The results of microflotation show that the flotability of ilmenite can be improved by lead ions obviously. The isoelectric point of ilmenite increases from 5.32 to 7.7 after the addition of lead ions because of the adsorption of Pb2+ and Pb(OH)+. The results of zeta potential measurements and the collector adsorption density calculation show that the adsorption of sodium oleate on the ilmenite surface via chemisorptions in addition to electrostatic interactions. Besides, the adsorption density calculation results show that as the addition of lead ions as the activator, the adsorption amounts of collector are greater than those without activation which is in aggrement with the flotation behaviors. INTRODUCTION Ilmenite, as an oxide mineral of formula FeTiO3, is usually used as the main resource of the extraction of titanium (Bulatovic and Wyslouzil, 1999). There are many researches showing that the conventional methods, such as gravity separation, magnetic separation and flotation, do not work efficiently as expected (Mehdilo et al., 2015; Zhu et al., 2011). Nowadays, to produce ilmenite concentration feasibly and efficiently, these separation methods above are combined for a reason that the raw ilmenite ores are characteristic of poor, fine and complicated. Moreover, surface modification, such as surface dissolution method, microwave irradiation and oxidation roasting, is applied to improve the flotability of ilmenite currently (Welham and Llewellyn, 1998; Zhang and Ostrovski, 2002). Generally, fatty acid salts are used as the collector for the flotation of oxide minerals and sodium oleate is usually used as the collector for the flotation of imenite ores (Fuerstenau and Pradip, 2005). The mechanism, such as individual ion electrostatic adsorption, chemical adsorption, ion–molecule dimeric complex adsorption, and the coadsorption of ion and molecule, have not been discussed systematically using sodium oleate as the collector in the flotation of ilmenite (Somasundaran, 1983). Under the activation circumstance using the lead ion as the activator and sodium oleate as the collector, the interaction mechanism seems to be still unclear. In the present study, the interaction mechanism between ilmenite and sodium oleate using lead ion as the activator are studied by microflotation, zeta potential measurements and adsorption density calculation. EXPERIMENTAL Materials and reagents Pure ilmenite minerals were obtained from Panzhihua, Sichuan province, China. The minerals were ground in a porcelain mill with an agate ball. Following that, the prosucts were sieved, and the samples of -0.074+0.038 mm size fraction were used for the microflotation experiments. The results of XRF show that the content of titanium element is 30.58%, showing that the purity of ilmenite is above 90%. On the basis of the results of XRF, it is determined that the purity of ilmenite is very high and meets the needs of microflotation"

Jan 1, 2017

By D. K. Sengupta

Increased recycling of waste paper has been emphasized in recent years in both the USA and Canada for environmental and economic reasons. Removal of ink particles from the waste paper pulp is therefore necessary. One of the most promising methods for ink removal is froth flotation. Our study investigated the feasibility of a simplified flotation scheme which showed that about 90-92% ink removal can be achieved while 95-97% ink removal is achievable if a hydrophobic polymer is used ahead of flotation. The clean paper pulp recovery was over 90%. The effects of pulping pH, flotation pH, and concentrations of flotation and polymeric reagents are discussed in the paper.

Jan 1, 1993

By A. M. Marabini, G. Belardi, V. Alesse, M. Acosta

Sotiel mine is situated in the Iberian Pyrite Belt in southern Spain, some 40 km north of the port of Huelva. Although mining operations at the site date back to Roman times, the present mine came into production in 1983 and 5.6 million tonnes of ore had been extracted by 1993. The orebody is volcano-sedimentary and consists of fine grained copper, lead and zinc minerals in massive pyrite surrounded by slates and volcanics. Prior laboratory research had resulted in the synthesis of a new collector, belonging to the MercaptoBenzoOxazole (MBO) class that acts selectively towards Cu and Zn minerals after activation with CuS04. The MethylMercaptoBenzoOxazole (MMBO) version of this collector had been used for the laboratory flotation of Cu minerals and sphalerite activated by CuS04. This resulted in identification of the optimal physicochemical conditions for laboratory-cell flotation of the two minerals from samples of complex sulphide ores, and subsequently the reagent has been tested in the Sotiel plant (Spain). The plant has three flotation sections. With conventional re-agents, the first section yields a Cu concentrate grading 21% with a total recovery of 29%, and the second one yields a 40% Pb concentrate with total recovery of 34% and a 47% Zn concentrate with total recovery of 78%. Application of the new synthetic reagent in the copper and zinc circuits produces a more selective process with a decrease in re- agent concentration grade and recovery are increased by 2 and 9 points respectively in the case of Cu and by 1 and 3 points where Zn is concerned. Moreover, the penalty elements in the Cu concentrate are halved.

Jan 1, 1995

By G. A. Calboreanu

The deterioration rate of any metal or alloy is increased in a erosion-corrosion application because the passivated surface layer is removed by the solid particles contained in the pumping fluid and the material surface becomes corrosion active again. Numerous attempts were made to engineer a stainless steel with higher hardness and unaffected corrosion performance. Alloys of special interest in such an area are the duplex stainless steels particularly the CD4MCu material which has the capability of being hardened due to its ferrite-austenite microstructure. Unfortunately, the CD4MCu with higher hardness comprises different intermetallic compounds which will increase the corrosion rate. The paper is analyzing the erosion-corrosion performance of a new type CD4MCu with 32% higher hardness and superior wear performance. The corrosion performance of this new alloy is better than the corrosion performance of the common CD4MCu material which the industry could supply. The corrosion effectiveness was evaluated with the Huey test, the potentio-dynamic anodic polarization test and the weight loss test whereas the erosion resistance was established with a low stress ball-on-disk type apparatus. The Wilfley hard CD4MCu material had 39% lower weight loss and 32% smaller volume loss than the common CD4MCu alloy The hardness range of the centrifugal pump parts poured and processed with the Wilfley hard CD4MCu is 320-350 HBN versus 250-255 HBN hardness of the common CD4MCu. After approximately 18 months of experimentation and field testing it was clearly established that the life time of the Wilfley hard CD4MCu is higher than the common CD4MCu and consequently centrifugal pumps were supplied to different customers in North and South America. India and more recently Australia. Sincere thanks to all the A.R. Wlifley & Sons Inc. and Western Foundries Inc. employees who supported and help to implement this work. special thanks to George Wilfley. Dave Cobb. Bill Becker Sr. and Wayne Taylor

Jan 1, 1997

By Alfred G. Hoyl

The author, in exploring a virgin area vertically in two known ore shoots requiring decline shaft sinking, drifting, crosscutting and diamond drilling, chose to use electric, electric hydraulic, and diesel rubber-tired equipment. A rebuilt hoist, and electric hydraulic shaft shovel (mucker), hydraulic sinking drills, single boom electric hydraulic jumbo, electric hydraulic LHD, and electric hydraulic diamond drill were used successfully. Slides of the equipment and its use are shown. The advantages and disadvantages of the equipment are discussed, together with costs and production.

Jan 1, 1984

CVRD was established on June 01, 1942, during the Second World War, through an agreement between Brazil, the United States and the United Kingdom, to produce 1.500.000 tons/year of iron ore from Itabira mines in the State of Minas Gerais. As a result of several circumstances and political problems (the end of the 2nd World War reduced the Anglo-American support to its development and implementation), the venture just reached the originally targeted production 10 years after its establishment, operating within a mine, railway and port integrated system. Currently, this operational system from the South of Brazil owns mines in the State of Minas Gerais with an annual capacity of approximately 65 million tons, 900 km of railways, of which more than 500 km is a double line railway, six pelletizing units and the Port of Tubarao for ships with large carrying capacity.

Jan 1, 1994

By Robert McIvor, Sami Makni, Andreia Rosa, Claude Gagnon

In response to the Natural Resources Canada “Crush It Challenge,” Corem partnered with the University of British Columbia and led a project to develop and demonstrate the use of high-pressure grinding to replace the workhorse of the industry, wet ball milling. Two plant case studies, a small tonnage gold recovery operation and a large tonnage copper recovery operation, were carried out. Plant circuit performances were compared to pilot plants operated on the same circuit feed setup to represent the novel equipment and flowsheet that was developed to produce separation circuit feed. Numerous obstacles to industrial implementation of high-pressure grinding in this role which were recognized at the outset of the work were successfully addressed. In both cases, comminution equipment energy savings alone and final stage total circuit energy savings exceeded 60% and 50%, respectively. Downstream mineral separation performance was the same or better.

Nov 28, 2023

By Y. J. Wang

The Hardy Cross iterative method is the most popular technique for solving a ventilation network problem with natural air splitting. This method tradition-ally solves each mesh equation by an approximation during each iteration. It is thus interesting from both theoretical and computational viewpoints to be able to solve for an exact solution to the mesh equation. Presented in this paper is an algorithm for computing the exact solution to the mesh equation with a variable fan pressure. The algorithm uses signum functions for air quantities to generate an alternative mesh equation in the form of a quadratic equation, which has two solutions defined by the well-known quadratic formula. The condition that the derivatives of the alternative and the original equations must be the same provides a basis for the correct choice between the two solutions.

Jan 1, 1997

By John C. Cook

There is pressing need for better means of exploring ground conditions ahead of mining. Exploration drilling has the drawbacks of high cost and a seriously restricted sampling zone. Traditional geophysical exploration methods including gravity, magnetic and resistivity techniques have been used with some success underground, but all give poor target delineation relative to range, since they depend upon minor distortions of a potential force field. Much greater ratios of resolution to range can, in principle, be obtained by employing electromagnetic or seismic radiation as the exploring agent. This is because propagation time delays can be used to measure range accurately, and to separate the small effect of a distant target from the much larger effects of nearer targets and of the transmitter. Seismic waves have long been used with great success in exploration for petroleum, and recent research on their application underground is promising. Electromagnetic (radar) waves have been very successfully used for detection and location through the air and outer space, and have also explored through polar icecaps more than a mile thick.l It is not generally realized that below the soil many rocks are also somewhat radar-transparent, and that radar can be used for exploring such rocks, once a quarry, a mine, a borehole, or other means of access has been opened. Radar waves are reflected by any boundary or object where they encounter a large change in electrical properties.2 The usual cause of such a change is a difference in moisture content. Radar waves passing

Jan 1, 1972

By Circe Verba, Scott Montross, Jon Yang

This work is a first-order study to assess the suitability of an organic acid lixiviant to extract rare earth elements (REE) from coal preparation fines refuse sourced from a Pennsylvania mine with a total REE of ~ 300 ppm. The extraction of REE using an organic acid, in this case 0.1Mcitric acid and 0.5Mtrisodium citrate solution, is compared against 0.5M(NH4)2SO4, 1MHCl, 1.2MH2SO4, and 0.5Methylenediaminetetraacetic acid (EDTA). Ashing the coal waste material prior to leaching tests with the citrate solution nominally improved REE extraction. Buffered citrate solution recovered 7% of the total REE in the as-received Isabella Fines as compared to 11% in ashed samples, whereas (NH4)2SO4 extracted 5–6%, respectively. EDTA recovered up to 33%of the total REE, most likely due to the higher coordination chelate bond. Mineral acids, however, outperformed the organic acids on ashed material (16–52%REE recovery), suggesting that organic acids may not be a suitable competitive option for REE extraction from these types of feedstocks.

Jun 15, 2021

By H. Maleki

The U.S. Bureau of Mines pioneered the use of borehole deformation gauges and overcoring techniques to measure in situ stress. These measurements provide input to structural mine design and support selection for specific geologic conditions. This paper presents recent stress measurements in a western U.S. coal mine where the orientation of the stress field remained relatively unchanged over distances of several kilometers. The horizontal stress magnitude increased with depth of cover and in relation to major geologic structures. Local variations in roof stress profiles were used to develop generic models relating stress arching to strata stiffness and the inelastic behavior of mine roof.

Jan 1, 1994

By R. C. Bunge

A magnetogravimetric separation is the consequence of two competing forces with opposing directions, i.e., magnetic buoyancy and gravitation (or centrifugal force). While magnetic buoyancy is a function of particle volume, gravitational force depends on particle mass, thus permitting a separation according to specific gravity. Since magnetic buoyancy is not a phenomenon of common knowledge, this chapter is meant to briefly introduce the theory of magnetogravimetric separations. A particle that is suspended in a magnetic fluid which is exposed to an inhomogeneous magnetic field experiences a repulsive force -the so called magnetic buoyancy. In order to illustrate this effect, an analogy with the more familiar hydrostatic buoyancy is drawn. Hydrostatic buoyancy occurs due to unsymmetrical pressure distribution 'above' and 'below' a suspended particle (fig. 1).

Jan 1, 1990

By David Butts

Solar ponding to crystdlize sodium chloride has been used for thousands of years.1 The systems used were inefficient and usually small compared to the large 25,000 acre pond areas seen today. It has only been in the last 25 years that any real effort has been applied to develop solar ponding technology. Many large solar pond systems have been constructed without much thought to efficient and optimum production rates. The recent high costs of labor, of equipment and of energy have forced producers to take a closer look at their solar pond systems in an attempt to squeeze out the highest possible yields. Other companies such as the Arab Potash Company, the Dead Sea Works, Texas Gulf (Moab, Utah) and San Francisco Salt Companies have no more land area in which to expand and therefore efficient ponds are essential. This paper is written to show how the subdivision of solar ponds can result in production increases of up to 20% and beyond.

Jan 1, 1984

By Paul D. Bybee

The Freeport Sulphur Company operates four sulphur mines in the coastal marsh area-03 South Louisiana. Employing the Frasch process of mining, approximately 13-million gallons of water per day is heated to a mining temperature of 325°F and is injected into the sulphur bearing formations of the four mines. A volume of cold waste water, roughly equal to the Input, is removed from the formations and presents a disposal problem. Two additional mines are currently being developed and will increase the disposal volume by an additional 5-million gallons per day. Although these properties are in a relatively small area, geographically speaking, as shown in Figure 1, they each represent a separate disposal problem with the treatment methods designed for the individual mine.

Jan 1, 1959

By Daniel E. Collins

Massive banded Fe-Zn-Cu-Pb sulfide deposits in the Bagdad are associated with metamorphosed eugeosynclinal mafic volcanic and intrusives rocks Precambrian age. The geologic environment is very similar to that of the Jerome-Prescott area which lies 70 km. east of Bagdad. Mining of massive sulfides deposits began in 1917 on the Copper King mine in spite of its early discovery and the discovery of the Old Dick mine in 1882. The first shipments of zinc ore from the Copper King were hand sorted and averaged 46.89% Zn, 5.7 oz. Ag, 3.58% Pb and 1.68% Cu. Oxidized copper was first produced from the Old Dick mine in 1943~ In all, five deposits of massive sulfide ores have been mined in the Bagdad for a total production of nearly 2 million tons with an average grade of 12.0% Zn and 3.6% Cu. The largest deposit, the Bruce mine is currently closed because reduced metal prices and has produced a total of 823,000 tons of Zn-Cu ore to date. Mining of massive sulfide ore in the Bagdad area is presently idle. However, the potential for locating yet undiscovered ore bodies is good. Exploration for new ore bodies is difficult at best due to the complex geologic history of the area, the small size of individual ore bodies and lack of understanding as to the formation of massive sulfide deposits. The purpose of this investigation was to obtain a better understanding of the host rock formations through detailed geologic mapping, petrography and chemical analysis.

Jan 1, 1977

By Yubo Tu, Lianqi Wei, Tianyi Zhao, Peiwei Han, Zhengchen Li, Shufeng Ye

The effect of oxygen partial pressure on the volatilization percentages of valuable metals from iron-rich pyrite cinder by chlorination-volatilization method using CaCl2 as chlorinating agent was investigated in this study. The volatile products were collected directly and analyzed by X-ray diffraction. It was found that there were CuCl2, CuCl, PbCl2, and ZnCl2 existed in the volatile products. Au and Pb volatilization percentages were almost not affected by oxygen partial pressure. Both Cu and Zn volatilization percentages were negatively correlated with oxygen partial pressure when CaCl2 dosage was no more than 4 wt%, and almost uncorrelated with oxygen partial pressure with a CaCl2 dosage of 6 wt%.

Dec 19, 2023