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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 A. M. Keenan, R. H. Carpenter

Geologic faults have always been a plague to the mining industry, and have often reduced a mining venture from a profitable to a marginal operation, and even at times have forced companies to liquidation or bankruptcy. The use of geology as an economic tool in coal mining is not generally recognized, particularly in coal deposits which are horizontal or essentially flat-lying, in which faulting might not be prevalent. However in pitching coal seams, the existence of faults is considered an inherent challenge, as the inclination of the seam or seams per se, is a product of geologic disturbance. The problems of faults are a constant challenge to the management of the Thompson Creek Coal and Coke Corp. in their operations in Pitkin County, Colorado, where high grade medium volatile coking coal is mined. The background for this paper has been provided by the experiences of these operations, in overcoming the effects of faults in mining, and resolving the fault structures. The properties of the Thompson Creek Coal and Coke Corp. are located in central Colorado, 13 miles southwest of Carbondale, Colorado, a tow] on the main highway between Glenwood Springs and Aspen, Fig. 1. The elevation at the mine portals is approximately 8000 feet: there is a relief of some 2.000 feet to the adjacent ridges rising away from the [nine portals. 'The entire present production of these properties totaling 180.000 tons of clean coal per year is trucked to the railhead at Carbondale, Colorado, from whence it is shipped to the Geneva Steel Plant at Provo, Utah. The properties were initially opened in September 1952. A total of 125 men are currently employed with the production conting from the Number 1 and 3 Mines, and development workings of the Number 2 and 5 Mines respectively. While the No. 2 Vine was opened in 1953 prior to No, 3 Mine, the encountering of faults without sufficient development work accomplished to sustain production, necessitated the diversion of manpower to the other [nines for economic considerations. GEOLOGY '1-he productive coal seams occur in the Mesaverde formation of Late Cretaceous age which outcrop along the eastern edge of the Piance Creek Basin from the Grand Hogback, a part of the southwestern flank of the White River Uplift north of Glenwood Springs, southward through the 'Thompson Creek area and the

Jan 1, 1961

By Paul R. Smith

The theoretical requirements for the flotation d large particles are discussed. A flotation machine is described which has components which meet many of the theoretical requirements for the flotation of large particles. The machine's salient features include multiple fine-bubble attachment, froth level feeding, quiescence, shallow depth, and short flotation time. Test conditions and results are presented for the laboratory flotation of 10 mesh phosphate, 4 mesh potash, and 1/2 inch coal. In addition, test conditions and results of pilot plant flotation of minus 14 plus 35 mesh phosphate and minus 14 plus 150 mesh phosphate are also presented.

Jan 1, 1969

By Kenneth Trelewicz

This report describes the total effort that went into developing environmental test criteria for general mine instrumentation. The project was a two-phase effort. Phase I consisted of research and mine visits to develop an environmental profile for mine instrumentation. The profile was translated into general requirements and then into test requirements. A review of existing government and commercial specifications was performed to determine if they matched mine instrumentation test requirements. Finally, a set of environmental test procedures was developed for the testing of mine instrumentation. Phase II consisted of selecting and purchasing sample mine instrumentation and subjecting them to the previously developed tests. The purpose was twofold: (1) to evaluate the criteria developed for use as an instrumentation test document and (2) to determine the effects of the various criteria on a representative sample of both proven and newly developed instrumentation. The test criteria were then modified, based on the results of the testing, and are listed therein.

Jan 1, 1981

By D. S. Burgess

About 100 tests of flammability were carried out with H2, CH4, and CO in mixtures with air using the Federal Bureau of Mines 12-ft-diameter spherical pressure vessel as an explosion test chamber. The LeChatelier approximation gave slightly conservative estimates of the limits of downward flame propagation (onset of significant pressure rise) using the following measured values for the individual gases, in percent: H2, 8.5; CH4, 5.25; CO, 13.0. No justification could be offered for using the LeChatelier law for upward flame propagation limits and indeed reported data suggest that calculated values would not be conservative. The observed upward limit for methane-air mixtures (4.85 pct) was less than the widely accepted lean limit for this fuel; those for lean hydrogen-air mixtures and carbon monoxide-air mixtures did not differ from the lowest accepted values. Diffusional effects on the propagation of single, binary, and ternary fuel mixtures are discussed.

Jan 1, 1982

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 William O. Vanderburg

Tis paper describing the mining practices at the Cold Springs mine of the Wolf Tongue Lining Co. at Nederland, Colo., is one of a series of similar papers prepared by the Fureau of kines on mining practices, methods, and costs at various mines in the United States. The writer acknowledges the assistance of William Leach and William T. Todd, manager and mine superintendent of the Wolf Tongue Mining Co., respectively, in the preparation of this paper.

Dec 1, 1932

By J. R. Bredell, J. Branehog, C. Coetzee, J. J. van Tonder

A nutating grinding mill, exemplified by the commercial HICOM mill, achieves efficient particle size reduction through the accelerated motion of the material charge within the nutating chamber. This design, characterised by high particle velocities and rapid charge circulation, offers a compact solution compared to tumbling mills. There have been concerns regarding the mechanical reliability of kinetic joints for certain specialised mining applications. Recognising the need to model internal forces in such systems, this study focuses on the uncoupled simulation using multibody dynamics and the discrete element method. The investigation employed a small-scale experimental test mill, referred to as the NuMILL, featuring a cylindrical chamber (140 mm internal diameter, 245 mm height, 6° nutation angle). Instrumented with an array of sensors, the NuMILL provided internal load data for validating the simulations. Experiments were conducted with an empty chamber or filled with charge material. Charge materials included coarse sand or steel pellets with a charge-to-chamber mass ratio of 0.25. The mill speed ranged between 100 to 700 RPM. Multibody dynamics modelled resultant inertial and frictional loads within 5%, while the discrete element method simulated the internal material contact loads with accuracies ranging from 1% to 19%. The combined simulation approach predicted the resultant forces in the critical kinetic joint within a 20% margin. Representing the charge using rigid lumped mass elements was also studied. The presented simulation techniques, validated against experimental data, offer a robust foundation for analysing larger systems, including the industrial-scale HICOM.

Mar 5, 2025

By Thomas E. Finch

This report is a continuation and expansion of a previous USBM grant (No. G0254004) which examined alternative methods of handling the parting between two coal seams in a surface mining operation. The alternative methods consist of equipment implementation in either a stowing or haulback technique. Following a typical strip mine conformation, the parting is directly stowed or hauled back and placed in the pit bottom after second seam removal. The objectives are to produce an environmentally sound material placement technique and to increase prime stripping machine utilization. This report contains the engineering philosophy behind two computer programs created to evaluate parting handling methods over d wide range of coal and parting thickness ratios. The nature of the computer approach allows cost sensitivity analysis and quick updating of costs. The two programs are clearly presented with documentation and examples such that consumers may apply then to their own operations.

Jan 1, 1977

The zinc-lead lode at Rosebery, on the West coast of Tasmania, has a total length of over 4000 ft. It consists of five elongated lenses parallel to the foliation planes of the quartz sericite schist, and is situated at the junction of the quartz sericite schist and a thin belt of slate. The lenses consist of massive, fine grained sulphide ore, with small amounts of quartz, barite, sericite and chlorite, and they terminate in masses of low grade ore. The gangue minerals increase in quantity in the low grade ore which includes small quantities of the manganese garnet, spessartite. The schist walls of the lenses are in places impregnated with lode minerals to a degree sufficient to permit them to be regarded as economic ore.The ore-bodies have developed from incoming mineral solutions by the replacement of the quartz sericite schist and are localised where the ore solutions have been confined by a relatively impervious slate band. The early stages of replacement of the schists are signified by the development of pyritic bands which are succeeded by a strong development of zinc blende. With ptogressive crystallisation, the character of the mineral solutions gradually changed and the development of galena, and its associated bournonite, became more important in the later stages.Remnants of the replaced schist, in the form of isolated wisps and schlieren of sericite and chlorite, are present in the ore body, more noticeably in the pyritic specimens. An important feature of the ore is the association of small ogllantities of gold with trahedrite.

Jan 1, 1934

By Markus Schönit

Double rotary drilling combines continuous flight auger drilling with a casing for producing a cast-in-place pile. When producing a pile an outer casing and an auger (hollow auger) rotating inside the casing are driven into the ground in counter-rotation. The outer casing serves to support the surrounding soil and the inner auger excavates the drilling cuttings to the surface inside the casing. After reaching the projected drilling depth concrete is pumped through the hollow stem of the auger and outer casing and auger are extracted. After their complete extraction a reinforcement cage can be inserted in the fresh concrete. Compared to Kelly drilling the double rotary drilling method offers numerous advantages, including, for comparable diameter and length, shorter production times and higher accuracy (pile inclination and excess concrete) combined with increased occupational safety and lower noise emissions. Moreover, pile tests have proved that piles produced by double rotary drilling feature higher axial load-bearing capacities than comparable piles produced by Kelly drilling. This article offers an overview of the basic theoretical principles of double rotary drilling lists the required and currently available machinery and, finally, discusses the results and conclusions of a current jobsite.

Jan 1, 2011

By M P. Sandy, J B. Albrecht

"Narrow vein mining can be loosely defined as mining operations involving orebodies with a true thickness of less than 4 m. Some authors have limited the term to steeper-dipping orebodies where the ore will rill under gravity. However, ænarrow veinÆ can also legitimately refer to some of the flatter orebodies, such as many of the platinum, chrome and gold deposits of Southern Africa, and several in Australasia including Bullen (at Norseman), Sunrise Dam, Telfer (Patterson, 1993) and the famous æflatmakesÆ at the Emperor Gold Mine in Fiji (Gordon and Harmse, 1993). Where the orebody dip is less than about 40¦ additional effort is usually required to remove the broken ore, including the use of scrapers, hydraulic monitors or remote-operated excavators (Tombs, Buckingham and Hancock, 2008).Working in such narrow orebodies presents particular operational and geomechanics challenges. A range of mining methods have been developed or adapted to exploit narrow orebodies including:cut-and-fill,narrow vein bench or longhole stoping,Alimak stoping,shrinkage stoping, and methods for shallow dipping orebodies (including Airleg and mechanised methods).The paper discusses some of the advantages and disadvantages of each method with a focus on geotechnical aspects including mining sequence options, stress management, ground support requirements, dilution and recovery.CITATION:Sandy, M P and Albrecht, J B, 2012. An overview of geotechnical issues in narrow vein mining, in Proceedings Narrow Vein Mining 2012 , pp 185-194 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Mar 26, 2012

By K. Szafran, R. E. L. Seal, M. Tansey

Conversion of hydraulic equipment to fire resistant fluids has been hampered by less than satisfactory component performance and in some cases, catastrophic equipment failure. Concern over identifying possible causes to these problems led to a joint research project between the Potash Corporation of Saskatchewan Mining Limited and the University of Saskatchewan. This paper summarizes some of the results and conclusions derived from this joint project. In this study, the research was limited to evaluating the effects of potash contamination on the performance of hydraulic equipment. Two separate types of tests were conducted in order to provide a basis upon which trends could be established. This study concluded that the presence of potash dust in the hydraulic fluid can induce severe wear over relatively short periods of time. It was also deduced that a contaminant free fluid combined with proper fluid maintenance could extend the performance of hydraulic components using fire resistant fluids even under very severe operating conditions, such as elevated pressures and temperatures. Recommendations as to how to achieve this goal and the practicality of doing so are presented.

Jan 1, 1988

This summary of State laws on explosives was compiled primarily to ascertain what subjects relating to their control have been acted upon by each State legislature and, in general, how they have been treated. It does not include any legislation passed after 1942, or any proclamations, regulations, or administrative orders. It does not purport or attempt to be authoritative. If any problem arises involving interpretation of the statutes of any particular State, the original source must be consulted for the exact words used by the legislature. This summary, however, will be useful in determining whether relevant statutes exist, and in locating them quickly with a minimum of effort. It will be of value also in comparing statutes in one State with similar statutes in other States to determine what construction has been placed upon them by the courts of these jurisdictions or to contrast the varying provisions of many States upon a similar subject. To make these comparisons easier, the statutory provisions for each State have been grouped under several major topics in outline form. Although this sometimes has resulted in disruption of the continuity of individual acts, the increased general clarity and availability of comparable sections have more than justified the procedure followed.

Jan 1, 1943

By Staff

This paper contains an outline of the history of the Sullivan mine, now owned and operated by the Consolidated Mining & Smelting Company of Canada, Ltd.; some account of the various methods by which the ore has been treated in efforts to solve the metallurgical problems which its complex character presents, and, finally, to give, as concisely as possible, an outline of the present mining and metallurgical practice along with a description of the mining and milling plant at Kimberley and the smelter and refineries at Trail, in British Columbia. EARLY HISTORY In May, 1892, Pat Sullivan, John Cleaver and Mike Holland left the Coeur d'Alene country, in the State of Idaho, to seek their fortunes in the Kootenay lake district in British Columbia. They were aided in their venture by James Cronin, afterwards locator and owner of the St. Eugene mine at Moyie. Two months later the party broke up, Sullivan and Cleaver crossing the mountains from Crawford bay on Kootenay lake to the head waters of the St. Mary's river, the course of which they followed down to Fort Steele. Here they found a good deal of excitement about the North Star mine, and, joined by "Ed." Smith, who was familiar with this part of the country, they determined to return and prospect in its vicinity.

Jan 1, 1924

By G. Richards Gwinn

Vermiculites are secondary minerals formed by the: alteration of biotite and philogopite mica and are associated with basic rocks such as dunites, serpentines, and pyroxenites. Vermiculite was first described by T. H. Webb in 1824. It remained a mineralogical curiosity until 1913, when the first commercial deposit was discovered in the Turrett mining district of Colorado. Expanded or exfoliated vermiculite was first marketed in 1915 from a deposit in this district 5 miles southeast of Hecla, Colo. This activity was brief, but successful and continuous commercial development began in 1921 in Montana. 'Deposits in other States have been found and developed, but Montana is by far the largest producer. Vermiculite has also been found in South Africa, Western

Jan 1, 1944

By Debra A. Griffith

The U.S. Bureau of Mines currently is researching the relationship between the level of back strength and the probability of low-back injury. This report is a review of the literature and statistics on over-exertion injuries. Overexertion continues to be a significant source of injury in metal and nonmetal mining, accounting for approximately 24 pct of all injuries yearly. These injuries, particularly to the lower back, can be very expensive in human and monetary terms. An examination of the accident data on overexertion injuries is necessary to provide a background for research into prevention and/or amelioration of those in-juries. The job categories outlined in the Accident Data Analysis data base most affected are "Mechanic/Electrician" and "Mill/Plant Worker." The age group most affected is "30-39" years, and the experience group most affected is "0-.99" years. The most prevalent type of overexertion injury is "Strain/Sprain," and the trunk is the body part most often involved in an overexertion injury.

Jan 1, 1994

By A. B. Hazar-Yoruç

Ferrochromium produced by smelting chromite ores is an important alloying component in the steel industry. Ore, coke and fluxes are mixed and reacted in an arc furnace for a smelting process of ferrochromium. In ad-dition to this process, pre-reduction of chromite ore with carbon is an important industrial process. In all these processes, the mechanism and kinetics of reduction of chromite with carbon play an important role. In this study, the reduction of Turkish chromite ore with carbon was investigated. Chromite and carbon were ground to three different particle size groups. Chromite was mixed with carbon in stoichiometric and excess ratios. The samples were reduced under argon atmosphere at temperatures between 1,200° and 1,350°C. The formed phases and alloy compositions of reduced chromite samples were analyzed by optical microscopy, scanning electron microscope (SEM) with EDAX and X-ray diffraction analysis (XRD). Experimental results showed that the degree of reduction and the reduction rate increased with increasing temperature and decreasing particle size. The highest degree of reduction, 61.4%, was obtained at 1,350°C. The reduction took place in three stages: Stage 1: transformation of Fe3+ to Fe2+ and formation of metallic nuclei, Stage 2: formation of metallic crust around the particles and Stage 3: growth of the metallic crust and coalescence of the metallic phase.

Jan 1, 2007

By R. S. Dean

The work of the metallurgical fundamentals section during the past year, representing active experimental investigation or thermodynamic study, may be summarized as the following problem subjects: 1. Low-temperature specific-heat investigations. 2. Development of a method of concentrating gases. 3. Thermodynamic properties of metallic carbides and nitrides, 4. Production of pure chromium from chromium chlorides. 5. Thermodynamic properties of the hydrates of calcium, sulphate. While this list is not identical, with officially designated problems, due to overlapping of subjects and to new developments within specified problems, presentation upon the basis of this subdivision will best serve to review the work of the section.

Jan 1, 1937

By Valérie Tremblay

Plan de la presentation ?Laboratoire d?analyse des fluids ?Gestion des contaminants ?Condition Monitoring Avantages reliés aux analyses ?En savoir plus!! ?pour minimiser les coûts d?opération; ?pour prévenir les défaillances catastrophiques; ?pour maximiser le rendement des équipements; ?pour maximiser la longévitédes équipements; ?pour permettre des périodes d?entretien planifié.

Feb 1, 2008