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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 I. Marklund, W. Hustrulid

Sublevel caving is likely to remain the dominant system at both Malmberget and Kiruna for the foreseeable future. The sub-level interval has increased from 12 m in 1983 to 30 m, requiring more effective drifting and the development of a contour blasting technique to reduce requirements for rock reinforcement. Production drilling is mainly by hydraulic hammers or water-powered in-the-hole machines drilling 115 m diameter holes. Loading operations are undertaken 7 days/week with 15-25 tonne capacity electric shovels. Production has increased by nearly 70% since 1983 and productivity has risen threefold

Dec 1, 1995

Where tunnel rounds are based on the burn cut, faster advance could often be achieved by increasing blasthole diameter from (the conventional)

Jan 1, 1981

By Ian Orford, Ken L. Boyd

"Can the ever-increasing tonnages of ore and waste being mined today be accommodated simply by using bigger and better crushers? This paper updates the principal author’s earlier publication, “Crushing Plant Design and Layout Considerations” (SME Mineral Processing Plant Design, Practise, and Control, 2002). It reviews the latest primary crushing and large cone crusher designs. Its goal is to help consultants and operators select the optimal equipment and custom-designed items in the material handling flowsheet from the mine to the mill, maximizing operating hours per year.INTRODUCTIONAre larger crushers the answer to meeting the demands of existing or new mining projects for increased tonnage? The principal author’s previous paper in the year 2002 on ""Crushing Plant Design and Layout Considerations"" provided a detailed design and layout review for the design of primary and fine crushing (Secondary, Tertiary, Quaternary) mineral processing facilities. Some of the conclusions in this previous paper had predicted that larger crushers for primary and fine crushing would be beneficial and contribute to the further development of mineral processing. Larger crushers for primary and fine crushing applications are now available.The rock size reduction process, from the mine to the selected milling process facility has not changed since man first broke a rock to get at the interesting mineralization within. The rock size reduction process circuit from the mine to the mill can be summarized into four (4) stages:• Stage 1: Mining ( Rock Breakage and Fragmentation)• Stage 2: Pre-Screening (Scalping)• Stage 3: Primary Crushing• Stage 4: Fine Crushing (Secondary, Tertiary and Quaternary; the crushers used in this stage are identified by the titles which usage has conferred on them)Plant throughput and ore delivery schedule will form the basis for flowsheet design and equipment selection. Once a project's design criteria and the mine plan has been established, the actual circuit's utilization percentage (percentage of hours when the circuit is being utilized) can be optimized for each of the four stages. The mining and process departments are the key stake holders in the selection of the final comminution circuit and both departments should be familiar with and contribute to the design of the circuit."

Jan 1, 2016

By K. L. Boyd

"Can the increasing tonnages of ore and waste mined today be accommodated simply by using bigger and better crushers? This paper reviews the latest primary crushing and large cone crusher designs. It highlights how—in addition to using the larger crushers now available—maximizing the utilization percentages in each stage of the rock size reduction circuit will assist in meeting the larger production requirements of existing and new mining operations. Its goal is to help consultants and operators select the optimal equipment and custom-designed items in material handling from the mine to the mill, maximizing operating hours per year.RÉSUMÉ Le recours à des concasseurs plus grands et plus performants suffit-il à gérer l’augmentation du tonnage du minerai et des déchets que l’on extrait de nos jours ? Cet article examine les tous derniers modèles de concassage primaire et de grands concasseurs à cône. Il montre que, pour satisfaire aux exigences de production plus conséquente des exploitations minières existantes et nouvelles, il est important d’optimiser les taux d’utilisation à chacune des étapes du circuit de réduction de la taille des roches, en plus d’utiliser les concasseurs plus grands actuellement disponibles. L’objectif de cet article est d’aider les sociétés d’experts-conseils et les exploitants à sélectionner le meilleur équipement ainsi que des articles fabriqués sur mesure pour la manutention de la mine au concentrateur, en optimisant les heures d’exploitation par année.INTRODUCTIONAre larger crushers the answer to meeting the demands of existing or new mining projects for increased tonnage? Boyd (2002) predicted that larger crushers for primary and fine crushing would be beneficial and contribute to the further development of mineral processing. Larger crushers for primary and fine crushing applications have since become available.The rock size reduction process from the mine to the selected milling process facility has not changed since a person first broke a rock to get at the interesting mineralization within. The rock size reduction process circuit from the mine to the mill can be summarized in four stages:• stage 1: mining (rock breakage and fragmentation);• stage 2: prescreening (scalping);• stage 3: primary crushing; and• stage 4: fine crushing (secondary, tertiary, and quaternary).Plant throughput and ore delivery schedule will form the basis for flowsheet design and equipment selection. Once the project design criteria and the mine plan have been established, the circuit’s utilization percentage (percentage of hours when the circuit is being utilized) can be optimized for each of the four stages. The mining and process departments play a key role in the selection of the final comminution circuit, and both departments should be familiar with and contribute to the design of the circuit."

Jan 1, 2017

By K. L. Boyd

"Can the ever-increasing tonnages of ore and waste being mined today be accommodated simply by using bigger and better crushers? This paper reviews the latest primary crushing and large cone crusher designs. It highlights how—in addition to using the larger crushers now available—maximizing the utilization percentages in each of the four stages of the rock size reduction circuit will assist in meeting the larger production requirements of existing and new mining operations. Its goal is to help consultants and operators select the optimal equipment and custom-designed items in the material handling flowsheet from the mine to the mill, maximizing operating hours per year. INTRODUCTION Are larger crushers the answer to meeting the demands of existing or new mining projects for increased tonnage? Boyd (2002) predicted that larger crushers for primary and fine crushing would be beneficial and contribute to the further development of mineral processing. Larger crushers for primary and fine crushing applications are now available. The rock size reduction process from the mine to the selected milling process facility has not changed since man first broke a rock to get at the interesting mineralization within. The rock size reduction process circuit from the mine to the mill can be summarized in four stages: • Stage 1: Mining (rock breakage and fragmentation) • Stage 2: Pre-screening (scalping) • Stage 3: Primary crushing • Stage 4: Fine crushing (secondary, tertiary and quaternary) Plant throughput and ore delivery schedule will form the basis for flowsheet design and equipment selection. Once the project design criteria and the mine plan have been established, the circuit’s utilization percentage (percentage of hours when the circuit is being utilized) can be optimized for each of the four stages. The mining and process departments are the key stakeholders in the selection of the final comminution circuit, and both departments should be familiar with and contribute to the design of the circuit. This paper focuses on the four stages of a rock size reduction circuit from the mine to the mill, equipment selection, various ore and waste handling flowsheets, and improvements in crusher station design, all with the purpose of maximizing availability and plant utilization percentages. What is a large tonnage? From 1907 to 1914, the American Panama Canal excavated 300 million tonnes of material in 7 years (History of the Panama Canal, Wikipedia). Today’s large mining operations can move the same material in 10 months, using large crushers or multiple crushers for ore processing and large crushers and a mixture of truck haulage and conveyors for handling the large waste tonnages. Some examples include:"

Jan 1, 2017

By C. H. Keplinger

WARTIME factors have strengthened the production engineering consciousness of the petroleum industry. The basic principles of sound oil-production technology have been accepted as the standard by the industry and the governmental co-ordinating agencies. Every effort is being made to furnish larger quantities of petroleum with a minimum expenditure of materials and under strict conservation practices. The sphere of influence of production engineering extends from fundamental reservoir control of withdrawal rates and reservoir pressures to bolstering production from stripper wells. Serious transportation difficulties in moving oil to the East Coast have stimulated secondary recovery operations in the Appalachian and East Central oil-producing states. Diminishing discovery of new oil reserves by exploration activities increases the importance of promoting efficient oil-producing methods and practices throughout all productive areas in the United Nations.

Jan 1, 1943

Semiautogenous (SAG) ball mills are being increasingly used today for the coarse grinding of a range of ores, including gold, copper and iron. Larger mines are demanding mills with larger throughputs. This has led to some remarkable developments in mill diameters and installed powers. Conventional design principles - mills with trunnion bearings - have reached their limitations. This article describes one SAG mill with a slide-shoe arrangement and Krupp Polysius' Combiflex twin drive. In August 1997, the world's largest SAG mill with a slide-shoe arrangement was commissioned in Queensland, Australia, operating as a wet mill. The inside diameter is 10.4 x 5.1 m (34 x 17 ft) effective grinding length. The 1.36-ktlh (1,500-stph) SAG mill is driven by two Combiflex drives (twin drives with 2 x 5,500-MW or 7,375-hp installed motor power) in conjunction with a girth gear (outside diameter 11,890 mm or 468 in.). Commissioning of the SAG mill was completed with no notable technical difficulties. The plant runs continuously except for planned maintenance stoppages and process-specific reasons. As this article is written, the machine has been in operation for about 8,000 hours without major problems.

Jan 1, 1998

By Jagger N. D

Lead residue from the Zinc Leach Plant at Pasminco's Port Pirie Lead Smelter was previously filtered on a vacuum drum filter and further dried in a gas fired rotary kiln prior to stockpiling and transport to the Sinter Plant. This process involved several materials handling stages, recycled significant amounts of zinc and often resulted in poor environmental conditions. These problems have been overcome by pumping the thickened leach residue approximately 450m to the Sinter Plant where it is filtered in a Larox Automatic Pressure Filter. The filter cake is discharged onto a conveyor belt, held in a storage hopper and then fed directly to the main sinter plant feed stream. Filtrate is returned to the process for additional zinc recovery. The laboratory and pilot plant filtration results are briefly discussed and compared with the operating plant data. The filter installation and ancillaries are described in detail along with the commissioning, operating and maintenance experience over the past 4 years. This installation has overcome the environmental and materials handling problems and resulted in annual savings of approximately $1 million.

Jan 1, 1989

By R Kroukamp

Horizontal belt filters are typically used for separation of relatively free filtering solids where good post treatment is required. He horizontal belt filter is a continuous filter with an endless cloth supported on a grooved carrier belt. The belt and cloth are driven around two rollers across a series of evacuated suction boxes. The feed suspension is introduced at one end of the filter and deliquored to produce a cake at the other end. The benefits of using horizontal belt filters are good cake washing, continuous and visible processing, fully automatic operation, flexibility, high capacity and relative high speeds of operation. If required, horizontal belt filters enable efficient counter-current washings to minimize the usage of wash liquid. The horizontal belt filter has applications in the following: [? Metal concentrates ? Mineral sands ? Tailings ? Coal ? Iron ore ? Alumina ? Chloride processing ? Nickel and Cobalt refining ? Platinum group metals ? Zinc processing ? Many other applications in the Mining and Metallurgy industries ] 2. Operating Principle of a Horizontal Vacuum Belt Filter 2.1 Cake Forming The slurry to be dewatered is evenly distributed onto the filtering surface. Gravity assists the cake formation and the feed can be introduced in multiple stages. 2.2 Cake Washing Once the cake is formed, wash liquor/water can be introduced onto the top of the cake via a wash launder or sprays. Multiple wash stages, co-current, counter-current or direct washing can be added by increasing the length of the filter.

Jan 1, 2007

By AIME AIME

IN times of stress nations pick strong men to lead them. Similarly the Coal Division selected forceful Larry A. Shipman, fuel engineer for the Southern Coal and Coke Co., Knoxville, Tenn.. to lead it through the year 1945. He was born in Indianapolis May 13, 1891. Following graduation from a technical high school in that city Larry began his fuel career approximately 35 years ago attached to one end of a scoop shovel, firing locomotives for the Pennsylvania Railroad. At the end of two years he transferred to the New York Central Lines and held these jobs successively: locomotive fireman, engineer, fireman instructor, supervisor of instructors, and fuel engineer.

Jan 1, 1945

John P. Thomas, President. B. W. Snodgrass, Secretary-Treasurer. San Andrews, mine boss, Morley. Richard Bickerton, Tabasco. E. P. Bayles, superintendent, Cokedale. Clyde Campion, parting tender, Valdez. O. C. Cook, 406 East Seventh, Street, Trinidad. James Cameron, superintendent, Hastings. Charles Chambers, superintendent, ,Sopris. Arthur Dennison, Trinidad. Samuel Dean, mine inspector, Delagua. F. S. Dunlevy, assistant engineer, Hastings. L. R. Douglas, assistant engineer, care Danford & Sanderson, Trinidad. W. E. Danford, superintendent, Segundo. M. O. Danford, superintendent, Cedar Hill Coal & Coke Co., Trinidad. John Dougherty, mine foreman, Morley. J. C. Davidson, timberman, Valdez. William Easton, fire boss, Valdez. George Fortune, electrician, Primero. D. J. Griffiths, chief mine inspector, Trinidad. J. E. Hanes, assistant engineer, Hastings. Joseph Haske, superintendent, Primero. O. C. Erwin, electrician, 714 Pine Street, Trinidad. R. J. Jinkins, superintendent, Morley. Thomas jolly, superintendent, Gray Creek. James Jamieson, assistant mine boss, Valdez. James Kilpatrick, fire boss, Tobasco. L. M.. Kuhns, first-aid miner, care Mine Safety Car No. 2, Trinidad. William B. Lloyd, 404 East Seventh Street, Trinidad. J. C. Lawrence, machinist, Starkville. R. A. McAllister, mine inspector, Trinidad.

Jan 1, 1913

By Juan Carlos Ramirez

Durante mucho tiempo, los materiales arcillosos se resistieron a los métodos clásicos del análisis químico. Sin embargo, el análisis de la cristaloquímica y análisis térmico señalan nuevas perspectivas sobre la naturaleza de estos alumino-silicatos. En ese sentido, el presente texto refiere la clasificación de dichos materiales basados en la similitud del comportamiento plástico y la estructura química. Así también se revelan sus propiedades importantes como contenido de humedad, color y textura, fluidez y defloculación, resistencia, sílice libre, sales solubles, fierro y carbono, respuesta térmica y la producción y consumo.

Mar 1, 1984

By Juan Luis Bouso

En los últimos años, la producción no convencional de gas y petróleo recobró importancia debido al auge de las técnicas de perforación conocidas como Fracking, donde las arenas de fractura hidráulica denominadas como Frac-Sand, son uno de los elementos esenciales utilizados en los yacimientos de hidrocarburos, especialmente en Argentina. En este sentido, el presente texto señala el proceso y ventajas de este sistema de explotación de hidrocarburos y gas. El proceso consiste en una primera fase de lavado y clasificación en vía húmeda, seguida de una segunda fase en vía seca, constituida por una etapa de secado y una etapa de clasificación posterior de la arena seca para obtener los tamaños requeridos por el mercado. Asimismo el interés de este nuevo mercado por las arenas especiales radica en su elevado precio, condicionado por la demanda y oferta limitada.

Oct 21, 2015

By Raúl Gomero-Cuadro

El presente texto describe la importancia de la salud ocupacional -en tanto adecúa la posición del empleo al trabajador. La evaluación comprende tres etapas: recolección de la información, análisis y seguimiento de los hallazgos. Sin embargo, la valoración de la aptitud para el trabajo es mal aplicada para la selección de trabajadores, generando conflictos éticos, económicos y sociales en la realización de los exámenes médicos ocupacionales.

Oct 1, 2016

By Jack Robert Miller

El presente artículo analiza el interés de la industria siderúrgica por el mineral de fierro metalizado. Para ello se prevee una rápida elevación en la demanda de materiales ferríferos directamente reducidos por un notable aumento en las actividades siderúrgicas en los próximos 10 a 15 años. La demanda de tales cantidades de acero generará una mayor necesidad de materias primas: mineral de fierro, arrabio, chatarra, carbón coquizable, combustibles y energía, que en casi todos los casos apoyan la necesidad de emplear mineral de fierro directamente reducido. En ese sentido, el perfeccionamiento oportuno de una técnica de pre-reducción de amplia aplicación resulta importante y esencial.

May 1, 1974

By Mijail Denisov

El presente trabajo señala las características de la composición geológica de los pequeños yacimientos de los metales no ferrosos. Para ello señala los puntos principales de la apreciación de los pequeños yacimientos desde la eficiencia económica. De otro lado, la parte proporcional correspondiente a los pequeños yacimientos de los metales no ferrosos en las reservas y extracción de minerales, disminuye sistemáticamente. Asimismo, gran número de pequeños yacimientos predetermina la posibilidad de realizar extensos trabajos de extracción y obtener minerales en volumen considerable.

Jul 1, 1981

By Hernando Labarthe

"El siguiente texto describe la importancia de la actividad del Banco Minero en el Perú, a través de la instalación y operación de sus plantas de beneficios, como las ventajas, las instalaciones, organización y proyecciones futuras de dicha actividad. Dichas Plantas de beneficio inician sus actividades en la concentradora N°1 La Virreyna, extendiéndose posteriormente a 5 operadoras más como: Sacracancha, Huachocolpa, Dorado, Tonsuyoc, Huarochirí. De otro lado, el significado de la instalación y operación de estas manufacturas de beneficio supone un doble aporte a la minería, en el sentido que ayuda al minero en la inversión de sus utilidades -en tanto elimina el control de otras actividades en la operación-, como fomenta la producción a través del inicio de nuevas operaciones, incrementando las entradas fiscales. Por último, la sección Plantas de Beneficio del Banco Minero del Perú se encarga de la operación y control de las concentradoras, de los estudios, diseños y proyectos de nuevas plantas, del control de préstamos y habilitaciones a los minerosabastecedores. "

Jul 20, 1956

By Hernando Labarthe

El Banco Minero del Perú fue creado por la Ley 9157 con la finalidad de impulsar el desarrollo de la minería nacional. Su cumplimiento ha representado la creación de una política de inversiones instalándosr centrales de benefico para minería metálica en diversas regiones de la República. Sin embargo, los proyectos culturales contemplan el aporte de otras entidades financieras, para lo cual el Banco cuenta con organismos de control preparados y que tienen la suficiencia económica ,legal y necesaria para garantizar a los inversionistas extranjeros. En este sentido, el presente artículo señala la función del Banco Minero en la instalación y operación de sus plantas de beneficio y así como las ventajas,e instalaciones, organizando las proyecciones futuras de esta actividad.

Jan 1, 1957

By Hernando Labarthe

"El presente texto describe el desarrollo de la planta concentradora ubicada en Castrovirreyna, ubicada en Huancavelica como parte de las plantas de beneficio del Banco Minero del Perú. La Planta de Virreyna tieneuna capacidad de 50 toneladas diarias y por flotación selectiva se obtiene concentrados de zinc, plomo y cobre. El mineral a beneficiarse de diversas minas es transportado por camiones y almacenado en tolvas de madera y canchas de recepción con amplia capacidad. "

Mar 1, 1957