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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 Paul D. Tomlingson

Numerous worthwhile benefits accrue to the industrial organization that is supported by a maintenance organization performing at a world class level. That organization will be favored with consistently reliable production equipment. It will be assured of meeting production goals. Its product will exceed marketplace standards. Its customers will see them as a quality organization. Its employees will enjoy job satisfaction and the plant will realize continuing profitability. Every industrial plant aspires to achieve ?world class? status knowing it can compete favorably with the best, most profitable organizations in the world. The trick is to achieve the attributes that qualify your organization for world class status. But there are no world class maintenance organizations. Rather, there are world class industrial organizations that include a world class maintenance organization. Maintenance, by itself, is a service provider, dependent on the support and cooperation of other departments. When that service is exceptional, it is made that way because maintenance is operating in a plant environment that requires it to be exceptional. Managers have created an environment in which maintenance can be exceptional. The plant, mine or facility manager must acknowledge from the start that maintenance is not a stand-alone effort of a plant maintenance department. It will require the joint efforts of all plant departments. Quality material support and full cooperation from operations, for example, are among the essential requisites for effective maintenance and achievement of world class maintenance status. When attributes such as these are reinforced by dedicated plant managers, profitability soon follows.

By D. Meadows, P. Carrato, E. Wingate, K. Churchill

Extracting lunar ice, to be processed into pure water or hydrolyzed into oxygen and hydrogen, faces many challenges. On the Moon icy-regolith deposits that contain up to 10% water are found within Permanently Shadowed Regions (PSR) at both lunar poles, where temperatures approach -220 ⁰C. NASA has identified several technology gaps that exist in developing these resources including: • Excavating large quantities of icy-regolith • Delivering large quantities of acquired resources • Hardware that is lightweight and energy efficient • Hardware that is reliable and durable. NASA uses public challenges to incentivize innovative approaches to closing these gaps. The Break the Ice Lunar Challenge provides over three million dollars in prize money to teams that compete in developing solution to mining the Moon. This paper describes the rules for this challenge and presents some of the proposed solution.

Feb 1, 2023

By George W. Land

For the year 1985, the U.S. coal industry produced 881 million tons of bituminous coal and lignite. Domestic consumption amounted to 814 million tons. The electric utilities consumed 689 million tons, almost 85 percent of total consumption, over 78 percent of production. In May, 1986, the NCA forecast that with moderate growth rate averaging 1.9% per year from 1985 through the year 2000, production could reach 1,176 billion tons and domestic consumption 1079 billion. The estimate for electric utilities indicate 924 million tons for the year of 2000, about the same percentage of production and consumption as now experienced. Before we consider the main topic of this paper, the cost of using high sulfur coal, let us examine the coal use patterns of the last 25 years, the changes in those patterns and consider the reasons for those changes. Table I shows those changes.

Jan 1, 1986

By F. T. Paleari

Radial gas holdup profiles have been measured in a 50x400 cm flotation column using a multi-cell conductivity probe. Three different bubble generation systems were examined: up to eight vertical filter cloth spargers, three horizontal filter cloth spargers, and three (horizontal) Cominco-type spargers. The variables tested were: number of spargers, symmetry of their arrangement, and height above spargers. Batch water with up to 20ppm frother concentration was used. The general observation is that the profiles tend to be uniform (i.e. flat) with some exhibiting a slight wavy shape. The vertical sparger arrangement proved the most difficult to achieve profile symmetry. The horizontal spargers gave uniform profiles at right angle to their length but a decreasing gas holdup along their length; the Cominco-type spargers gave slightly less scatter in the data. Switching off selected spargers (to simulate malfunction) did not produce strong asymmetry in the profiles.

Jan 1, 1993

By William Gleason

"Despite the difficult economic climate for the mining industry, more than 6,300 people joined SME for its 2016 Annual Conference & Expo in Phoenix, AZ, Feb. 21-24.Nearly every commodity has been bruised and battered during the past year, leading to one of the more difficult cycles for the industry in the past decade. Coal has taken some of the hardest hits and other commodities, such as copper and iron ore, have felt the sting of a slower growth in China and an oversupply on the market.The difficult conditions could not be ignored, but they did not deter SME from offering a forum for the industry to share knowledge, network with peers and learn about the best products and practices while visiting the sold-out exhibit hall (844 booths and 627 vendors) or while attending any of the 121 technical sessions that were offered.The current state of the industry was one of the overriding themes of the conference and during the challenging times there are often cutbacks as operations look to become leaner and more efficient, however, there is one area that cannot be cut – health and safety.The conference kicked off with a fascinating presentation from Colonel Mike Mullane, a former NASA astronaut who, in 1978, was selected as a Mission Specialist Astronaut in the first group of space shuttle astronauts. He completed three space missions and logged 356 hours in space aboard the shuttles Discovery and Atlantis before retiring from NASA and the U.S. Air Force in 1990.In his speech to a packed audience, he warned of the dangers of cutting corners to get the job done more quickly by guarding against the “normalization of deviance.”Normalization of deviance is a long-term phenomenon in which individuals or teams repeatedly accept a lower standard of performance until that lower standard becomes the norm. Usually, the acceptance of the lower standard occurs because the individual or team is under pressure (budget, schedule, etc.) and perceives it will be too difficult to adhere to the original higher standard. Their intention may be to revert back to the higher standard when this period of pressure passes. However, by getting away with the deviation from the higher standard, it is likely they will do the same thing when the same stressful circumstances arise again. Over time, the individual/team fails to see their actions as deviant."

Apr 1, 2016

By R. Pazhianur

Cathodic Protection using impressed current was employed to reduce the wear of the mill wall during ball mill grinding. Wear rates were determined from weight-loss measurements made on four, I-inch diameter, mild steel coupons installed flush with the interior surface of the mill wall. Grinding tests were conducted on quartz, pyrite and quartz-pyrite mixtures at pH values of 4.6, 7.1 and 9.2. Cathodic protection was shown to reduce mill wear by 40-60010. An examination of the coupon surfaces using scanning electron microscopy showed that cathodic protection greatly reduced pitting corrosion. The presence of a sulfide mineral, such as pyrite, was found to increase the wear rate significantly, possibly due to galvanic interactions. It is also found that the wear rate is significantly higher than the sum of abrasive wear and the corrosive wear, due to a synergistic effect.

Jan 1, 1996

By V. Z. Sun

One of the major concerns of ground control in a coal mine is safety against failure of one of three components (i.e. roof, pillar, or floor) of the mine entry. In order to better design and evaluate stability of the mine entry with a certain confidence, a reliability approach is introduced rather than using the conventional safety factor (SF) method only. Advantages of using the reliability approach is that it not only takes variability of both rock/coal properties and stress distribution into consideration, but also assesses the stability of each component and mine entry as a whole system. Therefore, it is anticipated that, by using this approach, the current ground control technology in coal mine will convey a better sense of confidence. The results of a case example show a significant influence on the current design concept and stability evaluation of mine entry.

Jan 1, 1997

By I. Meliadis

This study presents the methodology and proposals for the restoration of an abandoned quarry in the Greek island of Milos. The local data (soil, vegetation etc.) of the island were collected, analysed and compiled into thematic maps using Geographical Information Systems. The restoration plan was based on the G.I.S. database and suggested the revegetation of the disturbed lands with herbaceous (grasses and legumes) or woody (shrubs and trees) plants. Plants should be indigenous or from other areas with the same vegetation type. Herbaceous plants establish and grow easily protecting the soil from surface erosion. The revegetation success depends on the seed quality, planting season and methods as well as local environmental conditions. Our proposals aim to restore the abandoned quarry with methods that follow the natural succession of vegetation, have minimal environmental impact, low cost and the expected result will be similar to the surrounding undisturbed land.

Jan 1, 2002

By Lloyd H. Yeager

Good morning gentlemen. I'm very pleased to be a part of this fine program for the Society of Mining Engineers. Gypsum, as many of you know, is one of the most unique minerals on earth. The very excellent presentations which you have just witnessed, revealed the geological aspects of gypsum operations. It is not our purpose this morning to pursue this subject further. Instead, we felt you would be interested in some of the uses of gypsum . . . and what the future holds for gypsum products. To help accomplish this, we're going to first show the Gypsum Association's new film, "Shape Of The Future. ' This short movie traces gypsum f ram mines and quarries to its ultimate destination in homes, schools, offices -- in virtually every type of construction. We think you'll be particularly interested in the description of gypsum's fire resistive nature.

Jan 1, 1965

By N. S. Tanious

Three water-spray ventilation systems were tested to determine their effectiveness in diluting methane at a room and pillar coal mine face. These systems were: the shrouded nozzle, the spray fan, and the conventional nozzle system that is normally supplied with continuous miners. The testing was carried out in two stages. The air-moving capacities of the nozzles were first evaluated in a duct. The duct tests showed that: (1) the volume of air moved by the nozzle is controlled by the type of nozzle, the space around it, and its location relative to the duct wall; (2) the spray fan nozzles or the shrouded nozzles are both capable of moving air quantities up to 6400 cfm (3.02 m3/s); and (3) when the shroud was removed from around the shrouded nozzle, its bare nozzle moved between 9 and 65 percent more air. In the second stage of testing, a full-scale evaluation of the three systems was conducted. The three spray systems were mounted on a continuous miner which was positioned in an aboveground simulated mine entry. The simulated face tests gave the following results: (1) the standard nozzle system, which is mounted on the front end of the miner, is inadequate for diluting methane; (2) under the best testing conditions (lowest methane emission rate, highest primary ventilation airflow, and closest brattice set back), the slight improvement given by either the shrouded system or the spray fan is the same; and (3) under the worst testing conditions (highest methane emission rate, least primary ventilation airflow, and farthest brattice set back), the spray fan gave superior performance.

Jan 1, 1987

By R. C. Bunge

The selective flotation of semi-soluble salts with fatty acids is often negatively affected by the interaction of the potential determining cation with the ionic surfactant in bulk solution. This problem can be avoided by floating at low pH which involves the emulsification of the collector. The research presented here focuses on the influence of the Ca2+ ion on the flotation of fluorite with palmitic acid at low pH. Our results show that the surfaces of collector emulsions are dominated by precipitation phenomena similar to those encountered in bulk. In turn, fluorite in palmitic solution at intermediate pH displays surface properties similar to those of the collector by itself. This may be due to two alternative mechanisms (i) adsorption of bulk precipitate on the fluorite surface or (ii) the formation of a bilayer of surfactant ions on fluorite. Possibly, both mechanisms occur simultaneously.

Jan 1, 1993

By Jon J. Kellar

The adsorption of oleate at the surface of a fluorite single-crystal internal reflection element has been investigated using Fourier transform infra-red/internal reflection spectroscopy (FTIR/IRS). The application of this innovative experimental technique has added a new dimension to the investigation and understanding of collector adsorption phenomena. It is now possible, for the first time, to measure in-situ and in real time the adsorption density and bonding nature of collector species adsorbed at mineral surfaces. In this regard, oleate adsorption densities were calculated from spectral data, and the equilibrium adsorption isotherms were found to agree quite well with other adsorption isotherms reported in the literature. At low equilibrium oleate concentrations(<10-5 M), monolayer-type cover-age was observed in the chemisorbed region. It was found that in this region the adsorption density increases with an increase in temperature, which sup-ports experimental results from previous ex-situ FTIR studies and thermochemical studies in which it was shown that the chemisorption reaction was endothermic. At higher equilibrium oleate concentrations (>10-5 M), the adsorption density increases dramatically at the point of surface precipitation. The oleate adsorbed in the chemisorbed region has a distinctly different spectrum than the oleate adsorbed in the surface precipitation region of the adsorption isotherm. In the chemisorbed region, the oleate appears to be mono-coordinated at the fluorite surface.

Jan 1, 1989

Because of its many advantages, roof bolting has been widely used in hard-rock underground mines. In this paper, the applicability of roof bolts to mine openings in frozen ground, and the affects of bolts on the stability of the openings are presented. A comprehensive finite-element program, ABAQUS, was used to analyze the temperature distribution, the stress field and the displacement, field around a mine opening. Openings that were supported by roof bolts and openings that were unsupported were both analyzed. The thermal and mechanical processes were treated as a quasi-coupled problem, with the thermal analyses being conducted first, followed by the mechanical analyses in each case. For the opening under consideration, i.e., a roof area of 15 m2, five to seven roof bolts are appropriate. When the number of bolts is less than five, the displacement within the ground can be improved only locally.

Jan 1, 1997

By R. M. Bowen

To help solve problems associated with the optimization of complex coal preparation systems, a mathematical model has been assembled which can simplify calculations pertaining to the core of the plant, i.e. the coal cleaning section. It uses algebraic expressions, derived by fitting hyperbolic equations to Mayer curves, to calculate optimum settings for a specified array of coal cleaning units and feeds. This is done without search procedures, and with usually only minor iteration of a simple calculation to specify optima within 0.02% of specified product ash contents. The key to the calculation is a relationship derived via the analytical geometry of conic sections facilitating easy application of the incremental ash theory of separations. The model has been assembled in a generalised form to cater for N processes in parallel, each giving M separations to produce P final products. Examples are given involving assessment of some complex circuit options.

Jan 1, 1986

By Brian K. Failon

Scale formation is a problem that affects many mineral processing systems because the processes require the use of large volumes of water. Scale composition may vary from circuit to circuit, but the scale deposition mechanisms and needs for prevention are often somewhat similar. Likewise, there is a degree of commonality in the prediction, detection, and elimination of scaling conditions in various water systems. This paper briefly reviews some of the conditions which lead to scale formation, as well as some of the common problems associated with unchecked scale growth. The primary focus of the paper is on the variety of chemical scale inhibitors available for use in mineral processing circuits, and the actions of each type. The means of predicting and detecting scaling tendencies are also addressed, and include both direct and indirect methods, i-e., stability index determination and chemical analysis of deposits.

Jan 1, 1986

By P. G. Tzeferis

Factory beet molasses media were used as cheap sources of sucrose for microbial leaching of Greek nickeliferrous laterites using strains of Penicillium and Aspergillus sp. Nickel recoveries of up to 62% and cobalt recoveries of up to 50% were obtained by leaching in a two-phase system in which bioacids were produced by fungal metabolism in molasses ferrocyanide pretreated media. The addition of potassium ferrocyanide to the molasses substrates prior to leaching was found to have a beneficial effect by increasing the level of citric acid bioproduction, thus improving the leaching efficiency of the fermentation liquid. The metals known to interfere with citric acid production (i.e., Fe, Cu, Ca and Mn) were those most efficiently precipitated. Considering the much lower commercial price of molasses in the industrial market compared to sucrose and glucose carbohydrate media, molasses could prove to be a promising alternative, despite the cost of the required pretreatment.

Jan 1, 1995

By F. G. Hyde

Passage of the Public Utilities Regulatory Policy Act ("PURPA") in I 978 created an entirely new industry that is referred to today as the Independent Power Producers ("IPP"). Requirements of project owners, environmental compliance, project design, the financial community and most of all, the need to be a low-cost producer presented a unique situation for the sourcing and the utilization of fuels. Depending on the specific type of project being developed, (e.g. coal-fired, wood/biomass, natural gas, petroleum coke or a blend of several fuel types) and the type of boiler design, it is important to acquire fuels that will optimize both the project&apos;s operating efficiency and flexibility. This paper will focus on the acquisition of fuel for coal-fired projects, but will describe the necessary steps in the sourcing, contracting for, and the utilization of fuels and transportation resources in the IPP industry today.

Jan 1, 1996

By Allan R. Ide

It is a great pleasure for me to speak-before such a prestigious group as the American Institute of Mining, Metallurgical and Petroleum Engineers. The substance of my talk today is the handling of coal and petroleum coke: their characteristics and environmental problems, and how we were able to correct the problems, prescribe the cure and enjoy the benefits. When coke first became a by-product derived from the oil refineries everyone would have been very happy if someone had offered to take this pro- duct off their hands. Unfortunately, there was no market at that time, and no one seemed interested. Soon thereafter, it became a sellable product and began to be shipped to many countries in the world. This was when all of the pollution problems began. I will be talking briefly about some of these problems and showing a short film on this subject afterwards.

Jan 1, 1984

By David De Lemos Pires

Mining is essentially a materials management process where materials are classified, excavated, moved to a desired location, processed at a cost and sold for a price hopefully to generate a profit. ?How much is that cost and can it be reduced?? is the age-old question. The requirement for a paradigm shift with regard to materials movement in search of low-cost production has not just happened by chance but, rather, has been driven by agents of change that include mining companies, consultants, governments and equipment suppliers. During the past 100 years of mining, surface mining technology has involved humans with hand tools, humans with machinery and unmanned automated equipment. In the past 50 years, surface mining technology has evolved and now takes the form of trucks and loaders (TL), in-pit-crushing conveying (IPCC) and autonomous haulage equipment (AHS).

Dec 1, 2013