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By S. Frimpong, E. Gbadam, W. Nyaaba, G. Somua-Gyimah

Recent studies towards dragline excavation efficiency have focused on incrementally achieving automation of the entire excavation cycle. Initial efforts resulted in the development of an automated dragline swing system, which optimizes the swing phase time. However, the system still requires human operation for collision avoidance. For full dragline autonomy, a machine vision system is needed for collision prevention and big rock handling during the ‘swinging’ and ‘digging’ phases of the excavation operation. Previous attempts in this area focused on collision avoidance vision models which estimated the location of the bucket in space in real-time. However, these previous models use image segmentation methods that are neither scalable nor multi-purpose. In this study, a scalable and multi-purpose vision model has been developed for draglines using Convolutional Neural Networks. This vision system averages 82.6% classification accuracy and 91% detection in collision avoidance. It also achieves an 87.32% detection rate in bucket pose estimation tasks. In addition, it averages 80.9% precision and 91.3% recall performance across terrain recognition and oversized rock detection tasks. With minimal modification, the proposed vision system can be adjusted for other automated excavators. Keywords: Surface mining, dragline bucket, deep learning, machine learning, oversized rock, convolutional neural network, machine vision, object detection, earthmoving equipment. INTRODUCTION Complete excavator automation is widely regarded as the next phase in efforts toward improving earthmoving efficiency. Earthmoving often involves complex, forceful interactions between an excavator and the ground. The nature of these interactions depends largely on the type, properties and physical characteristics of the earth material. This process is further complicated by the random occurrence of tree roots, boulders and other such obstructions. Therefore, the ability of a controller to detect changes in the operating conditions, adjust the digging strategy and respond in real-time is of utmost importance. Early studies into autonomous excavation identified some key performance criteria which included the following [1]: • The autonomous excavator must be able to work in any type of earth material. • Its excavation accuracy must be within 50mm. • It should be able to handle different surface and underground obstacles autonomously. • It should be able to operate at the speed of the average operator in any condition. • Its operation should be capable of safe integration with other site systems.

Jan 1, 2019

By S. G. Britton

Microcomputer analysis has long been a technique for engineering professionals to improve the theoretical and practical design of continuous mining systems. Such work has been typically composed of modeling observed events and then introducing a variety of known elements with predicted results to compare against the results of the model. Programs written in BASIC, Cobol, Fortran, or other language dominated such efforts. These programs have taken years to develop and prove out. This paper explores a new management tool used at TMC on a daily basis to track and improve continuous mining systems through the use of microcomputers and Lotus 1-2-3 software. By analyzing data provided by section foreman, shift foreman, and maintenance personnel against predetermined goals, new production targets are developed, weaknesses in the current mining systems are identified, and the results of changes are measured. The results of this system on the productive output of TMC systems are on the order of ten percent improvement.

Jan 1, 1991

This paper summarizes the process development behind the design of three different types of paste fill plants at operating Canadian hard rock mines. Each application has a unique paste backfill mix and process which utilizes the materials economically available to the mine site. The different plants produce paste fill composed of base metal tailings, a blend of recovered disposal pond tailings fines and alluvial sand, gold ore tailings, and a blend of gold ore tailings and alluvial sand. This work has led to the joint development by Inco and GL&V Ontario of the compaction storage mechanism for the de-watering of mill tailings to a paste consistency.

Jan 1, 1994

By D. Crouse

A significant wollastonite resource has been discovered and evaluated near Seeley's Bay in southeastern Ontario. The deposit occurs in Grenville Frontenac Terrane granulite facies rock within a calc-silicate skarn in contact with Proterozoic-age gabbro. The steeply-dipping and tightly-folded wollastonite skarn beds are interlayered with diopside and quartz-feldspar skarns in a southwest-plunging synclinorium. More than 9 million tonnes of a drill-proven and inferred resource grading 41 % wollastonite has been identified, as well as an additional 3 million tonnes grading 30%. Mineralogical and process test work with the wollastonite from this deposit has demonstrated the potential to produce a high purity, high aspect ratio wollastonite product.

Jan 1, 1994

By Haydn H. Murray

The area from Ohio on the east, Tennessee on the south, and Minnesota on the west: contains some very unique and useful clay deposits. Included are fireclays and plastic clays in Ohio, Kentucky, Indiana, Illinois, and Missouri; flint clays in Kentucky and Missouri; ball clays in Kentuckv and Tennessee; adsorbent clays (fuller's earth) in Missouri, southern Illinois, and Tennessee; and alluvial clays and shales for structural clay products from every state. Unique kaolin clays are known in Minnesota, Missouri, and southern Illinois and halloy-site localities are known in southern Indiana. The geology, physical properties, and uses or potential uses of these midwestern clays are described.

Jan 1, 1980

By J. B. Hedrick

Rare earths were not mined in the United States in 2008. However, processing of intermediate rare-earth concentrates continued throughout the year at the Mountain Pass Mine in California. Consumption of refined rare-earth products increased. U.S. rare earth imports were primarily from China, with lesser amounts, in decreasing order, from France, Hong Kong, Japan, Austria and Russia. The United States imported 100 percent of its supply of yttrium metal and compounds primarily from China. United States In 2008, lanthanide concentrates were processed by Chevron Mining Inc. (previously Molycorp Inc.) at its mine site at Mountain Pass, CA. Chevron Mining sold its entire holdings in the rare earths mine to Molycorp Minerals LLC in September and operations continued at the site through-out 2008. Major uses for these mineral commodities were in automotive catalytic converters, petroleum fl uid-cracking catalysts, permanent magnets, glass-polishing compounds, ceramics, metal-alloying additives, phosphors and recharge-able batteries. Three domestic companies produced and sold lanthanide intermediate concentrates and refined products. Chevron Mining sold its interests in the Mountain Pass Mine to Molycorp Minerals LLC on Sept. 30, 2008. Molycorp Minerals LLC is an investment company owned by Resource Capital Fund IV L.P., Pegasus Partners IV, LP, The Goldman Sachs Group Inc., Traxys North America LLC, Carint Group LLC and Mark Smith. The Molycorp operation previously mined the rare earth fluocarbonate mineral bastnäsite by hard-rock surface methods, and the mine remained on care and maintenance in 2008. Molycorp maintained significant stocks of bastnäsite concentrates, intermediate concentrates and high-purity rare earth compounds at its operations at Mountain Pass. In October 2007, Chevron Minerals completed phase one of its three-stage plan and restarted the rare earth separation plant at Mountain Pass. The company also processed intermediate rare earth concentrates from existing stocks during the first three quarters of 2008. Molycorp Minerals LLC maintained production in the last quarter of the year. The mine at Mountain Pass has been closed since 1998. Future plans are to restart processing of stockpiled bastnäsite concentrates followed by reopening of the mine.

Jan 1, 2009

By Robin G. Burn

An orebody is a mining company's greatest asset; without it there can be no mine. Yet, by the very nature of the industry, orebodies are wasting assets whose progressive depletion must be balanced by continued discovery of new ore to enable both the industry to survive and the raw material demands of society to be satisfied. Although mineral exploration may be viewed as any activity which leads to the creation of investment opportunities in the mineral industry, ultimately new ore can only be generated through discovery. The process leading to discovery may involve a long chain of independent and interdependent events. It will almost always be repetitious and require the examination of many prospects or trials before the goal, a commercially successful discovery, is satisfied. Long term survival of a mining company through regular discovery of new ore, requires a continued commitment of funds and effort to mineral exploration.

Jan 1, 1984

By C. O. Petter

This paper, in its first part, compares the profile and economic weight in the extraction of industrial minerals and aggregates to the so called conventional mining activities (metals, coal, gas and oil extraction) in Brazil. In its second part, a descriptive analysis of the present situation of the education in Brazil is made, emphasizing the graduation and post-graduation formation especially in engineering. The curricular structure of the schools that prepare the mining workforce is discussed and the presence of specific subjects in industrial minerals is evaluated. Finally, considerations are made on the actions being taken in the main universities and companies, aiming to improve the formation of the specialized workforce. The Brazilian mining production, comparing 2010 to 2011 showed an expansion of more than 3% (IBGE, 2012). Not bad, but nothing to do with the 13% growth between 2010 and 2009 (influenced by a recovery effect from the 2008 commodities? nightmare). The commodities that had a rising behavior were titanium, gypsum, nickel, graphite, bauxite, phosphate, chrome and chrysotile. All of them were eclipsed by the impressive growth of iron ore production. Some decreases could be noticed, eg. in zinc, kaolin, magnesite and salt production (DNPM, 2012). In fact, the mining activities followed the positive growth of the country these last 5 years. The commercial balance (exports against imports) was not spectacular (positive in US$ 30 billion in 2010). It is important to notice that the mineral commodities balance was US$ 35 billion, representing 27.4% of the total exports and 15.6% of the total imports of Brazil (DNPM, 2012). In this positive environment, the workforce in Brazil showed progress in number of formal jobs and average revenues.

Feb 23, 2014

By D. A. Karvonen

Although the economy in the Province of Saskatchewan has historically been agriculturally oriented, a major new source of wealth has been realized through natural resources such as petroleum and natural gas, coal and uranium and since the 1960's - potash. Potash or potassium chloride, in the form in which it is presently produced in Saskatchewan is used primarily as fertilizer, a source of potassium, one of three essential elements required for healthy plant growth with about 5 percent of production sold to the chemical industry for use in such products as soap and liquid detergent, glass and ceramics, textiles and some pharmaceuticals. Saskatchewan is estimated to have approximately 40 percent of known world potash reserves and its ten active mines account for some 25% of annual world production. The development of this resource was recognized to be important to the development of Saskathcewan. In an effort to guarantee a fair and lasting economic benefit to the Province of Saskatchewan the Potash Corporation of Saskatchewan (PCS) was created on February 4, 1975 through an Order-in-Council under the Crown Corporation's Act and later on April 1, 1976, the Potash Corporation Act provided for its continuation. PCS was given the mandate to acquire ownership of a significant portion of the potash mining capacity in Saskatchewan and to establish an organization capable of operating the facilities, marketing the product and conducting all of the other activities necessary for a successful corporation competing in the world potash industry.

Jan 1, 1983

By J. A. Cole

This paper discusses the modification of the cyanide tailings treatment method from ferrous sulfate to Caro's acid (peroxymonosulfuric acid). An examination of the operating parameters, costs, and chemistry describes how the decision was made to switch to this treatment method. Plant data collected from the last several months will be used, along with considerations from an operator's viewpoint.

Jan 1, 1996

By E. C. Speers

The Ray Mines Division has a long and illustrious history beginning in 1911, as one of the early underground block caving copper mining operations. The tonnage mined from the beginning of operations, increased from about 8, 000 TPD in the early years to the present daily tonnage of 22, 500 tons, mined by open pit methods. The Ray basic milling practice has been relatively unchanged since 1927 when the sulphide-flotation process was introduced at Ray. The leach-precipitation-flotation process introduced in 1956 has been the only major process change. The change from underground to open pit' mining was accompanied by a renewed drilling and exploration program which developed large tonnages of low grade copper ores both in the porphyry and the diabase. The ore bodies as outlined were of such a grade and size that it soon became apparent that economical operations could not be developed with the lower tonnage rate. Also that in order to develop these newly proven ores, it would be necessary to move the Ray crushing plant, the Ray. supporting shops, offices, a substantial part of the Ray townsite, and would also involve the rerouting of Mineral Creek, a typical Arizona stream which is dry most of the year but can flow as high, as 8, 000 second feet in the rainy season. This paper describes those changes in flow sheet made necessary both by the increased tonnage .and the requirement to move as much of the crushing facilities from the Ray area as practical in order to free the mine for the extension of its physical limits.

Jan 1, 1961

By E Marambio, R Brändle, G Fischer, G von Rickenbach, M Fuentealba, L Burgos, R Luis Fonseca

In underground excavations, under high stress conditions, ground support systems must provide safe and effective response to dynamic events. These systems must be capable to resist dynamic impacts and yielding during the loading process. In this context dynamic testing of the reinforcement and retaining elements that compose the ground support system are required to study and improve the behaviour of these elements under dynamic load events. During the last years, Geobrugg has been working on the improvement of retaining products by testing them in a large-scale impact test facility located at Walenstadt, Switzerland. The test facility is composed of a double level platform with a square-shaped pyramidal trunk geometry, in the upper level housing a loading mass that drop from a height up to 5m. The loading mass is guided by one central steel pipe, and the impact occurs in the sample to be tested located at the lower level in a slab with an area of 3.6m × 3.6m where the ground support system is installed. During the last years, this innovative facility has been used to test several configurations of ground support systems. The results of these tests have enabled to improve the understating of the behaviour of ground support systems under dynamic loads. In this manuscript, the back analysis through numerical methods (central difference and Newmark’s method) of a ground support system tested with a double dynamic impact in 2019 is presented.

Apr 26, 2022

By J. K. Grunig

A process consisting of leach, continuous countercurrent decantation, resin-in-column ion exchange, evaporative crystallization of beryllium sulfate, and decomposition of the sulfate was developed for Spor Mountain, Utah, ores. The process is metallurgically sound, has a minimum of process steps, and is applicable to a wide variety of beryllium ores. The most novel aspect of the process is a resin system of ion exchange which is highly selective for beryllium and which rejects substantially all impurities except for minor amounts of aluminum, magnesium, fluorine, and sulfate in addition to beryllium. The oxide from sulfate decomposition meets specifications of potential users.

Jan 1, 1982

By M. K. Mohanty

Due to inefficiencies of the flotation process, significant effort has been recently provided to develop gravity separators for treating ultrafine particles. As a result, several enhanced gravity concentrators have been developed and commercialized. The Altair Centrifugal Jig is an enhanced gravity separator that provides relatively efficient separations on +25 µm size fractions. An experimental program conducted on -600 µm coal found that the Altair Jig reduced the ash content of the 600 x 44 µm from about 30% to 10% with an 86% combustible recovery value. The pulse water pressure, feed volumetric rate and ragging volume were found to be the key operating parameters affecting the separation performances obtained from the process. An extremely low density cut point of 1.54 and an Ep value of 0.08 were indicative of the high process efficiency values achievable by the Altair jig.

Jan 1, 1998

The leaching of gold and silver by ammonium thiosulfate solutions in the presence of copper has been actively studied in recent years. Newmont Gold Company has successfully tested the ammonium thiosulfate for gold extraction following biooxidation pretreatment of low grade refractory carbonaceous/sulfidic ores. In this paper, the chemistry of the copper catalyzed leaching process is reviewed. Factors affecting both the leaching reactions and the stability of the lixiviants are reviewed and discussed from a solution chemistry perspective.

Jan 1, 1996

Floc properties such as density, size, size distribution, porosity and shear strength govern the effectiveness of flocculation as a process for solid-liquid separation. Floc characteristics desired for removal of suspended solids by sedimentation or filtration, for example, are known to be different. In this study, an attempt has been made to evaluate floc density using a simplified procedure and determine the effects of various physical and chemical factors on the density of floes obtained. A brief discussion of techniques employed to measure the shear strength of flocs and the effect of various parameters on the floc strength is also presented.

Jan 1, 1988

Coal waste materials inhibit direct vegetation establishment due to adverse physical and chemical properties, particularly low water retention and high potential acidity. The Moss # I coal refuse pile is located in Dickenson County, Virginia, and was idled in the late 1980&apos;s with little topsoil resource available for final closure. The refuse was acidic (Total-S = .. 38%; pH = 3.6), black, high (70%) in coarse fragments, and had a low water holding capacity (4.5% in < 2.0 mm fraction). A small plot experiment was established on the refuse pile to evaluate the influence of liming rates (50% and 100% of lime req.) and topsoil thickness (15, 30 and 60 cm) on vegetative growth and leachate quality. Liming and topsoil amendment increased the surface soil pH from < 4.0 to > 6.0 over a two-year period, which resulted in greater vegetative cover and biomass than the control plots. All topsoil treatments resulted in greater vegetative cover and biomass than plots treated with lime only due to improved surface soil physical and chemical properties. A topsoil treatment of 60 cm gave the thickest vegetative cover and biomass yield. Such a treatment, however, would be cost-prohibitive at this location. Application of 27 Mg ha-1 of lime to the refuse surface along with 15 cm of topsoil produced acceptable two-year vegetative cover and biomass, and appeared to be the optimal treatment for this particular situation. Both liming and topsoil had no affect on leachate pH and the electrical conductivity in leachates collected below the plots. This suggests that surface revegetation will have little effect on the quality of water draining through the pile, so long term water treatment requirements may not be reduced by successfully revegetating the pile surface.

Jan 1, 1999

By James A. Clum

The shift to lower grade iron ores, e.g., magnetic taconites, resulted in a shift towards agglomeration practices which could effectively deal with the fine particle sizes generated in the liberation and concentration processes. If the iron bearing particles are not extremely fine, e.g., -1/2 in + 100 mesh, sintering is an adequate means of agglomeration.(1) For the more dispersed ores which result in fine concentrates (more than 80%,-325 mesh), the fine particles must be agglomerated by mechanical means before final hardening, e.g., pelletizing.(1) In the pelletizing process, the essentially mechanical step of balling is extremely critical since the strength of the pre-fired pellet determines the firing conditions. The ability of the proper amount of moisture to hold together a ball of the very fine ore concentrate particles has long been recognized. It is a charac¬teristic of the reaction at the interface between the ionic solid of the ore concentrate and the polar water phase which overlays the solids. The strength in such moisture laden balls, the green strength, is a strong function of the water content (Figure 1) and thus deteriorates rapidly for either a small excess or a small deficiency of moisture. For purposes of commercial practice, the control of green ball handling properties by accurate control of ball moisture is too demanding. Moreover, as the ball is heated towards its hardening tempera¬ture, e.g., 1300&apos;C, there is a substantial drying reaction which would lead to such a low dry strength of the ball that it would not support its own weight much less the weight of other balls in a firing furnace.

Jan 1, 1976

By Yi Luo, Jianwei Cheng, Mingming Li, Lei Xiao

Concealed thermal events in longwall gobs present safety hazards for underground coal miners and can significantly interrupt mining production. The probable causes for such thermal events range from coal oxidation at slightly above ambient temperature to smoldering fires due to spontaneous combustion of the broken coal left in the gobs. Locating such “hot spots” is the key step for planning and implementing mitigation measures to bring such thermal events under control. If a mine section, or even an entire mine, has to be sealed, understanding the status of the sealed mine atmosphere is important for the decisions guiding subsequent actions. The gas composition data obtained through the tube bundle mine atmospheric monitoring system is firsthand information of great value. Fire ratios proposed by various researchers and derived from gas composition data are useful in determining the fire status and even approximating the source locations (Timko and Derick, 2006). However, the applicability of each of these ratios under particular conditions should be carefully evaluated. The use of properly combined fire ratios can enhance the certainty of analysis. The explosibility of a sealed mine atmosphere deserves primary concern for safety reasons during seal construction, idle time and reopening of the sealed area.Mine atmospheric monitoring data from a longwall mine with flame fire have been analyzed. Efforts have been made to identify the possible causes, locations and statuses of these events using the obtained gas data, as well as other ventilation, geological and mining parameters. The effect of injected inert gas to control the events has also been quantified. The explosibility of the sealed atmosphere has been determined using two methods.

Jan 1, 2012

By Larry S. Diaz

It is felt that prior to the presentation of the technical portion of this paper, some general information would be of interest. The Sar Cheshmeh Copper Mining Company was founded by the Iranian Government to oversee the design and construction of Iran&apos;s first copper smelter complex, which will be another step in the industrialization of Iran. Since this is the first such plant in Iran, Sar Cheshmeh wisely chose to enlist the technical assistance needed in regard to the facilities requiring engineering and operating know-how from outside of Iran. To obtain the foregoing, SCCM signed a contract with Anaconda-Iran, Inc., which was formed by The Anaconda Company for this project. The general scope of this contract covers the overseeing of engineering and design by Parsons-Jurden as well as physical plant construction. In addition to this, the same services were given to water supply and tailings disposal systems which were not included as part of the Parsons-Jurden contract. Anaconda-Iran is also assisting SCCM in setting up a training program for Iranian personnel for plant operations, administration, etc., which .will go on for some time after the plant startup, under the guidance of Anaconda-Iran expatriates. SCCM?s other responsibilities, in respect to the development of this industrial effort, are the building of a townsite for approximately 2200 families, the expected manning requirements, having all the facilities necessary to provide a pleasant life in a remote area. It has been estimated that the manpower for operations will be 2050.

Jan 1, 1976