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By I. S. Parrish

This article offers one of the infrequent looks at Chinese mining. It includes a brief review by Parrish of a tungsten symposium held there and his comments on and impressions of the mines he visited. In early Oct. 1981, a Symposium on the Geology of Tungsten was held in the Peoples Republic of China. There were approximately 100 participants. Half of them were Chinese. The remainder included representatives of the United Nations, geologists from other nations in Southeast Asia, and 10 invited specialists from other countries. The invited guests included K.F.G. Hosking of the Camborne School of Mines, United Kingdom; C.S. Hutchinson of the University of Malaysia; K. Mattson of LKAB Int. AB, Sweden; T. Kwak of Latrobe University, Australia; K. Sato and S. Ishihara of the Geological Survey of Japan; M. Clarke of the Department of Mineral Resources, Indonesia; P. Bateman of the US Geological Survey; and the author. R. Horsnail of Amax was also invited but was unable to attend because of delayed visa clearance. The meeting was noteworthy because the Chinese were presenting more than half the papers. In addition, following the formal session, everyone was taken to the famed Jiangxi tungsten district and toured four mines there. Organization and Background The idea for a symposium on tungsten geology was brought up in late 1979 during a visit to China by the Economic and Social Commission for Asia and the Pacific (ESCAP) and, in particular, by members of the Regional Mineral Resources Development Centre (RMRDC) of the United Nations. Discussions continued and in the spring of 1981 invitations were sent to selected geologists throughout the world. China's Ministry of Geology handled arrangements, scheduling, and logistics. Travel to China and all correspondence before the symposium were coordinated by the Bandung, Indonesia Bureau of RMRDC. All costs in China were met by the Peoples Republic of China. Airfares and "per diem" enroute for participants were paid by respective governments, sponsors, or individuals. On Oct. 10, visiting participants entered China from Hong Kong. The author and a few others traveled by train to Guangzhou (Canton). Most of the group flew in the next day. The entire group was then taken to Nanchang, traveling by sleeper train and arriving on Oct. 11. The symposium group stayed at the Kiangsi Hotel, where the meetings were held. Meetings Oct. 11 was a day of orientation and rest. The group was taken to an art museum and treated to a Chinese opera movie. The formal meetings began on Monday, Oct. 12. Simultaneous translations aided presentations, though more than half the Chinese speakers delivered their talks in English. The acoustics and sound system were excellent, and the Chinese provided 35-mm and overhead projectors. There was no screen, however, and the yellow, painted wall that was used detracted from projection clarity. In general, the Chinese papers were detailed, thoughtful, and professional. Some, naturally, were stronger than others. Taking them as a unit, one derives the following sequence to the Chinese approach to tungsten exploration: (1) Geologic investigations with mapping at a scale of 1:200,000 accompanied by only minor geochemical or geophysical work. (2) Geophysical investigation with regional gravity and magnetic surveys directed toward identifying deep, tectonic systems and seeking granites in thick, crustal environments. (3) Geochemical sampling in-

Jan 6, 1982

By Robert A. Jankowski, Ellsworth R. Spencer, Jay F. Colinet

Longwall mining is the most productive method of under- ground coal mining in the United States (US.), and record levels of production have been reached in recent years. These ever-improving production levels have the potential to generate significantly higher quantities of respirable dust. Consequently, the longwall industry continues to struggle with controlling dust liberation and maintaining compliance with the federally-mandated respirable dust standard. In response, longwall operators have in- creased the application of primary dust controls, airflow and water flow, in an effort to improve respirable dust control and reduce worker exposure. Pittsburgh Research Center (PRC) personnel conducted dust surveys at 13 longwalls operating throughout the U.S. and collected information to: identify current operating practices on these longwalls, identify the types of dust controls in use, document the levels at which these controls are being applied, and measure the respirable dust levels present. This data was analyzed to quantify the dust levels generated by the major sources on the longwall section and to evaluate the relative effectiveness of the control technologies in use.

Jan 1, 1997

By VASU GANGRADE, Marcia Harris, Kumar Vaibhav Raj, Jim Addis, Khaled Mohamed, Snigdha Sarkar

The National Institute for Occupational Safety and Health (NIOSH) conducted a ventilation assessment for a recently established underground room-and-pillar stone mine implementing split-mine ventilation. The primary objective was to examine the impact of the length of the in-place stone stoppings on face ventilation efficiency. These stone stoppings serve to separate the intake and exhaust entries and align with the mining direction. To achieve this, computational fluid dynamics (CFD) modeling was utilized. The appropriate turbulence model was selected, and a mesh convergence analysis was conducted for the CFD model. Following that, the CFD model was validated using the conducted ventilation surveys. Two configurations of in-place stone stoppings, designated as Layout-I and Layout-II, were simulated using the validated CFD models. Layout-I featured a shorter in-place stone stopping, while Layout-II had a longer one. The results obtained from the CFD models demonstrated that the increased length of the in-place stone stopping in Layout-II resulted in a notable enhancement in ventilation efficiency at the advanced faces (last stopping), elevating it from 4% in Layout-I to 8.4% in Layout-II. However, no significant impact of the in-place stopping layouts was observed at other faces. In general, Layout-II exhibited a greater circulation of air at the outby stoppings.

Feb 1, 2024

By Solomon J. Salat

During the major expansion of the Inspiration smelter, which took place in 1973, the bulk material handling system underwent a matching expansion in order to move the required materials. Inspiration is the first smelter worldwide to employ electric smelting in conjunction with the use of Hoboken converters (1), (2). The installation includes a 51 -MVA electric furnace, five 4.25m (14-foot) diameter Hoboken converters, rotary dryer, bedding plant, acid plant, heat recovery steam plant, and gas and dust handling system. See Figure 1, Plot Plan. As of today, the 51-MVA electric furnace is the world's largest in the smelting of copper. Engineering design for the installation was per- formed by Treadwell Corporation of New York. The task of designing the conveyor system was complex because the system had to be installed while the smelter was operating and with minimum plant shutdowns, and it had to serve both the existing and the new smelter. Existing conveyors were redesigned where necessary and incorporated into the new conveyor system. See Figure 2, Flow Sheet. The system encompasses the handling of such diverse materials as wet and dry copper concentrates, cement copper, silica flux, cold dope, and concentrate and flue dust.

Jan 1, 1979

By A. G. Mayton, D. H. Ambrose, C. C. Jobes, N. K. Kittusamy

In a systematic study, the National Institute for Occupational Safety and Health (NIOSH) evaluated seat designs in low- and mid-seam shuttle cars during production operations at two underground coal mines in southern West Virginia. The purpose was to support, with additional data, earlier findings that NIOSH ergonomic seat designs (featuring viscoelastic foam padding and lower-back support) may help reduce health risks to operators of coal mine shuttle cars. Eight shuttle car operators evaluated seven seat designs (one already in use in each vehicle and five NIOSH designs) relative to perceived and measured whole-body vibration (WBV) exposure (including vehicle jarring/jolting) and discomfort. Operators’ perceptions using a visual analog scale (VAS) and questionnaire ratings were compared with International Standards Organization (ISO) 2631-1:1985 fatigue-decreased proficiency (FDP) limits and measured WBV levels on low- and mid-seam shuttle cars. Objective and subjective data results indicated that NIOSH seat designs (with added adjustability, lower-back support and improved seat padding) performed better to reduce vehicle jarring/jolting levels and that shuttle car operators favored them over existing seat designs. The NIOSH low- and mid-seam shuttle car seats showed 45 to 77 percent better performance in FDP and 9 to 60 percent better performance overall in operators’ ratings. Considering the VAS results for low- and mid-seam shuttle cars under no-load conditions, operators rated the level of jarring/jolting 18 to 89 percent lower with the NIOSH seats. Reductions in measured vehicle jarring/jolting were 19 to 46 percent for the three-directional vector sum accelerations relative to the existing seats on the low- and mid-seam shuttle cars. Questionnaire responses indicated that operators for both shuttle car models rated NIOSH seat designs as more comfortable overall. Vehicle operators most frequently suggested adding armrests to improve the seats on the mid-seam shuttle car. A suggested improvement for the low-seam shuttle car was to make the seat a better fit for the operator compartment, which would enhance clearance between the operator and vehicle controls and allow for better seat adjustment and operator visibility.

Jan 1, 2009

By John M. Hird

Texas Gulf Sulphur Company's Lee Creek Mine has opened a major phosphate mining district in the Central Coastal Plains of North Carolina (Fig. 1). The ore deposit as it is now known was roughly outlined in 1961 by a Texas Gulf geologist using wire line exploration methods. Slightly uraniferous phosphate materials were detected by a slim-hole gamma ray probe run in numerous farmers' water wells penetrating the formations. A follow-up-core drilling pro- gram determined the economic ore limits to lie in the south central section of Beaufort County beneath 70 feet to 120 feet of unconsolidated sediments. The 50,000 acre deposit is known to contain over two billion tons of phosphate ore amenable to strip mining methods. A part of the deposit underlies several thousand acres of the Pamlico River estuary. The 90 million dollar capital investment plant built by Texas Gulf during 1965-66 included a strip mining operation using a 72-yard walking dragline, a three million product ton per year flotation concentrator, four fluid bed calciners, a sulphuric acid plant (acid for captive use), a phosphoric acid plant, and three solid fertilizer material plants. Shipment to domestic markets is by rail and truck and to over- seas markets by barge to a transshipment terminal at Morehead City, North Carolina. Early mining investigations were conclusive first that the phosphate ore could economically be recovered only by dry strip mining methods, and second that artesian ground waters in the formation (Castle Hayne limestone) underlying the ore would have to be controlled. This report will relate the application of ground water hydrology in depressurizing the Castle Hayne aquifer to facilitate dry strip mining at depths 130 feet below sea level at the Lee Creek Mine.

Jan 1, 1970

By Michael J. Hannan, Thomas F. Torries

The nature of industry structure is examined and the structure of the aluminum, copper, lead and zinc industries are described by the use of factor analysis. Capacity is defined and the relationship between industry structure and capacity utilization is examined. It is demonstrated that excess capacity is possible in industries with competitive or monopolistic characteristics, but the effects of the overcapacity are vastly different in the two cases. In a competitive industry, cycles of overcapacity with attendant fluctuating prices are expected. A change in industry structure from monopolistic to competitive characteristics over time causes profits and economic rents to be transferred from the producer to consumers of the mineral.

Jan 1, 1989

By D. S. McAllister, P. M. Rice, M. E. Fowler

The Westside Light Rail Project, a major 19.3-km (12-mile) extension of Portland, Oregon's light rail system, includes 4.6 km (2.8 miles) of twin 5.8-m (19-ft) diameter running tunnels, a binocular type station which, at 80 m (260 ft) below the ground surface, will be the deepest mass transit station in North America, two 9.4-m (31-ft) diameter station access shafts, and a 5.2-m (17¬ft) diameter ventilation shaft. The tunnels are being excavated by TBM and conventional rock, soft ground, and mixed-face methods. Geologic conditions, alignment, underground opening design, excavation method selection, and payment provisions for excavation and initial ground support are discussed.

Jan 1, 1995

By R. F. Hüttl

The restoration of surface mining landscapes requires the (re)creation of ecosystems. In Lusatia (eastern Germany), large-scale open-cast lignite mining operations generated spoil dumps widely consisting of acidified, phytotoxic substrates. Amelioration and rehabilitation measures have been developed and applied to these substrates since the 1950s. However, it is still not clear whether these approaches are sustainable. This paper reports on collaborative research work into the ecological potential of forest ecosystem development on typical minesites in the Lusatian lignite district. At first sight, pine stands on minesites along a chronosequence comprising about 35 years did not show differences when compared with stands on non-mined sites of the general region. Furthermore, with some modification, conceptual models for flora and fauna succession in forest stands on non-mined sites seem to be applicable, at least for the early stages of forest ecosystem development. For example, soil organism abundance and activity at minesites had already reached levels typical of non-mined sites after about 20-30 years. In contrast, mine soils are very different from non-mined soils of the test region. Chemically, mine soil development is dominated by processes originating from pyrite oxidation. Geogenic, i.e. lignitic, soil organic carbon was shown to substitute for some functions of pedogenic soil organic matter. Rooting was hampered but not completely impeded in strongly acidified soil compartments. Roots and mycorrhizae are apparently able to make use of the characteristic heterogeneity of young mine soils. Considering these recent results and the knowledge accumulated during more than 30 years of research on minesite rehabilitation internationally, it can be stated that minesite restoration might be used as an ideal case study for forest ecosystem development starting at "point zero" on "terra nova".

Jan 1, 2002

By R. Canello, J. Jenkins

El Abra has the world's largest leach, solvent extraction and electrowinning facility, The crushing plant capacity is 120,000 metric tonnes per day and the cathode production capacity is 225,000 metric tonnes per year. The El Abra mine and plant are located in the Province of El Loa, in Region I1 of Chile, 55 km. north of the city of Calama. The ore deposit outcrops on the southern slope of Cerro Pajonal at an altitude of 3,900 to 4,100 meters above sea level. The processing plant and camp facilities are located at a lower 3,300 meter elevation on an alluvial slope, 15 km southeast of the deposit. The operating company, Sociedad Contractual Minera El Abra, is 51% owned by Cyprus Arnax Minerals Company through the Cyprus Climax Metals Company subsidiary and 49% owned by Corporaci6n Nacional del Cobre de Chile (Codelco). The present paper describes the ore reserves, mine operations, crushing, leaching, solvent extraction, electrowinning and infrastructure facilities.

Jan 1, 1998

By Michael Prince

"Managing slurry is a constant challenge for mining operations. Since slurries are not uniform, the challenge is complicated by varying rheology, velocity, temperature and pressure, all of which affect how the slurry moves through the pipeline and how destructive it is to the system it is flowing through. Picking the right equipment from the outset — the right size pipe, the right size pump and the proper valves for the application — allows mines to operate more efficiently. Better valve designs deliver multiple benefits — they can lower the cost of operations, reduce the amount of maintenance and associated downtime required and are better for the environment. Historically, modulating systems have used ball, plug and pinch valves to manage the flow of slurry, but each of these alternatives has limitations. Ball valves require ceramic lining in order to delay wear, and once a ball valve does wear, the entire valve must be replaced. Similarly, plugs in plug valves should be coated to perform in control systems, and whole valves must be swapped out upon wear. Pinch valves are expensive and only require replacement of the sleeve. However, sleeve replacement involves an extremely arduous process in which the valve is completely taken apart.Traditionally, designers have avoided using knife gate valves (KGV) in modulating systems because KGVs have not been able to hold up under the harsh operating conditions. The throttling that is required in some of these processes rapidly fatigues conventional KGVs, rendering them useless and in need of replacement. Fortunately, innovative design changes have the potential to change established views.Breaking new groundRecognizing the need for improved components, Victaulic took on the challenge of designing a valve that could withstand abrasive slurry systems for a much longer period of time. The first step in this process was to talk to miners, maintenance personnel, process engineers and operators in the field about the limitations of current offerings and then determine design specifications for an ideal replacement.Many of the responses to these inquiries were very similar and reflected challenges with current operations; the primary objective was to find a valve that would be lighter and cheaper than the valves currently in use. In theory, a lighter valve would be easier to replace, and since replacements need to be performed frequently, a cheaper valve seemed like the right idea."

Feb 1, 2019

By T. W. Martin

The use of conveyors in large, open pit mines and their drawbacks are discussed. Technological developments such as long distance conveyors capable of handling large rocks are explored. The development and testing by the Bureau of Mines of a prototype crib and cable conveyor for handling large rocks are discussed, and possible modifications of the concept for a production model are examined.

Jan 1, 1984

By M. M. Rajkovich, J. J. Zaluski, S. J. Gardner

The telephone rings at 3:20 a.m. and an exasperated voice on the other end says, “There’s been a mine explosion at Mine No. 5 and we have not heard from three units of men!” Twenty-three minutes later, the phone rings again and another panicked voice says, “There’s something wrong at the slurry impoundment, the pool level has just dropped five feet and we’re trying to figure out what’s wrong!” Thirty minutes later, the mobile phone rings and an excited security guard says, “We have reports of thick black water running down both the right fork and left fork of Straight Creek and both seem to be rising in the banks!” As if this isn’t enough excitement, the mobile phone rings again and a stressed company official says, “I just heard a report that black slurry is running out of the portals of XYZ Company No. 2 Mine, which is adjacent to our No. 5 Mine!” Is this all some kind of dream or nightmare? More importantly, however, if this could happen, what on earth do you do? Although we all like to think that “It can’t happen to me,” we all must admit that mine explosions do happen, slurry impoundments can rupture and creeks can flood with black water causing damage to others, including competitors. Your response must be quick, cool-headed, calculated and effective. This paper will examine the issues, concerns and ramifications of this hypothetical “disaster” and then present a systematic crisis management response. While each situation is different, there are general guidelines for forming an effective plan of action.

Jan 1, 2003

By Corby G. Anderson, Sheikh Abdul Rezan Sheikh Abdul Hamid, Sanjith Udayakumar, Ahmad Fauzi Mohd Noor, Teuku Andika Rama Putra

Chemical and mineralogical characterization of Malaysian monazite, a phosphate mineral, bearing rare earth elements separated from the tin tailings originated from Ipoh, Perak, Malaysia, was performed in this paper. The study aims to collect detailed information on the chemical composition, crystal phases, and microstructure of the mineral monazite concentrate that would aid to optimize the subsequent hydrometallurgical processes for high-efficient separation of thorium and other associated rare earth elements. A systematic characterization study of the concentrate was conducted using techniques such as optical microscopy (OM), scanning electron microscopy (SEM) equipped with energy-dispersive X-ray spectroscopy (EDS), and Fourier-transform infrared spectroscopy (FTIR). These techniques analyzed the morphological details on the surface, elemental analysis, and mineral association assessment and identified the surface functionalization groups. The bulk composition and the mineral phases in which the elements are present were studied by wavelength-dispersive X-ray fluorescence (WD-XRF) and X-ray diffraction (XRD) studies respectively. The XRF analysis confirmed the presence of Ce, La, Nd, Pr, and Y (rare earth oxides: REO’s ~ 60 wt.%) while thorium dioxide (ThO2) accounted for 7 wt.% of the total composition. Traces of Ca, K, Al, Fe, Ti, and Mn were also confirmed by SEM elemental mapping. The XRD results confirmed that the concentrate was primarily composed of monazite (Ce, La, Nd, Th (PO4)) along with minor impurity phases of quartz. Automated mineralogical analysis was used as a confirmatory tool to corroborate the preliminary evidences. Based on the particle size distribution analysis supported by SEM, the majority of monazite grains were found to be present in the size range of 170–210 μm. Strong bands of PO4 and SiO4 were observed in the IR spectra corresponding to the phospho-silicate matrix of the REE mineral.

By Donald R. Williamson

Statistical studies at Cyprus Pima Mine indicate that samples from 22 blastholes are necessary for determining average copper grades, within a desired range of precision, for mine-model blocks by arithmetic averaging. The average number of holes in such blocks is 14. Many considerations show that more holes will not be drilled for sampling. A way to determine block grades more reliably than by" arithmetic averaging was sought. Thus far arithmetic averaging has proven to be the best procedure for the particular operation characteristics despite the small number of samples. It naturally follows that expenditure of great effort in sampling blasthole cuttings is unwise.

Jan 1, 1977

By Bastiawarman Rifki, Nugraha Nico, Priatna Anton

The Deep Mill Level Zone (DMLZ) is one of the underground mines operated by PT Freeport Indonesia (PTFI). DMLZ is located approximately 1,500 m below ground level, where dominant rock types are skarn and diorite. The DMLZ mine and layout was designed based on the previous mine located above ground, the Deep Ore Zone (DOZ). The DOZ mine, located approximately 1,000 m below ground level, was a proven success, with a maximum capacity of 80K tonnes per day. During the production ramp up, which started in 2015, the DMLZ experienced several seismic events. The most significant event occurred in January 2018 with a recorded magnitude of more than 2.0 Mw, which resulted in a 14-month delay of the undercutting until March 2019. The significant event in January 2018 required the DMLZ to apply several adjustments related to the mining plan to help ensure it could continue development and achieve production target safely. This paper will describe the changes in the DMLZ mine plan as a response to the seismic activity at the mine, the reason behind the decisions being made to change the mine plan and strategy, as well as strengths and weaknesses between the previous plan compared with the new plan.

Apr 26, 2022

By Reece Kurre, Gabriel Walton

"Roof bolting has long been used in underground mines across the world to provide ground support. Modern roof bolts are cheap and easy to install with the use of specialized machines as a part of the production cycle. Lhoist North America’s Crab Orchard Mine is an underground room and pillar limestone mine that uses mechanically anchored roof bolts for ground support. The mine currently employs two different roof bolting patterns: a standard 5 × 5 foot pattern, and a 2.5 × 2.5 foot pattern for use in areas with particularly hazardous roof conditions. The purpose of this study is to evaluate the relative effectiveness of each bolting pattern.A series of numerical models were created using RocScience’s RS2. The models were based on a symmetrical section of the mine at its deepest point, and were modeled using Generalized Hoek-Brown failure criterion along with a discrete fracture network. A series of sensitivity analyses were performed on the models by varying parameters such as joint friction angle, crack persistence, joint randomization, and tensile strength of the limestone. Based on the results of the original models and sensitivity analyses, it appears that the standard bolting pattern provides sufficient roof support capacity under almost all the expected conditions at the mine, since factors of safety below the design value of 1.5 were only found for individual bolts in a few of the worst test cases considered. These results can help improve the Mine’s productivity and reduce operating costs without compromising safety.INTRODUCTION AND CASE STUDY DESCRIPTIONLhoist North America’s Crab Orchard Mine is an underground limestone mine located in Crab Orchard, Tennessee. The mine is located under an 800-foot-high mountain, and outcrops on three sides. The mine is accessed through three separate portals and has two main levels, along with a partially developed third level. Extraction is accomplished by the room and pillar method using 50 × 50 feet pillars and 50 × 50 feet rooms. The mining height is limited to 50 feet to keep the pillar width to height ratio around 1.0. Each heading is excavated in a two-stage process that consists of a 30-foot-tall top heading and a 20-foot-tall bench. A distance of at least 30 feet is maintained between the two levels at all times (Crab Orchard Mine Technical Staff, 2017)."

Jan 1, 2019

American Barrick Resources Corp. has come farther, faster in the last 11 years than any mining company in recent memory. Acquisition of Lac Minerals Ltd. in August 1994 now makes Barrick the largest gold producer in the world outside South Africa. In terms of market capitalization, the company is the world's most valued gold producer. American Barrick's 28.3-km2 (7000acre) Goldstrike property on Nevada's Carlin Trend, the primary engine for past growth, was purchased in 1987 for $62 million. Regarded as an attractive exploration target, Goldstrike instead propelled American Barrick to the front rank of world gold producers. In 1993, the company produced 50.75 t (1,631,988 oz), 44.78 t (1,439,929 oz) from Goldstrike. Reserves on the property totaled 905 t (29.1 million oz) at the end of 1993, the largest in North America.

Jan 1, 1994

By Fangyu Liu

In the grand tapestry of scientific inquiry, there are individuals whose contributions resonate far beyond the confines of laboratories and lecture halls. It is with profound admiration and respect that we present this special collection of Mining, Metallurgy & Exploration, dedicated to celebrating the remarkable career of Dr. Patrick Taylor. Dr. Taylor, recently retired from the Colorado School of Mines as the Emeritus Ansell Distinguished Professor of Chemical Engineering, possesses over 45 years of expertise in mineral processing and extractive metallurgy. His remarkable journey has seen him traversing the globe, from Canada to Egypt, contributing to pyrometallurgy, hydrometallurgy, and mineral processing. Dr. Taylor’s portfolio encompasses lab work, pilot-plant projects, research, and process development across various metals, with an impressive array of authored papers, presentations, and nine patents to his name. A soughtafter consultant for over 20 companies and an esteemed expert witness, Dr. Taylor also led the Kroll Institute for Extractive Metallurgy at Colorado School of Mines. Under his guidance, more than 100 graduate students and post-docs have undertaken transformative research, while Dr. Taylor’s 45-year tenure as a university lecturer and the creation of 10 industryfocused short courses underscore his dedication to knowledge dissemination. His contributions extend to crafting professional engineering exam questions for a quarter-century and active participation in esteemed organizations like SME, TMS, ASM, and MMSA.

Sep 16, 2023

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