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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 L. Martins

To increase zinc recovery in the concentrate, this investigation performed mineralogical characterization, dispersion studies, bench and pilot-scale flotation experiments and an industrial flotation trial. The objective was to verify the flotation behavior of the silicate zinc ore (calamine type) in the presence of slimes, with the aid of dispersing agents. Characterization studies identified the major minerals in the flotation feed as hemimorphite (calamine), quartz and dolomite. Dispersion tests showed that enhanced dispersion of the particles in the pulp in the absence of reagents occured at a pH range between 8.5 and 12.0. Bench-scale flotation experiments were planned using the statistical tool of complete factorial design at two levels, replicated once. These experiments showed, and were confirmed at the pilot-plant scale, that higher doses of sodium sulfide and polymeric dispersant combined with sodium silicate favored a higher metallurgical recovery. At 6,800 g/t (218 oz/st) sodium sulfide and 6,992 g/t (224 oz/st) polymeric dispersing agent combined with sodium silicate, a zinc grade of 38.4% in the final concentrate was achieved, at an average metallurgical recovery of 72.4%. The industrial trial confirmed the pilot scale results, leading to zinc recovery of 76.1% and a 37.3% zinc grade in the concentrate. Key words: Froth flotation; Flotation reagents; Flotation depressants; Zinc/ zinc ores

Jan 1, 2010

By J. A. Mielczarski

An infrared external reflection spectroscopy (ERS) technique has been developed to study the structure of the adsorbed layer of ethyl xanthate formed on copper and natural chalcocite (Cu2S) electrodes. The infrared technique provides information concerning the identity and the orientation of the adsorbed species at monolayer and submonolayer coverages. X-ray photoelectron spectroscopy (XPS) studies have also been conducted to monitor changes at the surface. The results show that the first oxidation peak on the voltammograms for copper and the first and second oxidation peaks on the voltammograms for chalcocite electrodes are not characteristic of a chemisorbed xanthate species, which is contrary to what has been reported by other investigators previously. As evidenced by the XPS spectra, there was an increase in sulfur relative to copper on the copper and chalcocite surfaces over the potential region where these oxidation processes occur. The spectroscopic results (ERS, XPS) indicate that the second and third (on copper) and the third and fourth (on chalcocite) oxidation processes recorded on the voltammograms are due to cuprous ethyl xanthate adsorption. The orientation of the adsorbed molecules of xanthate was observed to change with increasing surface coverage. Therefore, it has been concluded that xanthate can modify the copper and chalcocite surface in two different ways. At lower potentials, xanthate is a source of sulfur for the formation of a sulfur-rich surface. At higher potentials, an adsorption layer of cuprous ethyl xanthate is formed. Contact angle measurements show that both of these processes of xanthate surface modification lead to an increase in the hydrophobicity of the substrates.

Jan 1, 1990

By W. G. Pariseau

"BACKGROUND The Crandall Canyon Mine (CCM) is located in the Wasatch coal field in central Utah. Extensive longwall mining at CCM preceded a decision to recover coal left in barrier pillars on each side of a set of main entries extending far into the mine. During mining in March, 2007, a major bump occurred that led to cessation of mining in the barrier pillar on the north side of the mains and to begin mining in the south barrier pillar. Subsequent loss of ground control in August, 2007, through coal pillar bursts had tragic consequences with loss of six miners and shortly afterwards three rescue team members. An MSHA report describes the events in detail (MSHA, 2008). An important lesson to be learned from CCM is the need to select a computer program suitable for pillar design. Computer programs are engineering tools; selecting the right tool for the job is essential. In this regard, a minimum program requirement is capability for computing stress distribution within a pillar and adjacent roof and floor strata. The reason is simple: strength of rock is stress dependent; both vary from point to point in pillars and adjacent strata. Preferably, one should follow the evolution of stress as the mining plan is executed from start to finish to assure safety or to warn of a potentially hazardous situation developing as mining progresses. The approach to the problem posed by barrier pillar mining at CCM is conventional in the sense of applying well known finite element modeling techniques to analysis of a proposed mining plan. The engineering purpose is to evaluate the mining plan with respect to ground control questions including roof, floor and pillar safety. Results of previous two dimensional finite element analysis indicated pillar safety was by no means assured (1, 2, 3). Geometry of barrier pillar mining is limited in two-dimensions, for example, crosscuts are not seen in vertical cross sections. While three dimensional analyses are preferred, even moderately sized regions often lead to very large problem sizes that exceed computer capabilities. However, a recent development in finite element modeling of tabular deposits allows for whole mine analysis in three-dimensions. This technique involves a dual node – dual mesh concept. Both have been used separately in much earlier work, but are only now are used in combination. Estimation of subsidence at a kilometer scale and details of stress, strain and displacement about barrier pillars, main entries and pillars, and so on at a meter scale are possible (4). No compromise involving empirical formulas or similar guess work is required. Indeed, all calculations are based on first principles: physical laws, kinematics, and material laws. Effects of joints and in situ variability or uncertainty in strata properties, elastic moduli and strengths, may be included for greater realism. An important objective of the present study is to assess the role of three-dimensional pillar geometry in arriving at conclusions regarding barrier pillar mining versus two-dimensional results."

Jan 1, 2015

By Roger Escoda Estelrich, Joan Carles Casado Ortega, Mitchell Gerdau, Jose Raul Martinez, Jeb Pittsinger, Frank Perrone

The existing Chesapeake Bay Bridge-Tunnel complex is being expanded to include the Parallel Thimble Shoal Tunnel. This will be a subaqueous bored crossing between two islands constructed for the original 1960s immersed-tube tunnel. Jet grouting was employed by the Chesapeake Tunnel Joint Venture (CTJV) to provide watertight base plugs, launch and retrieval blocks for the tunnel boring machine (TBM), a TBM canopy to limit ground movement, and a retaining wall to enable off-island excavation: all within hydraulically placed sands. This paper will review the design and construction challenges, including soil permeability and recharge, grout communication, installed grout strengths, and remediation requirements.

Jun 23, 2024

By P. Schmäh

Nowadays, small diameter tunnels are increasingly considered in pipeline projects as an alternative for sensitive crossings or when soil conditions limit the use of conventional pipeline installation methods like HDD. Safety concerns play a key role, especially for inner-city installations. Pipe jacked microtunnels and small segment lining tunnels can serve as casing tunnels if access is required during construction for the change of cutting tools in challenging ground conditions or for maintenance of the pipeline in operation. Small diameter tunneling solutions offer a high degree of flexibility for alignment design in terms of geology, length and radius.

Jun 13, 2021

By Jian Wang, Xiaoming Sun, Ming Jiang, Fuxin Shen, Chengyu Miao, Wenchao Zhao, Yong Zhang

The increased thickness of the coal seam leads to higher goaf roof collapse height. In contrast, the dynamic pressure from the mining of ultra-thick coal seams generates higher abutment pressures around the mined area and may affect the stability of roadways servicing these panels. To mitigate the deformation and damage issues in the roadways during the extraction of ultra-thick coal seams under a high depth of cover, researchers have proposed combining high prestress constant resistance support and roof-cutting technology (HPCR-RC). The deformation and failure mechanisms of the roadways during the extraction of ultra-thick coal seams under a high depth of cover, along with the mechanisms and field control effects of the combined support system, have been analyzed through theoretical analysis, numerical simulation, and field experiments. The research findings reveal that the high in situ stress, initial excavation disturbance, rotation, and subsidence of the fractured roof of the extra-thick coal seam led to significant deformation and damage in the roadways. High prestress constant resistance support compensates for the initial stress loss, reduces initial stress concentration, and absorbs deformation energy. Moreover, the roof-cutting technology severs the connection between the goaf roof and the roadway roof, disrupts the path of stress transfer, raises the level of roof backfilling in the goaf, and provides support to the roof, effectively alleviating the pressure on the coal pillar ahead and adjacent to the working face. Field experiments have confirmed the effectiveness of HPCR-RC, as indicated by a substantial decrease in surrounding rock deformation and support pressure within the roadways.

Sep 25, 2023

By A. B. Cecala

Enclosed cabs have been used for many years to isolate workers on mobile equipment in the mining industry for health and safety reasons. These enclosed cabs create a microenvironment for workers where they can be either more protected or more vulnerable to contaminants. Over the past decade, the U.S. National Institute for Occupational Safety and Health (NIOSH) has performed substantial research efforts to improve the air quality inside enclosed cabs of underground and surface mobile mining equipment. In these efforts, NIOSH has partnered with mining companies, original equipment manufacturers (OEMs) and manufacturers of filtration and pressurization systems in a synergistic effort to reduce respirable dust and improve the air quality inside these enclosed cabs. Various field studies over this time have shown an array of results ranging from very minor to very significant reductions (protection factor: 3-89) in respirable dust levels inside these enclosed cabs. In addition to and concurrent with the field work, NIOSH also performed a comprehensive laboratory study to evaluate all the factors involved in cab filtration and pressurization systems and identified those factors that were most significant for an effective system. From this comprehensive research effort, the key components for an effective filtration and pressurization system have been identified in an effort to provide the best air quality to equipment operators inside of enclosed cabs of mobile mining equipment, thus minimizing respirable dust exposure.

Jan 1, 2014

By Jorge Amaya, Nelson Morales Varela, Francisco Saavedra, Gonzalo Nelis, René Gómez

Precedence constraints are broadly used in mathematical models and algorithms for mine planning to model, for example, slope angles in open pit operations or connectivity in underground mines. Unfortunately, these constraints do not capture relevant geometrical aspects for the design of the mine like minimum bottom space of pits or smoothness of the economic envelope in block caves. In this work, we present different approaches that utilize precedence constraints generating economic envelops that are more suitable for design purposes. The numerical experiences show that the proposed techniques produce high value envelops with better geometrical properties and that the methods proposed can be computed efficiently.

Jun 25, 2023

By Roberto Pimentel de Souza

Since 1976 CVRD is carrying out tests to develop a type of pellet made with organic binder. One binder that showed good possibility to be used in industrial plants is Peridur. An extensive framework of tests was run in CVRD's pilot plant. The results are presented in this paper. Finally, the decision was taken to carry out an industrial production of 50.000 t of pellets. It was scheduled for March '81. The results are shown in this pager. It was not observed any detrimental effect of the peridur neither in the process nor in the product quality.

Jan 1, 1981

By Pratama Mochamad Rizki, Andika Satya

High-risk area in open-pit mining should always be monitored by the operational supervisor because of its nature. One of this type is the soft soil dump area. Due to the unstable bearing capacity of the soil, it’s highly possible for us to find cracks in the area. This paper aims to build computer vision which able to detect truck’s distance from safe limit allowed during dumping activity. The system will warn the truck’s driver if the truck has crossed that predetermined safe limit.

Jun 25, 2023

By Paul H. Johnson

Heap leaching is a simple means of recovering copper from oxide and oxide-sulfide ores. Although this method requires relatively low capital investment, it suffers from low copper recoveries and relatively high acid consumption. The objectives of this study were (1) to determine what factors influence these shortcomings, and (2) to establish a basis of correlation. between laboratory and field testing. The principal methods of leaching copper ores at the present time are heap, dump, in-place, and vat. A number of references are presented in the bibliography on the theoretical and practical aspects of these methods. In the heap-leaching method, crushed or uncrushed oxidized copper ore is placed on a prepared drainage pad. Acid leach solutions are dis¬tributed over the top of the heap, caused to percolate downward through the ore bed by gravity, and are drained from its base. The leach duration is generally a matter of a few months. Dump leaching is used to recover copper from very low-grade oxide-sulfide pit-waste materials. Here again, leach solutions are, percolated downward through a heap. However, in this method, little or no acid is added to the leach liquors, prepared drainage pads are not used and the leaching cycle is generally measured in terms of several years. Leaching agents are usually autogenously generated by the breakdown of sulfide minerals within the dump.

Jan 1, 1970

By M. D. Johnson

The San Andres mine, located in the western mountain region of Honduras, Central America, contains epithermal gold mineralization as disseminations, in quartz-chalcedonic veins and stockworks. Host rocks include a thick sequence of Cretaceous to Tertiary conglomerates, sandstones, rhyodacite tuffs and andesites. Mineralization is controlled by northwest and northeast striking, normal faults and fractures which dip steeply east and west. Currently, 500 STPD of 1. 93 Grams/MT gold ore is being open-pit mined from the conglomerate and andesite. The mine is at the west end of a mineralized zone that can be traced over an area of approximately 1.5 square kilometers.

Jan 1, 1993

By J. Navoyski, B. Macdonald, W. J. Helfrich, J. L. Bellanca, B. Demich

DISCLAIMER The findings and conclusions in this paper are those of the authors and do not necessarily represent the official position of the National Institute for Occupational Safety and Health, Centers for Disease Control and Prevention. Mention of company names or products does not constitute endorsement by NIOSH. ABSTRACT Recent advances in computing, rendering, and display technologies have generated increased accessibility for virtual reality (VR). VR allows the creation of dynamic, high-fidelity environments to simulate dangerous situations, test conditions, and visualize concepts. Consequently, numerous products have been developed, but many of these are limited in scope. Therefore, National Institute for Occupational Safety and Health researchers developed a VR framework, called VR Mine, to rapidly create an underground mine for human data collection, simulation, visualization, and training. This paper describes the features of VR Mine using self-escape and proximity detection as case studies. Features include mine generation, simulated networks, proximity detection systems, and the integration and visualization of real-time ventilation models. INTRODUCTION There are many definitions of virtual reality (VR) that include various levels of immersion and features [1]. Some definitions refer to specific technologies [2], while others are limited to visualization [3]. For this paper, a more general definition of VR will be adopted. VR is defined as the collection of hardware and software that interactively engages users and stimulates their senses within a synthetic or virtual environment. From a hardware standpoint, this can include anything from a phone to a head-mounted display (HMD) to a large-scale theater as well as speakers, microphones, haptic sensors, and interaction devices. The software used to create virtual environments (VEs) generally includes a game engine, custom software components and libraries, and two-dimensional and three-dimensional graphical assets. Recent hardware and software advances have increased the fidelity and availability of VR. New and improved technologies including HMDs and high-resolution monitors and projectors can display sharper, more detailed visualizations. For example, in the past five years between the release of the Oculus Rift DK1 (2013) and the HTC Vive Pro (2018), there was a three-fold increase in resolution along with a 50% increase in the refresh rate. Furthermore, despite early claims that low-cost VR technology was readily available [4], computational power has not been sufficient to handle the large amount of data generated by these systems [5]. In the past five years, however, rendering speeds have more than doubled and memory has more than tripled [6], allowing these visualizations to be incorporated into higher-complexity and -fidelity VEs that more closely mirror the real world. Similarly, software capabilities have also significantly improved through game engine advancements and feature development. In the past several years, game engines have added and improved features such as physics, lighting, platform support (e.g. Android), and asset development integration. Some of the current leading commercial game engines are Amazon Lumberyard, CryEngine, Unreal, and Unity, but this can quickly change as is evident in the literature [7, 8].

Jan 1, 2019

By Emily Sarver, Cigdem Keles, Jonathan Gonzalez, Nishan Pokhrel, Lizeth Jaramillo

This paper presents a case study of respirable dust characterization in a thin-seam coal mine in southern West Virginia. Samples were collected in various locations within the mine and analyzed using scanning electron microscopy with energy-dispersive X-ray (SEM-EDX), thermogravimetric analysis (TGA), and Fourier transform-infrared (FT-IR) spectroscopy. The study found high non-carbonate mineral content, particularly aluminosilicates and silica, in the dust. The results indicate that fine aluminosilicate particles may interfere with SEM-EDX analysis, leading to an underestimation of coal content. The findings highlight the importance of using multiple analytical methods to accurately characterize respirable coal mine dust.

May 5, 2022

By G. L. Simmons.

Many large. low-grade (refractory) sulfide gold resources exist in Nevada and other parts of the world that are not amenable to concentration by conventional flotation practice, Over the past several years Santa Fe Pacific Gold (SFPG) has investigated flotation process options to economically treat low-grade refractory resources of this type at Lone Tree and Twin Creeks. Conventional flotation technology applied to the original high-grade gold resources at Lone Tree and Twin Creeks was initially unsuccessful. Review and analysis of auriferous (gold-bearing) iron sulfide mineralogical characteristics and flotation chemistry provided a fundamental understanding that led to the development of a new flotation process that SFPG refers to as N2TEC. This paper discusses the development of this technology and compares N2 TEC results with conventional flotation practice.

Jan 1, 1997

By S. L. Barua

An industrial engineering and computer simulation study was conducted on reclamation operations to evaluate the possibility of integrating mining and reclamation operations, and to evaluate the factors which influence the production potential of scrapers. The study was done in a southern Illinois strip coal mine producing approximately 2.27 M metric tons (2.5 million short tons) of clean coal annually. The main outcomes of this study are (a) it is possible to reduce reclamation cost about 20-25 percent by integrating reclamation and mining operations, (b) haul distance has the most significant effect on scraper production, (c) push-pull is the best mode of operation for wheel scrapers for topsoil/subsoil removal, and (d) historical data obtained from the mine for one year show that average dozer productivity in rock grading is about 60 percent lower than the expected production; similar data for scraper is about 25 percent less.

Jan 1, 1981

By F. W. Petersen

Slurry reactors are being used extensively throughout the chemical, biochemical and mineral processing industries. This paper describes the interaction between fine ore particles and granular porous adsorbents such as activated carbon and ion-exchange resins in a stirred tank reactor. Gold and silver cyanides were used as adsorbates to detect changes in the mass transfer characteristics of the adsorbents, which were ashed to determine the loading of ore particles. A simple kinetic model incorporating film diffusion, intrapanicle diffusion ~d the adsorption equilibrium, was used to interpret kinetic data and to estimate the effect of slurry conditions on the diffusion parameters. It was observed that the equilibrium loading of fines in the adsorbents was independent of their concentration in the slurry. Furthermore, the presence of these panicles inside an adsorbent decreases the effective diffusion of gold or silver cyanides into the adsorbent matrix. When fine suspended solids are present in the reactor, a decrease in the effective availability of the superficial surface of the pre-saturated adsorbent panicles for mass transfer from the liquid phase was observed. This newly defined surface availability factor was dependent on the concentration, panicle size, and the zeta potential of the fine particles in suspension.

Jan 1, 1993

By A. L. Mular

Se revisan brevemente varios procedimientos para el cálculo de coste de capital; no obstante, se discute en preferencia el método del factor estimado. Se proporciona una tabla de costes frente a los datos de parámetros de equipo, de donde los costes pueden ser adaptados a partir de los valores actuales de los índices de costes M&S para minería y molienda. Las ecuaciones de costes son utiles para preparar los programas de computador que realizan cálculos de coste de capital. Se ilustra la utilización del metodo del factor estimado.

Jan 1, 1982

By E. A. Sondreal

Requirements of flue gas desulfurization (FGD) for Eastern and Western U.S. coals will not be the same because of differences in coal sulfur content, ash analysis, and beating value. The effects of these differences and of limited availability of water in the West are the subjects of this paper. Eastern and Central bituminous coals are generally high in sulfur and require removal efficiencies in the range of 70 to 90 percent to meet the Federal emission standard of 1.2 lb SO2/MMBtu. Ash in Eastern coals is low in alkali content and is relatively insoluble in scrubber solutions. High sulfur content and market availability make salable product methods more attractive in the fast and Central United States than in the West. Western subbituminous coals and lignites are generally low in sulfur content, however, only a few deposits could reliably meet the Federal emission standard without FGD, Required removal efficiencies generally fall in the range of 0 to 60 percent to meet the 1.2 lb SO2/MMBtu limit. If the standard were raised to 2 lb S02/MMBtu, approximately two-thirds of Western coals could be burned without FGD. Some Western coals contain ash high in alkali, some of which is soluble in scrubber solutions. This complicates scrubber chemistry, but it also provides the meant for displacing some or all of the limestone requirements when only moderate S02 removal is required. Dry areas in the West would benefit from full commercial developement of dry processes of FGD.

Jan 1, 1974