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By Warren D. MacEvoy

INTRODUCTION Good ventilation bulkheads (stoppings) can be obtained only by conscientiously adhering to four basic principles: carefully selecting the site for the bulkhead, adequately preparing the site, properly constructing and sealing the bulkhead, and checking the results with a smoke tube before leaving the area. If all these guidelines are followed during each ventilation project, a poor job will result only from the use of improper materials and cannot be blamed on carelessness or oversight. SITE SELECTION A perfectly constructed bulkhead in the wrong location can be completely worthless. Conceivably, a bulk-head in the wrong location could cause dangerous ventilation conditions that are difficult to identify and isolate. If the suggestions herein are followed, a considerable amount of work, time, and material may be saved. Perhaps the single most important step is always to select the exact site for a bulkhead before starting construction. Although the latitude in selecting a site may be limited by instructions or operating conditions, it is common to find poor bulkheads built within a few meters (feet) of a site that would have been far superior but was overlooked during the planning process. The ideal site for a bulkhead should have as many of the following features and conditions as possible: 1) To provide a solid bulkhead, the selected site should be in firm and unbroken ground. 2) To minimize the amount of work and material required and to minimize the danger of later damage to the bulkhead, the site should have as small a cross section as possible. 3) The bulkhead site should not be encumbered by interferences such as pipes, wires, ditches, wire roof supports, trash, muck piles, etc. 4) The walls and timbers of the site should be free from oil, grease, or tar that would inhibit adhesion of the sealant used on the bulkhead. 5) Unless special precautions are taken, the site should not have water seepage, standing water on the floor, or water-carrying ditches. 6) To expedite construction of the bulkhead, the site should have reasonable access to transportation, supplies, communication facilities, and compressed-air lines. 7) The site should have a reasonably level floor, allowing direction of the bulkhead door swing to be reversed at a later time if so desired. In a steeply sloping location, it may be possible to open the door in one direction only. SITE PREPARATION Once a suitable site has been selected for the bulk¬head, it must be prepared properly. All site preparation work should be completed before starting any construction work on the stopping itself. Unfavorable site conditions can be identified during the course of thepreliminary site preparation, saving time, effort, and materials that otherwise might be wasted. The follow¬ing preparation steps help assure the construction of a good stopping: 1) If wire mesh has been used at the site, a strip 457 mm (18 in.) wide should be cut and removed from the walls and roof at the selected location. 2) The exposed strip of rock should be barred down thoroughly to provide a smooth surface. 3) All obstructing materials should be removed, including old timbers, pipes, rockbolts, wires, etc. If a conduit must cross the bulkhead area, it should be located or relocated away from the floor, walls, and roof to allow a 6.28-rad (360°) seal around the juncture between the conduit and the bulkhead structure. 4) All loose muck should be cleaned from the site and a trench about 152 mm (6 in.) deep should be dug from wall to wall in the floor. The trench must be wide enough to accommodate the entire bulkhead, including the posts. 5) The rock surfaces of the walls and roof should be cleaned with a wire brush to remove as much loose surface material as possible. Thorough cleaning promotes adhesion of the bulkhead sealant to the surfaces of the walls and roof, thus promoting an airtight seal. 6) It is quite difficult to seal landing mats that cross a bulkhead. If such a crossing cannot be avoided, the bulkhead should be placed between the end and the first hole in the steel so at least one side of the bulk-head can be sealed easily and completely. That may have to be done prior to actual construction if the end is located on the opposite face from the seal coating of the bulkhead. BULKHEAD CONSTRUCTION The three principal considerations in bulkhead con¬struction are the type of bulkhead, materials to be used, and construction method to be employed. For many projects, the bulkheads are specified by the requesting agency, with no latitude for independent choice of the type, materials, or construction method. In such cases, any deviations from the specifications, for any reason, must be approved in advance by the proper department or by the project senior ventilation engineer. Types and Materials When a choice of type, materials, or method is allowed, consideration should be given to factors such as cost, required useful life, proximity to blasting concus¬sions, availability of materials, direction of permissible air leakage, and degree of airtightness required. Other factors to be considered include the amount of time available, accessibility of transportation, potential for interference with operations or production, ambient water conditions, availability of connections to com¬pressed-air lines, etc. Despite the multitude of factors to be considered, most stoppings can be analyzed easily and the proper choices can be made without much difficulty. The four common classes of bulkheads utilized in

Jan 1, 1982

By Kenneth A. Grace

Introduction The 1980s have not been kind to the mining industry, especially in the United States. As mineral commodities prices plunged, marginal producers were squeezed out and then major players were forced to cut back or close down operations. Base metal miners suffered the most. Gold was all that glittered. As had been the case throughout min¬ing's history, exploration activity was an early victim of these depressed conditions. Mining companies had to economize drasti¬cally and exploration was deemed a nones¬sential activity. Funding for new explora¬tion ventures dried up as mining was seen as a poor investment. A national magazine even proclaimed the death of the industry. Indeed, ignoring matters of independ¬ence of supply and the relationship of min¬eral production to national security, it was argued that mining was but a small cog in the overall scheme of things in the United States. The industry made a relatively small contri¬bution to the gross national output. We were becoming a service industry economy, re¬member? But what of those countries where mining plays a major role in the economic well-being? In some, mining is the national economy. In a few specific cases, special conditions actually brought prosperity. Copper production in Chile is one example. There, high grade copper, low production costs, and a technically advanced industry reaped the benefits of mine closures else¬where. In most other cases, however, par¬ticularly in the lesser developed countries, whole economies were devastated. This article will show what one major mineral producer, Canada, did to ensure the survival and even growth of its minerals exploration activity during these lean years. Background While Canada is among the world's mining leaders, mining is not its dominant industry. Still, it plays a far more important role than in the United States. It is a major earner of foreign exchange, currently accounting for about 25% of the total value of exports. Through spinoffs and a multiplying effect, it is a significant employer. In the far north, particularly, mining is the major nongovernment industry and a leading factor in the opening up of frontier territory. The industry cannot be allowed to die because it is often the main economic underpinning for vast, remote areas. Thus, exploration for new deposits cannot be cur¬tailed significantly without it having a long¬term negative impact on the very fabric that melds such a large, sparsely-populated ex¬panse of country into a nation. Over the years, Canadian governments have employed various means to encourage the development of new mines. Often, these incentives were tax-oriented, such as the three-year income tax holiday that applied to new mines in the 1950s and 1960s. The advantage of the tax connection is that any such incentive policy can be applied across the board to the 10 provinces and two territories that make up the federation of Canada. This is important because mining, except for the two federally-administered northern territories, comes under provincial government jurisdiction. Mining taxation is a complex give-and-take between the central and provincial authorities. In Canada, expenditure on mineral exploration is an allowable cost against reve¬nue for tax purposes. This works well pro¬vided there is some revenue from which to deduct. New exploration companies, those with no income from mining activities, de¬rive little benefit from this type of tax provi¬sion. Similarly, in times of depressed prices and reduced or nonexistent profits, the tax deductibility of exploration spending loses its value even for the major mining compa¬nies. To encourage exploration in Canada during the lean years, a different sort of incentive was required. The instrument used during the 1980s was again tax connected. It became known as flow-through financing or, simply, flow-through shares. When it assumed its final shape, it worked dramati¬cally. Flow-through shares Flow-through shares are so-named because they permit tax benefits earned by a corporation to 'flow-through' to the share¬holder. Basically, when an investor buys a flow-through share and the proceeds de¬rived by the company from this transaction are used for Canadian exploration, the in¬vestor can claim a deduction for tax pur¬poses as if the exploration expenditure was made by him personally. Flow-through shares go back to the early 1970s when Canada revamped its mineral income tax law. At that time, it permitted full deduction of exploration and development expenditures and provided for an automatic depletion allowance of one¬ third of operating profits from mining. There was also the three-year income tax holiday for new mines. New legislation replaced the depletion allowance with an earned depletion arrange¬ment whereby one dollar of depletion was earned for every three dollars spent on ex¬ploration and development. This earned depletion was `banked' during a transitional period (to 1974). After that it could be deducted from resource profits up to a maximum of 25% of such profits in any one year, with the excess carried forward. To promote exploration and mine de¬velopment in Canada, the earned depletion allowance plus the continued deductibility of exploration and development expendi¬tures permitted the recovery of risk capital before taxation. The three-year tax holiday, however, disappeared. Also, mining com¬panies that did not reinvest in exploration lost the depletion allowance benefit.

Jan 1, 1989

By Joaquin Ruiz

Although Mexico is known for its important base-and precious-metal deposits, and lately oil, some industrial minerals play an important role in the Mexican economy. Sulfur, the most important industrial mineral produced, accounts for approximately 7.5 percent of the total value of mineral production. This commodity is followed by fluorspar, which accounts for 6.4 percent. Predominantly, the fluorspar deposits are very high grade (75 percent CaF) and are contained in lower Cretaceous limestone in the states of Coahuila and San Luis Potosi. Base-metal deposits in the area of Parral (notably San Francisco del Oro), however, have become important fluorite producers in their own right. (San Francisco del Oro has 12 percent fluorite gangue.) Salt from the Guerrero Negro solar-evaporation ponds in Baja California account for 6 percent of the total shares; phosphate from Baja California also accounts for 6 percent. Barite from man to deposits in Lower Cretaceous limestone in Coahuila and exhalative deposits in the Paleozoic section of Sonora account for 1.0 percent. In addition, Mexico is an important producer of gypsum, graphite, and celestite. Although graphite and celestite are not large-scale operations and thus do not contribute much to the Mexican economy, the Mexican graphite and celestite deposits are among the most important in the world; Mexico is one of the world's few sources of celestite. The celestite is in the form of large, high-grade mantos in Cretaceous limestones in northern Mexico.

Jan 1, 1987

By John C. Balla

The Troy deposit is located in northwestern Montana, approximately 17 mi south of Troy. The deposit is a stratiform, strata- bound, copper-silver deposit which occurs in the Revett formation of the Proterozoic Belt Supergroup. The Revett formation is approximately 1730 ft thick in the vicinity of the Troy deposit, and is divisible into three units. The upper Revett, approximately 250 ft thick, is the host for the orebody. The Revett represents a deltaic environment. The Troy deposit was discovered by Bear Creek Mining Company in 1 963 during the course of a reconnaissance stream sediment sampling program that was designed to discover strata-bound copper deposits. The deposit is approximately 7500 ft long, 1800 ft wide, and averages 60 ft thick. It is bounded on the north by outcrop, on the east by a post-mineral fault, on the south by diminishing grade and post-mineral faults, and on the west by diminishing grade. Ore reserves are 64 million tons with a grade of 0.76% Cu and 1.58 oz Ag per ton. The mine is presently operating at a production rate of 4.2 million oz of silver and 20,000 tons of copper per year.

Jan 1, 2013

By M. Frenzel, D. Ebert, K. Bachmann, A. D. Renno, R. Möckel, J. Gutzmer, J. Krause

With the increasing demand for metalliferous and mineral raw materials, and consequent depletion of the global natural resource base, the possible utilization of secondary raw material sources is receiving more and more attention. In the present study, we present results from a detailed vanadium deportment study of three basic oxygen furnace slag (BOS) samples known to containing elevated bulk concentrations of vanadium (V). Complementary analytical methods that were used to quantify the abundance and composition of V-containing phases include SEM-based automated mineralogy, Xray fluorescence (XRF) analysis, and X-ray powder diffraction as well as electron probe microanalysis. The vanadium deportment was quantified using Monte-Carlo simulations of the data obtained from automated mineralogy and electron microprobe analysis. The total V concentrations identified by XRF are between 1.7 and 2.2 weight percent V. The most important hosts of vanadium are larnite-, brownmillerite- and portlandite-solid solutions. In two samples, calcium carbonates also significantly contribute to the V deportment, while wuestite, lime and native iron do not contribute significantly to the vanadium deportment. A thorough consistency check identifies considerable uncertainties in the density of the Vbearing phases as the most likely reason to explain remaining discrepancies between measured and calculated V values.

Aug 1, 2024

Gaby Copper Mining?s Gabriela Mistral property is located in the Antofagasta region of northern Chile, at an altitude of 2,660 m (8,727 ft) above sea level. The reserve contains an estimated 562 Mt (620 million st) of oxide ore with an average grade of 0.41 percent total copper. The mine went into production in 2008. Gaby Copper faced the problem of having no reliable way to measure the solids level. This is a challenge that exists throughout the mining industry, where dust in the air and accumulation of solids on a sensor make accurate measurements difficult in areas such as transfer chutes, the rock box underneath crushers, silos and anywhere else that information is needed on the level of solids. The next-generation technology in the Sitrans LR560 radar from Siemens addresses this challenge. With a frequency of 78 GHz ? higher than previous generations of radar ? it provides a more robust signal for measuring in areas where there are high levels of dust accumulation. The Sitrans LR560 provides a signal beam angle of four degrees, significantly narrower than any other product on the market can offer.

Jan 1, 2014

By Konstantinos Komnitsas, Evangelos Petrakis, Emmanouil Varouchakis

The paper discusses the limitations of population balance modeling (PBM) in predicting particle size distribution in grinding systems. It introduces a nonlinear framework that transforms the batch grinding equation into the Rosin-Rammler distribution, providing more accurate analysis under different operating conditions. The study uses marble as test material and investigates the adaptability of the nonlinear model with different media sizes.

Oct 1, 2023

By Mehmet Mesutoglu, Ihsan Ozkan

This study investigates the feasibility of rock bolting support in an underground coal mine gallery with a thick coal seam. The Ömerler underground coal mine working area, owned by West Lignite Enterprise of Turkish Coal Enterprises, was selected for this purpose. Longwall top coal caving is implemented as the production method in the Ömerler underground coal mine. Field and laboratory studies were conducted to determine rock mass and rock material properties, followed by experimental, empirical and numerical analyses based on the acquired data. The obtained design results were evaluated using a resin-grouted rebar rock bolting (RBR) system and steel arch support (SAS) pilot application areas. The numerical modeling results conducted using the fast Lagrangian analysis of the Continua 3D (FLAC 3D v6.0) program indicated less displacement and secondary stress change in the RBR-supported zone compared to the SAS-supported zone. In situ measurements also demonstrated that RBR provided more successful support to the roof during coal production activities. The findings suggest that RBR is a more effective solution when evaluating the feasibility of rock bolting support systems in underground galleries with thick coal seams at the Ömerler Mine. This study emphasizes the importance of more sustainable and safe support systems to enhance operational efficiency in the coal mining industry.

Mar 1, 2025

By Connor Meinke, Shaihroz Khan, Kevin Erwin, Rajiv Chandramohan, Muhammad Usman Siddiqui

A geometallurgy study aims to link metallurgy and geology to reduce technical risk and enhance the economic performance of a mineral-processing plant. It does so by accounting for variability in a deposit to develop cash-flow models with variable throughput rates. High-quality sample selection for metallurgical test work that is representative of the deposit is an essential component of a geometallurgy study, but the large multidimensional data set makes sample selection a daunting task, as classifying the data set while respecting its heterogeneity is difficult. This paper presents a streamlined approach for sample selection, using statistical analysis techniques in Python. It cuts down time to select samples from around 1,200 s per drillhole to about 60 s for data classification and from 12 h to 8 h for handpicking samples from the classified data set, translating to cost savings. The cumulative sum method and k-means clustering method are used in the methodology to elegantly classify the data and select representative samples. The effectiveness of the methodology is demonstrated by presenting data from a prefeasibility study of a copper-iron mine in which 40 samples were selected for flotation test work.

Dec 1, 2024

By E. S. Bianchin

The more complex control needs of today's mineral processing plants combined with ever-changing digital technology have brought numerous improvements to process control systems. This paper discusses recent advancements in distributed control systems (DCS) which facilitate the implementation of process plant automation. Some of the topics of discussion include integrated function controllers, weigh scale and analyzer interfacing, operator interfacing, personal computers, process information management and process plant management.

Jan 1, 1988

From 2009 to 2012, Aker Wirth, in cooperation with the BGR (German Federal Institute for Geosciences and Natural Resources), developed a concept for the deep sea mining of manganese nodules, which it also examined by means of a profitability analysis. The study was undertaken for the German Federal Ministry of Economics and Technology. The increasing scarcity of resources, coupled with the continuous rise in resource prices, drive the search for new raw material deposits. As a result, the deep sea is coming increasingly under the spotlight. At depths of more than 1,000 m (3,280 ft), large deposits of ores and precious and high-tech metals, such as manganese, cobalt, nickel, copper and gold, along with rare earths (which are important for the high-tech industry), can be found. The extreme deep sea conditions ? enormous water pressure, ice-cold temperatures and complete darkness ? present huge financial and technical challenges to the mining industry when extracting these materials. Aker Wirth has recognized the potential of this important future market early on and advances the development of relevant products.

Jan 1, 2013

By JIAQI JIN, Chen-Luh Lin, Amanda N. Erskine, Jan D. Miller, Shijie Wang

The liberation and exposure of valuable mineral grains in ore particles are of significant importance in understanding the efficiency of flotation separations. A flotation feed sample from the Kensington concentrator was scanned by micro Xray computed tomography (micro-XCT), to determine the liberation and exposure of auriferous pyrite grains. The analysis results suggest a satisfying extent of liberation for particle sizes smaller than 212 μm. Theoretical flotation recovery of pyrite for selected particle size fractions was predicted from the three-dimensional liberation and exposure analysis. The plant flotation tail was also characterized by micro-XCT to identify liberated and partially liberated pyrite particles that might not be collected into the concentrate. However, liberation analysis of the tail sample revealed that the majority of liberated pyrite was recovered in the plant flotation circuit. Trainable Weka, a machine learning segmentation approach, was compared with the Watershed thresholding segmentation for the 106 × 45 μm particle size fraction scanned at a voxel size of 1.85 μm. Improved segmentation of small particles was found using the machine learning method.

Mar 1, 2024

By Ward Sumner

The Jones Hill prospect is a Proterozoic age, volcanogenic, semi-massive to massive sulfide deposit. The deposit is located on the western edge of the Pecos greenstone belt in the southern Sangre de Cristo Mountains of northern New Mexico. The prospect is found in a block (West Block) of meta- igneous rocks, primarily diabase, metavolcanic rocks, and metasedimentary rocks (fig. 1). This assemblage is typical of lithologies found in the greenstone belt. Metamorphic grade is greenschist to lower amphibolite. The West Block is bound- ed on the west by Proterozoic age (1.7-1.4 b.y. by Rb/Sr), granitic plutons collectively called the Embudo granite, and on the east by Paleozoic sedimentary rocks, primarily sandstones, shales, and limestones of Mississippian and Pennsylvanian age. The mineralization occurs in a single horizon which has been overturned and cut into two blocks by a high-angle reverse fault (fig. 2). The mineralized horizon is found at the contact of felsic metavolcanic and rnetavolcaniclastic rocks with overlying intermediate metasedimentary rocks. The local stratigraphic sec- tion from bottom to top is as follows: 1) porphyroblastic quartz- sericite schist (originally a rhyolitic, subvolcanic intrusive); 2) quartz-sericite-chlorite-biotite schist (felsic metavolcanic and metavolcaniclastic rocks); 3) chlorite-talc-biotite-sulfide schist (altered felsic metavolcanic rocks); 4) carbonate-quartz-sulfide [ ] chlorite-tremolite-talc schist (mineralized exhalite); 5) quartz- chlorite schist (silicified tuff); and 6) amphibole-chlorite-feldspar- biotite schist (occasional mafic to intermediate metavolcanic flows).

Jan 1, 2013

By Steve Kral

The Northwest Mining Association (NWMA) has been an advocate for the U.S. mining industry since 1895. For several decades, the organization has represented mining members located mostly in the Northwest and some southwestern Canadian provinces. Today, though, the NWMA?s membership is located in 42 states and seven provinces and has become a national voice for the mining industry. So, during the association?s 119th and final meeting as the NWMA, a name change was announced. The organization is now called the American Exploration and Mining Association (AEMA). But that?s not all that has changed, according to the association. The new name reflects more closely the diversity and location of the AEMA?s membership. It will still be an advocate for the mining industry, dealing with land, environmental and community issues on state and federal levels. The conference, held in December 2013 in Reno, NV, attracted about 2,500 attendees. And the accompanying exhibit included 230 equipment and service suppliers in 246 booths. Technical programming ran the gamut of mining industry issues and technologies, including surface and underground mining; high technology systems and automation in mining, metallurgy and exploration; along with social issues, finance and safety. The following is a sample of some of the sessions.

Mar 1, 2014

By Xuebin Liu, Yi Shang, Can Zhou, Hongqiu Zhu, Junbo Du

In the neutral leaching process of zinc hydrometallurgy, the pH value directly affects the leaching rate of zinc calcine. However, due to the complex mechanism of the leaching process and frequent fluctuation of working conditions, it is difficult to control the pH value by manual control. Therefore, this study proposes a fuzzy control method based on rule extraction under multiple working conditions, and analyzes the pH control performance. Firstly, the different operating states are classified according to process mechanisms and the Pearson method. Secondly, under the framework of the active learning algorithm, the approximate linear dependence (ALD) method is introduced to iteratively select samples with rule information in the original sample set for manual annotation. Then, the support vector machine (SVM) method is used to extract fuzzy control rules in different working conditions. Finally, a fuzzy rule set is established according to the samples mapped by the support vector. The simulation results based on industrial data show that the proposed method has better control performance than conventional fuzzy control and proportional–integral–derivative (PID) control.

Apr 1, 2024

ShouSteel Mining Ltd., a subsidiary of ShouSteel (Group) Co., was founded in 1959 and is located in QianAn City in Hebei Province, China. ShouSteel?s pelletizing plant uses iron ore as a raw material combined with limestone, dolostone, or olivine, with bentonite as a binder. After mixing the raw materials and forming them into small, spherical balls, ShouSteel then fires pellets in kilns for hardening. The company sells the finished pellets as raw materials for blast furnaces used to produce industrial metals such as iron. ShouSteel?s handling capacity is approximately 24.5 Mt/a (27 million stpy) of ore. The company?s production capacity is 3.2 Mt/a (3.5 million stpy) of oxide pellets and 560 Mt (650 million st) of sinters. Until recently, ShouSteel Mining had not replaced its electronic scales in its series of ingredient chambers. Because of the wear and tear on these older scales, the weighing system began to encounter regular problems. The company experienced a high failure rate from the integrator, an unstable signal, weak anti-interference ability and low accuracy. ShouSteel also found that spare parts required during repairs were consistently high in cost and that system calibration was becoming increasingly frequent.

Jan 1, 2012

Residential and commercial plumbers in the United States were introduced to Viega?s copper press technology in 1999. In short, the technology allows plumbers and installers to join copper pipe securely in four to seven seconds on pipe sizes of 1.2 to 10 cm (0.5 to 4 in.) by pressing the connections with specialized tools and fittings rather than through sodering or welding. The water- and air-tight technology, first introduced in Germany in 1989, includes three different sealing elements, a variety of materials and a selection of configurations. By eliminating the need to thread or solder pipe, connections and repairs can be made quickly and securely. Installations are also much quicker and as secure as traditional methods.

Jan 1, 2012

"With a longstanding reputation for engineering expertise, Weir Minerals continually develops solutions and technology to better serve the mining industry. Recognizing that throatbush wear rate has a major impact on the overall efficiency of slurry pumps, Weir Minerals has developed superior rotating and axial adjustment technology.In many applications, the pump’s throatbush is the component that has the shortest life compared to the impeller and liners, with considerable variability.Adjusting the gap between the throatbush and the impeller front shroud reduces hydraulic recirculation in the pump. This prevents localized wear on the throatbush, improves hydraulic efficiency and lowers the total ownership cost for the operator. To avoid impacting the plant’s production, these adjustments are often performed while the pump is operating. However, this can have safety implications for individuals working at the front of the pump unit.“Manually adjusting an alloy throatbush on a large pump requires several people and is laborintensive. It requires mechanical tools to adjust the four pusher bolts, one at a time, in order to reduce the gap between the throatbush and impeller. We wanted to find a safer and quicker way to extend the wear life of the pump with regular adjustments, which led us to development of this technology,” said Marcus Lane, global product manager for centrifugal pumps for Weir Minerals.“Our automated throatbush adjustment solutions are available for pumps fitted with either rubber or alloy throatbushes on Warman slurry pumps used in the most arduous applications, and have been designed with our customers’ safety and pump operation in mind. By mechanizing the adjustment procedure, personnel are removed from the line of fire, and the accuracy of axial movement is increased,” said Ron Bourgeois, director of slurry pumping technology group for Weir Minerals."

Mar 1, 2019

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

There are many risks associated with the storage of nuclear or other toxic wastes. One of the major risks is the escape of material from the repository. No matter how well a storage facility is engineered, the potential escape of dangerous material must be studied. This kind of study will include some estimation of the "travel path" of the particles. The travel path of a radio-nuclide particle will depend on the geological and hydrological parameters of the surrounding rocks. These parameters must be estimated from a limited number of samples available within the study area. Any estimation will -of necessity -contain a certain amount of uncertainty or "estimation error". This uncertainty will be carried through to the analysis of potential movement of particles, so that the estimated travel path itself will be subject to some error. This paper discusses an approach which may lead to a quantification of the uncertainty on the predicted travel path.

Jan 1, 1989